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Hi, you can set parameter publish_null_when_lost to false of the visual odometry node. Optionally, you can also set Odom/ResetCountdown to 1 to automatically reset odom when lost.

If you are using odometry's velocity, note that I just committed a fix to avoid publishing null velocity when publish_null_when_lost is false. In other words, visual odometry won't publish odometry until a valid velocity can be computed.

cheers

Hi, you can set parameter publish_null_when_lost to false of the visual odometry node. Optionally, you can also set Odom/ResetCountdown to 1 to automatically reset odom when lost.lost. Make sure publish_tf of visual odometry node is false too if you are using robot_localization.

If you are using odometry's velocity, note that I just committed a fix to avoid publishing null velocity when publish_null_when_lost is false. In other words, visual odometry won't publish odometry until a valid velocity can be computed.

EIDT: Note that without rebuilding from source the package, you can also just republish the odometry message from visual odometry only if the values you need are valid.

cheers