The code runs

[syloveyou]

"I followed your instructions to run the code, but the expected results did not appear. The terminal kept displaying a 'no odom' warning, although there was clearly odom output in the virtual environment. Moreover, I noticed that the CloudOdomCallback function was never called. I hope you can assist me."

[ning-zelin]

It seems that marsim did not start properly. Please check if there is a GPU in your computer and whether the path to the pcd file is correct. Based on the information you have provided so far, I am not able to pinpoint your issue. Please provide more useful information.