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Checkout rerun_viz branch for new/better Rerun based visualization

Online visualization tool for Swarm-SLAM

Installation

Run the visualization station

export ROS_DOMAIN_ID=100 
ros2 launch cslam_visualization visualization_lidar.launch.py

Run Zenoh

export ROS_DOMAIN_ID=100 
zenoh-bridge-ros2dds

Then run Swarm-SLAM on the robots.