Hi,
rtabmap_ros requires odometry to work. The odometry can come from the robot (wheel odometry) or any other sources like visual odometry. rtabmap_ros has a rgbd_odometry node that can be used to generate visual odometry for convenience. You will have to disable odometry from your robot (at least the TF) if you use another source of odometry.
cheers
Originally posted by matlabbe with karma: 6409 on 2016-11-24
This answer was ACCEPTED on the original site
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Original comments
Comment by Dox on 2018-08-01:
Hi! I'm trying to use rgbd_odometry instead of wheel odom. Do you have any suggestions on how to disable odom from robot in TF? I also posted a question here.
Comment by matlabbe on 2018-08-01:
you may comment this line: https://github.com/amor-ros-pkg/rosaria/blob/aa8d5f7faf4b2bc57bea2c597efee1b9a79953ea/RosAria.cpp#L567