Is it possible to turn off Odometry?

[John]

Hi,

Is it possible to turn off Odometry with ROS RTAB-Map and just have a  visual SLAM  approach?

Thanks

John

[matlabbe]

Yes,

If you are creating your own launch file, just don't add rgbd_odometry node. If you are using rgbd_mapping.launch, you can call it like that:

$ roslaunch rtabmap_ros rgbd_mapping.launch visual_odometry:=false odom_topic:=/odom

You must provide your own odometry with the odom_topic argument.

cheers