Added rgbdslam_datasets.launch example to run RGBD SLAM datasets with RTAB-Map. Added "wait_to_transform" parameter (bool) to all nodes calling lookUpTransform()

src/OdometryROS.h

@@ -64,6 +64,7 @@ public:
 	const tf::TransformListener & tfListener() const {return tfListener_;}
 	bool isPaused() const {return paused_;}
 	bool isOdometryBOW() const;
+	bool waitForTransform() const {return waitForTransform_;}
 
 private:
 	rtabmap::Odometry * odometry_;
@@ -71,7 +72,9 @@ private:
 	// parameters
 	std::string frameId_;
 	std::string odomFrameId_;
+	std::string groundTruthFrameId_;
 	bool publishTf_;
+	bool waitForTransform_;
 	ParametersMap parameters_;
 
 	ros::Publisher odomPub_;