xuqiang

运行时候发现没有输出点云，后面发现是`src/livox_to_pointcloud2_ros2.cpp'`中下面的订阅话题需要修改为`/livox/lidar` ` livox2_sub = this->create_subscription( "/livox2/lidar", rclcpp::SensorDataQoS(), [this](const livox_ros_driver2::msg::CustomMsg::ConstSharedPtr livox_msg) { const auto points_msg = converter.convert(*livox_msg); points_pub->publish(*points_msg); }); `