Problems with running the project

[hk6004]

Thank you very much for your work, it is very useful ！
But there are still two questions that bother me. If you can answer them, I will be very grateful.
Q1：how to use this project, are there any related video tutorials, When I run the project I see nothing but blank space.
Q2：How to customize Msg type when doing data transfer with ROS.

Yours sincerely