how to disable the optimization?

[mantouRobot]

Hi~
      I want to disable the optimization and only use the odom to map to check my odom, how can I do that?
      Thank u so much~

[matlabbe]

Hi,

You can set "Kp/MaxFeatures" to -1. On ROS, without any changes, you can pause mapping ($ rosservice call /rtabmap/pause) and republish the map not optimized ($rosservice call /rtabmap/publish_map 1 0 1), so that MapCloud RVIZ plugin would show the map not optimized by loop closures (raw odometry).

cheers

[mantouRobot]

Hi~
      I got it. Thank u so much~