message: rtabmap node: fixed Rtabmap/CreateIntermediateNodes ignored after first initialization.
diff: @@ -2652,6 +2652,11 @@ bool CoreWrapper::updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Emp
  rate_ = uStr2Float(parameters_.at(Parameters::kRtabmapDetectionRate()));
  NODELET_INFO("RTAB-Map rate detection = %f Hz", rate_);
  }
  + if(parameters_.find(Parameters::kRtabmapCreateIntermediateNodes()) != parameters_.end())
  + {
  + createIntermediateNodes_ = uStr2Bool(parameters_.at(Parameters::kRtabmapCreateIntermediateNodes()));
  + NODELET_INFO("Create intermediate nodes = %s", createIntermediateNodes_?"true":"false");
  + }
  rtabmap_.parseParameters(parameters_);
  mapsManager_.setParameters(parameters_);
  return true;
  