SLAM-AAC update

[cwx-worst-one]

What does this PR do?

Update codes and scripts for SLAM-AAC.

Fixes # (issue)

Feature/Issue validation/testing

Please describe the tests that you ran to verify your changes and relevant result summary. Provide instructions so it can be reproduced.
Please also list any relevant details for your test configuration.

• Test A
  Logs for Test A

• Test B
  Logs for Test B

Before submitting

• This PR fixes a typo or improves the docs (you can dismiss the other checks if that's the case).
• Did you read the contributor guideline,
  Pull Request section?
• Was this discussed/approved via a Github issue? Please add a link
  to it if that's the case.
• Did you make sure to update the documentation with your changes?
• Did you write any new necessary tests?

Thanks for contributing 🎉!