Hello,

The current draft of REP129 for SLAM node API [1] only defines tf
output. However, in many SLAM application the output pose of the
registration is fused with additional sensors such as an IMU, typically
through a Kalman filter. Hence, it might be useful for the SLAM nodes to
output a PoseWithCovarianceStamped message in addition to the tf
transform. Should this be an optional addition, or a mendatory output?

Your opinion is warmly welcome, especially if you maintain a SLAM package.

Cheers,

Stéphane

[1] https://github.com/ros-infrastructure/rep/pull/8/files

-- 
Dr Stéphane Magnenat
http://stephane.magnenat.net