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NOTE: The current branch with the most recent changes is reintegrate/master_into_indigo_devel. We are slowly reducing the public support for this stack. It is mainly there for us to try quick demos and as an example of libpointmatcher code.

This ROS stack provides a real-time 2D and 3D ICP-based SLAM system that can fit a large variety of robots and application scenarios, without any code change or recompilation.

Information about this stack, including installation and compilation, is available on the ROS wiki at