Re: Integrate external markers from apriltag_ros with Priors

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Integrate-external-markers-from-apriltag-ros-with-Priors-tp10358p10405.html

You cannot feed back the corrected odometry pose to odometry node. If you need an odometry pose corrected by vslam at odometry frame rate, you could make a node subscribing to odometry topic, then convert the pose in map frame using latest TF map->odom.

"/rtabmap/localization_pose" uses same stamp than odometry and equivalent to converting odometry pose at same stamp with map->odom TF at that time.