ALOAM in Gazebo

Running ALOAM in XTDrone i.e. a UAV platform for simulation based on PX4, ROS and Gazebo.

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Just for some context I can across this tweet and the work looked very interesting. To quote the git repository,

A-LOAM is an Advanced implementation of LOAM (J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time), which uses Eigen and Ceres Solver to simplify code structure. This code is modified from LOAM and LOAM_NOTED. This code is clean and simple without complicated mathematical derivation and redundant operations. It is a good learning material for SLAM beginners.

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Another interesting option that builds on ALOAM is FLOAM. I am currently trying it now. GitHub - wh200720041/floam: Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021

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