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/origincar_base/CMakeLists.txt

@@ -1,89 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(origincar_base)
-
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-#find_package(actionlib REQUIRED)
-#find_package(actionlib_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-
-find_package(nav2_msgs REQUIRED)
-find_package(nav_msgs REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclpy REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_ros REQUIRED)
-find_package(std_srvs REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(ackermann_msgs REQUIRED)                         # CHANGE
-find_package(origincar_msg REQUIRED)                         # CHANGE
-find_package(serial REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(origincar_description REQUIRED)
-find_package(robot_localization REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/Position.msg"
- )
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-include_directories(
-  include
-  ${robot_localization_INCLUDE_DIRS}
-)
-set(origincar_base_node_SRCS
-  src/origincar_base.cpp
-  src/Quaternion_Solution.cpp
-)
-
-add_executable(origincar_base_node src/origincar_base.cpp src/Quaternion_Solution.cpp)
-ament_target_dependencies(origincar_base_node tf2_ros tf2 tf2_geometry_msgs rclcpp std_msgs geometry_msgs robot_localization nav_msgs std_srvs sensor_msgs ackermann_msgs serial origincar_msg origincar_description)
-
-#add_executable(testNode src/test.cpp src/Quaternion_Solution.cpp)
-#ament_target_dependencies(testNode rclcpp std_msgs nav_msgs std_srvs sensor_msgs ackermann_msgs serial origincar_msg)
-
-install(PROGRAMS scripts/cmd_vel_to_ackermann_drive.py DESTINATION lib/${PROJECT_NAME})
-
-install(TARGETS
-origincar_base_node
-
-DESTINATION lib/${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-install(
-  DIRECTORY launch  config 
-  DESTINATION share/${PROJECT_NAME}
-)
-ament_package()