robin d0a113ee18 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

2026-08-27 11:45:54 +09:00

..

mid360s.yaml

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

2026-08-27 11:45:54 +09:00