From db0fae6b18da9fc3255a20a64dc7f86127ecb1b6 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Thu, 2 Jun 2016 14:21:07 -0400
Subject: [PATCH] Added localization arg to rtabmap.launch for convenience

---
 launch/rtabmap.launch | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index 7fab41d8..d41a611a 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -22,6 +22,9 @@
   <arg name="rtabmapviz"              default="true" /> 
   <arg name="rviz"                    default="false" />
   
+  <!-- Localization-only mode -->
+  <arg name="localization"            default="false"/>
+  
   <!-- Corresponding config files -->
   <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
   <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
@@ -138,6 +141,11 @@
       <remap from="scan"                   to="$(arg scan_topic)"/>
       <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
       <remap unless="$(arg visual_odometry)" from="odom"  to="$(arg odom_topic)"/>
+      
+      <!-- localization mode -->
+	  <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
+	  <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
+	  <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
     </node>
   
     <!-- Visualisation RTAB-Map -->