We noticed that rtabmap running local loop-closures and update pose even when robot is static and smallDisplacement is true.
Odometry indeed has changed a bit (0.0000x values).
What's the reason for it?
Log is below:
The small displacement may be ignored in localization mode. In mapping mode, loop closures can be detected with small displacement only if the previous node doesn't have a loop closure. This check as implemented right now would not work in localization mode as new nodes are always disconnected from previous nodes in the graph. I created an issue about that.