Re: Outdoor Localization error while running zed-ros-examples using zed2i camera

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Outdoor-Localization-error-while-running-zed-ros-examples-using-zed2i-camera-tp9773p9832.html

The frequency of "/rtabmap/localization_pose" is linked to Rtabmap/DetectionRate, which would be 1 by default. In localization mode, you may increase Rtabmap/DetectionRate. If you need the pose at same frame rate than the camera frames (e.g., 30 Hz), I'll suggest to use TF at time=0 to get the latest pose of the base frame in map frame.