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小
@2388463215 有可能是手机原因，有的手机不支持局域网内的端口数据交换
4
dds流量跑满了，改dds_xml配置，指定网口发单波报文或者改AllowMaxSize。ros1不用dds，不占用网络资源
@466749915 需要根据具体情况进行分析，建议先了解原理后进行：https://zhuanlan.zhihu.com/p/241341815
