使用雷达建图的时候，rviz2指令使用的时候出现问题，无法点云可视化
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@1117 看视频，记得改QOS
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@小鱼 li@ubantu:~/navigation_project/bot_ws$ ros2 launch ydlidar ydlidar_launch.py
[INFO] [launch]: All log files can be found below /home/li/.ros/log/2025-04-28-00-24-59-566567-ubantu-13361
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ydlidar_node-1]: process started with pid [13372]
[ydlidar_node-1] [INFO] [1745771099.897824559] [ydlidar_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1
[ydlidar_node-1]
[ydlidar_node-1] [2025-04-28 00:24:59][info] SDK initializing
[ydlidar_node-1] [2025-04-28 00:24:59][info] SDK has been initialized
[ydlidar_node-1] [2025-04-28 00:24:59][info] SDK Version: 1.2.9
[ydlidar_node-1] [2025-04-28 00:25:00][info] Connect elapsed time 667 ms
[ydlidar_node-1] [2025-04-28 00:25:00][info] Lidar successfully connected [/dev/ttyUSB0:115200]
[ydlidar_node-1] [2025-04-28 00:25:00][info] Lidar running correctly! The health status good
[ydlidar_node-1] [2025-04-28 00:25:00][info] Current Lidar Model Code 12
[ydlidar_node-1] [2025-04-28 00:25:00][info] Check status, Elapsed time 0 ms
[ydlidar_node-1] [2025-04-28 00:25:00][info] Lidar init success, Elapsed time [667]ms
[ydlidar_node-1] [2025-04-28 00:25:01][info] Start to getting intensity flag
[ydlidar_node-1] [2025-04-28 00:25:01][info] Auto set intensity 0
[ydlidar_node-1] [2025-04-28 00:25:01][info] [YDLIDAR] End to getting intensity flag
[ydlidar_node-1] [2025-04-28 00:25:01][info] [YDLIDAR] Create thread 0xA1200640
[ydlidar_node-1] [2025-04-28 00:25:02][info] Successed to start scan mode, Elapsed time 1669 ms
[ydlidar_node-1] [2025-04-28 00:25:02][info] Scan Frequency: 5.00Hz
[ydlidar_node-1] [2025-04-28 00:25:02][info] Fixed Size: 720
[ydlidar_node-1] [2025-04-28 00:25:02][info] Sample Rate: 3.00K
[ydlidar_node-1] [2025-04-28 00:25:02][info] Scan Frequency: 5.00Hz
[ydlidar_node-1] [2025-04-28 00:25:02][info] Fixed Size: 720
[ydlidar_node-1] [2025-04-28 00:25:02][info] Sample Rate: 3.00K
[ydlidar_node-1] [2025-04-28 00:25:02][info] Scan Frequency: 5.00Hz
[ydlidar_node-1] [2025-04-28 00:25:02][info] Fixed Size: 720
[ydlidar_node-1] [2025-04-28 00:25:02][info] Sample Rate: 3.00K
[ydlidar_node-1] [2025-04-28 00:25:02][info] Scan Frequency: 5.00Hz
[ydlidar_node-1] [2025-04-28 00:25:02][info] Fixed Size: 720
[ydlidar_node-1] [2025-04-28 00:25:02][info] Sample Rate: 3.00K
[ydlidar_node-1] [2025-04-28 00:25:02][info] Scan Frequency: 5.00Hz
[ydlidar_node-1] [2025-04-28 00:25:02][info] Fixed Size: 720
[ydlidar_node-1] [2025-04-28 00:25:02][info] Sample Rate: 3.00K
[ydlidar_node-1] [2025-04-28 00:25:02][info] Single Fixed Size: 380
[ydlidar_node-1] [2025-04-28 00:25:02][info] Sample Rate: 3.00K
[ydlidar_node-1] [2025-04-28 00:25:02][info] Successed to check the lidar, Elapsed time 490 ms
[ydlidar_node-1] [2025-04-28 00:25:02][info] Now lidar is scanning...
[ydlidar_node-1] [2025-04-28 00:25:06][error] Check Sum 0x5B12 != 0x1D35
[ydlidar_node-1] [2025-04-28 00:25:23][error] Check Sum 0xDC68 != 0xD37E
[ydlidar_node-1] [2025-04-28 00:25:32][error] Check Sum 0x4BC3 != 0x6911
[ydlidar_node-1] [2025-04-28 00:25:34][error] Check Sum 0x85A4 != 0x903A
[ydlidar_node-1] [2025-04-28 00:26:33][error] Check Sum 0x4436 != 0x582E
[ydlidar_node-1] [2025-04-28 00:26:52][error] Check Sum 0x4E82 != 0x5608
鱼哥，还是存在这个问题唉，如何我用命令看Qos，但是还是不知道为什么唉
li@ubantu:~/navigation_project/bot_ws$ ros2 topic info /scan -v
Type: sensor_msgs/msg/LaserScanPublisher count: 1
Node name: ydlidar_node
Node namespace: /
Topic type: sensor_msgs/msg/LaserScan
Endpoint type: PUBLISHER
GID: 01.0f.85.ec.3c.34.dc.ed.00.00.00.00.00.00.12.03.00.00.00.00.00.00.00.00
QoS profile:
Reliability: BEST_EFFORT
History (Depth): UNKNOWN
Durability: VOLATILE
Lifespan: Infinite
Deadline: Infinite
Liveliness: AUTOMATIC
Liveliness lease duration: InfiniteSubscription count: 0
如何建图还是不行，找不到地图数据，我应该怎么办呢？怪焦虑的，我用的是树莓派4b加上小鱼你的二驱车。 -
@1117 里程计话题是否正常
