Migrated latest changes from raulmur regarding vocalbulary from txt #1
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SLAM works much better with this latest adapted sources Added some configs and launch files
…e default config for simulation
Instead of using one boolean flag it is now used a counter variable that several external entities can track
Moved static_tf_publisher to spacebot_launch
Instead of using one boolean flag it is now used a counter variable that several external entities can track plus GetReferenceMapPoints improvement for thread safety
point clouds are generated from the current tracking reference points instead of using the map points
FreeBSD license notice
FreeBSD license notice
Switched from ColorOcTree to OcTree since color is not used so far and OcTree is supported by the octomap rviz plugin and ColorOcTree not
…ientation Initialize map origin orientation with identity
Fixing segfault in g2o on bundle adjustment
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