From a2f7275267fecc02e76e0452b957ee3dc97c7e7a Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Fri, 27 Nov 2015 14:58:23 -0500
Subject: [PATCH] Fixed data_recorder.launch FATAL error on label which already
 exists

---
 launch/data_recorder.launch | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/launch/data_recorder.launch b/launch/data_recorder.launch
index c52f0a90..310e6f17 100644
--- a/launch/data_recorder.launch
+++ b/launch/data_recorder.launch
@@ -35,10 +35,13 @@
 	<param name="Kp/WordsPerImage"        type="string" value="-1"/>     <!-- desactivate keypoints extraction -->
 	<param name="Rtabmap/MaxRetrieved"    type="string" value="0"/>      <!-- desactivate global retrieval -->
 	<param name="RGBD/MaxLocalRetrieved"  type="string" value="0"/>      <!-- desactivate local retrieval -->
-	<param name="Rtabmap/MemoryThr"       type="string" value="1"/>      <!-- keep the WM empty --> 
+	<param name="Mem/MapLabelsAdded"      type="string" value="false"/>  <!-- don't create map labels --> 
+	<param name="Rtabmap/MemoryThr"       type="string" value="2"/>      <!-- keep the WM empty --> 
 	<param name="Mem/STMSize"             type="string" value="1"/>      <!-- STM=1 --> 
 	<param name="publish_tf"              type="bool"   value="false"/>  <!-- don't publish TF -->
-	<param name="RGBD/LocalLoopDetectionSpace" type="bool"   value="false"/> 
+	<param name="RGBD/LocalLoopDetectionSpace" type="string"   value="false"/> 
+	<param name="RGBD/LinearUpdate"       type="string" value="0"/> 
+	<param name="RGBD/AngularUpdate"      type="string" value="0"/> 
 	<param unless="$(arg subscribe_odometry)" name="RGBD/Enabled" type="string" value="false"/>
 	
 	<param name="Rtabmap/DetectionRate"   type="string" value="$(arg max_rate)"/>