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TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 35 这个参数设置的太大了，导致全局更新太慢了，容易造成漂移，值越低，对cpu压力越大，但是全局建图越频繁，效果越好。 所以说在没有imu的情况下，最好把这个值设置的小一些