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Thanks @joq. I am only running RViz on the desktop. Everything else is running on the TurleBot's laptop so I'm not sure where the delay would creep in. I just had a thought though as a possible answer.

The TurtleBot launch file runs an robot_pose_ekf node that combines wheel odometry with the gyro info. I'm wondering if this means that what I want to see in RViz instead of the regular Odometry arrows is the odom_combined info from robot_pose_ekf? Unfortunately, robot_pose_ekf publishes this data as a geometry_msgs/PoseWithCovarianceStamped message rather than a nav_msgs/Odometry message so it seems I cannot actually display it in RViz. The Odometry Display type only lists the /odom topic as an option and the Pose Display type does not list the /robot_pose_ekf/odom_combined topic as an option. (Small detail: the /robot_pose_ekf/odom_combined topic is actually remapped to /robot_pose_ekf/odom in the TurtleBot launch file but that topic is not listed either.)

If I am on the right track, is there anyway to display a message of type geometry_msgs/PoseWithCovarianceStamped in RViz?

Thanks @joq. I am only running RViz on the desktop. Everything else is running on the TurleBot's laptop so I'm not sure where the delay would creep in. However, I think I just had a thought though as a possible answer.figured it out.

The TurtleBot launch file runs an robot_pose_ekf node that combines wheel odometry with the gyro info. I'm wondering if this means that So what I want to see need to display in RViz instead of the regular Odometry arrows is the odom_combined info from robot_pose_ekf? is not what's published on the /odom topic but what is published on the /robot_pose_ekf/odom_combined topic, remapped to /robot_pose_ekf/odom in the TurtleBot launch file.

Unfortunately, robot_pose_ekf publishes this data as a geometry_msgs/PoseWithCovarianceStamped message rather than a nav_msgs/Odometry message so one can't display it seems I cannot actually display it in RViz. The as an Odometry Display type only lists the /odom and get the nice "Keep" feature to display the history. In fact, the /robot_pose_ekf/odom topic as an option and is not even listed when selecting the Pose Display type does not list the /robot_pose_ekf/odom_combined topic as an option. (Small detail: the /robot_pose_ekf/odom_combined topic is actually remapped to presumably because of the Covariance part.

So I wrote a small script to subscribe to /robot_pose_ekf/odom and republish the data as a nav_msgs/Odometry message type, adding 'base_footprint' as the child_frame_id. Now I can display /robot_pose_ekf/odom in the TurtleBot launch file but that topic is not listed either.)

If I am on the right track, is there anyway to display a message of type geometry_msgs/PoseWithCovarianceStamped in RViz?