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faster_lio_sam's Issues

Global map visualization

Hi @GDUT-Kyle , thanks for sharing your great works, when running the codes, I found there is no display of the globally registered map in RVIZ, i wonder if that is because no such function included in the code or did I set the frames improperly. Thanks!

两个问题

首先对广工的slam实力表示一如既往的钦佩，现在由两个小问题想请教一下
1.我看见poseOptimaization.cpp这个文件里面没有内容，是否后续还会更新？
2.同样涉及到1，没有发现回环的使用，那gtsam在里面是不是只起到对imu的预积分作用/
若能收到贵团队的回答，感激不尽

融合wheel

Hi 你好

请问你融合wheel的代码有相关的理论介绍吗？ 谢谢

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