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Add Multi lidar support from ROS wrapping

Nicolas Cadart requested to merge MultiLidarSupport into master

Add multi-LiDAR support to SLAM (running SLAM with several frames as input).

The process is quite simple :

  • Set SLAM keypoints extractors and BASE to LIDAR transforms for each device
  • Perform keypoints extraction on each individual frame using these different KE
  • Aggregate all extracted keypoints, and continue SLAM process as before

This feature is only available in raw LidarSlam lib and from ROS wrapping yet (not supported in PV wrapping). From ROS wrapping, some additional parameters need to be defined in a MultiLidar setup. However, the node is still compatible with old config files.

@julia.sanchez @nick.laurenson @lea.vauchier @melanie.carriere PTAL

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