The Semantic Map building in the real-world experiment

[kangjiaxu639]

When I try to build a semantic map in a ROS environment using the Semantic_Mapping module you provided, the updates to the semantic map are misaligned. When you build the semantic map in the real robot experiment, do you also use the Semantic_Mapping module in the code, and how do you set the parameters, such as roof_thre and floor_thre.