message: Fixed bug where map id was incremented when recovering from odometry lost
diff: @@ -828,8 +828,11 @@ bool CoreWrapper::odomUpdate(const nav_msgs::OdometryConstPtr & odomMsg, ros::Ti
  {
  if(!paused_)
  {
  - Transform odom = rtabmap_ros::getTransform(odomMsg->header.frame_id, frameId_, stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0.0);
  - if(odom.isNull())
  + Transform odom = rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose);
  + if(!odom.isNull())
  + {
  + Transform odomTF = rtabmap_ros::getTransform(odomMsg->header.frame_id, frameId_, stamp, tfListener_, waitForTransform_?waitForTransformDuration_:0.0);
  + if(odomTF.isNull())
  {
  static bool shown = false;
  if(!shown)
  @@ -840,9 +843,13 @@ bool CoreWrapper::odomUpdate(const nav_msgs::OdometryConstPtr & odomMsg, ros::Ti
  "warning is only printed once.", odomMsg->header.frame_id.c_str(), frameId_.c_str(), stamp.toSec(), odomMsg->header.stamp.toSec());
  shown = true;
  }
  - odom = rtabmap_ros::transformFromPoseMsg(odomMsg->pose.pose);
  stamp = odomMsg->header.stamp;
  }
  + else
  + {
  + odom = odomTF;
  + }
  + }
  if(!lastPose_.isIdentity() && !odom.isNull() && (odom.isIdentity() || (odomMsg->pose.covariance[0] >= BAD_COVARIANCE && odomMsg->twist.covariance[0] >= BAD_COVARIANCE)))
  {
  