Store the point cloud and the corresponding pose of each frame
Forked from koide3/odometry_saver
Change to fit aloam's point and odom in interactive_slam
Add service to save map(Should not be too big)
roslaunch odometry_saver online.launch dst_directory:={folder} points_topic:={your topic}
rosbag play {your bag with points / poses}
save map(Point cloud accumulation, without pose)
rosservice call /map_saver "/home/me/map.pcd"