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_slamtoolbox/config/slam_toolbox_mapping.yaml

@@ -1,73 +0,0 @@
-slam_toolbox:
-  ros__parameters:
-
-    # === Solver ===
-    solver_plugin: solver_plugins::CeresSolver
-    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
-    ceres_preconditioner: SCHUR_JACOBI
-    ceres_trust_strategy: LEVENBERG_MARQUARDT
-    ceres_dogleg_type: TRADITIONAL_DOGLEG
-    ceres_loss_function: None
-
-    # === ROS 基础 ===
-    odom_frame: odom
-    map_frame: map
-    base_frame: base_link
-    scan_topic: /scan
-    mode: mapping
-    use_map_saver: true
-
-    # === 调试与性能 ===
-    debug_logging: false
-    throttle_scans: 1
-    transform_publish_period: 0.02
-    map_update_interval: 3.0
-    resolution: 0.05
-    min_laser_range: 0.15
-    max_laser_range: 20.0
-    minimum_time_interval: 0.5
-    transform_timeout: 0.2
-    tf_buffer_duration: 30.0
-    stack_size_to_use: 40000000
-    enable_interactive_mode: true
-
-    # === 建图参数 ===
-    use_scan_matching: true
-    use_scan_barycenter: true
-    minimum_travel_distance: 0.5
-    minimum_travel_heading: 0.1
-    scan_buffer_size: 10
-    scan_buffer_maximum_scan_distance: 10.0
-    link_match_minimum_response_fine: 0.1
-    link_scan_maximum_distance: 1.5
-
-    # === 回环检测 ===
-    do_loop_closing: true
-    loop_match_minimum_chain_size: 10
-    loop_match_maximum_variance_coarse: 3.0
-    loop_match_minimum_response_coarse: 0.35
-    loop_match_minimum_response_fine: 0.45
-    loop_search_maximum_distance: 3.0
-
-    # === 扫描匹配 ===
-    correlation_search_space_dimension: 0.5
-    correlation_search_space_resolution: 0.01
-    correlation_search_space_smear_deviation: 0.1
-    loop_search_space_dimension: 8.0
-    loop_search_space_resolution: 0.05
-    loop_search_space_smear_deviation: 0.03
-
-    # === 匹配器参数 ===
-    distance_variance_penalty: 0.5
-    angle_variance_penalty: 1.0
-    fine_search_angle_offset: 0.00349
-    coarse_search_angle_offset: 0.349
-    coarse_angle_resolution: 0.0349
-    minimum_angle_penalty: 0.9
-    minimum_distance_penalty: 0.5
-    use_response_expansion: true
-    min_pass_through: 2
-    occupancy_threshold: 0.1
-
-    # MessageFilter queue size (default 1, too small for high-rate lidar)
-    scan_queue_size: 20