改了一下ekf的源码，让odom不再完全相信轮式里程计；手贱删了个.git里的文件导致文件全部重新存，看不了diff了

src/gc_navigation2_real/launch/real_bringup.launch.py

@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-# ============================================================================
-# real_bringup.launch.py
-# 功能：实车基础 bringup — 底盘驱动 + 激光雷达 + TF 树
-#
-# 适用场景：
-#   - 单独调试底盘通信和传感器数据
-#   - 遥控测试（无导航）
-#   - 作为其他 launch 文件的基础模块
-#
-# 启动内容：
-#   origincar_base bringup   — 串口驱动 + EKF + IMU 滤波 + TF + robot_state_publisher
-#   lslidar_driver          — 镭神激光雷达 → /scan
-#
-# 使用方式：
-#   ros2 launch gc_navigation2_real real_bringup.launch.py
-# ============================================================================
-
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-
-
-def generate_launch_description():
-    """生成 LaunchDescription，启动实车底盘 + 雷达 + TF（无导航）"""
-
-    # ============================ 1. 包路径 =========================================
-    origincar_base_dir = get_package_share_directory('origincar_base')
-
-    # ============================ 2. 实车底盘 bringup ===============================
-    # 注：origincar_bringup 已包含 robot_state_publisher + joint_state_publisher + 静态 TF
-    origincar_bringup = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [origincar_base_dir, '/launch', '/origincar_bringup.launch.py']),
-    )
-
-    # ============================ 3. 镭神激光雷达驱动 ===============================
-    lslidar_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [get_package_share_directory('lslidar_driver'),
-             '/launch', '/lsn10_launch.py']),
-    )
-
-    # ============================ 4. 组装 LaunchDescription =========================
-    return LaunchDescription([
-        DeclareLaunchArgument(
-            'use_sim_time',
-            default_value='false',
-            description='使用仿真时间（实车必须为 false）'),
-
-        origincar_bringup,
-        lslidar_launch,
-    ])