- Multi-LiDAR Support
Compatible with Livox, Velodyne, and Ouster sensors - LiDAR-inertial Fusion
Support LiDAR-inertial Fusion - Dual-Mode Operation
Supports both localization and mapping modes - Degeneracy Awareness
Robust detection of environmental degeneracy - ROS 2.0 Integration
Built on ROS 2 Humble for modern robotics development