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Seperate robot and master thread #160

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yangtfu opened this issue May 18, 2020 · 0 comments

yangtfu commented May 18, 2020

As An Online Multi-Robot SLAM System for 3D LiDARs said that:

One thread per robot is used for computing the sequential factors and the local maps whereas the place recognition, pose-graph optimization and target map management functionalities are all running on a separate thread.

But the source code seems not like this, how can i separate the front-end part and run it in multiple robots?

I submitted the same issue in laser_slam, does anyone have a solution for this？

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