This adds an option to the selective ICP mapper to run standalone.
Standalone means that instead of searching the TF tree for a current estimate of the lidar position in the map, as would usually be provided by a state estimator, the mapper uses it's own last localisation as an initialization.
This makes it possible to run and try out selective ICP without requiring access to confusion.
This adds an option to the selective ICP mapper to run standalone.
Standalone means that instead of searching the TF tree for a current estimate of the lidar position in the map, as would usually be provided by a state estimator, the mapper uses it's own last localisation as an initialization.
This makes it possible to run and try out selective ICP without requiring access to confusion.