message: rtabmap: Fixed some modified parameters not updated on param server when subscribed to lidar only
diff: @@ -500,12 +500,6 @@ void CoreWrapper::onInit()
  // Add all other parameters (not copied if already exists)
  parameters_.insert(allParameters.begin(), allParameters.end());
  - // set public parameters
  - nh.setParam("is_rtabmap_paused", paused_);
  - for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
  - {
  - nh.setParam(iter->first, iter->second);
  - }
  if(parameters_.find(Parameters::kRtabmapDetectionRate()) != parameters_.end())
  {
  Parameters::parse(parameters_, Parameters::kRtabmapDetectionRate(), rate_);
  @@ -715,6 +709,13 @@ void CoreWrapper::onInit()
  }
  }
  + // set public parameters
  + nh.setParam("is_rtabmap_paused", paused_);
  + for(ParametersMap::iterator iter=parameters_.begin(); iter!=parameters_.end(); ++iter)
  + {
  + nh.setParam(iter->first, iter->second);
  + }
  +
  userDataAsyncSub_ = nh.subscribe("user_data_async", 1, &CoreWrapper::userDataAsyncCallback, this);
  globalPoseAsyncSub_ = nh.subscribe("global_pose", 1, &CoreWrapper::globalPoseAsyncCallback, this);
  gpsFixAsyncSub_ = nh.subscribe("gps/fix", 1, &CoreWrapper::gpsFixAsyncCallback, this);
  