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**Fix** 1.double time error and use nanoseconds() 2.prevent repeated wheel delta integration in imu callback **Result** local_pose error within 2cm
- repname parameter ```side``` in ```lidar_member_function.py``` to ```mode``` - change ```self.side``` type to string - change firmware port name - specify topics in ros1_bridge
- decrease queue size of ros1 bridge to 1 - rename topic names when bag testing - get param ```mode``` in launch - mount folders to contain things for colcon build
- add launch files for every localization layer - install `param` in CMakeLists.txt to use `find-pkg-share` in launch files - remove old launch files - rename `lidar_localization.yml` to `lidar_localization.yaml` for consistency - haven't refactor launch settings for rival localization
get current time from ros time instead of system time, to make sure the time is consistent with ros messages.
- use `lidar_multiplier` parameter to calibrate lidar scan range - add adaptive measurement covariance to ignore camera yaw - assign lidar yaw to camera yaw when ekf update
- `map` to `odom` frame as static transform
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