Jiaming ground filter #3
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ground filtering updates: solved issue that opponent car can't be seen when behind or beside due to overly aggressive ground filtering, solutions implemented (mostly implemented in this repo's ground_segmentation package, its corresponding launch and param files changed in IAC_Perception):
(a), set a radius corresponding to ground detection blindspot, everything inside classify as non-ground
(b), separate the pre processing param files for front and side lidars, and tune the side lidar parameters, specifically reduce global slope threshold
(c) shift the ground's zero on z axis to be the actual ground instead of lidar mounting height (independent of tf)