Atsushi Watanabe

@Sean-Der I think it's better to make it pointer not for the performance but to make it less confusing as I wrote: https://github.com/pion/webrtc/pull/1540#pullrequestreview-540545532 > > Before we would keep a...

I think the performance on the CI environment really depends on the timing since many CI jobs shares a host machine. (Even if the virtual core is assigned to the...

@Sean-Der any thoughts about https://github.com/pion/webrtc/issues/1560#issuecomment-735643915?

I guess you are using 3D LIDAR like Velodyne. Such kinds of LIDARs provide pointcloud in which its horizontal scan is split into several pointcloud messages. In this case, the...

mcl_3dl subscribes multiple 3D pointclouds (can have multiple frame_id) from `/cloud`. Transform of multiple frame_ids are handled inside mcl_3dl, so you can just supply all pointclouds into one topic.

@flynneva For example in the launch file ```xml ``` or ```xml ```

@HappySamuel mcl_3dl accumulates multiple scans from multiple lidars and process them taking their poses at the timestamp of each message into account.

> Can it take in the pointcloud data from 3D pointcloud camera as well? I have never tried.

Existing global_localization service should be kept for amcl compatibility. New service should be defined to implement this.

https://github.com/at-wat/mcl_3dl/blob/b192ce82cee92ff00d21c39e432bc1d560ea2c3a/src/parameters.cpp#L58-L74 `likelihood/clip_far` and `beam/clip_far` should be increased to use the points far from the robot. `likelihood/match_dist_min` may also be needed to be increased for large environment. Points which are not...