From ee9d16994fd8321519560f7a6a82498b9e3a97f2 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Thu, 20 Feb 2020 18:10:38 -0500
Subject: [PATCH] rtabmap.launch: set approx_sync=false by default is not
 subscribing to any camera topics

---
 launch/rtabmap.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index 16c81bbc..6b2afca0 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -52,7 +52,7 @@
 
   <!-- if timestamps of the input topics are synchronized using approximate or exact time policy-->
   <arg     if="$(arg stereo)" name="approx_sync"  default="false"/>
-  <arg unless="$(arg stereo)" name="approx_sync"  default="true"/>         
+  <arg unless="$(arg stereo)" name="approx_sync"  default="$(arg depth)"/>         
    
   <!-- RGB-D related topics -->
   <arg name="rgb_topic"               default="/camera/rgb/image_rect_color" />