This repository is a fork from the official laser_scan_matcher package in ROS. Laser_scan_matcher_odometry offers an additional topic named lsm_odom to output ROS odometry messages.
First, create a catkin_workspace:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
clone this repository:
cd ~/catkin_ws/src
git clone https://github.com/bierschi/laser_scan_matcher_odometry.git
build with catkin_make:
cd ~/catkin_ws/
catkin_make
and finally run the example.launch file
source devel/setup.bash
roslaunch laser_scan_matcher_odometry example.launch