Fixed odom args ignored, fixed octomap_full output with right conversion

src/MapsManager.cpp

@@ -872,7 +872,7 @@ void MapsManager::publishMaps(
 		if(octoMapPubFull_.getNumSubscribers())
 		{
 			octomap_msgs::Octomap msg;
-			octomap_msgs::binaryMapToMsg(*octomap_->octree(), msg);
+			octomap_msgs::fullMapToMsg(*octomap_->octree(), msg);
 			msg.header.frame_id = mapFrameId;
 			msg.header.stamp = stamp;
 			octoMapPubFull_.publish(msg);

src/RGBDOdometryNode.cpp

@@ -37,6 +37,7 @@ int main(int argc, char **argv)
 	ros::init(argc, argv, "rgbd_odometry");
 
 	// process "--params" argument
+	nodelet::V_string nargv;
 	for(int i=1;i<argc;++i)
 	{
 		if(strcmp(argv[i], "--params") == 0)
@@ -65,11 +66,11 @@ int main(int argc, char **argv)
 		{
 			ULogger::setLevel(ULogger::kInfo);
 		}
+		nargv.push_back(argv[i]);
 	}
 
 	nodelet::Loader nodelet;
 	nodelet::M_string remap(ros::names::getRemappings());
-	nodelet::V_string nargv;
 	std::string nodelet_name = ros::this_node::getName();
 	nodelet.load(nodelet_name, "rtabmap_ros/rgbd_odometry", remap, nargv);
 	ros::spin();

src/StereoOdometryNode.cpp

@@ -37,6 +37,7 @@ int main(int argc, char **argv)
 	ros::init(argc, argv, "stereo_odometry");
 
 	// process "--params" argument
+	nodelet::V_string nargv;
 	for(int i=1;i<argc;++i)
 	{
 		if(strcmp(argv[i], "--params") == 0)
@@ -65,11 +66,12 @@ int main(int argc, char **argv)
 		{
 			ULogger::setLevel(ULogger::kInfo);
 		}
+		nargv.push_back(argv[i]);
+
 	}
 
 	nodelet::Loader nodelet;
 	nodelet::M_string remap(ros::names::getRemappings());
-	nodelet::V_string nargv;
 	std::string nodelet_name = ros::this_node::getName();
 	nodelet.load(nodelet_name, "rtabmap_ros/stereo_odometry", remap, nargv);
 	ros::spin();

src/nodelets/OdometryROS.cpp

@@ -222,6 +222,7 @@ void OdometryROS::onInit()
 	{
 		argv[i] = &argList[i].at(0);
 	}
+
 	rtabmap::ParametersMap parameters = rtabmap::Parameters::parseArguments(argList.size(), argv);
 	for(rtabmap::ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)
 	{