Jonathan Huber

If you look at [this](https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/assets_writer_main.cc) that may help. Among some other things it creates a png image of the map from the pbstream. I assume what you are trying to...

The exact same problem also occurs when throttling sensor_msgs/Imu, which can also be reproduced using a dummy publisher

I don't quite understand which part fails above, what you describe sounds right. Are you failing to localize the robot in general or do you just feel like the landmarks...

I have also experimented with using them for an initial localization a while ago and came to the conclusion that it does not work. Landmarks only seem to be considered...