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