Note : Modified Version from ccny-ros-pkg/scan_tools
Note : Modifications Taken From https://answers.ros.org/question/12489/obtaining-nav_msgsodometry-from-a-laser_scan-eg-with-laser_scan_matcher/
Laser scan processing tools. The meta-package contains:
laser_scan_matcher: an incremental laser scan matcher, using Andrea Censi's Canonical Scan Matcher implementation. It downloads and installs Andrea Censi's Canonical Scan Matcher [1] locally.
Goto your workspace directory for rosbuild.
Make sure you have git installed:
sudo apt-get install git-core
Download the package from our repository:
git clone https://github.com/usiraj/laser_scan_matcher.git
Compile the package from its folder:
make
http://wiki.ros.org/scan_tools
[1] A. Censi, "An ICP variant using a point-to-line metric" Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2008