How to use 3D LiDAR in ego-swarm in practical applications?

[hcws]

thanks for your work!

1、Currently, I have found that in the Gazebo virtual environment, when simulating multiple aircraft, only the first aircraft can be planned. The issue lies in this line of code:
if (planner_manager_->pp_.drone_id <= 0 || (planner_manager_->pp_.drone_id >= 1 && have_recv_pre_agent_))

2、I change planner_manager_->pp_.drone_id <= 0 to planner_manager_->pp_.drone_id <=3 All three drones can avoid obstacles,I don't know how to use the right method to solve it.

3、 ego-swarm uses liDAR in practice without using drone_detect.launch and poscmd_2_odom
And local_sensing_node, I just use bridge_udp.launch to make sure that each plane can broadcast its own trajectory to each other,I'm not sure that's OK?

[bigsuperZZZX]

1&2: you have to check have_recv_pre_agent_ first.
3: I don't understand