Re: how to get the state of visual dometry in program?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/how-to-get-the-state-of-visual-dometry-in-program-tp3196p3199.html

Hi,

visual odometry node would continue to publish the odometry message (if "publish_null_when_lost" is true, the default) with all 0 matrix when lost. You can detect it is not lost anymore if this matrix has non-zero values. Another way is to subscribe to odom_info topic, which will tell you if the odometry is lost or not, see lost member.

cheers,
Mathieu