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- 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
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