From bcf46d89167173f0932d7d58737736d5cddc04c9 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Fri, 11 Jan 2013 20:46:23 +0000
Subject: [PATCH] fixed compilation error...

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@727 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 rtabmap/src/CoreWrapper.cpp | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/rtabmap/src/CoreWrapper.cpp b/rtabmap/src/CoreWrapper.cpp
index 87445bb6..44d22b98 100644
--- a/rtabmap/src/CoreWrapper.cpp
+++ b/rtabmap/src/CoreWrapper.cpp
@@ -34,14 +34,9 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 	infoPubEx_ = nh.advertise<rtabmap::InfoEx>("infoEx", 1);
 	parametersLoadedPub_ = nh.advertise<std_msgs::Empty>("parameters_loaded", 1);
 
-	rtabmap_ = new Rtabmap();
+	rtabmap_ = new Rtabmap(Parameters::defaultRtabmapWorkingDirectory(), deleteDbOnStart);
 	UEventsManager::addHandler(rtabmap_);
-	loadNodeParameters(rtabmap_->getIniFilePath());
-
-	if(deleteDbOnStart)
-	{
-		this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdDeleteMemory));
-	}
+	loadNodeParameters(UDirectory::homeDir()+"/.rtabmap/rtabmap.ini");
 
 	rtabmap_->init();
 
@@ -61,7 +56,7 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
 
 CoreWrapper::~CoreWrapper()
 {
-	this->saveNodeParameters(rtabmap_->getIniFilePath());
+	this->saveNodeParameters(UDirectory::homeDir()+"/.rtabmap/rtabmap.ini");
 	delete rtabmap_;
 }