A Numerically-Robust ROS 2 Port of iG-LIO: Diagnosing and Fixing Toolchain-Induced Failures in Incremental GICP LiDAR-Inertial Odometry

arXiv:2607.09947v1 Announce Type: new Abstract: iG-LIO is a tightly-coupled LiDAR-inertial odometry system fusing generalized-ICP and point-to-plane constraints in an iterated error-state Kalman filter over an incremental voxel map. We report an open-source ROS 2 Jazzy port of the original ROS 1 implementation and, more importantly, the diagnosis of environment-induced numerical failures that appear only after the port: a mechanically faithful migration -- estimation mathematics left unchanged -...