Integrate SLAM Code from scan-matching

cornellev / rc-localization

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Open Yey007 opened 3 months ago

Yey007 commented 3 months ago

Integrate the existing SLAM code from scan matching into this ROS package.

ethanuppal commented 3 months ago

It's not finalized and tested yet. Specifically,

I need to implement arbitrary rigid-body transformations.
I need to test on (semi-)actual instance of scan-matching. I have a plan to do this in the coming days.
- Manufacture sin wave: two point clouds are phase shifted sin waves.
- Integrate with LiDAR ros node to test on actual data.