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                                            Cuma Özavcı

System reboots in the middle of map creation causes trajectories pre- and post-reboot to have no established connection

If you don't have to map in real time, you can save rosbag(s) and run cartographer later. Or you can save trajectories on some interval as pbstream files and continue...

curvature calulation equation difference with paper

@hoppss, @mikeferguson, @erelson can you share the paper you are talking about?