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/launch/base_serial.launch.py

@@ -1,47 +0,0 @@
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
-from launch.conditions import IfCondition, UnlessCondition
-import launch_ros.actions
-
-def generate_launch_description():
-    akmcar = LaunchConfiguration('akmcar', default='false')
-
-    robot_parameters = [
-        {'usart_port_name': '/dev/ttyACM0',
-         'serial_baud_rate': 115200,
-         'robot_frame_id': 'base_link',
-         'odom_frame_id': 'odom',
-         'cmd_vel': 'cmd_vel',
-         'product_number': 0}
-    ]
-
-    return LaunchDescription([
-        DeclareLaunchArgument(
-            'akmcar',
-            default_value='false',
-            description='Use simulation (Gazebo) clock if true'
-        ),
-
-        launch_ros.actions.Node(
-            condition=IfCondition(akmcar),
-            package='origincar_base',
-            executable='origincar_base_node',
-            parameters=robot_parameters + [{'akm_cmd_vel': 'ackermann_cmd'}],
-            remappings=[('/cmd_vel', 'cmd_vel')],
-        ),
-
-        launch_ros.actions.Node(
-            condition=IfCondition(akmcar),
-            package='origincar_base',
-            executable='cmd_vel_to_ackermann_drive.py',
-            name='cmd_vel_to_ackermann_drive',
-        ),
-
-        launch_ros.actions.Node(
-            condition=UnlessCondition(akmcar),
-            package='origincar_base',
-            executable='origincar_base_node',
-            parameters=robot_parameters + [{'akm_cmd_vel': 'none'}],
-        )
-    ])