Ported to ros2 version of laser-scan-matcher by scan_tools.
- Install modified version of csmlib
/scan
(sensor_msgs/LaserScan)/tf
(tf2_msgs/TFMessage)
/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 If topic is empty, odom will not be published.
- Support of pure laserscan
- Support of IMU
- Support of odometry
- Support of PointCloud msgs