As example, you can download 5 datasets from the Service Robotics Laboratory repository (https://robotics.upo.es/datasets/dll/). The example launch files are prepared and configured to work with these bags. You can see the different parameters of the method. Notice that, except for mbzirc.bag, the bags do not include osometry estimation. For this reason, as an easy work around, the lauch files publish a fake odometry that is the identity matrix. DLL is faster and more accurate when a good odometry is available.
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