/**:
    ros__parameters:
        feature_extract_enable: false
        point_filter_num: 1
        max_iteration: 25
        filter_size_surf: 0.5
        filter_size_map: 0.5
        cube_side_length: 1000.0
        runtime_pos_log_enable: false
        map_file_path: "/home/timo/Downloads/scan.pcd"

        common:
            lid_topic:  "/velodyne_points"
            imu_topic:  "/imu"
            time_sync_en: false         # ONLY turn on when external time synchronization is really not possible
            time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README).
                                        # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0

        preprocess:
            lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
            scan_line: 16
            scan_rate: 10                # only need to be set for velodyne, unit: Hz,
            timestamp_unit: 3            # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
            blind: 0.7

        mapping:
            acc_cov: 0.01
            gyr_cov: 0.05
            b_acc_cov: 0.0005
            b_gyr_cov: 0.00025
            fov_degree:    360.0
            det_range:     100.0
            extrinsic_est_en:  false      # true: enable the online estimation of IMU-LiDAR extrinsic,
            extrinsic_T: [ 0., 0., -0.05]
            extrinsic_R: [ 1., 0., 0., 
                        0., 1., 0., 
                        0., 0., -1.]

        publish:
            path_en:  true
            map_en: true
            scan_publish_en:  true       # false: close all the point cloud output
            dense_publish_en: true       # false: low down the points number in a global-frame point clouds scan.
            scan_bodyframe_pub_en: true  # true: output the point cloud scans in IMU-body-frame

        pcd_save:
            pcd_save_en: true
            interval: -1                 # how many LiDAR frames saved in each pcd file; 
                                        # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.
