Re: why does rtabmap.launch file sometime publish /odom, and some times publish /rtabmap/odom?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/why-does-rtabmap-launch-file-sometime-publish-odom-and-some-times-publish-rtabmap-odom-tp8634p8636.html

Not sure exactly why with your launch file, but in general it is because the node is started in a namespace rtabmap.

If you set odom_topic to "odom" and rtabmap is started in rtabmap namespace, the topic will be /rtabmap/odom. If you set "/odom" and even if rtabmap is started in rtabmap namespace, the topic will be "/odom" because you set it in global namespace.