Andrzej Reinke

@RajathSwaroop Just replace boost:shared_ptr and boost::make_shared with std::shared_ptr and std::make_shared

``` Dropped 39 scans over 5s --> drop rate is 7.8 scans/s itrTime Points to buffer end ``` this may be connected to the fact that the step of Locus...

Yes we have and it may be use for this purpose, though probably we shouldn't do that after update of odometry step hehe but it is to be improved yet...

@Cristian-wp if L515 provides for example visual odometry you just need to change the ODOMETRY_TOPIC in ```locus.launch``` + in ```lo_setings.yaml``` keep ```data_integration``` on mode 3

@wpwebrobotics can we close this issue or some additional comments are needed?

it doesn't have to be odometry directly from visual sensor, it can't be wheeled as well (or legged), you can use imu as well in ```lo_setings.yaml``` keep data_integration on mode...

If the tunnel is very very long (as in your case) the locus may not act nicely and it's a widely known issue with lidar odometry system and ICP, even...

locus is an odometry system so it works on the incremental changes. So you can just detect the slip of lidar odometry and then from start using incremental measurements from...

@BenjaminMorrell can we close this one?

Yeap, our custom driver has/had MDC we didn't bring that yet to the code directly. I believe that recorded bag files that we have (nebula-odometry-dataset) all the point clouds are...