Compatibility Issue with /livox/lidar Topic Message Type

[nivand]

Hi,

I am encountering an issue with the /ImMesh_mapping client node while trying to subscribe to the /livox/lidar topic. The error message I am receiving is as follows:

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[ERROR] [1719823526.478984161]: Client [/ImMesh_mapping] wants topic /livox/lidar to have datatype/md5sum [livox_ros_driver/CustomMsg/e4d6829bdfe657cb6c21a746c86b21a6], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection.

It seems that the /livox/lidar topic is publishing messages of type sensor_msgs/PointCloud2, but the client node /ImMesh_mapping is expecting messages of type livox_ros_driver/CustomMsg.

To resolve this issue, I would like to know the best approach:

Should I modify the client node /ImMesh_mapping to subscribe to sensor_msgs/PointCloud2 instead of livox_ros_driver/CustomMsg?
If so, could you provide guidance or example code on how to make this modification?

Alternatively, if there is another recommended solution to address this datatype mismatch, please let me know.

Thank you for your assistance.

Best regards,