Re: How to close loop-closure-detection function?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-close-loop-closure-detection-function-tp689p703.html

You can subscribe to /rtabmap/odom topic:

$ rostopic echo /rtabmap/odom/pose/pose


Note that if you don't need the 3D map to evaluate the odometry, you don't have to use the rtabmap node. You can just record the odometry messages above.