修复了雷达扫描范围的bug，修复了里程计数据的发布者冲突的问题。目前存在问题：odom坐标系在运动过程中还是会飘

src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/src/lslidar_driver.cc

@@ -1134,7 +1134,7 @@ namespace lslidar_driver
 				{
 					auto scan = sensor_msgs::msg::LaserScan::UniquePtr(new sensor_msgs::msg::LaserScan());
 					//int scan_num = ceil((angle_able_max - angle_able_min) / 360 * count_num) + 1;
-					int scan_num = fixed_array_length;//cyy_addcyy_add
+					int scan_num = ceil((angle_able_max - angle_able_min) / 360 * count_num) + 1;
 					
 					std::vector<ScanPoint> points;
 					rclcpp::Time start_time;
@@ -1160,7 +1160,7 @@ namespace lslidar_driver
 						scan->angle_min = 2 * M_PI * angle_able_min / 360;
 						scan->angle_max = 2 * M_PI * angle_able_max / 360;
 					}
-					scan->angle_increment = 2 * M_PI / (double)(fixed_array_length - 1);
+					scan->angle_increment = 2 * M_PI / (double)(scan_num - 1);
 
 					scan->range_min = min_range;
 					scan->range_max = max_range;
@@ -1169,7 +1169,7 @@ namespace lslidar_driver
 					scan->intensities.reserve(scan_num);
 					scan->intensities.assign(scan_num, std::numeric_limits<float>::infinity());
 					scan->scan_time = 0.1;
-					scan->time_increment = 0.1 / (double)(fixed_array_length - 1);
+					scan->time_increment = 0.1 / (double)(scan_num - 1);
 
 					int start_num = floor(angle_able_min * count_num / 360);
 					int end_num = floor(angle_able_max * count_num / 360);