From a78cbb533cb16a81f76aebe716820c70151055d4 Mon Sep 17 00:00:00 2001
From: Mathieu Labbe <matlabbe@gmail.com>
Date: Fri, 30 Jan 2015 15:52:40 -0500
Subject: [PATCH] added "wait_for_transform=true" to demo_robot_*.launch files

---
 launch/demo/demo_robot_localization.launch | 5 ++---
 launch/demo/demo_robot_mapping.launch      | 4 ++--
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/launch/demo/demo_robot_localization.launch b/launch/demo/demo_robot_localization.launch
index 337bf544..e9eb0335 100644
--- a/launch/demo/demo_robot_localization.launch
+++ b/launch/demo/demo_robot_localization.launch
@@ -17,6 +17,7 @@
     <!-- args: "delete_db_on_start" and "udebug" -->
     <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
 	  <param name="frame_id" type="string" value="base_footprint"/>
+	  <param name="wait_for_transform" type="bool" value="true"/>
 	
 	  <param name="subscribe_depth" type="bool" value="true"/>
 	  <param name="subscribe_laserScan" type="bool" value="true"/>
@@ -31,8 +32,6 @@
   	  <param name="rgb/image_transport" type="string" value="compressed"/>
       <param name="depth/image_transport" type="string" value="compressedDepth"/>
 	
-	  <param name="queue_size" type="int" value="10"/>
-	
 	  <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
       <param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/>  <!-- Database used for localization -->
       <param name="Rtabmap/DetectionRate" type="string" value="1"/>     <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
@@ -57,8 +56,8 @@
     <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
   	  <param name="subscribe_depth" type="bool" value="true"/>
       <param name="subscribe_laserScan" type="bool" value="true"/>
-      <param name="queue_size" type="int" value="10"/>
       <param name="frame_id" type="string" value="base_footprint"/>
+      <param name="wait_for_transform" type="bool" value="true"/>
     
       <remap from="rgb/image" to="/data_throttled_image"/>
       <remap from="depth/image" to="/data_throttled_image_depth"/>
diff --git a/launch/demo/demo_robot_mapping.launch b/launch/demo/demo_robot_mapping.launch
index 5e1b6c26..8c29c561 100644
--- a/launch/demo/demo_robot_mapping.launch
+++ b/launch/demo/demo_robot_mapping.launch
@@ -16,6 +16,7 @@
     <!-- args: "delete_db_on_start" and "udebug" -->
     <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
 	  <param name="frame_id" type="string" value="base_footprint"/>
+	  <param name="wait_for_transform" type="bool" value="true"/>
 	
 	  <param name="subscribe_depth" type="bool" value="true"/>
 	  <param name="subscribe_laserScan" type="bool" value="true"/>
@@ -30,8 +31,6 @@
       <param name="rgb/image_transport" type="string" value="compressed"/>
       <param name="depth/image_transport" type="string" value="compressedDepth"/>
 	
-	  <param name="queue_size" type="int" value="10"/>
-	
 	  <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
 	  <param name="RGBD/PoseScanMatching" type="string" value="true"/>  <!-- Do odometry correction with consecutive laser scans -->
 	  <param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>  <!-- Local loop closure detection (using estimated position) with locations in WM -->
@@ -53,6 +52,7 @@
   	  <param name="subscribe_depth" type="bool" value="true"/>
       <param name="subscribe_laserScan" type="bool" value="true"/>
       <param name="frame_id" type="string" value="base_footprint"/>
+      <param name="wait_for_transform" type="bool" value="true"/>
     
       <remap from="rgb/image" to="/data_throttled_image"/>
       <remap from="depth/image" to="/data_throttled_image_depth"/>