Using laser_scan_matcher to accomplish Extrinsic Calibration for 2 2D Laser Scans

[artemiialessandrini]

Greetings!
Since extrinsic calibration is so painstaking to handle, but also happen needed to be re executed, if robot might hit the wall, get transported , etc. so,
I'm thinking of possible workaround to implement ICP based Extrinsic Calibration tool, which solves this tf:

front_lidar ----> base_frame <---- rear_lidar

For laser_scan_matcher, this task looks doable, the only thing is to calculate a transform to base_frame. Is it possible to implement?

I hope to get some clue, suggestions also would be appreciated.

[artemiialessandrini]

First thing coming on mind is to run lidar_scan_matcher with different /ns for both lidars,
use TransformListener to lookup for transform.
But it doesn't take into account base_link - lidars, also there's no error computation.