difference between pause and pause_odom?

[pammirato]

If i want to completely pause rtabmap, move my camera around, but the camera back to approximately the same position, then resume rtabmap, which should i use  pause or pause_odom or both?

What;s the difference between them?

[matlabbe]

Hi,

Call "pause_odom" to pause and "resume_odom" to resume.

The difference is that "pause" will pause rtabmap node and "pause_odom" will pause the odometry node. As rtabmap is subscribed to /odom topic from odometry node, if the later doesn't publish /odom, the callback of rtabmap won't be called (so indirectly pausing it).

cheers,
Mathieu