Laserscan Odom mapping

A simple implementation of Laserscan Odom mapping

input topic: state_estimation pointcloud

output_topic: 3Dmap_output

Demo

step1. Download the repository to your ROS workspace: catkin_ws/src

step2. Make：catkin_make

step3. Run: roslaunch mapping3D mapping3D.launch

step4. SCTL + C结束程序,自动保存地图到mapData目录下面.

rqt_graph: