From f859eca6191705ac03bc595755f81cd957af6089 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 13 Aug 2019 16:09:56 -0400
Subject: [PATCH] rtabmap.launch: fixed imu_topic argument not used by
 rgbd_odometry

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

diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index 3d00370c..0c846768 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -184,6 +184,7 @@
           <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
           <remap from="rgbd_image"      to="$(arg rgbd_topic_relay)"/>
           <remap from="odom"            to="$(arg odom_topic)"/>
+          <remap from="imu"             to="$(arg imu_topic)"/>
       
           <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
           <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>
@@ -234,6 +235,7 @@
       <remap from="scan"                   to="$(arg scan_topic)"/>
       <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
       <remap from="odom"                   to="$(arg odom_topic)"/>
+      <remap from="imu"                    to="$(arg imu_topic)"/>
       
       <param name="frame_id"                    type="string" value="$(arg frame_id)"/>
       <param name="odom_frame_id"               type="string" value="$(arg vo_frame_id)"/>