Open abhi2198 opened 1 year ago
publish_tf_odom
argument on rtabmap.launch
will disable odometry TF published from visual odometry node. The node is still running and publishing the odometry topic.
This can be useful if you want to do fusion of multiple odometry sources, in which case you don't want all odometry sources to publish on same TF. You may disable all their TF publishers, and feed their odometry topics to robot_localization package, which will republish the combined TF odometry that rtabmap node can use.
As above, curious what happens when it is set to false. I pass in rgbd images, imu & robot odom through tf, curious if rtabmap will still estimate Visual odometry or just use the robot's odom to do graph optimization.