Re: Integrate external markers from apriltag_ros with Priors

Posted by fboris on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Integrate-external-markers-from-apriltag-ros-with-Priors-tp10358p10400.html

Mathieu,
After weeks trying, i make heading error less(cause by bad prior)! But I has another question. Base on discussion on https://github.com/introlab/rtabmap_ros/issues/960  , rtabmap follows REP 105. Is it possible:
1. correct localization output (/rtabmap/localization_pose) back to odometry? Like feeding back the drift odometry to make odometry " corrected" by map.
2. Is `/rtabmap/localization_pose` timestamp same as odometry? following code looks like it is. But im not sure
- https://github.com/introlab/rtabmap_ros/blob/a97efff760720132ced2a607f384dc5d28a0d296/rtabmap_slam/src/CoreWrapper.cpp#L1061
- https://github.com/introlab/rtabmap_ros/blob/a97efff760720132ced2a607f384dc5d28a0d296/rtabmap_slam/src/CoreWrapper.cpp#L2115C30-L2115C35
I'm thinking when localization has new output(pubLocPoseOnlyWhenLocalizing_=true), it correct corresponding odometry