extrinsic_file {
    frame_id: "localization"
    child_frame_id: "imu"
    file_path: "/apollo/modules/localization/params/imu_localization_extrinsics.yaml"
    enable: true
}
extrinsic_file {
    frame_id: "localization"
    child_frame_id: "novatel"
    file_path: "/apollo/modules/localization/msf/params/novatel_localization_extrinsics.yaml"
    enable: true
}
extrinsic_file {
    frame_id: "imu"
    child_frame_id: "lidar16_back"
    file_path: "/apollo/modules/perception/data/params/lidar16_back_extrinsics.yaml"
    enable: true
}
extrinsic_file {
    frame_id: "lidar16_back"
    child_frame_id: "camera_onsemi_obstacle"
    file_path: "/apollo/modules/perception/data/params/onsemi_obstacle_extrinsics.yaml"
    enable: true
}
extrinsic_file {
    frame_id: "lidar16_back"
    child_frame_id: "camera_onsemi_narrow"
    file_path: "/apollo/modules/perception/data/params/onsemi_narrow_extrinsics.yaml"
    enable: true
}
