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Fixed and issue while creating a new goal. We have to clear the list of obstacles in the World object, otherwise the size of list will increasingly larger

Fix the problem that the robot moves around a circle endlessly, not being able to reach the goal. The problem was solved by a Timer (Timer.py).

Fix the problem that the robot moves around a circle endlessly, not being able to reach the goal. The problem was solved by a Timer (Timer.py).

2. Reduce the frequency to run the backend, backend only start once loop closures occur and miss the consistency between the measurement and state estimate

2. Use sksparse.cholmod.cholesky to solve the sparse linear system

2. Record slam data and save as csv files

2. Record slam data and save as csv files

1. by identifiers
2. by minimum distances