message: rtabmap: updated related parameters if scan_cloud_is_2d is true
diff: @@ -488,7 +488,7 @@ void CoreWrapper::onInit()
  Parameters::kGridSensor().c_str());
  parameters_.insert(ParametersPair(Parameters::kGridRangeMax(), "0"));
  }
  - if(subscribeScan3d && parameters_.find(Parameters::kIcpPointToPlaneRadius()) == parameters_.end())
  + if(subscribeScan3d && !scanCloudIs2d_ && parameters_.find(Parameters::kIcpPointToPlaneRadius()) == parameters_.end())
  {
  NODELET_INFO("Setting \"%s\" parameter to 0 (default %f) as \"subscribe_scan_cloud\" is true.",
  Parameters::kIcpPointToPlaneRadius().c_str(),
  @@ -500,13 +500,14 @@ void CoreWrapper::onInit()
  if(parameters_.find(Parameters::kRGBDProximityPathMaxNeighbors()) == parameters_.end() &&
  (regStrategy == Registration::kTypeIcp || regStrategy == Registration::kTypeVisIcp))
  {
  - if(subscribeScan2d)
  + if(subscribeScan2d || (subscribeScan3d && scanCloudIs2d_))
  {
  - NODELET_WARN("Setting \"%s\" parameter to 10 (default 0) as \"subscribe_scan\" is "
  + NODELET_WARN("Setting \"%s\" parameter to 10 (default 0) as \"%s\" is "
  "true and \"%s\" uses ICP. Proximity detection by space will be also done by merging close "
  "scans. To disable, set \"%s\" to 0. To suppress this warning, "
  "add <param name=\"%s\" type=\"string\" value=\"10\"/>",
  Parameters::kRGBDProximityPathMaxNeighbors().c_str(),
  + subscribeScan2d?"subscribe_scan":"scan_cloud_is_2d",
  Parameters::kRegStrategy().c_str(),
  Parameters::kRGBDProximityPathMaxNeighbors().c_str(),
  Parameters::kRGBDProximityPathMaxNeighbors().c_str());
  