"When using /camera/odom, you don't need to use visual_odometry node. rtabmap should be subscribed to /odometry/flltered if you want to use odometry output from IMU and /camera/odometry fusion, otherwise IMU is ignored if rtabmap is subscribed directly to /camera/odom. "When using /camera/odom, you don't need to use
阅读背景：
Visual odometry and zed's IMU fusion on RTAB-Map
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