localizer:
  init_pose_topic: "/initialpose"
  map_topic: "/points_map"
  lidar_topic: "/filter_points"
  odom_topic: "/odom"
  aligned_cloud_topic: "/aligned_points"
  localizer_odom_topic: "/odom"
  exe_time_topic: "/exe_time"
  score_topic: "/score"
  diagnostics_topic: "/diagnostics"
  trajectory_topic: "/path"
  trajectory_aligned_topic: "/aligned_path"
  map_frame: "map"
  base_link: "base_link"

  threshold: 0.5  #配准点云最小平均距离阈值，大于这个阈值代表匹配失败
  odom_to_lidar_angle: 0.03 # 轮式里程计和雷达的yaw 修正参数

  ekf_q: [ 0.01, 0.0, 0.0,
          0.0, 0.001, 0.0,
          0.0, 0.0, 1.0 ]
  ekf_r: [ 1.0, 0.0, 0.0,
          0.0, 1.0, 0.0,
          0.0, 0.0, 0.001 ]