10. Odin1 Relocalization

10.1 Overview

Odin1 currently supports three operating modes: ODOM (odometry), SLAM, and Relocalization. Switching between modes is done by editing the custom_map_mode parameter in /catkin_ws/src/odin_ros_driver/config/control_command.yaml.

10.2 How to Use

• Step 1: Set custom_map_mode = 1 to enable SLAM mode and start recording the map. In this mode, loop closure detection is performed when the recording ends.

• Step 2: Once map collection is complete, do not terminate the driver directly with Ctrl+C. Instead, open another terminal, go to /catkin_ws/src/odin_ros_driver, and run ./set_param.sh save_map 1. Wait until the driver terminal indicates that the map has been saved before stopping the driver. The map will be written as a bin file to the user-specified directory; if no directory is set, it is saved to the map folder, named with the end timestamp.

• Step 3: In control_command.yaml, set custom_map_mode = 2 and configure the path to the map file (including extension), e.g. /home/hugo/map/office.bin.

• Step 4: Re-run the driver. Odin cannot relocalize while stationary; we recommend moving the device for a short distance after starting the driver. Successful relocalization is indicated by the terminal message [INFO] [1769564323.183375282] [odom]: relocalization success!, and the /map frame appears in /tf.

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