Analyze ROS packages that could be used to provide odometry from lidar

[mike4192]

The ROS navigation stack requires odometry (which seems a little strange to me IMO because of how good lidar localization can be).

This robot platform does not provide accurate odometry, but some fake and hopefully reasonably accurate odometry can be generated via the lidar.

Reprocess a recorded data log to evaluate packages that could provide odometry. Using the hector slam ground track as the baseline truth, analyze which odometry estimate is the most accurate result.

Potential packages to try/investigate:

• rf2o_laser_odometry
• polar_scan_matcher
• laser_scan_matcher