Updated for rtabmap 0.20.5. OdometryROS: Fixed odometry stamps slightly off when subscribing to IMU (causing exact sync problems on rtabmap/rtambapviz side).

include/rtabmap_ros/CommonDataSubscriber.h

@@ -72,6 +72,7 @@ public:
 	int rgbdCameras() const {return isSubscribedToRGBD()?(int)rgbdSubs_.size():0;}
 	int getQueueSize() const {return queueSize_;}
 	bool isApproxSync() const {return approxSync_;}
+	const std::string & name() const {return name_;}
 
 protected:
 	void setupCallbacks(

include/rtabmap_ros/OdometryROS.h

@@ -142,7 +142,7 @@ private:
 	bool waitIMUToinit_;
 	bool imuProcessed_;
 	std::map<double, rtabmap::IMU> imus_;
-	rtabmap::SensorData bufferedData_;
+	std::pair<rtabmap::SensorData, ros::Time> bufferedData_;
 };
 
 }