G1:
  imu_topic: "rt/utlidar/imu_livox_mid360"   #/livox/imu 
  lidar_topic: "rt/utlidar/cloud_livox_mid360"
  map_frame: "map"
  body_frame: "livox_frame"
  pub_point_topic: "rt/unitree/slam_relocation/points"
  pub_odom_topic: "rt/unitree/slam_relocation/odom"
  pub_global_pcd_topic: "rt/unitree/slam_relocation/global_map"
  pub_local_pcd_topic: "rt/unitree/slam_relocation/local_map"
  imu_acc_multi: 1.0 #10.0
  imu_gyro_multi: 1.0
  filter_num: 9 #
  lidar_scan_min_range: 0.25
  lidar_scan_max_range: 20.0          # 30.0
  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 #0.15
  map_resolution: 0.3
  near_search_num: 5.0
  move_thresh: 1.5
  det_range: 10.0
  pose_imu_lidar: [1.0, 0.0, 0.0, 0.0, -0.011, -0.02329, 0.04412] # [qw,qx,qy,qz,tx,ty,tz ]
  icp_score: 0.03
  cube_len: 300.0
  speed_max: 1.5 #m/s
  plane_threshold: 0.1 #0.1
  dist_sq_threshold: 1.5 #0.1
  init_local_map_res: 0.15
  gridResolutionX: 30
  gridResolutionY: 30
  gridResolutionZ: 30
  nearbyMethod: NEARBY26
  re_position_tollerance: 0.1
  re_angle_tollerance: 0.2
  re_score_tollerance: 0.02
  map_thresh: 10.0
  time_thresh: 1.0
  pos_thresh: 0.5
  angle_thresh: 0.2
  ground_ang: 70.0     # degree

Go2:
  imu_topic: "rt/unitree/slam_lidar/imu"   #/livox/imu 
  lidar_topic: "rt/unitree/slam_lidar/points"
  map_frame: "map"
  body_frame: "livox_frame"
  pub_point_topic: "rt/unitree/slam_relocation/points"
  pub_odom_topic: "rt/unitree/slam_relocation/odom"
  pub_global_pcd_topic: "rt/unitree/slam_relocation/global_map"
  pub_local_pcd_topic: "rt/unitree/slam_relocation/local_map"
  imu_acc_multi: 10.0 #10.0
  imu_gyro_multi: 1.0
  filter_num: 35 #
  lidar_scan_min_range: 0.25
  lidar_scan_max_range: 20.0          # 30.0
  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 #0.15
  map_resolution: 0.3
  near_search_num: 5.0
  move_thresh: 1.5
  det_range: 10.0
  pose_imu_lidar: [1.0, 0.0, 0.0, 0.0, 0.1870, 0.0, 0.0803] # [qw,qx,qy,qz,tx,ty,tz ]
  icp_score: 0.03
  cube_len: 300.0
  speed_max: 2.5 #m/s
  plane_threshold: 0.1 #0.1
  dist_sq_threshold: 0.1 #0.1
  init_local_map_res: 0.15
  gridResolutionX: 30
  gridResolutionY: 30
  gridResolutionZ: 30
  nearbyMethod: NEARBY26
  re_position_tollerance: 0.1
  re_angle_tollerance: 0.2
  re_score_tollerance: 0.02
  map_thresh: 10.0
  time_thresh: 1.0
  pos_thresh: 0.5
  angle_thresh: 0.2
  ground_ang: 60.0     # degree

Go2_W:
  imu_topic: "rt/unitree/slam_lidar/imu"   #/livox/imu 
  lidar_topic: "rt/unitree/slam_lidar/points"
  map_frame: "map"
  body_frame: "livox_frame"
  pub_point_topic: "rt/unitree/slam_relocation/points"
  pub_odom_topic: "rt/unitree/slam_relocation/odom"
  pub_global_pcd_topic: "rt/unitree/slam_relocation/global_map"
  pub_local_pcd_topic: "rt/unitree/slam_relocation/local_map"
  imu_acc_multi: 10.0 #10.0
  imu_gyro_multi: 1.0
  filter_num: 35 #
  lidar_scan_min_range: 0.25
  lidar_scan_max_range: 20.0          # 30.0
  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 #0.15
  map_resolution: 0.3
  near_search_num: 5.0
  move_thresh: 1.5
  det_range: 10.0
  pose_imu_lidar: [1.0, 0.0, 0.0, 0.0, 0.1870, 0.0, 0.0803] # [qw,qx,qy,qz,tx,ty,tz ]
  icp_score: 0.05 #0.03
  cube_len: 300.0
  speed_max: 2.5 #m/s
  plane_threshold: 0.1 #0.1
  dist_sq_threshold: 0.1 #0.1
  init_local_map_res: 0.15
  gridResolutionX: 30
  gridResolutionY: 30
  gridResolutionZ: 30
  nearbyMethod: NEARBY26
  re_position_tollerance: 0.1
  re_angle_tollerance: 0.2
  re_score_tollerance: 0.02
  map_thresh: 10.0
  time_thresh: 1.0
  pos_thresh: 0.5
  angle_thresh: 0.2
  ground_ang: 60.0     # degree