Comprehensive Parameter Reference and System Flowchart for GLIM

[JoseRamonF]

Hello, koide-san, thank you for the wonderful work, it is amazing.
I am currently fine-tuning GLIM under ROS2 for an indoor environment TFM using the Flat Earth model. While the system is stable, I find the parameter adjustment process inefficient. Without a clear definition of the internal variables and their weighting logic, optimization relies on empirical testing rather than deterministic engineering.

Describe the solution you'd like
I would like to have access to:
A high-level overview of the GLIM pipeline
A breakdown of the parameters found in the configuration files, explaining their real meaning and how they propagate through the algorithm's cost functions.

I know it is to much but if you have some of this things let me know.

Thanks