After conducting real-world tests, we refactored the MICP-L node to better integrate it into the ROS 2 ecosystem and added several new features:
- Limited the possible inputs to only rmcl_msgs. Instead, we provide nodes and instructions to convert commonly used range sensor messages into rmcl_msgs.
- MICP-L can now be launched as a composable node.
- Separated correspondence search from optimization without losing much efficiency. This allowed us to add classic closest-point correspondences (CP), in addition to ray-casting correspondences (RC) (only available for embree backend).
- Improved time synchronization between combinations of sensors and odometry.
- Added many new examples and small demos for a quick start: https://github.com/amock/rmcl_examples