message: rtabmapviz: wait max 5 seconds on startup before warning that rtabmap parameters are not yet there (in case we just started at the same time rtabmap node)
diff: @@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  #include <QMessageBox>
  #include <ros/exceptions.h>
  #include <rtabmap/utilite/UStl.h>
  +#include <rtabmap/utilite/UTimer.h>
  using namespace rtabmap;
  @@ -84,7 +85,7 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
  }
  ros::NodeHandle nh;
  - ROS_INFO("%s", this->getParamMessage().toStdString().c_str());
  + ROS_INFO("rtabmapviz: %s", this->getParamMessage().toStdString().c_str());
  bool validParameters = true;
  int readCount = 0;
  rtabmap::ParametersMap parameters = rtabmap::Parameters::getDefaultParameters();
  @@ -100,6 +101,27 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
  ++iter;
  }
  }
  +
  + // Wait rtabmap parameters to appear (if gui noe has been launched at the same time than rtabmap)
  + if(!this->isVisible())
  + {
  + double stamp = UTimer::now();
  + std::string tmp;
  + bool warned = false;
  + while(!nh.getParam(Parameters::kRtabmapDetectionRate(),tmp) && UTimer::now()-stamp < 5.0)
  + {
  + if(!warned)
  + {
  + ROS_INFO("rtabmapviz: Cannot get rtabmap's parameters, waiting max 5 seconds in case the node has just been launched.");
  + warned = true;
  + }
  + }
  + if(warned && UTimer::now()-stamp < 5.0)
  + {
  + ROS_INFO("rtabmapviz: rtabmap's parameters seem now there! continuing...");
  + }
  + }
  +
  for(rtabmap::ParametersMap::iterator i=parameters.begin(); i!=parameters.end(); ++i)
  {
  if(i->first.compare(rtabmap::Parameters::kRtabmapWorkingDirectory()) == 0)
  @@ -131,17 +153,17 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
  }
  else
  {
  - ROS_WARN("Parameter %s not found", i->first.c_str());
  + ROS_WARN("rtabmapviz: Parameter %s not found", i->first.c_str());
  validParameters = false;
  }
  }
  }
  - ROS_INFO("Parameters read = %d", readCount);
  + ROS_INFO("rtabmapviz: Parameters read = %d", readCount);
  if(validParameters)
  {
  - ROS_INFO("Parameters successfully read.");
  + ROS_INFO("rtabmapviz: Parameters successfully read.");
  }
  else
  {
  