kanghua geng

Hello,I have some ideas and have practiced them. I found that many TX have USB UART for debugging, such as debug_ LOG ,DEBUG_ LOG_ VERBOSE. The UART name is debug_...

> Is this all really necessary? I ask because I use the same application, without any code or backpack changes, just using the USB port of my Radiomaster TX16S with...

 在ros2 humble 在gazebo11环境中运行的。但运行一段时间之后gazebo中车辆转动但rviz2中的视频并没有随之转动，有些卡 #232 使用的[FAST-LIVO2](https://github.com/integralrobotics/FAST-LIVO2)和[rpg_vikit](https://github.com/integralrobotics/rpg_vikit) gazebo的相机、雷达和imu文件与FAST-LIVO2的配置文件在zip里，激光雷达平放，相机看前方。雷达模拟的mid360，参考[pb2025_robot_description](https://github.com/SMBU-PolarBear-Robotics-Team/pb2025_robot_description)可能需要用[ign_sim_pointcloud_tool](https://github.com/SMBU-PolarBear-Robotics-Team/pb2025_sentry_nav)处理一下仿真点云，不然会报找不到ring和time，但不处理也能运行；Pcl矩阵直接用tf算，Rcl矩阵参考[mid360.yaml](https://github.com/pcl5/FAST-LIVO2/blob/24550ab1c00545707ef32e392ccb115801e7db31/config/mid360.yaml)取整。[livox_ros_driver2](https://github.com/SMBU-PolarBear-Robotics-Team/livox_ros_driver2)，gazebo发出的雷达消息是sensor_msgs/PointCloud2，所以实际运行用不到 [resource.zip](https://github.com/user-attachments/files/20218012/resource.zip)

相机雷达imu就是传感器，要装到你自己车上。这是标出引用而已pb2025_robot_description 下面是我用的包 [robot_description.zip](https://github.com/user-attachments/files/20327921/robot_description.zip)

> > 相机雷达imu就是传感器，要装到你自己车上。这是标出引用而已pb2025_robot_description 下面是我用的包 [robot_description.zip](https://github.com/user-attachments/files/20327921/robot_description.zip) > > 佬可能还要麻烦您一下，我试着在我的环境下做了个小车跑了一下模拟，我看您这边的雷达话题是用libgazebo_ros_ray_sensor.so这个插件发布的吧，我这边跑出来的话题没有t这个字段，我试着写了个节点，给话题添加t字段，添加之后的话题在echo命令中能看到有t，但是fastlivo2还是报错显示没有t，您遇到过这个问题吗？您这里的t字段是怎么生成的啊？ 因为你雷达型号选错了，可以看preprocess.h，不同的雷达型号定义的消息结构不同，要选适合的