Provide API ?

[artivis]

Hi,
I would like to use your scan matcher within another project but it seems that the whole implementation takes places in the node itself.
Is there any plan to separate the actual scan matching from the node therefore providing a usable API ??

Cheers.

[JGMonroy]

Hi artivis,
Originally the RF2O code was not a ROS node, but given that most people use ROS we created this wrapper version.

We are currently working in a new, more robust and precise version of this "scan-matcher", called SRF (to appear soon). As soon as we have it implemented I'll publish it and if you are interested I can also make public a version just containing the classes and the API to use it from a non-ROS system.

[artivis]

Thanks for the quick answer !

Long story short, I'm writing a pluginlib based ROS package that aims at facilitating switching from a scan matcher to another as simply as setting a parameter in a launch file.
I would like to make a plugin for RF2O as well so that it is available in this scheme, but if you are working on a newer version maybe should I wait for it ?

[YoshuaNava]

Hi,
@JGMonroy I think rf2o works great, thank you for making it available to the community, I'm very interested in testing out SRF. Will this be open-sourced in the near future?

Thank you.
Yoshua Nava