/**:
  ros__parameters:
    common:
      img_topic: "/left_camera/image"
      lid_topic: "/livox/lidar"
      imu_topic: "/livox/imu"
      img_en: 1
      lidar_en: 1
      ros_driver_bug_fix: false

    extrin_calib:
      extrinsic_T: [0.04165, 0.02326, -0.0284]
      extrinsic_R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
      # MARS_LVIG HKisland HKairport
      # Rcl: [0.00438814,-0.999807,-0.0191582,
      #       -0.00978695,0.0191145,-0.999769,
      #       0.999942,0.00457463,-0.00970118]
      # Pcl: [0.016069, 0.0871753, -0.0718021]
      # MARS_LVIG AMtown AMvalley
      Rcl: [ -0.0022464, -0.9997299, -0.0231319,
             -0.0084211,  0.0231501, -0.9996966,
              0.9999620, -0.0020509, -0.0084708]
      Pcl: [-0.0025563, 0.0567484, -0.0512149]

    time_offset: 
      imu_time_offset: 0.0
      img_time_offset: -0.1
      exposure_time_init: 0.0132
    # ╔═══════════════════════════════════════════════════════════════════════════════════════╗
    # ║                     Configuration Settings                                            ║
    # ╠═══════════════════════════════════════════════════════════════════════════════════════╣
    # ║    Series   │      ID     │ img_time_offset │ exposure_time_init │  -s (start hover)  ║
    # ╠═══════════════════════════════════════════════════════════════════════════════════════╣
    # ║  HKairport  │ HKairport01 │       0.1       │         0.0        │         75         ║
    # ║             │ HKairport02 │      -0.1       │         0.0        │         60         ║
    # ║             │ HKairport03 │      -0.1       │         0.0        │         62         ║
    # ╠═══════════════════════════════════════════════════════════════════════════════════════╣
    # ║  HKisland   │ HKisland01  │       0.0       │         0.0        │        118         ║
    # ║             │ HKisland02  │       0.1       │         0.0        │         80         ║
    # ║             │ HKisland03  │      -0.1       │         0.0        │         72         ║
    # ╠═══════════════════════════════════════════════════════════════════════════════════════╣
    # ║  AMtown     │ AMtown01    │      -0.1       │       0.0285       │         75         ║
    # ║             │ AMtown02    │      -0.1       │       0.0285       │         50         ║
    # ║             │ AMtown03    │      -0.1       │       0.0285       │        106         ║
    # ╠═══════════════════════════════════════════════════════════════════════════════════════╣
    # ║  AMvalley   │ AMvalley01  │      -0.1       │       0.0132       │         70         ║
    # ║             │ AMvalley02  │      -0.1       │       0.0132       │         65         ║
    # ║             │ AMvalley03  │      -0.1       │       0.0132       │         68         ║
    # ╚═══════════════════════════════════════════════════════════════════════════════════════╝
    preprocess:
      point_filter_num: 1
      filter_size_surf: 0.1
      lidar_type: 1 # Livox Avia LiDAR
      scan_line: 6
      blind: 0.8

    vio:
      max_iterations: 5
      outlier_threshold: 1000 # 78 100 156 #100 200 500 700 infinite
      img_point_cov: 1000 # 100 1000 
      patch_size: 8
      patch_pyrimid_level: 4
      normal_en: true
      raycast_en: false
      inverse_composition_en: false
      exposure_estimate_en: true
      inv_expo_cov: 0.1

    imu:
      imu_en: true
      imu_int_frame: 30
      acc_cov: 2.0 # 0.5
      gyr_cov: 0.1 # 0.3
      b_acc_cov: 0.0001 # 0.1
      b_gyr_cov: 0.0001 # 0.1

    lio:
      max_iterations: 5
      dept_err: 0.02
      beam_err: 0.05
      min_eigen_value: 0.005
      voxel_size: 2.0 # 1.0
      max_layer: 2
      max_points_num: 50
      layer_init_num: [5, 5, 5, 5, 5]

    local_map:  
      map_sliding_en: false
      half_map_size: 100
      sliding_thresh: 8.0

    uav:
      imu_rate_odom: false
      gravity_align_en: false

    publish:
      dense_map_en: true
      pub_effect_point_en: false 
      pub_plane_en: false
      pub_scan_num: 1
      blind_rgb_points: 0.0

    evo:
      seq_name: "HKisland03"
      pose_output_en: false

    pcd_save:
      pcd_save_en: false
      type: 0 # 0: World Frame, 1: Body Frame;
      colmap_output_en: false # need to set interval = -1
      filter_size_pcd: 0.15
      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.

    image_save:
      img_save_en: false
      interval: 1