Does rtabmap perform relocalization in slam node, or this something the odometry node does? What happens for instance if I have lidar with icp odometry (reg/strategy=1) and rtabmap with camera and odometry from odometry node with reg/strategy set to visual (reg/strategy=0). It seems like only the odometry node perform the relocalization as well and not the rtabmap node? Am I missing something here?
here is the launch file
correction: the reg/strategy should be 0 for this case I am wondering