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https://github.com/koide3/hdl_graph_slam U shud check this out, it is frequently updated by the maintainer and i have gotten answers from him using github issues before
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I used RTAB Map for my masterthesis as well. You have to use the cloud topics and disable all scan parameters. There is a masterfile with 800 lines of parameters that should help you out. https://github.com/introlab/rtabmap/blob/master/corelib/include/rtabmap/core/Parameters.h
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InfluxDB
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floam
Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021
Further you may take a look at Floam. It is an ICP approach used within RTAB that may be chosen, but it is also a fully fledged 3D Slam approach afaik. https://github.com/wh200720041/floam