GNSS/IMU 定位模块实验

（1）启动Cyber RT 运行环境
source /apollo/cyber/setup.bash

(2) 启动定位模块
cyber_launch start modules/localization/launch/rtk_localization.launch

(3)启一个新的终端，进入容器
bash /apollo/docker/scripts/dev_into.sh

(4)查看日志
ls /apollo/data/log

(5)启动定位数据输出记录程序
python scripts/record_bag.py

(6)播放数据包里的实验数据
cyber_recorder play -f /apollo/records/*.record

(7)立即另起一个终端，运行可视化工具
cyber_launch start modules/localization/launch/msf_localization_with_visualizer.launch

定位模块接收以下topic 进行可视化绘制

topic:
 /apollo/localization/msf_gnss
 /apollo/localization/pose
 
 
 
(8)数据包播放运行完毕，关闭定位模块和数据记录程序

cyber_launch stop modules/localization/launch/rtk_localization.launch

python scripts/rec