无法启动

[AndreGao08]

这是我的报错, 已经开启了ros2bag:
sim@sim:~/fast_lio_localization_ws$ ros2 launch point_lio mapping_mid360.launch.py
[INFO] [launch]: All log files can be found below /home/sim/.ros/log/2025-04-18-10-34-44-752213-sim-41129
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [pointlio_mapping-1]: process started with pid [41131]
[INFO] [rviz2-2]: process started with pid [41133]
[pointlio_mapping-1] Multi thread started
[pointlio_mapping-1] lidar_type: 1
[pointlio_mapping-1] ~~~~/home/sim/fast_lio_localization_ws/src/point_lio_ros2/ file opened
[pointlio_mapping-1] 2025-04-18 10:34:44.823 [RTPS_QOS_CHECK Error] INCORRECT TOPIC QOS (rt/livox/imu): depth must be <= max_samples -> Function checkQos
[pointlio_mapping-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[pointlio_mapping-1] what(): could not create subscription: create_subscriber() could not create subscriber, at /tmp/binarydeb/ros-foxy-rmw-fastrtps-cpp-1.3.2/src/subscription.cpp:164, at /tmp/binarydeb/ros-foxy-rcl-1.1.14/src/rcl/subscription.c:168
[ERROR] [pointlio_mapping-1]: process has died [pid 41131, exit code -6, cmd '/home/sim/fast_lio_localization_ws/install/point_lio/lib/point_lio/pointlio_mapping --ros-args -r __node:=laserMapping --params-file /home/sim/fast_lio_localization_ws/install/point_lio/share/point_lio/config/mid360.yaml --params-file /tmp/launch_params_98t4shld'].
[rviz2-2] [INFO] [1744943685.113536258] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1744943685.113589319] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1744943685.128796117] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [ERROR] [1744943685.192007715] [rviz2]: PluginlibFactory: The plugin for class 'rviz_common/Time' failed to load. Error: According to the loaded plugin descriptions the class rviz_common/Time with base class type rviz_common::Panel does not exist. Declared types are nav2_rviz_plugins/Navigation 2 slam_toolbox::SlamToolboxPlugin
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rviz2-2] [INFO] [1744943691.013293576] [rclcpp]: signal_handler(signal_value=2)
[rviz2-2] QFileSystemWatcher::removePaths: list is empty
[rviz2-2] QFileSystemWatcher::removePaths: list is empty
[INFO] [rviz2-2]: process has finished cleanly [pid 41133]