How to run offline dataset?

[woshidaye]

Hi！First of all, thank you for your code. I want to use the code you provided to run the collected odometer and laser scanning data. How can this be achieved? I am looking forward to your reply. Thank you！

[sauravag]

Just bag the data and then run the slam system as if you would run with real time data.

On Mon, Aug 27, 2018 at 9:36 PM woshidaye ***@***.***> wrote: Hi！First of all, thank you for your code. I want to use the code you provided to run the collected odometer and laser scanning data. How can this be achieved? I am looking forward to your reply. Thank you！ — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#4>, or mute the thread <https://github.com/notifications/unsubscribe-auth/ADDohrzHfEiXzhgvfpkroM6jRFyhMfd_ks5uVKymgaJpZM4WOz4C> .

-- Regards Saurav Agarwal www.sauravag.com

[woshidaye]

Thank you for your answer. I can now run offline datasets. However, I want to save the pose-graph, which is to save the nodes in g2o and the corresponding sub-map. How do I do that?