@subterraneansystems: What I’ve learned building my own LiDAR cave mapper (nobody tells you this stuff): ➡️ Getting SLAM reliable is way harder than it looks. Divergence and drift are constant battles, and one bad loop and your whole map falls apart. ➡️ Simulation gives you confidence. Real world testing humbles you. Always. ➡️ And data timing? If your sensor streams aren’t synced to the millisecond, you’re not mapping anything, you’re just making art. More to come on how I’m solving all of this. #lidar #caving #robotics #engineering #SLAM