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there are parameters publish_pose_with_covariance and publish_pose_with_covariance_stamped which will publish the ICP covariance (if it is being calculated) or instead a diagonal 1e-9 matrix if the ICP covariance is not calculated. I am not sure if this parameter was available when this question was asked, but I am posting this for anyone who comes across the question from now on and wants an answer :)

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