Visualization with rtabmap

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In rtabmap, should we always include the rtabmapviz node along with the rtabmap node?

I had an experience like, I forgot to remap my odom topic in rtabmapviz parameters and the robot did not detect any loop closures. When I included that, the robot detects loop closures really well.

I do not understand how this happens. Isn't rtabmapviz supposed to be aiding with visualization only?

I'm a complete beginner and I would really appreciate if you can give me a detailed explanation.

Thank you..!