G1:
  imu_topic: "rt/dog_imu_raw"   #/livox/imu  rt/utlidar/imu_livox_mid360
  lidar_topic: "rt/rslidar_points"
  imu_acc_multi: 1.0 #10.0
  imu_gyro_multi: 1.0
  filter_num: 4 #8
  lidar_scan_min_range: 0.25
  lidar_scan_max_range: 20.0
  map_frame: "map"
  body_frame: "rslidar"
  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: 500.0
  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: 10.0
  imu_meas_gyro_cov_inv: 10.0
  satu_acc: 20.0
  satu_gyro: 35.0
  scan_resolution: 0.4 #0.3
  map_resolution: 0.4
  near_search_num: 5.0
  move_thresh: 1.5
  det_range: 60.0
  cube_len: 300.0
  pose_imu_lidar: [0.707, 0.0, 0.0, 0.707, 0.1710, 0, 0.0908]
  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/dog_imu_raw"   #/livox/imu  rt/utlidar/imu_livox_mid360
  lidar_topic: "rt/unitree/slam_lidar/points"
  imu_acc_multi: 1.0 #10.0
  imu_gyro_multi: 1.0
  filter_num: 35 #8
  lidar_scan_min_range: 0.25
  lidar_scan_max_range: 20.0
  map_frame: "map"
  body_frame: "rslidar"
  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: 500.0
  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: 0.5
  imu_meas_gyro_cov_inv: 0.5
  satu_acc: 20.0
  satu_gyro: 35.0
  scan_resolution: 0.4 #0.3
  map_resolution: 0.4
  near_search_num: 5.0
  move_thresh: 1.5
  det_range: 60.0
  cube_len: 300.0
  pose_imu_lidar: [0.707, 0.0, 0.0, 0.707, 0.1710, 0.0, 0.0908]
  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/dog_imu_raw"   #/livox/imu  rt/utlidar/imu_livox_mid360
  lidar_topic: "rt/unitree/slam_lidar/points"
  imu_acc_multi: 1.0 #10.0
  imu_gyro_multi: 1.0
  filter_num: 35 #8
  lidar_scan_min_range: 0.25
  lidar_scan_max_range: 20.0
  map_frame: "map"
  body_frame: "rslidar"
  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: 500.0
  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: 0.5
  imu_meas_gyro_cov_inv: 0.5
  satu_acc: 20.0
  satu_gyro: 35.0
  scan_resolution: 0.4 #0.3
  map_resolution: 0.4
  near_search_num: 5.0
  move_thresh: 1.5
  det_range: 60.0
  cube_len: 300.0
  pose_imu_lidar: [0.707, 0.0, 0.0, 0.707, 0.1710, 0.0, 0.0908]
  save_pcd: true
  save_pcd_res: 0.15
  dist_sq_threshold: 2.0
  plane_threshold: 0.1
  ground_ang: 75.0     # degree