├── CMakeLists.txt ├── LICENSE ├── README.md ├── bagfiles ├── 2robots-hospital.bag.tar.gz ├── 4robots-hospital.bag.tar.gz ├── cg_mrslam.png └── cg_mrslam_gridmap.png ├── cmake_modules ├── FindEigen3.cmake ├── FindG2O.cmake └── FindSuiteSparse.cmake ├── docs └── Doxyfile ├── msg ├── Edge.msg ├── Ping.msg ├── RobotLaser.msg ├── SLAM.msg └── VSE2.msg ├── package.xml └── src ├── CMakeLists.txt ├── cg_mrslam.cpp ├── comm_publisher.cpp ├── matcher ├── CMakeLists.txt ├── array_allocator.h ├── chargrid.cpp ├── chargrid.h ├── gridmap.h ├── macros.h ├── scan_matcher.cpp └── scan_matcher.h ├── mrslam ├── CMakeLists.txt ├── condensed_graph │ ├── CMakeLists.txt │ ├── condensed_graph_buffer.cpp │ ├── condensed_graph_buffer.h │ ├── condensed_graph_creator.cpp │ └── condensed_graph_creator.h ├── graph_comm.cpp ├── graph_comm.h ├── mr_closure_buffer.cpp ├── mr_closure_buffer.h ├── mr_graph_slam.cpp ├── mr_graph_slam.h ├── msg_factory.cpp └── msg_factory.h ├── ros_map_publisher ├── CMakeLists.txt ├── 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