<add>1.Add dev_status.csv for device & data tx rx rate monitor;

2. Add high frequency odom data ;
 3. Add image undistort functionality;
 4. optimized data publish pipeline
 5. other optimizations

CMakeLists.txt

@@ -96,6 +96,9 @@ endif()
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# Set optimization flags
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2")
+
 # Find common dependencies
 find_package(PkgConfig REQUIRED)
 find_package(OpenCV REQUIRED)