修改了odom_conbied完全信任odom，odomyaw完全信任陀螺仪积分，不考虑四元数

src/origincar_base/config/ekf.yaml

@@ -27,17 +27,19 @@ ekf_filter_node:
         odom0_differential: true
         odom0_relative: false
 
-        imu0: /imu/data_raw
+        odom1: odom
-        imu0_config: [false, false, false,
+        odom1_config: [false, false, false,
-                      false, false, true,
+                       false, false, true,
-                      false, false, false,
+                       false, false, false,
-                      false, false, true,
+                       false, false, false,
-                      false, false, false]
+                       false, false, false]
-        imu0_nodelay: false
+        odom1_queue_size: 10
-        imu0_differential: false
+        odom1_nodelay: false
-        imu0_relative: true
+        odom1_differential: false
-        imu0_queue_size: 10
+        odom1_relative: false
-        imu0_remove_gravitational_acceleration: true
+
+        # Disable IMU fusion in EKF for yaw so odom_combined orientation follows raw odom.
+        # The raw odom yaw is already generated from the upper-node gyro-z integration chain.
 
         use_control: false
         stamped_control: false