Re: How does localization mode work？

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-does-localization-mode-work-tp5288p5303.html

To get the blue line, subscribe to /rtabmap/mapGraph:

$ rostopic echo /rtabmap/mapGraph

To get the odometry pose corrected, you can use TF and get /map -> /base_link (i.e., the base frame):

$ rosrun tf tf_echo map base_link

For convenience, you can also do File->"Export poses" in rtabmapviz if you only need the poses afterwards (you may need to pause to get "Export poses" option enabled).

cheers,
Mathieu