1。 按例程先启动底盘

ros2 launch originbot_bringup originbot.launch.py use_lidar:=true use_imu:=true
2  再启动slam建图
ros2 launch originbot_navigation cartographer.launch.py

3  在pc端启动slam建图后
 ros2 launch originbot_viz display_slam.launch.py

上位机不能显示点云，RVIZ有正常启动并在终端中打印  
rviz2-1] [INFO] [1698979357.118282448] [rviz2]: Message Filter dropping message: frame 'laser_link' at time 1698979354.954 for reason 'discarding message because the queue is full'