Add launch file for mid360.

config/mid360.yaml

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+common:
+    lid_topic:  "/livox/lidar"
+    imu_topic:  "/livox/imu"
+    time_sync_en: false         # ONLY turn on when external time synchronization is really not possible
+    time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README).
+                                  # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0
+
+preprocess:
+    lidar_type: 1                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, 
+    scan_line: 4
+    blind: 0.5
+
+mapping:
+    acc_cov: 0.1
+    gyr_cov: 0.1
+    b_acc_cov: 0.0001
+    b_gyr_cov: 0.0001
+    fov_degree:    360
+    det_range:     100.0
+    extrinsic_est_en:  false      # true: enable the online estimation of IMU-LiDAR extrinsic
+    extrinsic_T: [ -0.011, -0.02329, 0.04412 ]
+    extrinsic_R: [ 1, 0, 0,
+                   0, 1, 0,
+                   0, 0, 1]
+
+publish:
+    path_en:  false
+    scan_publish_en:  true       # false: close all the point cloud output
+    dense_publish_en: true       # false: low down the points number in a global-frame point clouds scan.
+    scan_bodyframe_pub_en: true  # true: output the point cloud scans in IMU-body-frame
+
+pcd_save:
+    pcd_save_en: true
+    interval: -1                 # how many LiDAR frames saved in each pcd file; 
+                                 # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.

launch/mapping_mid360.launch

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+<launch>
+<!-- Launch file for Livox MID360 LiDAR -->
+
+	<arg name="rviz" default="true" />
+
+	<rosparam command="load" file="$(find fast_lio)/config/mid360.yaml" />
+
+	<param name="feature_extract_enable" type="bool" value="0"/>
+	<param name="point_filter_num" type="int" value="3"/>
+	<param name="max_iteration" type="int" value="3" />
+	<param name="filter_size_surf" type="double" value="0.5" />
+	<param name="filter_size_map" type="double" value="0.5" />
+	<param name="cube_side_length" type="double" value="1000" />
+	<param name="runtime_pos_log_enable" type="bool" value="0" />
+    <node pkg="fast_lio" type="fastlio_mapping" name="laserMapping" output="screen" /> 
+
+	<group if="$(arg rviz)">
+	<node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find fast_lio)/rviz_cfg/loam_livox.rviz" />
+	</group>
+
+</launch>