what difference between estimate and odom from rosservice dump data?

koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM

BSD 2-Clause "Simplified" License

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Open PigBroA opened 7 months ago

PigBroA commented 7 months ago

Dear @koide3

what difference is between estimate and odom from rosservice dump data?

Thank you very much.

koide3 commented 7 months ago

estimate represents a result with loop closure, while odom represents the one without loops.

PigBroA commented 7 months ago

Thank you very much @kkoide3 Then, Interactive_SLAM read estimate information from dump?