Re: Best Practices for Quick Automatic Localization

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Best-Practices-for-Quick-Automatic-Localization-tp6881p6916.html

Update: I added landmarkId field to /rtabmap/info message for convenience: https://github.com/introlab/rtabmap_ros/commit/58dd3134be6f2ccc81f998df4e258354f0071e44

We can now have the 3 cases for localization:

int32 loopClosureId
int32 proximityDetectionId
int32 landmarkId

For external localization like with the PoseEstimate, you would have to detect when that topic is posted.