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JokerJohn edited this page Apr 20, 2026 · 4 revisions

FAQ

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Is ROS required?

No for normal use.

The standalone tool is designed around a Python-first workflow. ROS / catkin are only needed if you want to keep the legacy C++ optimizer as a fallback.

Why are there both Original and Working trajectories?

Original is the immutable baseline.

Working is the graph currently being edited and re-optimized.

Does Replace overwrite the original edge?

Not in the input graph.

It replaces the selected edge only inside the working session semantics.

Why is Python slower than C++ in parity tests?

The Python backend prioritizes easier deployment and GUI integration. The current parity results show much simpler installation at the cost of higher optimization runtime on the tested sessions.

Where should I start reading?

Start from:

  1. Quick Start
  2. GUI Workflow
  3. Graph Editing
  4. Troubleshooting

Manual Loop Closure Tools · Repository · README · MS-Mapping

Manual Loop Closure Tools

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