Make a algorithm, detecting new objects compared to a known map.
- transform scan data to LDP type data(laser_data of csm libaray)
- With the current ldp data and the previous ldp data, it executes an ICP algorithm.
- getPrediction -> calculate delta predicted position from some information, ex. velocity, odom, ...
- sm_icp -> doing an ICP algorithm
- I will use map data instead of the current ldp data.