Currently, the initialization and data association steps are related to NDT-based odometry which is not working well with 2D lidar. However, the refinement step is independent of the line number of lidar. Therefore, it's recommended to modify the lidar odometry.
Currently, the initialization and data association steps are related to NDT-based odometry which is not working well with 2D lidar. However, the refinement step is independent of the line number of lidar. Therefore, it's recommended to modify the lidar odometry.