ndt:
  ekfQ: [ 0.01, 0.0, 0.0,
          0.0, 0.001, 0.0,
          0.0, 0.0, 1.0 ]
  ekfR: [ 1.0, 0.0, 0.0,
        0.0, 1.0, 0.0,
        0.0, 0.0, 0.001 ]
  lidarFrame: rslidar
  baslinkFrame: base_link
  probability: 3.0 #ndt匹配最小置信度，判断是否收敛的标志
  odomAngle: 0.05
voxel_grid_filter:
  voxel_leaf_size: 0.1