融合定位包的配置使用（供回忆）

其总说明link
（1）激光雷达odom与里程计odom共用tf就重了，只用激光雷达odom，把lego_loam整个建图map->base_link都视为激光雷达odom
（2）即配置localization坐标系时

map_frame: map_localization
odom_frame: map
base_link_frame: base_link
world_frame: map_localization

(3)lego_loam与localization要匹配，发布tf的频率与tf包

frequency: 10  #20
lego_loam的launch:
<node pkg="tf2_ros" type="static_transform_publisher" name="camera_init_to_map"  args="0 0 0 1.570795   0        1.570795 map    camera_init" />

都用10HZ，都用tf2_ros