msf_localization.pb.txt

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localization_topic: "/apollo/localization/pose"
imu_topic: "/apollo/sensor/gnss/imu"
lidar_topic: "/apollo/sensor/lidar128/compensator/PointCloud2"
bestgnsspos_topic: "/apollo/sensor/gnss/best_pose"
broadcast_tf_frame_id: "world"
broadcast_tf_child_frame_id: "localization"
map_dir: "/apollo/modules/map/data/sunnyvale_big_loop"
lidar_localization_topic: "/apollo/localization/msf_lidar"
gnss_localization_topic: "/apollo/localization/msf_gnss"
gnss_heading_topic: "/apollo/sensor/gnss/heading"