Hello,

I am trying to perform localization for a UAV using a laser range finder in a map built using octomapping. I don't currently have an odometry source. I won't be able to modify the work environment so visual odom with optitrack or vicon is not an option. I am looking at getting a px4flow in the future when the UAV is actually built, but right now I am just using a hand held proof of concept prototype. Does anyone know if there are any localization packages that will work for this right now? I have looked at humanoidlocalization but it requires an odom source and when I tried it along with hectormapping's pub_odom param there was a great deal of lag. If you can think of something, please let me know.

Thank,