Laser Scan Matcher for ROS2

Ported to ros2 version of laser-scan-matcher by scan_tools.

Installation

Install modified version of csmlib

Topics

Subscribed topics

/scan (sensor_msgs/LaserScan)
/tf (tf2_msgs/TFMessage)

Published topics

/tf (tf2_msgs/TFMessage) with transform odom->base_link
/odom (nav_msgs/Odometry) Optional. Parameter publish_odom must be set to the name of the topic. If topic is empty, odom will not be published.

Will be released features:

Support of pure laserscan
Support of IMU
Support of odometry
Support of PointCloud msgs