Hi,

Is there any existing 2D feature based/EKF SLAM implementation ready to use in ROS currently? I know that this question was asked before 2 years ago:

http://answers.ros.org/question/189311/feature-based-slam-mapping/

I want to know because if not, I want to implement this Matlab code in ROS:

https://openslam.org/bailey-slam.html

Best,