在局部路径规划的基础上添加了EKF重定位，对算力需求比较高。
增添了AMCL的粒子滤波参数，调用srv对累积地图进行清理。
- 决策树重构逻辑
- EVO对轨迹误差进行数值估计，而非全靠直觉和眼睛
- 重定位精度的提高，考虑ICP等暴力结算方法
- 现有逻辑封装成插件形式，复用逻辑更强
- 是否增添传感器，完善多模态的导航形式
- 录
bag包进行复现，减少非必要去实地调试
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