初始化项目，包含fast_lio_ws和unitree_sdk2

unitree_sdk2/example/helloworld/publisher.cpp

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+#include <unitree/robot/channel/channel_publisher.hpp>
+#include <unitree/common/time/time_tool.hpp>
+#include "HelloWorldData.hpp"
+
+#define TOPIC "TopicHelloWorld"
+
+using namespace unitree::robot;
+using namespace unitree::common;
+
+int main()
+{
+    ChannelFactory::Instance()->Init(0);
+    ChannelPublisher<HelloWorldData::Msg> publisher(TOPIC);
+
+    publisher.InitChannel();
+
+    while (true)
+    {
+        HelloWorldData::Msg msg(unitree::common::GetCurrentTimeMillisecond(), "HelloWorld.");
+        publisher.Write(msg);
+        sleep(1);
+    }
+
+    return 0;
+}