初始化项目，包含fast_lio_ws和unitree_sdk2

fast_lio_ws/build/fast_lio/rosidl_adapter/fast_lio.idls

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+/home/limerly/fast_lio_ws/build/fast_lio/rosidl_adapter/fast_lio:msg/Pose6D.idl

fast_lio_ws/build/fast_lio/rosidl_adapter/fast_lio/msg/Pose6D.idl

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+// generated from rosidl_adapter/resource/msg.idl.em
+// with input from fast_lio/msg/Pose6D.msg
+// generated code does not contain a copyright notice
+
+
+module fast_lio {
+  module msg {
+    typedef double double__3[3];
+    typedef double double__9[9];
+    @verbatim (language="comment", text=
+      "the preintegrated Lidar states at the time of IMU measurements in a frame")
+    struct Pose6D {
+      @verbatim (language="comment", text=
+        "the offset time of IMU measurement w.r.t the first lidar point")
+      double offset_time;
+
+      @verbatim (language="comment", text=
+        "the preintegrated total acceleration (global frame) at the Lidar origin")
+      double__3 acc;
+
+      @verbatim (language="comment", text=
+        "the unbiased angular velocity (body frame) at the Lidar origin")
+      double__3 gyr;
+
+      @verbatim (language="comment", text=
+        "the preintegrated velocity (global frame) at the Lidar origin")
+      double__3 vel;
+
+      @verbatim (language="comment", text=
+        "the preintegrated position (global frame) at the Lidar origin")
+      double__3 pos;
+
+      @verbatim (language="comment", text=
+        "the preintegrated rotation (global frame) at the Lidar origin")
+      double__9 rot;
+    };
+  };
+};