Why it works failed on the GO2

[Zedzou]

I use the ros1_bridge to connect the ros2 of the GO2 and the ros1, but when I try run the point_lio_unilidar, the path of the point_lio_unilidar drifts badly, and when the go2 stop, the path still go on.

[lingbomeng]

The work environment on go2 is too severe for this lidar, especially the robot vibration and lidar mount pose. Most of the laser points raycast on the near front floor rather than the sorrunding environment, which leads to the failure of point-lio since it can not see enough information of it's periphery.