I read your code and found it's a bit confusing, my understanding is you are subscribing LOAM Odometry pose generated by their mapping node, in your OdomTransfer.cpp you take multiple topics from LOAM:
/integrated_to_init, /aft_mapped_to_init and /velodyne_cloud_registered from LOAM::LaserMapping
/velodyne_cloud_3 from LOAM::LaserOdometry
and you have several parameters from your launch file which navigate to /media/echo/DataSet/g2o_doc/3edges.g2o what is 3edges.g2o and how to generate those files?
I read your code and found it's a bit confusing, my understanding is you are subscribing LOAM Odometry pose generated by their
mappingnode, in yourOdomTransfer.cppyou take multiple topics from LOAM:/integrated_to_init,/aft_mapped_to_initand/velodyne_cloud_registeredfromLOAM::LaserMapping/velodyne_cloud_3fromLOAM::LaserOdometryand you have several parameters from your launch file which navigate to
/media/echo/DataSet/g2o_doc/3edges.g2owhat is3edges.g2oand how to generate those files?