From d90c92c764b4cf7b50a4db8956c1c34fe3e3dd08 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 28 Sep 2015 15:48:06 -0400
Subject: [PATCH] fixed scan_topic subscription in rgbd_mapping.launch and
 stereo_mapping.launch

---
 launch/rgbd_mapping.launch   | 4 ++--
 launch/stereo_mapping.launch | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/launch/rgbd_mapping.launch b/launch/rgbd_mapping.launch
index 8578b32f..d8da1108 100644
--- a/launch/rgbd_mapping.launch
+++ b/launch/rgbd_mapping.launch
@@ -67,7 +67,7 @@
     <!-- Visual SLAM (robot side) -->
     <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
       <param name="subscribe_depth"    type="bool"   value="true"/>
-      <param name="subscribe_scan"     type="bool"   value="$(arg subscribe_scan)"/>
+      <param name="subscribe_laserScan"     type="bool"   value="$(arg subscribe_scan)"/>
 	  <param name="frame_id"           type="string" value="$(arg frame_id)"/>
 	  <param name="wait_for_transform_duration" type="double"   value="$(arg wait_for_transform)"/>
 	  <param name="database_path"      type="string" value="$(arg database_path)"/>
@@ -93,7 +93,7 @@
     <!-- Visualisation RTAB-Map -->
     <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen" launch-prefix="$(arg launch_prefix)">
       <param name="subscribe_depth"     type="bool"   value="true"/>
-      <param name="subscribe_scan"      type="bool"   value="$(arg subscribe_scan)"/>
+      <param name="subscribe_laserScan"      type="bool"   value="$(arg subscribe_scan)"/>
       <param name="subscribe_odom_info" type="bool"   value="$(arg visual_odometry)"/>
       <param name="frame_id"            type="string" value="$(arg frame_id)"/>
       <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
diff --git a/launch/stereo_mapping.launch b/launch/stereo_mapping.launch
index fce4399b..c9ea6c3e 100644
--- a/launch/stereo_mapping.launch
+++ b/launch/stereo_mapping.launch
@@ -75,7 +75,7 @@
     <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="$(arg rtabmap_args)">
       <param name="subscribe_depth"     type="bool"   value="false"/>
       <param name="subscribe_stereo"    type="bool"   value="true"/>
-      <param name="subscribe_scan"      type="bool"   value="$(arg subscribe_scan)"/>
+      <param name="subscribe_laserScan"      type="bool"   value="$(arg subscribe_scan)"/>
       <param name="frame_id"            type="string" value="$(arg frame_id)"/>
       <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
       <param name="database_path"       type="string" value="$(arg database_path)"/>
@@ -104,7 +104,7 @@
     <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
       <param name="subscribe_depth"      type="bool"   value="false"/>
       <param name="subscribe_stereo"     type="bool"   value="true"/>
-      <param name="subscribe_scan"       type="bool"   value="$(arg subscribe_scan)"/>
+      <param name="subscribe_laserScan"       type="bool"   value="$(arg subscribe_scan)"/>
       <param name="subscribe_odom_info"  type="bool"   value="$(arg visual_odometry)"/>
       <param name="frame_id"             type="string" value="$(arg frame_id)"/>
       <param name="wait_for_transform_duration"   type="double"   value="$(arg wait_for_transform)"/>