message: CoreWrapper: setting RGBD/ProximityPathMaxNeighbors to 10 by default when not subscribing to any camera input (only 2d scan input)
diff: @@ -475,7 +475,7 @@ void CoreWrapper::onInit()
  }
  }
  }
  -
  + ParametersMap modifiedParameters = parameters_;
  // Add all other parameters (not copied if already exists)
  parameters_.insert(allParameters.begin(), allParameters.end());
  @@ -592,7 +592,7 @@ void CoreWrapper::onInit()
  }
  else if(publishTf)
  {
  - UWARN("Graph optimization is disabled (%s=0), the tf between frame \"%s\" and odometry frame will not be published. You can safely ignore this warning if you are using map_optimizer node.",
  + NODELET_WARN("Graph optimization is disabled (%s=0), the tf between frame \"%s\" and odometry frame will not be published. You can safely ignore this warning if you are using map_optimizer node.",
  Parameters::kOptimizerIterations().c_str(), mapFrameId_.c_str());
  }
  @@ -623,7 +623,7 @@ void CoreWrapper::onInit()
  !this->isSubscribedToRGB() &&
  (this->isSubscribedToScan2d() || this->isSubscribedToScan3d() || this->isSubscribedToOdom()))
  {
  - ROS_WARN("There is no image subscription, bag-of-words loop closure detection will be disabled...");
  + NODELET_WARN("There is no image subscription, bag-of-words loop closure detection will be disabled...");
  int kpMaxFeatures = Parameters::defaultKpMaxFeatures();
  int registrationStrategy = Parameters::defaultRegStrategy();
  Parameters::parse(parameters_, Parameters::kKpMaxFeatures(), kpMaxFeatures);
  @@ -632,14 +632,30 @@ void CoreWrapper::onInit()
  if(kpMaxFeatures!= -1)
  {
  uInsert(parameters_, ParametersPair(Parameters::kKpMaxFeatures(), "-1"));
  - ROS_WARN("Setting %s=-1 (bag-of-words disabled)", Parameters::kKpMaxFeatures().c_str());
  + NODELET_WARN("Setting %s=-1 (bag-of-words disabled)", Parameters::kKpMaxFeatures().c_str());
  updateParams = true;
  }
  if((this->isSubscribedToScan2d() || this->isSubscribedToScan3d()) && registrationStrategy != 1)
  {
  uInsert(parameters_, ParametersPair(Parameters::kRegStrategy(), "1"));
  - ROS_WARN("Setting %s=1 (ICP)", Parameters::kRegStrategy().c_str());
  + NODELET_WARN("Setting %s=1 (ICP)", Parameters::kRegStrategy().c_str());
  updateParams = true;
  +
  + if(this->isSubscribedToScan2d())
  + {
  + if(modifiedParameters.find(Parameters::kRGBDProximityPathMaxNeighbors()) == modifiedParameters.end())
  + {
  + NODELET_WARN("Setting \"%s\" parameter to 10 (default 0) as \"subscribe_scan\" 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(),
  + Parameters::kRegStrategy().c_str(),
  + Parameters::kRGBDProximityPathMaxNeighbors().c_str(),
  + Parameters::kRGBDProximityPathMaxNeighbors().c_str());
  + uInsert(parameters_, ParametersPair(Parameters::kRGBDProximityPathMaxNeighbors(), "10"));
  + }
  + }
  }
  if(updateParams)
  {
  