Is there a flag/service/variable that I can access programmatically which will indicate rtabmap odometry lost? I am attempting to use rgbd_odometry (RTAB-Map 0.21) in ROS-Noetic, and requires stopping the movement of a robot arm when odometry is lost. Thanks so much.
1 Answer
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The pose in the odometry topic will be invalid (quaternion with all 0s). Reference: https://github.com/introlab/rtabmap_ros/blob/d974c9a72c2234f61e51624c7066588275666946/rtabmap_odom/src/OdometryROS.cpp#L811-L835
