message: Updated demo_husky.launch (default voxel size and normal K)
diff: <arg name="depth_from_lidar" default="false"/>
  - <arg if="$(arg lidar3d)" name="cell_size" default="0.2"/>
  + <arg if="$(arg lidar3d)" name="cell_size" default="0.3"/>
  <arg unless="$(arg lidar3d)" name="cell_size" default="0.05"/>
  - <arg if="$(arg lidar2d)" name="lidar_args" default="--Reg/Strategy 1 --RGBD/NeighborLinkRefining true --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0"/>
  - <arg if="$(arg lidar3d)" name="lidar_args" default="--Reg/Strategy 1 --RGBD/NeighborLinkRefining true --ICP/PM true --Icp/PMOutlierRatio 0.7 --Icp/VoxelSize $(arg cell_size) --Icp/MaxCorrespondenceDistance 1 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/Iterations 10 --Icp/Epsilon 0.001 --OdomF2M/ScanSubtractRadius $(arg cell_size) --OdomF2M/ScanMaxSize 15000 --Grid/ClusterRadius 1 --Grid/RangeMax 20 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0"/>
  + <arg if="$(arg lidar2d)" name="lidar_args" default="
  + --Reg/Strategy 1
  + --RGBD/NeighborLinkRefining true
  + --Grid/CellSize $(arg cell_size)
  + --Icp/PointToPlaneRadius 0
  + --Icp/MaxTranslation 1"/>
  +
  + <arg if="$(arg lidar3d)" name="lidar_args" default="
  + --Reg/Strategy 1
  + --RGBD/NeighborLinkRefining true
  + --ICP/PM true
  + --Icp/PMOutlierRatio 0.7
  + --Icp/VoxelSize $(arg cell_size)
  + --Icp/MaxCorrespondenceDistance 1
  + --Icp/PointToPlaneGroundNormalsUp 0.9
  + --Icp/Iterations 10
  + --Icp/Epsilon 0.001
  + --OdomF2M/ScanSubtractRadius $(arg cell_size)
  + --OdomF2M/ScanMaxSize 15000
  + --Grid/ClusterRadius 1
  + --Grid/RangeMax 20
  + --Grid/RayTracing $(arg lidar3d_ray_tracing)
  + --Grid/CellSize $(arg cell_size)
  + --Icp/PointToPlaneRadius 0
  + --Icp/PointToPlaneNormalK 10
  + --Icp/MaxTranslation 1"/>
  <!--- Run rtabmap -->
  <remap from="/rtabmap/grid_map" to="/map"/>
  