The repo is the implementation of Point-to-Line Iterative Closest Point (PL-ICP) algorithm proposed by Censi [1]. The original code can be found in [2]. However, there are some bug about ROS tf transform in the original code. I fixed the bug and added the mapping module following the programming habits in open karto library [3].
1. This package has been tested well on Ubuntu 16.04 LTS, and the version of ROS is kinetic.
2. If you want to use it, you must install csm first:
$ sudo apt-get install ros-kinetic-csm
3. clone and catkin_make
$ cd catkin_ws/src/
$ git clone https://github.com/WENJIAN0629/laser_scan_matcher
$ cd..
$ catkin_make
[1] A. Censi, "An ICP variant using a point-to-line metric," in IEEE International Conference on Robotics and Automation (ICRA), 2008.