#NDT (2)

lidar_localization_ros2: map-based 3D LiDAR localization for ROS 2 that finds its own start pose

Give it a point-cloud map and a LiDAR stream and it publishes the robot pose in the map frame: NDT/GICP backends, guarded IMU preintegration, continuous-time deskew and Nav2 integration; branch-and-bound global initialization at cold start and a guarded supervisor that re-seeds after lost tracking, with public-dataset benchmarks documented.