Monitoring Localization/Loop Closure Detection

Posted by Kameel Amareen on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Monitoring-Localization-Loop-Closure-Detection-tp10862.html

Hello and thank you for the optimized and great pipeline.

I would like to understand how could one monitor when a loop closure was detected when in localization mode from ros topics , or how to expose it if not already implemented ?

As the only way I see it currently is by monitoring the localization_pose topic for sudden jumps in the position.

Your feedback is highly appreciated :)