Install ROS2

See: https://index.ros.org/doc/ros2/Installation/Linux-Install-Debians/.
Note: Stop at "Install additional RMW implementations".

Clone, build and run this package

cd
mkdir ndt_ws/src -p
cd ndt_ws/src
git clone https://github.com/dejanpan/ndt_matching.git
cd ..
colcon build
./install/lib/ndt_matching/ndt_node

Organization

The package contains an executable and a library. The library should contain an implemented algorithm and the executable, a ROS2 node, should subscribe to two PointCloud2 messages and publishes one PoseStamped message.

Two PointCloud2 messages will be played back by the rosbag2 tool and can be together with the Pose message visualized in rviz2 tool.

Look for TODO placeholders in the ROS2 node and fill them in.