When we apply "lidarSLAM" in the MATLAB, the description says that:
The SLAM algorithm takes in lidar scans and attaches them to a node in an underlying pose graph.
So, it seems that we need to know "scan data" and underlying pose praph for the application of "lidarSLAM."
To my understanding, "scan data" is composed of angels and ranges with respect to the robot coordinates.
And, what about the "underlying pose graph"? how do we know this information? and, if we know the odometer of the robot; then, we
have the information of the pose and how can we input to the "lidarSLAM"?
So, how do we know the information of the underlying pose graph and how do we input the pose graph in to "lidarSLAM"?