How to generate pose graph from LIDAR(Laser) data?

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In order to build a simple graph with laser data (without loop closing) we need to follow following steps 1) Use scan matcher that will match consecutive scans and provide relative transformation between robots last pose from where the last scan was acquired and robot's new pose. 2) The transformation we obtain is relative measurement and can be used to set edge value in g2o 3) To get absolute pose of robot that you can use as vertex value in g2o you need to keep integrating the poses as they arrive. That will give you current pose of the robot from the starting point. 4) Keep the transformations in mind as you just cant add poses speaking abstractly. You have to use transformations i.e. multiply your pose with transformation matrix to get absolute pose.

This will give you a pose graph that you can further play and optimize using loop closure. For further information you can refer to @saurav's blog link text Or my blog which contains a tutorial on graph slam link text