pgo

This is a proof of concept to use the output of FASTLIO2 with Ouster sensors for a loosely-coupled pgo backend with naive (ICP-based) loop closure detection.

Future improvements

• other sensors
• support for multiple loop closure detection strategies, e.g. ScanContext, STD, KissMatcher etc

Build

• place this and juliangaal/nano_gicp into the same workspace
• apt install libeigen3-dev libomp-dev
• rosdep install --from-paths src --ignore-src -r -y
• colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
• ros2 run pgo pgo

See provided Dockerfile