ORB_SLAM

Gitee.com jie0097

Done:

• remove pangolin;
• publish pose and pointclouds in map coordinate;
• save map and load each submap in system;
• publish the OccupancyGrid-map to submap for navigation;
• when system get relocalization, re-draw the OccupancyGrid-map;
• switch submap by reloaclization in the map_set which loads all the submap in it.
• merge each gridmap into a whole map and publish in the rviz for navigation

TODO:

• In Localizaiton Mode, need to open the LocalMapping thread;
• ...