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Is there a topic or service to know when visual odometry estimation is lost in RTAB-MAP?

asked 2019-09-15 03:38:06 -0500

navidzarrabi gravatar image

updated 2019-09-21 04:18:07 -0500

Hello,

I am using rtabmap to estimate odometry from visual slam. When odometry is lost, the rtabmapviz screen becomes red. I am looking for one way to know when I lose odometry in my code e.g. a topic to subscribe or something like that.

Thanks for your help

(Edit)

I am using ROS kinetic and the following launch files:

roslaunch freenect_launch freenect.launch depth_registration:=true

roslaunch rtabmap_ros rtabmap.launch localization:=true rtabmapviz:=false rviz:=true
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answered 2019-09-21 04:15:47 -0500

navidzarrabi gravatar image

There is a bool msg in /rtabmap/odom_info that is responsible for reporting lost odometry.

[http://docs.ros.org/api/rtabmap_ros/h...]

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Asked: 2019-09-15 03:38:06 -0500

Seen: 10 times

Last updated: Sep 21