OdometryROS: refactored imu sync (#331). Using tf to compute baseline if Rtabmap/ImagesAlreadyRectified is true (for convenience with realsense rectified IR images but right camera info Tx not set)

include/rtabmap_ros/CoreWrapper.h

@@ -358,6 +358,7 @@ private:
 	float rate_;
 	bool createIntermediateNodes_;
 	int maxMappingNodes_;
+	bool alreadyRectifiedImages_;
 	ros::Time previousStamp_;
 };
 

include/rtabmap_ros/MsgConversion.h

@@ -227,7 +227,8 @@ bool convertStereoMsg(
 		cv::Mat & right,
 		rtabmap::StereoCameraModel & stereoModel,
 		tf::TransformListener & listener,
-		double waitForTransform);
+		double waitForTransform,
+		bool alreadyRectified);
 
 bool convertScanMsg(
 		const sensor_msgs::LaserScan & scan2dMsg,

include/rtabmap_ros/OdometryROS.h

@@ -141,7 +141,7 @@ private:
 	int odomStrategy_;
 	bool waitIMUToinit_;
 	bool imuProcessed_;
-	double lastImuReceivedStamp_;
+	std::map<double, rtabmap::IMU> imus_;
 	rtabmap::SensorData bufferedData_;
 };