Benchmark Beluga NDT-MCL against a groundtruth signal
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hidmic commented
Feature description
Connected to #93. Depends on #312, #313 and #348. In addition to tests and micro benchmarks, NDT-MCL nodes' performance must be compared against a groundtruth signal to prove it's correctness and precision.
Implementation considerations
Pick a pair of suitable datasets and benchmark 2D and 3D using LAMBKIN.
serraramiro1 commented
@hidmic @nahueespinosa @glpuga
Based on our conversations, and us wanting to diverge a bit from nav2_amcl and the difficulties of making "fair" comparisons between different sensor models and map representations, I've changed this ticket to track the benchmarking of the model against a groundtruth signal instead. LMK what you think.