wleigang

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@lifunudt @junzhang2016 Hi, I use ubuntu16.04 and ros kinetic to run this code,but when loop detected,the server will crash,I don't know why ![screenshot from 2018-12-06 18-29-42](https://user-images.githubusercontent.com/45656871/49578526-ef43d700-f984-11e8-84e7-032156792d8c.png)