Under ROS radium God with intelligent LS01B radar replacement tutorial think Lan radar
1. Let's open the User radium God intelligence provided 
under the pull ls01b_v2 file into the IPC or raspberry pie catkin_ws / src directory, I use here It is pulled in by Connetc to Server.
2. Open the ls01b_v2/launch/ls01b_v2.launch file and copy the content inside.
3. Replace the copied content with the original launch file of Silan radar. My directory here is catkin_ws/ src/rikirobot_project/rikirobot/launch/rplidar.launch, open the rplidar file, except
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.04 0 0.18 0 0 0 /base_link /laser 100"/>
Replace all other lines in this line, and
modify this line in the new rplidar.launch file as shown in Figure 4.
<param name="frame_id" value="laser_link"/> #激光坐标
For (I am here and after the modification, it turned out to be laser_link)
<param name="frame_id" value="laser"/> #激光坐标
5. Return to the workspace and compile it with the catkin_make command.
6. Open rviz and change the Fixed Frame under Global Options to laser, as shown in Figure
7. The radar is replaced, thank you for reading