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/ground_slam/include/optimization_2d/pose_graph_2d.h

@@ -1,33 +0,0 @@
-#ifndef OPTIMIZATION_2D_POSE_GRAPH_2D_H_
-#define OPTIMIZATION_2D_POSE_GRAPH_2D_H_
-
-#include <fstream>
-#include <iostream>
-#include <map>
-#include <string>
-#include <vector>
-#include <ceres/ceres.h>
-
-#include "angle_local_parameterization.h"
-#include "pose_graph_2d_error_term.h"
-#include "types.h"
-
-namespace ceres {
-namespace optimization_2d {
-
-void BuildOptimizationProblem(const std::vector<Constraint2d>& constraints,
-                              std::map<int, Pose2d>* poses,
-                              ceres::Problem* problem);
-
-void BuildOptimizationProblemWithScale(const std::vector<Constraint2d>& constraints,
-                              std::vector<ScaleData>& scale_data,
-                              const std::vector<int>& scale_data_idx,
-                              std::map<int, Pose2d>* poses,
-                              ceres::Problem* problem);
-
-bool SolveOptimizationProblem(ceres::Problem* problem);
-
-}  // namespace optimization_2d
-}  // namespace ceres
-
-#endif  // OPTIMIZATION_2D_POSE_GRAPH_2D_H_