How do I add these two fields：  an intensity (reflection intensity) or ring (wiring number) field?

Missing Fields

Real Radar: Typically includes an intensity (reflection intensity) or ring (wiring number) field.

Your Data: Currently only contains x, y, and z. This means you cannot distinguish objects (such as license plates and ordinary walls) based on surface reflectivity.

How do I add these two fields?

I found that if it's a gpulidar, then it shows that multi-rotor mode is not supported.