The ndt_mapping and icp_mapping packages are based on Autoware (see https://github.com/CPFL/Autoware). Some other scripts/nodes are utility nodes.
- Velodyne ROS Driver from: https://github.com/ros-drivers/velodyne
Additional package required for NDT D2D version:
- Git repo from: https://github.com/OrebroUniversity/perception_oru-release
- Only ndt_map and ndt_registration packages are necessary, the rest can be deleted