SLAM laserScan process

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){