该程序主要是各种信息的回调函数，主要还是用作调试。 目前支持： GPS-》有个服务可以输出GPS的协方差 多lidar-》用于查看运动补偿的实际效果
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多个函数回调和一个同步用的线程组成，用于简洁地完成传感器测试。
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