Ogjeche developed the Lidar Localization Core Framework for the WATonomous/wato_monorepo, establishing a robust foundation for lidar-based mapping and localization in autonomous systems. Leveraging C++, CMake, and ROS, Ogjeche focused on maintainable software architecture by renaming the package to lidar_localization and implementing comprehensive codebase hygiene. This included dependency cleanup, XML and YAML formatting corrections, and removal of redundant sensor_msgs dependencies to streamline builds. The work addressed technical debt in packaging and configuration, enabling more reliable builds and smoother onboarding for contributors. Ogjeche’s contributions laid essential groundwork for future feature integration and safer, faster iteration in robotics development.