Added RTABMAP_SYNC_USER_DATA (default OFF) and RTABMAP_SYNC_MULTI_RGBD (default ON, OFF on windows) build options. Fixed some compilation errors on Windows.

CMakeLists.txt

@@ -35,9 +35,32 @@ find_package(RTABMap 0.19.5 REQUIRED)
 
 find_package(OpenCV REQUIRED)
 
-find_package(PCL 1.7 REQUIRED)
+IF(RTABMAP_GUI)
+FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
+ELSE()
+FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation )
+ENDIF()
 add_definitions(${PCL_DEFINITIONS}) # To include -march=native if set
 
+IF(WIN32)
+add_compile_options(-bigobj)
+ENDIF(WIN32)
+
+IF(WIN32)
+option(RTABMAP_SYNC_MULTI_RGBD "Build with multi RGBD camera synchronization support"  OFF)
+ELSE()
+option(RTABMAP_SYNC_MULTI_RGBD "Build with multi RGBD camera synchronization support"  ON)
+ENDIF()
+option(RTABMAP_SYNC_USER_DATA "Build with input user data support"  OFF)
+MESSAGE(STATUS "RTABMAP_SYNC_MULTI_RGBD = ${RTABMAP_SYNC_MULTI_RGBD}")
+MESSAGE(STATUS "RTABMAP_SYNC_USER_DATA  = ${RTABMAP_SYNC_USER_DATA}")
+IF(RTABMAP_SYNC_MULTI_RGBD)
+add_definitions("-DRTABMAP_SYNC_MULTI_RGBD")
+ENDIF(RTABMAP_SYNC_MULTI_RGBD)
+IF(RTABMAP_SYNC_USER_DATA)
+add_definitions("-DRTABMAP_SYNC_USER_DATA")
+ENDIF(RTABMAP_SYNC_USER_DATA)
+
 #Qt stuff
 # If librtabmap_gui.so is found, rtabmapviz will be built
 # If rviz is found, plugins will be built
@@ -174,13 +197,18 @@ SET(rtabmap_sync_lib_src
    src/impl/CommonDataSubscriberStereo.cpp
    src/impl/CommonDataSubscriberRGB.cpp
    src/impl/CommonDataSubscriberRGBD.cpp
-   src/impl/CommonDataSubscriberRGBD2.cpp
-   src/impl/CommonDataSubscriberRGBD3.cpp
-   src/impl/CommonDataSubscriberRGBD4.cpp
    src/impl/CommonDataSubscriberScan.cpp
    src/impl/CommonDataSubscriberOdom.cpp
    src/CoreWrapper.cpp # we put CoreWrapper here instead of plugins lib to avoid long compilation time on plugins lib
 )
+IF(RTABMAP_SYNC_MULTI_RGBD)
+  SET(rtabmap_sync_lib_src
+    ${rtabmap_sync_lib_src}
+    src/impl/CommonDataSubscriberRGBD2.cpp
+    src/impl/CommonDataSubscriberRGBD3.cpp
+    src/impl/CommonDataSubscriberRGBD4.cpp
+  )
+ENDIF(RTABMAP_SYNC_MULTI_RGBD)
   
 SET(rtabmap_ros_lib_src
    src/MsgConversion.cpp
@@ -305,9 +333,11 @@ add_executable(rtabmap_imu_to_tf src/ImuToTFNode.cpp)
 target_link_libraries(rtabmap_imu_to_tf ${Libraries})
 set_target_properties(rtabmap_imu_to_tf PROPERTIES OUTPUT_NAME "imu_to_tf")
 
+IF(NOT WIN32)
 add_executable(rtabmap_wifi_signal_pub src/WifiSignalPubNode.cpp)
 target_link_libraries(rtabmap_wifi_signal_pub rtabmap_ros)
 set_target_properties(rtabmap_wifi_signal_pub PROPERTIES OUTPUT_NAME "wifi_signal_pub")
+ENDIF(NOT WIN32)
 add_executable(rtabmap_wifi_signal_sub src/WifiSignalSubNode.cpp)
 target_link_libraries(rtabmap_wifi_signal_sub rtabmap_ros)
 set_target_properties(rtabmap_wifi_signal_sub PROPERTIES OUTPUT_NAME "wifi_signal_sub")
@@ -377,35 +407,67 @@ IF(rviz_FOUND)
     
     ## RVIZ plugin
     IF(QT4_FOUND)
-    qt4_wrap_cpp(MOC_FILES
-      src/rviz/MapCloudDisplay.h
-      src/rviz/MapGraphDisplay.h
-      src/rviz/InfoDisplay.h
-      src/rviz/OrbitOrientedViewController.h
-    )
+	  IF(WIN32)
+        qt4_wrap_cpp(MOC_FILES
+          src/rviz/MapCloudDisplay.h
+          src/rviz/MapGraphDisplay.h
+          src/rviz/InfoDisplay.h
+        )
+	  ELSE()
+	    qt4_wrap_cpp(MOC_FILES
+          src/rviz/MapCloudDisplay.h
+          src/rviz/MapGraphDisplay.h
+          src/rviz/InfoDisplay.h
+          src/rviz/OrbitOrientedViewController.h
+        )
+	  ENDIF()
     ELSE()
-    qt5_wrap_cpp(MOC_FILES
-      src/rviz/MapCloudDisplay.h
-      src/rviz/MapGraphDisplay.h
-      src/rviz/InfoDisplay.h
-      src/rviz/OrbitOrientedViewController.h
-    )
+	  IF(WIN32)
+        qt5_wrap_cpp(MOC_FILES
+          src/rviz/MapCloudDisplay.h
+          src/rviz/MapGraphDisplay.h
+          src/rviz/InfoDisplay.h
+        )
+	  ELSE()
+	    qt5_wrap_cpp(MOC_FILES
+          src/rviz/MapCloudDisplay.h
+          src/rviz/MapGraphDisplay.h
+          src/rviz/InfoDisplay.h
+          src/rviz/OrbitOrientedViewController.h
+        )
+	  ENDIF()
     ENDIF()
     
     # tf:message_filters, mixing boost and Qt signals
-    set_property(
-       SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
-       PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
-    )
-    add_library(rtabmap_rviz_plugins
-       src/rviz/MapCloudDisplay.cpp
+	IF(WIN32)
+      set_property(
+        SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp
+        PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
+      )
+	ELSE()
+	  set_property(
+        SOURCE src/rviz/MapCloudDisplay.cpp src/rviz/MapGraphDisplay.cpp src/rviz/InfoDisplay.cpp src/rviz/OrbitOrientedViewController.cpp
+        PROPERTY COMPILE_DEFINITIONS QT_NO_KEYWORDS
+      )
+	ENDIF()
+	SET(SRC_FILES 
+	   src/rviz/MapCloudDisplay.cpp
        src/rviz/MapGraphDisplay.cpp
        src/rviz/InfoDisplay.cpp
-       src/rviz/OrbitOrientedViewController.cpp
        ${MOC_FILES}
+	)
+	IF(NOT WIN32)
+	  SET(SRC_FILES 
+	    ${SRC_FILES} 
+	    src/rviz/OrbitOrientedViewController.cpp
+	  )
+	ENDIF(NOT WIN32)
+    add_library(rtabmap_rviz_plugins
+       ${SRC_FILES}
     )
     target_link_libraries(rtabmap_rviz_plugins
       rtabmap_ros
+	  ${Libraries}
     )
     IF(Qt5_FOUND)
         QT5_USE_MODULES(rtabmap_rviz_plugins Widgets Core Gui)

include/rtabmap_ros/CommonDataSubscriber.h

@@ -158,6 +158,7 @@ private:
 			bool subscribeOdomInfo,
 			int queueSize,
 			bool approxSync);
+#ifdef RTABMAP_SYNC_MULTI_RGBD
 	void setupRGBD2Callbacks(
 			ros::NodeHandle & nh,
 			ros::NodeHandle & pnh,
@@ -187,7 +188,8 @@ private:
 			bool subscribeScan3d,
 			bool subscribeOdomInfo,
 			int queueSize,
-			bool approxSync);
+			bool approxSync); 
+#endif
 	void setupScanCallbacks(
 			ros::NodeHandle & nh,
 			ros::NodeHandle & pnh,
@@ -264,6 +266,7 @@ private:
 	DATA_SYNCS6(depthOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS6(depthOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// RGB + Depth + User Data
 	DATA_SYNCS4(depthData, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo);
 	DATA_SYNCS5(depthDataScan2d, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
@@ -279,6 +282,7 @@ private:
 	DATA_SYNCS6(depthOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
 	DATA_SYNCS7(depthOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS7(depthOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
+#endif
 
 	// Stereo
 	DATA_SYNCS4(stereo, sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo);
@@ -304,6 +308,7 @@ private:
 	DATA_SYNCS5(rgbOdomScan2dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS5(rgbOdomScan3dInfo, nav_msgs::Odometry, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// RGB-only + User Data
 	DATA_SYNCS3(rgbData, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo);
 	DATA_SYNCS4(rgbDataScan2d, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan);
@@ -319,6 +324,7 @@ private:
 	DATA_SYNCS5(rgbOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, rtabmap_ros::OdomInfo);
 	DATA_SYNCS6(rgbOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS6(rgbOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
+#endif
 
 	// 1 RGBD
 	void rgbdCallback(const rtabmap_ros::RGBDImageConstPtr&);
@@ -336,6 +342,7 @@ private:
 	DATA_SYNCS4(rgbdOdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS4(rgbdOdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// 1 RGBD + User Data
 	DATA_SYNCS2(rgbdData, rtabmap_ros::UserData, rtabmap_ros::RGBDImage);
 	DATA_SYNCS3(rgbdDataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
@@ -351,7 +358,9 @@ private:
 	DATA_SYNCS4(rgbdOdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
 	DATA_SYNCS5(rgbdOdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS5(rgbdOdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
+#endif
 
+#ifdef RTABMAP_SYNC_MULTI_RGBD
 	// 2 RGBD
 	DATA_SYNCS2(rgbd2, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
 	DATA_SYNCS3(rgbd2Scan2d, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
@@ -368,6 +377,7 @@ private:
 	DATA_SYNCS5(rgbd2OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS5(rgbd2OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// 2 RGBD + User Data
 	DATA_SYNCS3(rgbd2Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
 	DATA_SYNCS4(rgbd2DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
@@ -383,6 +393,7 @@ private:
 	DATA_SYNCS5(rgbd2OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
 	DATA_SYNCS6(rgbd2OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS6(rgbd2OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
+#endif
 
 	// 3 RGBD
 	DATA_SYNCS3(rgbd3, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
@@ -400,6 +411,7 @@ private:
 	DATA_SYNCS6(rgbd3OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS6(rgbd3OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// 3 RGBD + User Data
 	DATA_SYNCS4(rgbd3Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
 	DATA_SYNCS5(rgbd3DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
@@ -415,6 +427,7 @@ private:
 	DATA_SYNCS6(rgbd3OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
 	DATA_SYNCS7(rgbd3OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS7(rgbd3OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
+#endif
 
 	// 4 RGBD
 	DATA_SYNCS4(rgbd4, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
@@ -432,6 +445,7 @@ private:
 	DATA_SYNCS7(rgbd4OdomScan2dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS7(rgbd4OdomScan3dInfo, nav_msgs::Odometry, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// 4 RGBD + User Data
 	DATA_SYNCS5(rgbd4Data, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage);
 	DATA_SYNCS6(rgbd4DataScan2d, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan);
@@ -447,6 +461,8 @@ private:
 	DATA_SYNCS7(rgbd4OdomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::OdomInfo);
 	DATA_SYNCS8(rgbd4OdomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS8(rgbd4OdomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, rtabmap_ros::RGBDImage, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
+#endif
+#endif //RTABMAP_SYNC_MULTI_RGBD
 
 	// Scan
 	void scan2dCallback(const sensor_msgs::LaserScanConstPtr&);
@@ -460,6 +476,7 @@ private:
 	DATA_SYNCS3(odomScan2dInfo, nav_msgs::Odometry, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS3(odomScan3dInfo, nav_msgs::Odometry, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// Scan + User Data
 	DATA_SYNCS2(dataScan2d, rtabmap_ros::UserData, sensor_msgs::LaserScan);
 	DATA_SYNCS2(dataScan3d, rtabmap_ros::UserData, sensor_msgs::PointCloud2);
@@ -471,14 +488,17 @@ private:
 	DATA_SYNCS3(odomDataScan3d, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::PointCloud2);
 	DATA_SYNCS4(odomDataScan2dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::LaserScan, rtabmap_ros::OdomInfo);
 	DATA_SYNCS4(odomDataScan3dInfo, nav_msgs::Odometry, rtabmap_ros::UserData, sensor_msgs::PointCloud2, rtabmap_ros::OdomInfo);
+#endif
 
 	// Odom
 	void odomCallback(const nav_msgs::OdometryConstPtr&);
 	DATA_SYNCS2(odomInfo, nav_msgs::Odometry, rtabmap_ros::OdomInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// Odom + User Data
 	DATA_SYNCS2(odomData, nav_msgs::Odometry, rtabmap_ros::UserData);
 	DATA_SYNCS3(odomDataInfo, nav_msgs::Odometry, rtabmap_ros::UserData, rtabmap_ros::OdomInfo);
+#endif
 };
 
 } /* namespace rtabmap_ros */

src/CommonDataSubscriber.cpp

@@ -59,6 +59,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(depthOdomScan2dInfo),
 		SYNC_INIT(depthOdomScan3dInfo),
 
+#ifdef RTABMAP_SYNC_USER_DATA
 		// RGB + Depth + User Data
 		SYNC_INIT(depthData),
 		SYNC_INIT(depthDataScan2d),
@@ -74,6 +75,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(depthOdomDataInfo),
 		SYNC_INIT(depthOdomDataScan2dInfo),
 		SYNC_INIT(depthOdomDataScan3dInfo),
+#endif
 
 		// Stereo
 		SYNC_INIT(stereo),
@@ -82,7 +84,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		// Stereo + Odom
 		SYNC_INIT(stereoOdom),
 		SYNC_INIT(stereoOdomInfo),
-
+		
 		// RGB-only
 		SYNC_INIT(rgb),
 		SYNC_INIT(rgbScan2d),
@@ -99,6 +101,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(rgbOdomScan2dInfo),
 		SYNC_INIT(rgbOdomScan3dInfo),
 
+#ifdef RTABMAP_SYNC_USER_DATA
 		// RGB-only + User Data
 		SYNC_INIT(rgbData),
 		SYNC_INIT(rgbDataScan2d),
@@ -114,7 +117,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(rgbOdomDataInfo),
 		SYNC_INIT(rgbOdomDataScan2dInfo),
 		SYNC_INIT(rgbOdomDataScan3dInfo),
-
+#endif
 		// 1 RGBD
 		SYNC_INIT(rgbdScan2d),
 		SYNC_INIT(rgbdScan3d),
@@ -130,6 +133,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(rgbdOdomScan2dInfo),
 		SYNC_INIT(rgbdOdomScan3dInfo),
 
+#ifdef RTABMAP_SYNC_USER_DATA
 		// 1 RGBD + User Data
 		SYNC_INIT(rgbdData),
 		SYNC_INIT(rgbdDataScan2d),
@@ -145,7 +149,9 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(rgbdOdomDataInfo),
 		SYNC_INIT(rgbdOdomDataScan2dInfo),
 		SYNC_INIT(rgbdOdomDataScan3dInfo),
+#endif
 
+#ifdef RTABMAP_SYNC_MULTI_RGBD
 		// 2 RGBD
 		SYNC_INIT(rgbd2),
 		SYNC_INIT(rgbd2Scan2d),
@@ -162,6 +168,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(rgbd2OdomScan2dInfo),
 		SYNC_INIT(rgbd2OdomScan3dInfo),
 
+#ifdef RTABMAP_SYNC_USER_DATA
 		// 2 RGBD + User Data
 		SYNC_INIT(rgbd2Data),
 		SYNC_INIT(rgbd2DataScan2d),
@@ -177,6 +184,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(rgbd2OdomDataInfo),
 		SYNC_INIT(rgbd2OdomDataScan2dInfo),
 		SYNC_INIT(rgbd2OdomDataScan3dInfo),
+#endif
 
 		// 3 RGBD
 		SYNC_INIT(rgbd3),
@@ -194,6 +202,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(rgbd3OdomScan2dInfo),
 		SYNC_INIT(rgbd3OdomScan3dInfo),
 
+#ifdef RTABMAP_SYNC_USER_DATA
 		// 3 RGBD + User Data
 		SYNC_INIT(rgbd3Data),
 		SYNC_INIT(rgbd3DataScan2d),
@@ -209,6 +218,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(rgbd3OdomDataInfo),
 		SYNC_INIT(rgbd3OdomDataScan2dInfo),
 		SYNC_INIT(rgbd3OdomDataScan3dInfo),
+#endif
 
 		// 4 RGBD
 		SYNC_INIT(rgbd4),
@@ -226,6 +236,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(rgbd4OdomScan2dInfo),
 		SYNC_INIT(rgbd4OdomScan3dInfo),
 
+#ifdef RTABMAP_SYNC_USER_DATA
 		// 4 RGBD + User Data
 		SYNC_INIT(rgbd4Data),
 		SYNC_INIT(rgbd4DataScan2d),
@@ -241,6 +252,8 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(rgbd4OdomDataInfo),
 		SYNC_INIT(rgbd4OdomDataScan2dInfo),
 		SYNC_INIT(rgbd4OdomDataScan3dInfo),
+#endif
+#endif // RTABMAP_SYNC_MULTI_RGBD
 
 		// Scan
 		SYNC_INIT(scan2dInfo),
@@ -252,6 +265,7 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(odomScan2dInfo),
 		SYNC_INIT(odomScan3dInfo),
 
+#ifdef RTABMAP_SYNC_USER_DATA
 		// Scan + User Data
 		SYNC_INIT(dataScan2d),
 		SYNC_INIT(dataScan3d),
@@ -263,12 +277,16 @@ CommonDataSubscriber::CommonDataSubscriber(bool gui) :
 		SYNC_INIT(odomDataScan3d),
 		SYNC_INIT(odomDataScan2dInfo),
 		SYNC_INIT(odomDataScan3dInfo),
+#endif
 
 		// Odom
-		SYNC_INIT(odomInfo),
+		SYNC_INIT(odomInfo)
+#ifdef RTABMAP_SYNC_USER_DATA
+		,
 		// Odom + User Data
 		SYNC_INIT(odomData),
 		SYNC_INIT(odomDataInfo)
+#endif
 
 {
 }
@@ -300,6 +318,15 @@ void CommonDataSubscriber::setupCallbacks(
 	pnh.param("subscribe_odom_info", subscribeOdomInfo, subscribeOdomInfo);
 	pnh.param("subscribe_user_data", subscribeUserData, subscribeUserData);
 	pnh.param("subscribe_odom",      subscribeOdom, subscribeOdom);
+	
+#ifdef RTABMAP_SYNC_USER_DATA
+	if(subscribeUserData)
+	{
+		ROS_ERROR("subscribe_user_data is true, but rtabmap_ros has been built with RTABMAP_SYNC_USER_DATA. Setting back to false.");
+		subscribeUserData = false;
+	}
+#endif
+	
 	if(subscribedToDepth_ && subscribedToStereo_)
 	{
 		ROS_WARN("rtabmap: Parameters subscribe_depth and subscribe_stereo cannot be true at the same time. Parameter subscribe_depth is set to false.");
@@ -419,6 +446,7 @@ void CommonDataSubscriber::setupCallbacks(
 	}
 	else if(subscribedToRGBD_)
 	{
+#ifdef RTABMAP_SYNC_MULTI_RGBD
 		if(rgbdCameras == 4)
 		{
 			setupRGBD4Callbacks(
@@ -458,6 +486,12 @@ void CommonDataSubscriber::setupCallbacks(
 					queueSize_,
 					approxSync_);
 		}
+#else
+		if(rgbdCameras>1)
+		{
+			ROS_FATAL("Cannot synchronize more than 1 rgbd topic (rtabmap_ros has been built without RTABMAP_SYNC_MULTI_RGBD option)");
+		}
+#endif
 		else
 		{
 			setupRGBDCallbacks(
@@ -527,6 +561,7 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(depthOdomScan2dInfo);
 	SYNC_DEL(depthOdomScan3dInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// RGB + Depth + User Data
 	SYNC_DEL(depthData);
 	SYNC_DEL(depthDataScan2d);
@@ -542,6 +577,7 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(depthOdomDataInfo);
 	SYNC_DEL(depthOdomDataScan2dInfo);
 	SYNC_DEL(depthOdomDataScan3dInfo);
+#endif
 
 	// Stereo
 	SYNC_DEL(stereo);
@@ -550,7 +586,7 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	// Stereo + Odom
 	SYNC_DEL(stereoOdom);
 	SYNC_DEL(stereoOdomInfo);
-
+	
 	// RGB-only
 	SYNC_DEL(rgb);
 	SYNC_DEL(rgbScan2d);
@@ -567,6 +603,7 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(rgbOdomScan2dInfo);
 	SYNC_DEL(rgbOdomScan3dInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// RGB-only + User Data
 	SYNC_DEL(rgbData);
 	SYNC_DEL(rgbDataScan2d);
@@ -582,6 +619,7 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(rgbOdomDataInfo);
 	SYNC_DEL(rgbOdomDataScan2dInfo);
 	SYNC_DEL(rgbOdomDataScan3dInfo);
+#endif
 
 	// 1 RGBD
 	SYNC_DEL(rgbdScan2d);
@@ -598,6 +636,7 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(rgbdOdomScan2dInfo);
 	SYNC_DEL(rgbdOdomScan3dInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// 1 RGBD + User Data
 	SYNC_DEL(rgbdData);
 	SYNC_DEL(rgbdDataScan2d);
@@ -613,7 +652,9 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(rgbdOdomDataInfo);
 	SYNC_DEL(rgbdOdomDataScan2dInfo);
 	SYNC_DEL(rgbdOdomDataScan3dInfo);
+#endif
 
+#ifdef RTABMAP_SYNC_MULTI_RGBD
 	// 2 RGBD
 	SYNC_DEL(rgbd2);
 	SYNC_DEL(rgbd2Scan2d);
@@ -630,6 +671,7 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(rgbd2OdomScan2dInfo);
 	SYNC_DEL(rgbd2OdomScan3dInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// 2 RGBD + User Data
 	SYNC_DEL(rgbd2Data);
 	SYNC_DEL(rgbd2DataScan2d);
@@ -645,6 +687,7 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(rgbd2OdomDataInfo);
 	SYNC_DEL(rgbd2OdomDataScan2dInfo);
 	SYNC_DEL(rgbd2OdomDataScan3dInfo);
+#endif
 
 	// 3 RGBD
 	SYNC_DEL(rgbd3);
@@ -662,6 +705,7 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(rgbd3OdomScan2dInfo);
 	SYNC_DEL(rgbd3OdomScan3dInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// 3 RGBD + User Data
 	SYNC_DEL(rgbd3Data);
 	SYNC_DEL(rgbd3DataScan2d);
@@ -677,6 +721,7 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(rgbd3OdomDataInfo);
 	SYNC_DEL(rgbd3OdomDataScan2dInfo);
 	SYNC_DEL(rgbd3OdomDataScan3dInfo);
+#endif
 
 	// 4 RGBD
 	SYNC_DEL(rgbd4);
@@ -694,6 +739,7 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(rgbd4OdomScan2dInfo);
 	SYNC_DEL(rgbd4OdomScan3dInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// 4 RGBD + User Data
 	SYNC_DEL(rgbd4Data);
 	SYNC_DEL(rgbd4DataScan2d);
@@ -709,6 +755,8 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(rgbd4OdomDataInfo);
 	SYNC_DEL(rgbd4OdomDataScan2dInfo);
 	SYNC_DEL(rgbd4OdomDataScan3dInfo);
+#endif
+#endif //RTABMAP_SYNC_MULTI_RGBD
 
 	// Scan
 	SYNC_DEL(scan2dInfo);
@@ -720,6 +768,7 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(odomScan2dInfo);
 	SYNC_DEL(odomScan3dInfo);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	// Scan + User Data
 	SYNC_DEL(dataScan2d);
 	SYNC_DEL(dataScan3d);
@@ -731,12 +780,15 @@ CommonDataSubscriber::~CommonDataSubscriber()
 	SYNC_DEL(odomDataScan3d);
 	SYNC_DEL(odomDataScan2dInfo);
 	SYNC_DEL(odomDataScan3dInfo);
+#endif
 
 	// Odom
 	SYNC_DEL(odomInfo);
+#ifdef RTABMAP_SYNC_USER_DATA
 	// Odom + User Data
 	SYNC_DEL(odomData);
 	SYNC_DEL(odomDataInfo);
+#endif
 
 
 	for(unsigned int i=0; i<rgbdSubs_.size(); ++i)

src/CoreWrapper.cpp

@@ -241,6 +241,7 @@ void CoreWrapper::onInit()
 
 	configPath_ = uReplaceChar(configPath_, '~', UDirectory::homeDir());
 	databasePath_ = uReplaceChar(databasePath_, '~', UDirectory::homeDir());
+#ifndef _WIN32
 	if(configPath_.size() && configPath_.at(0) != '/')
 	{
 		configPath_ = UDirectory::currentDir(true) + configPath_;
@@ -249,6 +250,7 @@ void CoreWrapper::onInit()
 	{
 		databasePath_ = UDirectory::currentDir(true) + databasePath_;
 	}
+#endif
 
 	ParametersMap allParameters = Parameters::getDefaultParameters();
 	// remove Odom parameters
@@ -322,7 +324,7 @@ void CoreWrapper::onInit()
 
 	//parse input arguments
 	std::vector<std::string> argList = getMyArgv();
-	char * argv[argList.size()];
+	char ** argv = new char*[argList.size()];
 	bool deleteDbOnStart = false;
 	for(unsigned int i=0; i<argList.size(); ++i)
 	{
@@ -333,6 +335,7 @@ void CoreWrapper::onInit()
 		}
 	}
 	rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argList.size(), argv);
+	delete [] argv;
 	for(ParametersMap::const_iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
 	{
 		uInsert(parameters_, ParametersPair(iter->first, iter->second));

src/DbPlayerNode.cpp

@@ -52,6 +52,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/OdometryEvent.h>
 #include <cmath>
 
+#ifndef _WIN32
 #include <sys/ioctl.h>
 #include <termios.h>
 bool spacehit()
@@ -89,6 +90,7 @@ bool spacehit()
 
     return hit;
 }
+#endif
 
 bool paused = false;
 bool pauseCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
@@ -637,6 +639,7 @@ int main(int argc, char** argv)
 
 		while(ros::ok())
 		{
+#ifndef _WIN32
 			if (spacehit()) {
 				paused = !paused;
 				if(paused)
@@ -648,6 +651,7 @@ int main(int argc, char** argv)
 					ROS_INFO("resumed!");
 				}
 			}
+#endif
 
 			if(!paused)
 			{

src/OdometryROS.cpp

@@ -275,13 +275,14 @@ void OdometryROS::onInit()
 	}
 
 	std::vector<std::string> argList = getMyArgv();
-	char * argv[argList.size()];
+	char ** argv = new char*[argList.size()];
 	for(unsigned int i=0; i<argList.size(); ++i)
 	{
 		argv[i] = &argList[i].at(0);
 	}
 
 	rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argList.size(), argv);
+	delete [] argv;
 	for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
 	{
 		rtabmap::ParametersMap::iterator jter = parameters_.find(iter->first);

src/impl/CommonDataSubscriberDepth.cpp

@@ -177,6 +177,7 @@ void CommonDataSubscriber::depthOdomScan3dInfoCallback(
 	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 // RGB + Depth + User Data
 void CommonDataSubscriber::depthDataCallback(
 		const rtabmap_ros::UserDataConstPtr & userDataMsg,
@@ -324,6 +325,7 @@ void CommonDataSubscriber::depthOdomDataScan3dInfoCallback(
 	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
 	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), cv_bridge::toCvShare(depthMsg), *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupDepthCallbacks(
 		ros::NodeHandle & nh,
@@ -353,6 +355,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
 	imageDepthSub_.subscribe(depth_it, depth_nh.resolveName("image"), 1, hintsDepth);
 	cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
@@ -399,7 +402,9 @@ void CommonDataSubscriber::setupDepthCallbacks(
 			SYNC_DECL5(depthOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
 		}
 	}
-	else if(subscribeOdom)
+	else 
+#endif
+	if(subscribeOdom)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
 
@@ -444,6 +449,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
 			SYNC_DECL4(depthOdom, approxSync, queueSize, odomSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
 		}
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
 		userDataSub_.subscribe(nh, "user_data", 1);
@@ -490,6 +496,7 @@ void CommonDataSubscriber::setupDepthCallbacks(
 			SYNC_DECL4(depthData, approxSync, queueSize, userDataSub_, imageSub_, imageDepthSub_, cameraInfoSub_);
 		}
 	}
+#endif
 	else
 	{
 		if(subscribeScan2d)

src/impl/CommonDataSubscriberOdom.cpp

@@ -47,6 +47,7 @@ void CommonDataSubscriber::odomInfoCallback(
 	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
 	commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
 }
+#ifdef RTABMAP_SYNC_USER_DATA
 void CommonDataSubscriber::odomDataCallback(
 		const nav_msgs::OdometryConstPtr& odomMsg,
 		const rtabmap_ros::UserDataConstPtr & userDataMsg)
@@ -64,6 +65,7 @@ void CommonDataSubscriber::odomDataInfoCallback(
 	sensor_msgs::PointCloud2ConstPtr scan3dMsg; // Null
 	commonOdomCallback(odomMsg, userDataMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupOdomCallbacks(
 		ros::NodeHandle & nh,
@@ -79,6 +81,7 @@ void CommonDataSubscriber::setupOdomCallbacks(
 	{
 		odomSub_.subscribe(nh, "odom", 1);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 		if(subscribeUserData)
 		{
 			userDataSub_.subscribe(nh, "user_data", 1);
@@ -93,7 +96,9 @@ void CommonDataSubscriber::setupOdomCallbacks(
 				SYNC_DECL2(odomData, approxSync, queueSize, odomSub_, userDataSub_);
 			}
 		}
-		else if(subscribeOdomInfo)
+		else 
+#endif
+		if(subscribeOdomInfo)
 		{
 			subscribedToOdomInfo_ = true;
 			odomInfoSub_.subscribe(nh, "odom_info", 1);

src/impl/CommonDataSubscriberRGB.cpp

@@ -177,6 +177,7 @@ void CommonDataSubscriber::rgbOdomScan3dInfoCallback(
 	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 // RGB + Depth + User Data
 void CommonDataSubscriber::rgbDataCallback(
 		const rtabmap_ros::UserDataConstPtr & userDataMsg,
@@ -324,6 +325,7 @@ void CommonDataSubscriber::rgbOdomDataScan3dInfoCallback(
 	cv_bridge::CvImageConstPtr depthMsg;// Null
 	commonSingleDepthCallback(odomMsg, userDataMsg, cv_bridge::toCvShare(imageMsg), depthMsg, *cameraInfoMsg, *cameraInfoMsg, scan2dMsg, scanMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupRGBCallbacks(
 		ros::NodeHandle & nh,
@@ -347,6 +349,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
 	imageSub_.subscribe(rgb_it, rgb_nh.resolveName("image"), 1, hintsRgb);
 	cameraInfoSub_.subscribe(rgb_nh, "camera_info", 1);
 
+#ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
@@ -393,7 +396,9 @@ void CommonDataSubscriber::setupRGBCallbacks(
 			SYNC_DECL4(rgbOdomData, approxSync, queueSize, odomSub_, userDataSub_, imageSub_, cameraInfoSub_);
 		}
 	}
-	else if(subscribeOdom)
+	else
+#endif		
+	if(subscribeOdom)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
 
@@ -438,6 +443,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
 			SYNC_DECL3(rgbOdom, approxSync, queueSize, odomSub_, imageSub_, cameraInfoSub_);
 		}
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
 		userDataSub_.subscribe(nh, "user_data", 1);
@@ -484,6 +490,7 @@ void CommonDataSubscriber::setupRGBCallbacks(
 			SYNC_DECL3(rgbData, approxSync, queueSize, userDataSub_, imageSub_, cameraInfoSub_);
 		}
 	}
+#endif
 	else
 	{
 		if(subscribeScan2d)

src/impl/CommonDataSubscriberRGBD.cpp

@@ -192,6 +192,7 @@ void CommonDataSubscriber::rgbdOdomScan3dInfoCallback(
 	commonSingleDepthCallback(odomMsg, userDataMsg, rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 // 1 RGBD camera + User Data
 void CommonDataSubscriber::rgbdDataCallback(
 		const rtabmap_ros::UserDataConstPtr & userDataMsg,
@@ -351,6 +352,7 @@ void CommonDataSubscriber::rgbdOdomDataScan3dInfoCallback(
 	sensor_msgs::LaserScanConstPtr scanMsg; // Null
 	commonSingleDepthCallback(odomMsg, userDataMsg,rgb, depth, image1Msg->rgbCameraInfo, image1Msg->depthCameraInfo, scanMsg, scan3dMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupRGBDCallbacks(
 		ros::NodeHandle & nh,
@@ -371,7 +373,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 		rgbdSubs_[0] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
 		rgbdSubs_[0]->subscribe(nh, "rgbd_image", 1);
 
-
+#ifdef RTABMAP_SYNC_USER_DATA
 		if(subscribeOdom && subscribeUserData)
 		{
 			odomSub_.subscribe(nh, "odom", 1);
@@ -417,7 +419,9 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 				SYNC_DECL3(rgbdOdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]));
 			}
 		}
-		else if(subscribeOdom)
+		else
+#endif			
+		if(subscribeOdom)
 		{
 			odomSub_.subscribe(nh, "odom", 1);
 			if(subscribeScan2d)
@@ -461,6 +465,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 				SYNC_DECL2(rgbdOdom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]));
 			}
 		}
+#ifdef RTABMAP_SYNC_USER_DATA
 		else if(subscribeUserData)
 		{
 			userDataSub_.subscribe(nh, "user_data", 1);
@@ -505,6 +510,7 @@ void CommonDataSubscriber::setupRGBDCallbacks(
 				SYNC_DECL2(rgbdData, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]));
 			}
 		}
+#endif
 		else
 		{
 			if(subscribeScan2d)

src/impl/CommonDataSubscriberRGBD2.cpp

@@ -202,6 +202,7 @@ void CommonDataSubscriber::rgbd2OdomScan3dInfoCallback(
 	commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 // 2 RGBD + User Data
 void CommonDataSubscriber::rgbd2DataCallback(
 		const rtabmap_ros::UserDataConstPtr& userDataMsg,
@@ -361,6 +362,7 @@ void CommonDataSubscriber::rgbd2OdomDataScan3dInfoCallback(
 	sensor_msgs::LaserScanConstPtr scanMsg; // Null
 	commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupRGBD2Callbacks(
 		ros::NodeHandle & nh,
@@ -381,6 +383,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 		rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
 		rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
@@ -426,7 +429,9 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 			SYNC_DECL4(rgbd2OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
 		}
 	}
-	else if(subscribeOdom)
+	else 
+#endif
+	if(subscribeOdom)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
 		if(subscribeScan2d)
@@ -470,6 +475,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 			SYNC_DECL3(rgbd2Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
 		}
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
 		userDataSub_.subscribe(nh, "user_data", 1);
@@ -514,6 +520,7 @@ void CommonDataSubscriber::setupRGBD2Callbacks(
 			SYNC_DECL3(rgbd2Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]));
 		}
 	}
+#endif
 	else
 	{
 		if(subscribeScan2d)

src/impl/CommonDataSubscriberRGBD3.cpp

@@ -216,6 +216,7 @@ void CommonDataSubscriber::rgbd3OdomScan3dInfoCallback(
 	commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 // 2 RGBD + User Data
 void CommonDataSubscriber::rgbd3DataCallback(
 		const rtabmap_ros::UserDataConstPtr& userDataMsg,
@@ -387,6 +388,7 @@ void CommonDataSubscriber::rgbd3OdomDataScan3dInfoCallback(
 	sensor_msgs::LaserScanConstPtr scanMsg; // Null
 	commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupRGBD3Callbacks(
 		ros::NodeHandle & nh,
@@ -407,6 +409,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 		rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
 		rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
@@ -452,7 +455,9 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 			SYNC_DECL5(rgbd3OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
 		}
 	}
-	else if(subscribeOdom)
+	else
+#endif		
+	if(subscribeOdom)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
 		if(subscribeScan2d)
@@ -496,6 +501,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 			SYNC_DECL4(rgbd3Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
 		}
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
 		userDataSub_.subscribe(nh, "user_data", 1);
@@ -540,6 +546,7 @@ void CommonDataSubscriber::setupRGBD3Callbacks(
 			SYNC_DECL4(rgbd3Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]));
 		}
 	}
+#endif
 	else
 	{
 		if(subscribeScan2d)

src/impl/CommonDataSubscriberRGBD4.cpp

@@ -230,6 +230,7 @@ void CommonDataSubscriber::rgbd4OdomScan3dInfoCallback(
 	commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 // 2 RGBD + User Data
 void CommonDataSubscriber::rgbd4DataCallback(
 		const rtabmap_ros::UserDataConstPtr& userDataMsg,
@@ -413,6 +414,7 @@ void CommonDataSubscriber::rgbd4OdomDataScan3dInfoCallback(
 	sensor_msgs::LaserScanConstPtr scanMsg; // Null
 	commonDepthCallback(odomMsg, userDataMsg, imageMsgs, depthMsgs, cameraInfoMsgs, scanMsg, scan3dMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupRGBD4Callbacks(
 		ros::NodeHandle & nh,
@@ -433,6 +435,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 		rgbdSubs_[i] = new message_filters::Subscriber<rtabmap_ros::RGBDImage>;
 		rgbdSubs_[i]->subscribe(nh, uFormat("rgbd_image%d", i), 1);
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	if(subscribeOdom && subscribeUserData)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
@@ -478,7 +481,9 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 			SYNC_DECL6(rgbd4OdomData, approxSync, queueSize, odomSub_, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
 		}
 	}
-	else if(subscribeOdom)
+	else
+#endif		
+	if(subscribeOdom)
 	{
 		odomSub_.subscribe(nh, "odom", 1);
 		if(subscribeScan2d)
@@ -522,6 +527,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 			SYNC_DECL5(rgbd4Odom, approxSync, queueSize, odomSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
 		}
 	}
+#ifdef RTABMAP_SYNC_USER_DATA
 	else if(subscribeUserData)
 	{
 		userDataSub_.subscribe(nh, "user_data", 1);
@@ -566,6 +572,7 @@ void CommonDataSubscriber::setupRGBD4Callbacks(
 			SYNC_DECL5(rgbd4Data, approxSync, queueSize, userDataSub_, (*rgbdSubs_[0]), (*rgbdSubs_[1]), (*rgbdSubs_[2]), (*rgbdSubs_[3]));
 		}
 	}
+#endif
 	else
 	{
 		if(subscribeScan2d)

src/impl/CommonDataSubscriberScan.cpp

@@ -111,6 +111,7 @@ void CommonDataSubscriber::odomScan3dInfoCallback(
 	commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, scanMsg, odomInfoMsg);
 }
 
+#ifdef RTABMAP_SYNC_USER_DATA
 void CommonDataSubscriber::dataScan2dCallback(
 		const rtabmap_ros::UserDataConstPtr & userDataMsg,
 		const sensor_msgs::LaserScanConstPtr& scanMsg)
@@ -192,6 +193,7 @@ void CommonDataSubscriber::odomDataScan3dInfoCallback(
 	sensor_msgs::LaserScanConstPtr scan2dMsg; // Null
 	commonLaserScanCallback(odomMsg, userDataMsg, scan2dMsg, scanMsg, odomInfoMsg);
 }
+#endif
 
 void CommonDataSubscriber::setupScanCallbacks(
 		ros::NodeHandle & nh,
@@ -218,6 +220,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 			scan3dSub_.subscribe(nh, "scan_cloud", 1);
 		}
 
+#ifdef RTABMAP_SYNC_USER_DATA
 		if(subscribeOdom && subscribeUserData)
 		{
 			odomSub_.subscribe(nh, "odom", 1);
@@ -250,7 +253,9 @@ void CommonDataSubscriber::setupScanCallbacks(
 				}
 			}
 		}
-		else if(subscribeOdom)
+		else
+#endif			
+		if(subscribeOdom)
 		{
 			odomSub_.subscribe(nh, "odom", 1);
 
@@ -281,6 +286,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 				}
 			}
 		}
+#ifdef RTABMAP_SYNC_USER_DATA
 		else if(subscribeUserData)
 		{
 			userDataSub_.subscribe(nh, "user_data", 1);
@@ -312,6 +318,7 @@ void CommonDataSubscriber::setupScanCallbacks(
 				}
 			}
 		}
+#endif
 		else
 		{
 			if(scan2dTopic)