//void ResetOrigin(Eigen::Vector3d &_lla) { gtools.lla_origin_ = _lla; } ros::NodeHandle nh; // GpsTools gtools; ros::Publisher left_odom_pub, left_path_pub, init_origin_pub; ros::Subscriber gpsSub; std::mutex mutexLock; std::deque<sensor_msgs::NavSatFixConstPtr> gpsBuf; //boo...