[proposal] Removing NDT implementations other than ndt_omp

[kminoda]

I propose to remove ndt and ndt_pcl_modified packages from Autoware.

The package was intended to provide a unique interface for various types of NDT implementation (like ndt_omp or pcl ones), but in real current Autoware is actually designed to use ndt_omp implementation. In addition, as far as we know, NDT implementations other than ndt_omp does not seem to be used.

It is true that leaving these packages would be better in terms of customizability, but I believe that the drawbacks of the increase in maintaining cost is non-negligible.

Thus, I propose to remove ndt and ndt_pcl_modified packages to simplify the localization module and especially ndt_scan_matcher.

Let us know if you are using pcl or pcl_modified implementations for NDT.

I will wait for a week (let me know if this is too short), and if I see no disagreements on this proposal, I would like to move on to apply the above idea to Autoware.

• Corresponding pull request
• Performance evaluation between NDT in PCL vs NDT_OMP

[kminoda]

Since no response was posted here, I would like to close this discussion and move on to remote the ndt package.