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

[Masoumeh]

hi

why does rtabmap.launch file sometime publish /odom, and some times publish /rtabmap/odom ?
i am using these two launch files:

rtabmap_minerobot_realtime.launch
mainrtabmap.launch

thanks a lot

[matlabbe]

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.