DT NDT MCL Progress

[cagataysari]

Hello, I see that you are going to re implement DT-NDT-MCL. Do you have any time plan for this project ? After the implementation are you planning to keep it as open to public ?

Best Regards,

[SynapseProgramming]

Hello, i do not really have a timeline, but i am actively working on this package. If you would want to try out dt-ndt-mcl early, it has been fully implemented in the devel branch which targets ros1 noetic. However, the code is still pretty rough. I am currently working on a ros2 version (targeting humble) Thus far, the performance of dt-ndt-mcl seems really promising :) Also, this package would be open source.

[cagataysari]

Hello, great work!

I can Try this code base on real world application ( industrial application ) maybe afterwards we can discuss on results maybe further improve the implementation or the algorithm itself.

Noetic is good. I am currently having a busy time, but I am thinking of dockerizing this repo then open up a pull request.

[cagataysari]

ROS2 humble would be great! But I can go with noetic right now, no problems. I will test devel then report my results on here with specs then you may merge with master if it has not already been merged

[SynapseProgramming]

Sure! Would appreciate that. Most of the changes that you would have to make are in pf_ros.cpp and the corresponding header file. pf_ros.h 👍