/**:
    ros__parameters:
        feature_extract_enable: false
        point_filter_num: 7
        max_iteration: 3
        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"

        common:
            lid_topic:  "/livox/lidar"
            imu_topic:  "/livox/imu"
            time_sync_en: false         # Native fixed time offset locked on first frame
            time_offset_lidar_to_imu: 0.0

        preprocess:
            lidar_type: 1                # 1 for Livox serials LiDAR
            scan_line:  6
            blind: 0.6
            timestamp_unit: 3
            scan_rate: 10

        mapping:
            acc_cov: 0.1
            gyr_cov: 0.1
            b_acc_cov: 0.01
            b_gyr_cov: 0.001
            fov_degree:    360.0
            det_range:     50.0
            extrinsic_est_en:  false
            extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
            # 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
            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: disable dense cloud to reduce RViz lag
            scan_bodyframe_pub_en: false # false: disable body-frame scan publish

        pcd_save:
            pcd_save_en: false
            interval: -1                 # -1: all frames saved in ONE pcd file when node exits cleanly