Publish LIO anchor frame as odom, calibrate LiDAR mount pitch, tune point filtering

- Rename the published frame_id from camera_init to odom everywhere in laserMapping.cpp (child stays aft_mapped, matching the URDF root) so AMCL's map->odom broadcast no longer conflicts with a separate static camera_init->odom bridge in fori_ws's Nav2 launch
- Set extrinsic_R for the LiDAR's actual 20-degree nose-down mounting pitch (was identity)
- Increase point_filter_num and filter_size_surf/map for lighter point cloud load

config/mid360s.yaml

@@ -1,10 +1,10 @@
 /**:
     ros__parameters:
         feature_extract_enable: false
-        point_filter_num: 4
+        point_filter_num: 7
         max_iteration: 3
-        filter_size_surf: 0.5
-        filter_size_map: 0.5
+        filter_size_surf: 0.8
+        filter_size_map: 0.8
         cube_side_length: 200.0
         runtime_pos_log_enable: false
         map_file_path: "./PCD/scans.pcd"
@@ -31,9 +31,13 @@
             det_range:     50.0
             extrinsic_est_en:  false
             extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
-            extrinsic_R: [ 1.0, 0.0, 0.0,
-                           0.0, 1.0, 0.0,
-                           0.0, 0.0, 1.0 ]
+            # 라이다가 전방 지면을 보도록 20도 nose-down(pitch)으로 장착됨.
+            # extrinsic_R은 "라이다 자세를 IMU/바디 프레임 기준으로" 표현(FAST-LIO
+            # README: extrinsic = LiDAR pose in IMU frame). Ry(+20deg): forward(+X)가
+            # -Z(아래) 쪽으로 기움 -> nose-down과 일치.
+            extrinsic_R: [ 0.9396926, 0.0, 0.3420201,
+                           0.0,       1.0, 0.0,
+                          -0.3420201, 0.0, 0.9396926 ]
 
         publish:
             path_en: true                # true: publish Path