I am trying to use Cartographer for mapping using the Livox Mid-40 lidar. From the best i can tell is that the navigation.cartographer Isaac module will only accept a flatscan as its lidar input however the livox produces a point cloud. I know that cartographer can accept a point cloud as an input. Is there any way to be able to pass the livox point cloud using the navigation.cartographer Isaac module?
Asking more broadly, there is other things I would like to do utilizing cartographer that the module does not look like it currently supports like passing in GPS data as well as utilizing the 3d SLAM. I am assuming the source for the navigation.cartographer module is not available however if it is please let me know where i could find it. If its not available any help with figuring out where to get started using the cartographer API within my own Isaac codelet would be greatly appreciated since documentation for running cartographer outside of ROS has been proving to be hard to find