Using the odometry from LOAM

[MigVega]

You mention in your paper and the comments of your launch files that one could/should use an accurate odometry system. However, I don't know the requirements or how to achieve that.

I tried to integrate into one single workspace, A-LOAM, and DLL, and run them in parallel; however, even changing the frame names did not work.

The closest example I found to recreate that was in the mbzirc.launch file. However, it says that the odometry is already in the bag file. In this case, my question is, how can I save the odometry resulting from LOAM into a bag file so that it is usable by DLL?

I appreciate any help you can provide. I want to compare my method with yours in a large-scale dataset. I believe that DLL is one of the best localization algorithms. Therefore, It would be an interesting comparison!