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
