• main() : poseslam_alg_node.cpp , trajectory_scans_2_pointcloud_alg_node.cpp , trajectory_broadcaster_alg_node.cpp , trajectory_3Dscans_2_pointcloud_alg_node.cpp , trajectory_2_markers_alg_node.cpp , sensors_2_link_alg_node.cpp , scans_2_odom_alg_node.cpp