Header header
int32 init_pos_gnss
float32 x
float32 y
float32 z
float32 roll
float32 pitch
float32 yaw
#int32 lidar_original
#int32 max
#int32 min
#int32 layer
int32 use_predict_pose
float32 error_threshold
float32 resolution
float32 step_size
float32 trans_epsilon
int32 max_iterations
#float32 leaf_size
#float32 angle_error
#float32 shift_x
#float32 shift_y
#float32 shift_z