Re: Localization mode with a previously built database

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Localization-mode-with-a-previously-built-database-tp4489p4508.html

Hi,

In localization mode, the map is "read-only", it should not break or add new stuff to the map.

To know if rtabmap has been localized,  TF /map -> /odom would change. A more direct way is to look if any of these values are not 0:

$ rostopic echo /rtabmap/info/loopClosureId
$ rostopic echo /rtabmap/info/proximityDetectionId

See rtabmap_ros/Info message for reference.

cheers,
Mathieu