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Fixed map empty on start if there is no global loop closure yet in lo… #540

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Fixed map empty on start if there is no global loop closure yet in lo…

Fixed map empty on start if there is no global loop closure yet in lo… #540

Run time

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Job Run time
Build on ros noetic and ubuntu-20.04
26m 16s
Build on ros humble and ubuntu-22.04
24m 57s
Build on ros iron and ubuntu-22.04
25m 11s
1h 16m 24s