G1:
    imu_topic: "rt/utlidar/imu_livox_mid360"   #/livox/imu  rt/utlidar/imu_livox_mid360
    lidar_topic: "rt/utlidar/cloud_livox_mid360"
    imu_acc_multi: 10.0 #10.0
    imu_gyro_multi: 1.0
    filter_num: 8 #8
    lidar_scan_min_range: 0.25
    lidar_scan_max_range: 30.0
    map_frame: "map"
    body_frame: "livox_frame"
    pub_point_topic: "rt/unitree/slam_mapping/points"
    pub_odom_topic: "rt/unitree/slam_mapping/odom"
    imu_init_num: 100
    vel_cov: 20.0
    acc_cov: 50000.0
    gyro_cov: 1000.0
    b_acc_cov: 0.0001
    b_gyro_cov: 0.0001
    lidar_meas_cov_inv: 100.0
    imu_meas_acc_cov_inv: 1.0
    imu_meas_gyro_cov_inv: 10.0
    satu_acc: 20.0
    satu_gyro: 35.0
    scan_resolution: 0.3 #0.3
    map_resolution: 0.3
    near_search_num: 5.0
    move_thresh: 1.5
    det_range: 60.0
    cube_len: 300.0
    pose_imu_lidar: [1.0, 0.0, 0.0, 0.0, -0.011, -0.02329, 0.04412]
    save_pcd: true
    save_pcd_res: 0.15
    dist_sq_threshold: 2.0
    plane_threshold: 0.1
    ground_ang: 75.0     # degree

Go2:
    imu_topic: "rt/unitree/slam_lidar/imu"   #/livox/imu  rt/utlidar/imu_livox_mid360
    lidar_topic: "rt/unitree/slam_lidar/points"
    imu_acc_multi: 10.0 #10.0
    imu_gyro_multi: 1.0
    filter_num: 25 #8
    lidar_scan_min_range: 0.25
    lidar_scan_max_range: 30.0
    map_frame: "map"
    body_frame: "livox_frame"
    pub_point_topic: "rt/unitree/slam_mapping/points"
    pub_odom_topic: "rt/unitree/slam_mapping/odom"
    imu_init_num: 100
    vel_cov: 20.0
    acc_cov: 50000.0
    gyro_cov: 1000.0
    b_acc_cov: 0.0001
    b_gyro_cov: 0.0001
    lidar_meas_cov_inv: 100.0
    imu_meas_acc_cov_inv: 1.0
    imu_meas_gyro_cov_inv: 10.0
    satu_acc: 20.0
    satu_gyro: 35.0
    scan_resolution: 0.3 #0.3
    map_resolution: 0.3
    near_search_num: 5.0
    move_thresh: 1.5
    det_range: 60.0
    cube_len: 300.0
    pose_imu_lidar: [1.0, 0.0, 0.0, 0.0, -0.011, -0.02329, 0.04412]
    save_pcd: true
    save_pcd_res: 0.15
    dist_sq_threshold: 2.0
    plane_threshold: 0.1
    ground_ang: 75.0     # degree

Go2_W:
    imu_topic: "rt/unitree/slam_lidar/imu"   #/livox/imu  rt/utlidar/imu_livox_mid360
    lidar_topic: "rt/unitree/slam_lidar/points"
    imu_acc_multi: 10.0 #10.0
    imu_gyro_multi: 1.0
    filter_num: 25 #8
    lidar_scan_min_range: 0.25
    lidar_scan_max_range: 30.0
    map_frame: "map"
    body_frame: "livox_frame"
    pub_point_topic: "rt/unitree/slam_mapping/points"
    pub_odom_topic: "rt/unitree/slam_mapping/odom"
    imu_init_num: 100
    vel_cov: 20.0
    acc_cov: 50000.0
    gyro_cov: 1000.0
    b_acc_cov: 0.0001
    b_gyro_cov: 0.0001
    lidar_meas_cov_inv: 100.0
    imu_meas_acc_cov_inv: 1.0
    imu_meas_gyro_cov_inv: 10.0
    satu_acc: 20.0
    satu_gyro: 35.0
    scan_resolution: 0.3 #0.3
    map_resolution: 0.3
    near_search_num: 5.0
    move_thresh: 1.5
    det_range: 60.0
    cube_len: 300.0
    pose_imu_lidar: [1.0, 0.0, 0.0, 0.0, -0.011, -0.02329, 0.04412]
    save_pcd: true
    save_pcd_res: 0.15
    dist_sq_threshold: 2.0
    plane_threshold: 0.1
    ground_ang: 75.0     # degree