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- 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 ]
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