message: Disable local scan matching if registration doesn't use ICP
diff: @@ -55,6 +55,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  #include <rtabmap/core/Version.h>
  #include <rtabmap/core/OccupancyGrid.h>
  #include <rtabmap/core/DBDriver.h>
  +#include <rtabmap/core/Registration.h>
  #ifdef WITH_OCTOMAP_ROS
  #ifdef RTABMAP_OCTOMAP
  @@ -331,16 +332,19 @@ void CoreWrapper::onInit()
  Parameters::kGridFromDepth().c_str());
  parameters_.insert(ParametersPair(Parameters::kGridFromDepth(), "false"));
  }
  + int regStrategy = 0;
  + Parameters::parse(parameters_, Parameters::kRegStrategy(), regStrategy);
  if(subscribeScan2d &&
  parameters_.find(Parameters::kRGBDProximityPathMaxNeighbors()) == parameters_.end() &&
  - (parameters_.find(Parameters::kRGBDProximityBySpace()) == parameters_.end() ||
  - uStr2Bool(parameters_.at(Parameters::kRGBDProximityBySpace()))))
  + (regStrategy == Registration::kTypeIcp || regStrategy == Registration::kTypeVisIcp))
  {
  NODELET_WARN("Setting \"%s\" parameter to 10 (default 0) as \"subscribe_scan\" is "
  - "true. Proximity detection by space will be also done by merging close "
  - "scans. To disable, set to 0. To suppress this warning, "
  + "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(),
  + Parameters::kRegStrategy().c_str(),
  + Parameters::kRGBDProximityPathMaxNeighbors().c_str(),
  Parameters::kRGBDProximityPathMaxNeighbors().c_str());
  parameters_.insert(ParametersPair(Parameters::kRGBDProximityPathMaxNeighbors(), "10"));
  }
  