slam_gmappig main.cpp -> startLiveSlam()
scan_filter_->registerCallback(boost::bind(&SlamGMapping::laserCallback, this, _1));
--> SlamGMapping::addScan(const sensor_msgs::LaserScan& scan, GMapping::OrientedPoint& gmap_pose)
--> bool GridSlamProcessor::processScan(const RangeReading & reading, int adaptParticles){