rtabmap 0.15.3 now required. icp_odometry: added scan_downsampling_step parameter. OdometryROS: fixed too old tf stamps when guess and minimum motion are set.

include/rtabmap_ros/OdometryROS.h

@@ -127,6 +127,8 @@ private:
 	bool stereoParams_;
 	bool visParams_;
 	bool icpParams_;
+	rtabmap::Transform guess_;
+	double guessStamp_;
 };
 
 }