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ROS2 porting
give name to nodes
Update imuPreintegration.cpp
* add save map service * Update mapOptmization.cpp * Update mapOptmization.cpp * Update README.md * Update mapOptmization.cpp * Update mapOptmization.cpp * Update mapOptmization.cpp * Update mapOptmization.cpp * Update mapOptmization.cpp * Update SaveMap.srv
…ixiaoShan#443) * Fixed CMake Warnings for humble and added compiler flag for openMP * Update CMakeLists.txt, added openMP in a clean way
* Added ros2 huble dockerfile * Added docker compose yaml file * Updated README with instructions to run the docker container * Updated directory name from colcon_ws to ros2_ws
* Added ros2 huble dockerfile * Added docker compose yaml file * Updated README with instructions to run the docker container * Updated directory name from colcon_ws to ros2_ws * Updated ring calculation logic to be cocmpatible with tartanair dataset * updated container name * Added code to calculate ring in the case of velodyne sensor * updated ringFlag to make it more general for future ease of use * reverted config to default * removed extra whitespace * fixed extra whitespace * fixed whitespace in config
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