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/cyy_navigation2/launch/car_bringup.launch.py

@@ -1,108 +0,0 @@
-#!/usr/bin/env python3
-"""
-小车导航系统启动文件
-启动所有必要的硬件和导航节点
-"""
-
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, TimerAction, LogInfo
-from launch.launch_description_sources import PythonLaunchDescriptionSource, FrontendLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-from launch.conditions import IfCondition, UnlessCondition
-
-def generate_launch_description():
-    # 获取包路径
-    cyy_navigation2_dir = get_package_share_directory('cyy_navigation2')
-    
-    # 声明启动参数
-    use_base = LaunchConfiguration('use_base', default='true')
-    use_lidar = LaunchConfiguration('use_lidar', default='true')
-    use_description = LaunchConfiguration('use_description', default='true')
-    use_bridge = LaunchConfiguration('use_bridge', default='true')
-    
-    # 启动参数列表
-    launch_arguments = [
-        DeclareLaunchArgument(
-            'use_base',
-            default_value='true',
-            description='启动底盘控制'
-        ),
-        DeclareLaunchArgument(
-            'use_lidar',
-            default_value='true',
-            description='启动激光雷达'
-        ),
-        DeclareLaunchArgument(
-            'use_description',
-            default_value='true',
-            description='启动URDF显示'
-        ),
-        DeclareLaunchArgument(
-            'use_bridge',
-            default_value='true',
-            description='启动ROS Bridge'
-        ),
-    ]
-    
-    # 创建启动描述
-    ld = LaunchDescription(launch_arguments)
-    
-    # 1. 启动底盘控制
-    base_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            FindPackageShare('origincar_base'), '/launch/base_serial.launch.py'
-        ]),
-        condition=IfCondition(use_base)
-    )
-    
-    # 添加延迟，确保底盘先启动
-    ld.add_action(TimerAction(
-        period=1.0,
-        actions=[LogInfo(msg='启动底盘控制...'), base_launch]
-    ))
-    
-    # 2. 启动激光雷达
-    lidar_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            FindPackageShare('lslidar_driver'), '/launch/lsn10_launch.py'
-        ]),
-        condition=IfCondition(use_lidar)
-    )
-    
-    ld.add_action(TimerAction(
-        period=2.0,
-        actions=[LogInfo(msg='启动激光雷达...'), lidar_launch]
-    ))
-    
-    # 3. 启动URDF显示
-    description_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            FindPackageShare('origincar_description'), '/launch/display.launch.py'
-        ]),
-        condition=IfCondition(use_description)
-    )
-    
-    ld.add_action(TimerAction(
-        period=3.0,
-        actions=[LogInfo(msg='启动URDF显示...'), description_launch]
-    ))
-    
-    # 4. 启动ROS Bridge
-    bridge_launch = IncludeLaunchDescription(
-        FrontendLaunchDescriptionSource([
-            FindPackageShare('rosbridge_server'), '/launch/rosbridge_websocket_launch.xml'
-        ]),
-        condition=IfCondition(use_bridge)
-    )
-    
-    ld.add_action(TimerAction(
-        period=4.0,
-        actions=[LogInfo(msg='启动ROS Bridge...'), bridge_launch]
-    ))
-    
-    
-    return ld