Test on our experiment bag, it look like no loop closure

[LiQiaopeng-1995]

Showed in this png,the long corridor doesn't match well. How do I add loop closure detect into this package.

[c-schulz]

Hi @LiQiaopeng-1995, this package is about mapping only. It does not contain any global optimization. If you want to try SLAM with our maps, there are scan-to-map matching functions implemented in the cslibs_ndt package that you can use e.g. with the ceres optimizer.