Robust BIM-based 2D-LiDAR Localization for Lifelong Indoor Navigation in Changing and Dynamic Environments

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OGM→pose-graph generator for SLAM Toolbox. Raycasts synthetic LiDAR from planned poses, writes IR (lasers/nodes/edges), and encodes Karto files (.posegraph + .data) via json_to_karto. Fast, deterministic, ROS-optional, with a small pose-graph viewer.