map -> odom as nav_msgs/Odometry

[zlacelle]

Does rtabmap have a parameter where it will publish the transform from map->base_link as a nav_msgs/Odometry?  I'd like a way to consume this directly (similar to how ekf_localization publishes an odom->base_link nav_msgs/Odometry topic).

This way,  I can visualize and work with robot poses directly in the map frame without using tf.

[matlabbe]

Hi,

No, it doesn't publish /map -> /base_link as a pose or odometry message. However, to see map graph's poses, you can add the rtabmap_ros/MapGraph display to RVIZ, and make it subscribe to /rtabmap/mapGraph topic.

If you want to republish an Odometry or Pose message, you can subscribe to /rtabmap/mapGraph, and republish the last pose in "poses" vector (see rtabmap_ros/MapGraph msg definition). The "poses" are the poses of /base_link according to /map frame.

cheers,
Mathieu