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I believe the odometry visualization in rviz simply allows for visualization of the pose contained in the the nav_msgs/Odometry message. I don't think it does anything with the geometry_msgs/Twist, though that would be a useful feature request for rviz. So, you'd expect the arrow to stay the same size and simply convey the robot's position in the odometric frame at a given point. More information on how rviz treats odometry messages can be found here: