Re: About pose of the rtabmap estimation

Posted by matlabbe on Feb 24, 2022; 2:53am
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-pose-of-the-rtabmap-estimation-tp8918p8975.html

No, localization_pose is published when a loop closure happens or on localization. It is the pose of base_link in map frame with the marginal covariance from graph optimization. It is not related to ground truth.