启动两个80线的速腾雷达

启动两个及以上的速腾雷达的方法。
参考连接：https://github.com/RoboSense-LiDAR/rslidar_sdk/blob/release/doc/howto/how_to_use_multi_lidars_cn.md

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common:
  msg_source: 1                                         #0: not use Lidar
                                                        #1: packet message comes from online Lidar
                                                        #2: packet message comes from ROS or ROS2
                                                        #3: packet message comes from Pcap file
                                                        #4: packet message comes from Protobuf-UDP
                                                       #true: Send point cloud through ROS or ROS2                           #5: point cloud comes from Protobuf-UDP
  send_packet_ros: false                                #true: Send packets through ROS or ROS2(Used to record packet)
  send_point_cloud_ros: true                           #true: Send point cloud through ROS or ROS2
  send_packet_proto: false                              #true: Send packets through Protobuf-UDP
  send_point_cloud_proto: false                         #true: Send point cloud through Protobuf-UDP
  pcap_path: /home/robosense/lidar.pcap                 #The path of pcap file

lidar:
  - driver:
      lidar_type: RS80            #The lidar type - RS16, RS32, RSBP, RS128, RS80
      frame_id: /rslidar           #The frame id of message
      device_ip: 192.168.1.200     #The device ip address
      msop_port: 6699              #The msop port of lidar,default is 6699
      difop_port: 7788             #The difop port of lidar, default is 7788
      start_angle: 0               #The start angle of point cloud area
      end_angle: 360               #The end angle of point cloud area
      min_distance: 0.2            #The minimum distance of point cloud area
      max_distance: 200            #The maximum distance of point cloud area
      use_lidar_clock: true       #true--Use the lidar clock as the message timestamp;false-- Use the system clock as the timestamp
      angle_path: /home/robosense/angle.csv   #The path of the angle calibration file. For the latest version lidars, there is no need to use this file.
    ros:
      ros_recv_packet_topic: /right/rslidar_packets    #The topic which used to receive lidar packets from ROS
      ros_send_packet_topic: /right/rslidar_packets    #The topic which used to send lidar packets through ROS
      ros_send_point_cloud_topic: /right/rslidar_points      #The topic which used to send point cloud through ROS
    proto:
      point_cloud_recv_port: 60021                     #The port number used for receiving point cloud
      point_cloud_send_port: 60021                     #The port number which the point cloud will be send to
      point_cloud_send_ip: 127.0.0.1                   #The ip address which the point cloud will be send to
      msop_recv_port: 60022                       #The port number used for receiving lidar msop packets
      difop_recv_port: 60023                      #The port number used for receiving lidar difop packets
      msop_send_port: 60022                       #The port number which the msop packets will be send to
      difop_send_port: 60023                      #The port number which the difop packets will be send to
      packet_send_ip: 127.0.0.1                   #The ip address which the lidar packets will be send to
  - driver:
      lidar_type: RS80            #The lidar type - RS16, RS32, RSBP, RS128, RS80
      frame_id: /rslidar           #The frame id of message
      device_ip: 192.168.2.200     #The device ip address
      msop_port: 1122              #The msop port of lidar,default is 6699
      difop_port: 3344             #The difop port of lidar, default is 7788
      start_angle: 0               #The start angle of point cloud area
      end_angle: 360               #The end angle of point cloud area
      min_distance: 0.2            #The minimum distance of point cloud area
      max_distance: 200            #The maximum distance of point cloud area
      use_lidar_clock: true       #true--Use the lidar clock as the message timestamp;false-- Use the system clock as the timestamp
      angle_path: /home/robosense/angle.csv  #The path of the angle calibration file. For the latest version lidars, there is no need to use this file.
    ros:
      ros_recv_packet_topic: /left/rslidar_packets    #The topic which used to receive lidar packets from ROS
      ros_send_packet_topic: /left/rslidar_packets    #The topic which used to send lidar packets through ROS
      ros_send_point_cloud_topic: /left/rslidar_points      #The topic which used to send point cloud through ROS
    proto:
      point_cloud_recv_port: 60024                     #The port number used for receiving point cloud
      point_cloud_send_port: 60024                     #The port number which the point cloud will be send to
      point_cloud_send_ip: 127.0.0.1                   #The ip address which the point cloud will be send to
      msop_recv_port: 60025                       #The port number used for receiving lidar msop packets
      difop_recv_port: 60026                      #The port number used for receiving lidar difop packets
      msop_send_port: 60025                       #The port number which the msop packets will be send to
      difop_send_port: 60026                      #The port number which the difop packets will be send to
      packet_send_ip: 127.0.0.1                   #The ip address which the lidar packets will be send to