what is the function of slam2d

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what is the function of slam2d

Masoumeh
hi mattieu,

what does SLAM2d is? and what does it do?
In https://github.com/introlab/rtabmap_ros/blob/master/launch/demo/demo_husky.launch, number 4.

         4) 3DoF mapping with 3D LiDAR
            $ roslaunch rtabmap_ros demo_husky.launch lidar3d:=true slam2d:=true
you mentioned this setting, but when i activate it, i have a lot of jerky movement in the velodyne_points in rviz. it is not matched with the 2d map!

I want to know more about it
thanks