Pritish3110/Lidar_Odometry_system ? reverse-engineered prompt

Build me a working ROS2 Humble project for LiDAR odometry that can take KITTI Sequence 07 point cloud files, convert them into a ROS2 bag, and play them back as PointCloud2 data for live odometry estimation.

I want the system to estimate motion using LiDAR only, then publish odometry and the TF tree so I can visualize the trajectory in RViz. Please include the scan matching part with ICP, feature extraction for edge and plane points, and the optimization step to refine the pose. It should be usable on Ubuntu 22.04, build cleanly with colcon, and have a launch file plus a simple config for KITTI settings. If you need to check current ROS2 or PCL docs online while wiring it up, go ahead. Make it easy for me to run the full pipeline from dataset conversion to visualization without having to guess the steps.