The ExwayzStatus contains

Header

Header of the message with frame_id and stampcopied from the input Odometry topic.

Processing information

• Convergence reached or not
• Number of iteration made by the solver
• Residuals post optimization on each axis in the local RF of the input Odometry topic
• Residuals post optimization on angular measurement in the local RF of the input Odometry topic

Exwayz Status (1)