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From the wiki on DWAPlannerROS,
odom - Odometry information that gives the local planner the current speed of the robot
So the planner uses odom only for the instantaneous velocities. While it could extract the robot_pose from amcl_pose, it actually does this using the tf library (/tf topic) instead.
In more detail, the plugin doesn't actually obtain the pose itself, but actually gets the pose from move_base's costmap.
| | 2 | No.2 Revision |
From the wiki on DWAPlannerROS,
odom - Odometry information that gives the local planner the current speed of the robot
So the planner uses odom only for the instantaneous velocities. While it could extract the robot_pose from amcl_pose, it actually does this using the tf library (/tf topic) instead.
In more detail, the plugin doesn't actually obtain the pose itself, but actually gets the pose from move_base's costmap.
Also going by the wiki, amcl publishes /particlecloud as a PoseArray, which would be why you can't visualize it directly in rviz. You should be able to tap into the topic using rostopic echo though.
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