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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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What happens when publish_tf_odom is set to false? #958

Open abhi2198 opened 1 year ago

abhi2198 commented 1 year ago

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.

matlabbe commented 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.