From 9096c3d1d04f989b9f1257effd46a1e1e0ec1582 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Thu, 17 Mar 2016 16:15:49 -0400
Subject: [PATCH] updated rtabmap.launch

---
 launch/rtabmap.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index f96326b5..e972a1db 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -24,6 +24,7 @@
   
   <!-- Corresponding config files -->
   <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
+  <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
   <arg name="rviz_cfg"                default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
   
   <arg name="frame_id"                default="camera_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
@@ -140,7 +141,7 @@
     </node>
   
     <!-- Visualisation RTAB-Map -->
-    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
+    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
       <param name="subscribe_depth"      type="bool"   value="$(arg rgbd)"/>
       <param name="subscribe_stereo"     type="bool"   value="$(arg stereo)"/>
       <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>