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Automatically, set Odom/ResetCountdown parameter to restart odometry from latest odometry pose:

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry">
    <param name="Odom/ResetCountdown" value="1">
    ...
</node>

In the code, this is done here.

Manually, you can call /rtabmap/reset_odom (reset to Identity origin) or /rtabmap/reset_odom_to_pose (reset to new odometry origin).

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