how to get the state of visual dometry in program?

Posted by polarbear on
URL: http://official-rtab-map-forum.206.s1.nabble.com/how-to-get-the-state-of-visual-dometry-in-program-tp3196.html

Hi,
i want to code a program that could make robot walk backwards for a while when detect the visual dometry is lost.
Is there any ros service or other way could get the state of visual dometry?
Thanks!