More description on Parameters declared in the config files

[hsurya08]

Can you please provide more explanation on the parameters initialized in the waffle_robot.yaml file. I am trying to tune the parameters to use it for a different robot model and was not able to understand some of the parameters such as covariance_scale, fused_map_pusblishing_rate, multi_height_noise, time_tolerance, etc. Thank you! Ex: ignore_points_above parameter was set to 0.4 m. However, the elevation map seems to be providing the map for points above this threshold value.