how to write configure data for Robosense airy and livox mid-360?

[hitbuyi]

if my lidar is Robosense airy and mid-360, how to write configure yaml file?

[bbd66]

We are also using the RoboSense Airy. Do you have any further questions regarding the configuration? Also, I would like to ask you one more question.When we used elevation mapping for map construction, we found that if the lidar is mounted upright, the resulting elevation map would spike unusually high all the way up to the indoor ceiling height, thereby ignoring the obstacles we set up on the ground in our arena. We tried an inverted lidar mounting method and found that the scanning results returned to normal. We would like to ask whether there are any alternative methods that would allow an upright or side-mounted lidar to still build an elevation map based on ground-level obstacles in the arena?