v2

FAST_LIO2 with NAV2, reach around 15-20 hz odometry update

v1

The odometry was accurate but only achieved 8 Hz performance.
The main problem is with the Hesai LiDAR driver. and newer driver doesn't work well with SAM-LIO package at the moment.
I can’t increase the frequency further.
As a result, the map (buildings and other structures) updates too slowly compared to the robot’s movement.