启动文件中七个节点：
<node pkg="demo_lidar" type="featureTracking" name="featureTracking" output="screen"/> <node pkg="demo_lidar" type="visualOdometry" name="visualOdometry" output="screen"/> <node pkg="demo_lidar" type="bundleAdjust" name="bundleAdjust" output="screen"/> <node pkg="demo_lidar" type="processDepthmap" name="processDepthmap" output="screen"/> <node pkg="demo_lidar" type="stackDepthPoint" name="stackDepthPoint" output="screen"/> <node pkg="demo_lidar" type="transformMaintenance" name="transformMaintenance" output="screen"/> <node pkg="demo_lidar" type="registerPointCloud" name="registerPoi