激光雷达无法启动
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雷达已测试运行是好的，但放置几天后再次启动就无法使用了，具体日志信息如下：
g@33:~/allchapt/chapt9/fishbot_ws$ ros2 launch fishbot_bringup bringup.launch.py
[INFO] [launch]: All log files can be found below /home/g/.ros/log/2025-05-22-11-23-27-579527-33-6370
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [joint_state_publisher-1]: process started with pid [6391]
[INFO] [robot_state_publisher-2]: process started with pid [6393]
[INFO] [odom2tf-3]: process started with pid [6395]
[INFO] [micro_ros_agent-4]: process started with pid [6398]
[INFO] [tcp_server-5]: process started with pid [6400]
[micro_ros_agent-4] [1747884207.914620] info | UDPv4AgentLinux.cpp | init | running... | port: 8888
[micro_ros_agent-4] [1747884207.915279] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4
[robot_state_publisher-2] [INFO] [1747884208.019689224] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-2] [INFO] [1747884208.019910190] [robot_state_publisher]: got segment base_link
[robot_state_publisher-2] [INFO] [1747884208.019927109] [robot_state_publisher]: got segment laser_link
[tcp_server-5] [INFO] [1747884208.318127011] [tcp_socket_server_node]: TCP端口:8889，已映射到串口设备:/tmp/tty_laser
[tcp_server-5] [INFO] [1747884208.318863056] [tcp_socket_server_node]: 等待接受连接..
[joint_state_publisher-1] [INFO] [1747884208.547485726] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[INFO] [ydlidar_node-6]: process started with pid [6661]
[ydlidar_node-6] [YDLIDAR INFO] Current ROS Driver Version: 1.4.5
[ydlidar_node-6] [YDLIDAR]:SDK Version: 1.4.5
[ydlidar_node-6] [YDLIDAR]:Lidar running correctly ! The health status: good
[ydlidar_node-6] timout count: 1
[ydlidar_node-6] timout count: 2
[ydlidar_node-6] timout count: 1
[ydlidar_node-6] 131607105111616 thread has been canceled
[ydlidar_node-6] [CYdLidar] Failed to turn on the Lidar, because the lidar is blocked or the lidar hardware is faulty.
[ydlidar_node-6] [YDLIDAR INFO] Now YDLIDAR is stopping .......
[INFO] [ydlidar_node-6]: process has finished cleanly [pid 6661]
显示到这里就不会动了，一直留在这里。自己尝试过的方案：
1、重启虚拟机没用；
2、重启设备没用；
3、自行AI和百度后反馈雷达可能坏了？我想请教下小鱼老师如何判断是不是雷达坏了还是说可能是其他情况啦？现在雷达还可以正常转动也能联网，检查了连线也未发现松动或脱落。运行时机子如下：
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@onedream 大概率是网络ip变了，这是动态分配的ip
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@小鱼 感谢小鱼老师指点，经过核查确实是虚拟机IP地址发生了变化，同步修改主控板和雷达版IP后就可以成功链接了。感谢感谢。还有就想在深入请教下：
1、采用配置助手配网上下载固件进行配网；
2、课本中的雷达驱动是采用wifi驱动；
我可否采用跟主控版一样的方式写入固件啦？如果可以的话，那雷达固件源码在哪里啦。
假设我已拿到源码修改了wifi配置下传到雷达转接板上，那我是不是还要同步修改我的launch启动文件才能让其实现固件驱动啦？
麻烦小鱼老师指点下，谢谢。 -
@onedream 采用wifi，源码在配套资料最下方
