From 08e7d636788de73f2e0e9701adfdb53740986bd0 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sun, 19 Apr 2026 23:07:07 +0000
Subject: [PATCH] Support upstream 0.23.5

---
 rtabmap_conversions/CMakeLists.txt |  2 +-
 rtabmap_slam/src/CoreWrapper.cpp   | 18 +++++++++++-------
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/rtabmap_conversions/CMakeLists.txt b/rtabmap_conversions/CMakeLists.txt
index d0cc59ed..17e44954 100644
--- a/rtabmap_conversions/CMakeLists.txt
+++ b/rtabmap_conversions/CMakeLists.txt
@@ -7,7 +7,7 @@ find_package(catkin REQUIRED COMPONENTS
              image_geometry rtabmap_msgs
 )
 
-find_package(RTABMap 0.23.4 REQUIRED)
+find_package(RTABMap 0.23.5 REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include
diff --git a/rtabmap_slam/src/CoreWrapper.cpp b/rtabmap_slam/src/CoreWrapper.cpp
index e2a5b1f8..82ae6fc6 100644
--- a/rtabmap_slam/src/CoreWrapper.cpp
+++ b/rtabmap_slam/src/CoreWrapper.cpp
@@ -2196,8 +2196,8 @@ void CoreWrapper::process(
 				if(rtabmap_.getMemory() == 0 ||
 					filteredPoses.size() == 0 ||
 					rtabmap_.getMemory()->getLastSignatureId() != filteredPoses.rbegin()->first ||
-					rtabmap_.getMemory()->getLastWorkingSignature() == 0 ||
-					rtabmap_.getMemory()->getLastWorkingSignature()->sensorData().gridCellSize() == 0 ||
+					rtabmap_.getMemory()->getLastWorkingSignature(true) == 0 ||
+					rtabmap_.getMemory()->getLastWorkingSignature(true)->sensorData().gridCellSize() == 0 ||
 					(!mapsManager_.getLocalMapMaker()->isGridFromDepth() && data.laserScanRaw().is2d())) // 2d laser scan would fill empty space for latest data
 				{
 					SensorData tmpData = data;
@@ -3421,16 +3421,16 @@ bool CoreWrapper::setLogError(std_srvs::Empty::Request&, std_srvs::Empty::Respon
 
 bool CoreWrapper::getNodeDataCallback(rtabmap_msgs::GetNodeData::Request& req, rtabmap_msgs::GetNodeData::Response& res)
 {
-	NODELET_INFO("rtabmap: Getting node data (%d node(s), images=%s scan=%s grid=%s user_data=%s)...",
+	NODELET_INFO("rtabmap: Getting node data (%d node(s), images=%s scan=%s grid=%s user_data=%s )...",
 			(int)req.ids.size(),
 			req.images?"true":"false",
 			req.scan?"true":"false",
 			req.grid?"true":"false",
 			req.user_data?"true":"false");
 
-	if(req.ids.empty() && rtabmap_.getMemory() && rtabmap_.getMemory()->getLastWorkingSignature())
+	if(req.ids.empty() && rtabmap_.getMemory() && rtabmap_.getMemory()->getLastWorkingSignature(true))
 	{
-		req.ids.push_back(rtabmap_.getMemory()->getLastWorkingSignature()->id());
+		req.ids.push_back(rtabmap_.getMemory()->getLastWorkingSignature(true)->id());
 	}
 	for(size_t i=0; i<req.ids.size(); ++i)
 	{
@@ -3467,6 +3467,8 @@ bool CoreWrapper::getMapDataCallback(rtabmap_msgs::GetMap::Request& req, rtabmap
 			!req.graphOnly,
 			!req.graphOnly,
 			!req.graphOnly,
+			!req.graphOnly,
+			!req.graphOnly,
 			!req.graphOnly);
 
 	//RGB-D SLAM data
@@ -3484,13 +3486,15 @@ bool CoreWrapper::getMapDataCallback(rtabmap_msgs::GetMap::Request& req, rtabmap
 
 bool CoreWrapper::getMapData2Callback(rtabmap_msgs::GetMap2::Request& req, rtabmap_msgs::GetMap2::Response& res)
 {
-	NODELET_INFO("rtabmap: Getting map (global=%s optimized=%s with_images=%s with_scans=%s with_user_data=%s with_grids=%s)...",
+	NODELET_INFO("rtabmap: Getting map (global=%s optimized=%s with_images=%s with_scans=%s with_user_data=%s with_grids=%s with_words=%s with_global_descriptors=%s)...",
 			req.global?"true":"false",
 			req.optimized?"true":"false",
 			req.with_images?"true":"false",
 			req.with_scans?"true":"false",
 			req.with_user_data?"true":"false",
-			req.with_grids?"true":"false");
+			req.with_grids?"true":"false",
+			req.with_words?"true":"false",
+			req.with_global_descriptors?"true":"false");
 	std::map<int, Signature> signatures;
 	std::map<int, Transform> poses;
 	std::multimap<int, rtabmap::Link> constraints;