How to use the N10_V1.0 link code

[ChengQuanQuan]

I just learned ros, I don't know how to use this code, I ran the serial launch file with the roslaunch method, but the terminal reported an error saying "Resource not found: lslidar_driver", I changed the relative path in the launch file to become an absolute path to open with roslaunch, opened the rviz file and added the radar plug-in and found that there was no point cloud, And the object cannot be modified, there is no odom

[ChengQuanQuan]

我刚刚学会了ros，不知道如何使用这份代码，我用roslaunch方法运行了serial的launch文件，但是终端报错说“Resource not found: lslidar_driver”，我修改了launch文件里的相对路径变成绝对路径才可以用roslaunch打开，打开了rviz文件之后添加雷达插件后发现并没有点云，而且对象没法修改，没有odom

[ChengQuanQuan]

And I also want to know how to achieve distance detection with lidar, or turn on the odometer with this code