Odom Topic and visual odometry about zed-ros-wrapper

[willdzeng]

Comment out the tf_publish won't cancel the tf publishing since in the source code
publishTrackedFrame()
is called every time in the runloop(). But I guess it won't affect any computation power if no one is subscribe the odometry. Only downside is it make the tf tree not neat.

[obraun-sl]

Hi,

It is our own SLAM algorithm.
if you don't call enableTracking() during Init() and getPosition() in your loop , then the tracking will not run.

[adujardin]

Hi,

Just to clarify, if you don't subscribe to the odometry topic, enableTracking won't be called and the tracking will not run.

[willdzeng]

Got you ~ What about TF? how to cancel the tf publisher?

If it's a SLAM, then how can I see the map?

[adujardin]

To cancel the TF publishing simply comment/remove this line from the launch file.

The map from the tracking is not accessible by the public API.