Method visualizeGlobalMapThread

src/mapOptmization.cpp:1405–1426

    }

    void visualizeGlobalMapThread()
    {
        ros::Rate rate(0.2);
        
        while (ros::ok())
        {
            publishCloud(&pubKeyPoses, cloudKeyPoses3D, timeLidarInfoStamp, mapFrame);           
            publishGlobalMap();
            rate.sleep();
        }

        if (savePCD == false && saveKeyframeMap == false && savePose == false)
            return;

        roll::save_mapRequest  req;
        roll::save_mapResponse res;

        if (!doneSavingMap)
        {
            if(!saveMapService(req, res))   cout << "Fail to save map" << endl;
        }
    }

    void publishGlobalMap()
    {