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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