fix(craic_localization): tune AMCL params and propagate lidar args across launch files

- Tune AMCL: widen sigma_hit (0.05→0.2), z_hit (0.5→0.9), z_rand, likelihood_max_dist,
  laser_max_range (5.0→8.0) for better convergence on 4x4m field
- Propagate lidar_x/y/z/yaw/intensity/sample_rate/baudrate through bringup,
  localization, and mapping launch files so overrides reach the driver
- Fix default lidar_z (0.0→0.02) in lidar.launch.py
- Change rviz Fixed Frame odom→map to stop map jumping on AMCL corrections
- Fix broken teach_points command in docs/localization.md; add troubleshooting
  entries for AMCL convergence and rf2o drift
- Add ros2/AGENTS.md with ROS workspace build/style guidelines

ros2/src/craic_localization/launch/mapping.launch.py

@@ -29,12 +29,41 @@ def generate_launch_description():
     default_rviz = os.path.join(pkg_share, 'rviz', 'localization.rviz')
 
     use_rviz = LaunchConfiguration('use_rviz')
+    lidar_x = LaunchConfiguration('lidar_x')
+    lidar_y = LaunchConfiguration('lidar_y')
+    lidar_z = LaunchConfiguration('lidar_z')
+    lidar_yaw = LaunchConfiguration('lidar_yaw')
+    intensity = LaunchConfiguration('intensity')
+    sample_rate = LaunchConfiguration('sample_rate')
+    baudrate = LaunchConfiguration('baudrate')
 
     return LaunchDescription([
         DeclareLaunchArgument('use_rviz', default_value='true'),
+        DeclareLaunchArgument('lidar_x', default_value='0.0',
+                              description='base_footprint -> laser_frame 平移 X (m)'),
+        DeclareLaunchArgument('lidar_y', default_value='0.0',
+                              description='base_footprint -> laser_frame 平移 Y (m)'),
+        DeclareLaunchArgument('lidar_z', default_value='0.02',
+                              description='base_footprint -> laser_frame 平移 Z (m)'),
+        DeclareLaunchArgument('lidar_yaw', default_value='-3.14159',
+                              description='base_footprint -> laser_frame 偏航角 (rad)'),
+        DeclareLaunchArgument('intensity', default_value='true'),
+        DeclareLaunchArgument('sample_rate', default_value='4'),
+        DeclareLaunchArgument('baudrate', default_value='230400'),
 
         # 激光 + 静态外参(base_footprint->laser_frame, base_footprint->base_link)
-        IncludeLaunchDescription(PythonLaunchDescriptionSource(lidar_launch)),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(lidar_launch),
+            launch_arguments={
+                'lidar_x': lidar_x,
+                'lidar_y': lidar_y,
+                'lidar_z': lidar_z,
+                'lidar_yaw': lidar_yaw,
+                'intensity': intensity,
+                'sample_rate': sample_rate,
+                'baudrate': baudrate,
+            }.items(),
+        ),
 
         # 激光里程计：从 /scan 连续输出 odom -> base_footprint（建图运动来源）
         Node(