Running on custom data

[VladimirYugay]

Hey there. Great work on the ccm slam!

A couple of questions:

1. When the tracking on one of the agents is lost what eventually happens? I've checked other issues, and it's clear that there's no relocalization, but when this happens to me everything just hangs indefinitely. Does it mean that if one agent fails - the whole system fails?
2. When I run on a single agent (500 frames in total), it takes a indefinite time to complete with the messages on the client:

New Map created with 89 points
Wrong initialization, reseting...
System Reseting
Reseting Done...
New Map created with 99 points
Wrong initialization, reseting...
System Reseting
Reseting Done...
New Map created with 99 points
Wrong initialization, reseting...
System Reseting
Reseting Done...
New Map created with 111 points

At the same time, the rosbag is fully processed. What is the reason for this?