/**:
    ros__parameters:
        use_imu_as_input: True  # Change to True to use IMU as input of Point-LIO
        prop_at_freq_of_imu: True
        check_satu: True
        init_map_size: 1000
        point_filter_num: 3  # Options: 1, 3
        space_down_sample: True
        filter_size_surf: 0.5  # Options: 0.5, 0.3, 0.2, 0.15, 0.1
        filter_size_map: 0.5  # Options: 0.5, 0.3, 0.15, 0.1
        cube_side_length: 1000.0  # Option: 1000
        runtime_pos_log_enable: false  # Option: True
		
        common:
            lid_topic:  "/livox/lidar" 
            imu_topic:  "/livox/imu" 
            con_frame: false # true: if you need to combine several LiDAR frames into one
            con_frame_num: 1 # the number of frames combined
            cut_frame: false # true: if you need to cut one LiDAR frame into several subframes
            cut_frame_time_interval: 0.1 # should be integral fraction of 1 / LiDAR frequency
            time_diff_lidar_to_imu: 0.0 # Time offset between LiDAR and IMU calibrated by other algorithms, e.g., LI-Init (find in Readme)

        preprocess:
            lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR
            scan_line: 4
            timestamp_unit: 3           # the unit of time/t field in the PointCloud2 rostopic: 0-second, 1-milisecond, 2-microsecond, 3-nanosecond.
            blind: 0.5 

        mapping:
            imu_en: true
            extrinsic_est_en: false # for aggressive motion, set this variable false
            imu_time_inte: 0.005 # = 1 / frequency of IMU
            lidar_time_inte: 0.1
            satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units
            satu_gyro: 35 # the saturation value of IMU's angular velocity. not related to the units
            acc_norm: 1.0 # 9.810 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration
            lidar_meas_cov: 0.01 # 0.001; 0.01
            acc_cov_output: 500
            gyr_cov_output: 1000 
            b_acc_cov: 0.0001 
            b_gyr_cov: 0.0001 
            imu_meas_acc_cov: 0.1 #0.1 # 0.1
            imu_meas_omg_cov: 0.1 #0.01 # 0.1
            gyr_cov_input: 0.01 # for IMU as input model
            acc_cov_input: 0.1 # for IMU as input model
            plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane
            match_s: 81
            ivox_grid_resolution: 2.0
            gravity: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # # [0.0, 0.0, -9.787561] # gvins # 
            gravity_init: [0.0, 0.0, -9.810] # preknown gravity in the initial IMU frame for unstationary start or in the initial LiDAR frame for using without IMU
            extrinsic_T: [ 0.04165, 0.02326, -0.0284 ] # avia # [0.011, 0.02329, -0.04412] # mid360
            extrinsic_R: [ 1, 0, 0,
                        0, 1, 0,
                        0, 0, 1 ]

        odometry: 
            publish_odometry_without_downsample: false

        publish:
            path_en: true                 # false: close the path output
            scan_publish_en: true         # false: close all the point cloud output
            scan_bodyframe_pub_en: false  # true: output the point cloud scans in IMU-body-frame

        pcd_save:
            pcd_save_en: false
            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.