Xin Zhao comments

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                                            Xin Zhao

Loop back之后系统停止

![issue1](https://user-images.githubusercontent.com/52630624/158023858-f61d7d86-a03c-47e5-98d2-8e35ec562835.jpg) ![issue2](https://user-images.githubusercontent.com/52630624/158023862-bbde3eff-f652-49b7-bd70-8602921f605a.jpg) ![issue3](https://user-images.githubusercontent.com/52630624/158023865-2aa74a3e-e9eb-4992-b20f-b74225804829.jpg) ![issue4](https://user-images.githubusercontent.com/52630624/158023870-68a007e2-6378-41af-b3c1-4affd30f1640.jpg)

Loop back之后系统停止

> 大概率是IMU数据时间戳在某个时刻错乱了。谢谢，所以针对这种问题，有没有什么解决方法呢？只能换数据了么？

sensor_msgs::PointCloud2与livox_ros_dirver::CustomMsg的相互转换

> 如题，请问可以提供一下这两种数据类型的相互转换的代码么？在网上没有搜到相关资料，谢谢。 Sorry to say that I have communicated with a customer service engineer of DJI and there is no official solution yet.

problem about use fast_lio2 by using data from MARSIM

> You should not directly connect the ros topic, since FASTLIO2's avia.yaml use /livox/lidar topic as input, its topic type is livox custom msg type, and the point cloud output...