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How can I know whether RTABmap successfully localized?

asked 2019-07-05 07:00:32 -0600

EdwardNur gravatar image

I am running my robot in a localization mode and sometimes I need to know whether the localization was succesfull so I do not need to use PoseEstimate on RViz manually. Is there some specific bool?

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answered 2019-07-05 10:42:47 -0600

matlabbe gravatar image

You can add rtabmap_ros/Info display to RVIZ and look at Loop closures and Proximity detections values. They should increment when a localization occurs.

Another way from terminal, check values of (not null if localization occurs):

$ rostopic echo /rtabmap/info/loopClosureId
$ rostopic echo /rtabmap/info/proximityDetectionId

cheers,
Mathieu

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Asked: 2019-07-05 07:00:32 -0600

Seen: 34 times

Last updated: Jul 05 '19