Feature request : localization only mode.

[sandeepdutta]

Hello,

Would be great if the SLAM could be made to run in "localization" mode only.
That is , it will not publish any vo_pose or odom->base_link if it cannot localize .
If there is way to do this already then we will be happy to try.

Thank you
Sandeep

[swapnesh-wani-nvidia]

Could you clarify this? Are you looking to localize on a different map than the one created by Isaac ROS Visual SLAM?

That is , it will not publish any vo_pose or odom->base_link if it cannot localize .

[sandeepdutta]

Hello Swapnesh,

We are trying to localize in the map generated by VSLAM. We are using EKF to fuse wheel odometry & visual odometry, in a
premapped environment. If "Visual Tracking Lost" , the VSLAM algorithm reverts to "mapping" mode if it finds no loop closure and continues to publish visual_odometry with low "covariance" this confuses the EKF filter to rely on VSLAM more than it should. We are planning to update the "visual odometry" (set_odometry_pose) from the EKF fused odometry if visual odometry is lost.
If we had a "localize" only mode, then it would make the fusion much easier. If you have a better suggestion we will be
happy to try it.

Thank you
Sandeep