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@小鱼感谢大佬的回复 我解决了，关键是 rclc_executor_init(&executor, &support.context, 2, &allocator); 这个函数，我最开始是把第3个参数写成1，实际上有发布者，和定时器，因此这里应该写成2
小
@3258221348
因为用串口协议,所以不要再用串口打印了,可能是冲突导致的
https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答
@2693226252 转自其他楼答案，同一时间段不要开多个串口
@884512594 对呀，所以还要检查网络结构先
