vagrancy-drift

you need run cascade_data.m file using your cascade model.

This is not a problem，as the correct one is between map and base_link. I think.

because first case divide ：odometry_time_delta const double odometry_time_delta = common::ToSeconds(odometry_data_oldest.time - odometry_data_newest.time); but second case divide ：queue_delta const double queue_delta = common::ToSeconds(newest_time - oldest_time);

@tinytinywell why gravity_vector_ = rotation.conjugate() * gravity_vector_ use conjugate？ As the object rotates，coordinate system change.Computing gravity_vector‘s coordinate in new coordinate system need use conjugate. I think.

感觉purepursuit.cpp计算速度是car-like的啊？