修复了雷达扫描范围的bug，修复了里程计数据的发布者冲突的问题。目前存在问题：odom坐标系在运动过程中还是会飘

src/origincar_description/urdf/origincar.urdf

@@ -4,12 +4,6 @@
   <link name="base_footprint">
     <origin xyz="0 0 0" rpy="0 0 0" />
   </link>
-<<<<<<< HEAD
-  <!-- 基础底盘 -->
-
-
-=======
->>>>>>> mo_new
   <link name="base_link">
   </link>
   <joint name="base_joint" type="fixed">
@@ -89,11 +83,7 @@
     </inertial>
   </link>
   <joint name="fr_left_steer_joint" type="revolute">
-<<<<<<< HEAD
-    <origin xyz="0.0841 0.0945 -0.03" rpy="0 0 0" />
-=======
     <origin xyz="0.0715 0.0945 -0.03" rpy="0 0 0" />
->>>>>>> mo_new
     <parent link="chassis_link" />
     <child link="fr_left_steer_link" />
     <axis xyz="0 0 1" />
@@ -146,11 +136,7 @@
     </inertial>
   </link>
   <joint name="fr_right_steer_joint" type="revolute">
-<<<<<<< HEAD
-    <origin xyz="0.0841 -0.0945 -0.03" rpy="0 0 0" />
-=======
     <origin xyz="0.0715 -0.0945 -0.03" rpy="0 0 0" />
->>>>>>> mo_new
     <parent link="chassis_link" />
     <child link="fr_right_steer_link" />
     <axis xyz="0 0 1" />
@@ -219,11 +205,7 @@
     </collision>
   </link>
   <joint name="re_left_wheel_joint" type="continuous">
-<<<<<<< HEAD
-    <origin xyz="-0.0841 0.0945 -0.03" rpy="1.5708 0 0" />
-=======
     <origin xyz="-0.0715 0.0945 -0.03" rpy="1.5708 0 0" />
->>>>>>> mo_new
     <parent link="chassis_link" />
     <child link="re_left_wheel_link" />
     <axis xyz="0 0 -1" />
@@ -257,11 +239,7 @@
     </collision>
   </link>
   <joint name="re_right_wheel_joint" type="continuous">
-<<<<<<< HEAD
-    <origin xyz="-0.0841 -0.0945 -0.03" rpy="-1.5708 0 0" />
-=======
     <origin xyz="-0.0715 -0.0945 -0.03" rpy="-1.5708 0 0" />
->>>>>>> mo_new
     <parent link="chassis_link" />
     <child link="re_right_wheel_link" />
     <axis xyz="0 0 1" />
@@ -287,11 +265,7 @@
     </inertial>
   </link>
   <joint name="virtual_steering_wheel_joint" type="revolute">
-<<<<<<< HEAD
-    <origin xyz="0.0841 0.0 0.0" rpy="0.0 0.0 0.0" />
-=======
     <origin xyz="0.0715 0.0 0.0" rpy="0.0 0.0 0.0" />
->>>>>>> mo_new
     <parent link="chassis_link" />
     <child link="virtual_steer_link" />
     <axis xyz="-1 0 0" />
@@ -336,10 +310,6 @@
     <origin rpy="0 0 0" xyz="0 0 0.045" />
   </joint>
 
-<<<<<<< HEAD
-
-=======
->>>>>>> mo_new
   <!-- ackerman -->
 
   <gazebo>