* Option _"-s robot"_ is meant to be used if the corrected pose from AICP is fed back into the state estimator. Each corrected pose is published only once as soon as computed.
* Option _"-s debug"_ is meant to be used during debug. The corrected pose message is published at the same frequency as the pose estimate from the state estimator \(for visualization purposes\).
#### Misc
Required Topics (ROS):
* Point Cloud from a 3D Lidar, ideally transformed into the base frame
* Relative odometry estimate. This is the estimate of the LIDAR frame in a fixed frame. This should have low drift
To filter an ANYmal rosbag to contain only the required topics
* rosbag filter in.bag out.bag "topic=='/tf' or topic=='/state_estimator/pose_in_odom' or topic=='/point_cloud_filter/velodyne/point_cloud_filtered' or topic=='/tf_static'"