Re: /Rtabmap/localization_pose is not publishing

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-localization-pose-is-not-publishing-tp7850p7919.html

Hi,

If you move and localization_pose is not published, it means that the current frame received could not be localized on the map. If your odometry is not drifting a lot, localizations could happen at a lower rate without significant navigation problems.

In other words, TF map->odom is updated only when when localization_pose is published, the rest of time it keep the value of the latest localization.