Hello, I managed to get the package to compile with CTurtle, by making changes only in point_cloud_perception_experimental and mapping3D. I would like to try checking the consistency of the program. Would you have any dataset to test mapping3D's outputs? Raph -- View this message in context: http://ros-users.122217.n3.nabble.com/Mapping3d-tp2205074p2302195.html Sent from the ROS-Users mailing list archive at Nabble.com.