From d502991d804627f26f88e1a6bee404e76ea47a06 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Wed, 28 Oct 2015 18:49:28 -0400
Subject: [PATCH] data_reocrder.launch: added stereo_approx_sync argument and
 desactivated LocalLoopClosureSpace

---
 launch/data_recorder.launch | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/launch/data_recorder.launch b/launch/data_recorder.launch
index c95294fe..c52f0a90 100644
--- a/launch/data_recorder.launch
+++ b/launch/data_recorder.launch
@@ -5,6 +5,7 @@
   <arg name="subscribe_depth"      default="true"/>
   <arg name="subscribe_stereo"     default="false"/>
   <arg name="subscribe_laserScan"  default="false"/>
+  <arg name="stereo_approx_sync"   default="false"/>
   
   <arg name="frame_id"      default="camera_link"/>
   <arg name="odom_frame_id" default=""/>        <!-- use topic when not set, otherwise use TF if set -->
@@ -37,6 +38,7 @@
 	<param name="Rtabmap/MemoryThr"       type="string" value="1"/>      <!-- keep the WM empty --> 
 	<param name="Mem/STMSize"             type="string" value="1"/>      <!-- STM=1 --> 
 	<param name="publish_tf"              type="bool"   value="false"/>  <!-- don't publish TF -->
+	<param name="RGBD/LocalLoopDetectionSpace" type="bool"   value="false"/> 
 	<param unless="$(arg subscribe_odometry)" name="RGBD/Enabled" type="string" value="false"/>
 	
 	<param name="Rtabmap/DetectionRate"   type="string" value="$(arg max_rate)"/>
@@ -47,6 +49,7 @@
 	<param name="subscribe_laserScan" type="bool"   value="$(arg subscribe_laserScan)"/>
 	<param name="subscribe_stereo"    type="bool"   value="$(arg subscribe_stereo)"/>
 	<param name="queue_size"          type="int"    value="$(arg queue_size)"/>
+	<param name="stereo_approx_sync"  type="bool"    value="$(arg stereo_approx_sync)"/>
 	
 	<!-- Hack to use a fake odom_frame_id=frame_id if subscribe_odometry = false -->
 	<param if="$(arg subscribe_odometry)" name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>