This new version mainly brings fixes to the SLAM on pose graph optimization and GPS handling and on the build and install cmake processes. Features available in this version : * Loop closure automatic detection + loading of various detections from the disk * Failure detection and recovery mode * Calibration estimation between 2 trajectories * Handling of Livox sensors in ROS * Pose graph optimization with external poses is allowed Performances are also improved modifying the keypoints extraction and the submap extraction. The ROS interface is also improved.