!!基于carto,具有地图自更新维护功能
xiay 魔改的cartographer
!基于2D激光scan的动态障碍物检测:A ROS package for 2D obstacle detection based on laser range data.
使用linemod实现移动机器人（AGV）上的2d视觉定位抓取，转换矩阵使用ros的tf库。
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