Rtabmap in Localization Mode

[David9696]

Hi,

In rtabmap localization mode, besides manual monitor, is there a way to know how good or how bad the localization is? Is there a rostopic or metric for localization performance? In other words, if the robot is lost in a map during localization, is there a metric or rostopic indicate that?

Thanks.

[matlabbe]

See https://github.com/introlab/rtabmap_ros/issues/489