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[ROS2][feat] Enable IMU sensor 0 of 3 checklist items completed
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[feat][ROS2] Create new keypoint extractor using a vertex map 26 of 33 checklist items completed
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[ROS2][Refact] Replace device_id by frame_id 3 of 4 checklist items completed
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[ROS2][fix] Fix and clean launch files 4 of 4 checklist items completed
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[ROS2][feat] Integrate loop closure into ros2 wrapping 5 of 6 checklist items completed
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[ROS2][feat] Always use multilidar 4 of 4 checklist items completed