Originally forked from https://github.com/anjulo/scan_matching_localizer The above implementation had PCL icp and NDT implementation. Follow the above link to install the dependencies for those 2 scan matching methods https://github.com/koide3/ndt_omp
I changed the implementations of the forked package to publish the proper transform to ros tf and to publish the odometry Additionally added the fgicp scan-matching algorithm which performed better than icp and ndt https://github.com/SMRT-AIST/fast_gicp