/**:
    ros__parameters:
        feature_extract_enable: false
        point_filter_num: 3
        max_iteration: 4             # 增加迭代次数，提高精度
        filter_size_surf: 0.15       # 减小滤波器尺寸，提高精度
        filter_size_map: 0.15        # 减小地图滤波器尺寸，提高精度
        cube_side_length: 2000.0
        runtime_pos_log_enable: false
        map_file_path: "./test.pcd"

        common:
            lid_topic:  "/livox/lidar"
            imu_topic:  "/livox/imu"
            time_sync_en: false        # 禁用时间同步以解决时间差问题
            time_offset_lidar_to_imu: 0.0  # 重置时间偏移
                                        # 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: 1                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 4 for any other pointcloud input
            scan_line:  4
            blind: 0.1
            timestamp_unit: 3
            scan_rate: 5                 # 修复: 从20降到5以匹配实际雷达频率3.38Hz

        mapping:
            acc_cov: 0.1                 # 降低加速度计噪声协方差，减少漂移
            gyr_cov: 0.1                 # 降低陀螺仪噪声协方差，减少漂移  
            b_acc_cov: 0.001             # 降低加速度计bias噪声协方差
            b_gyr_cov: 0.001             # 降低陀螺仪bias噪声协方差
            fov_degree:    360.0
            det_range:     100.0
            extrinsic_est_en:  false      # true: enable the online estimation of IMU-LiDAR extrinsic
            extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
            extrinsic_R: [ 1., 0., 0.,
                            0., 1., 0.,
                            0., 0., 1.]

        publish:
            path_en: true                # true: publish Path
            effect_map_en: false         # true: publish Effects
            map_en: true                 # true: publish Map cloud
            scan_publish_en:  true       # false: close all the point cloud output
            dense_publish_en: false      # 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.