add the eai lidar

2021-08-11 16:47:00 +08:00 · 2021-08-11 16:47:00 +08:00 · 9b940bd49d
parent 25b8b3c1d0
commit 9b940bd49d
673 changed files with 53781 additions and 105 deletions
--- a/onekey.sh
+++ b/onekey.sh
@ -9,7 +9,7 @@ export PATH
 #    SPARK技术讨论与反馈QQ群：6646169  8346256
 #=================================================

-
+GAME_ENABLE="no"
 sh_ver="2.0"
 filepath=$(cd "$(dirname "$0")"; pwd)
 Green_font_prefix="\033[32m" && Red_font_prefix="\033[31m" && Green_background_prefix="\033[42;37m" && Red_background_prefix="\033[41;37m" && Yellow_background_prefix="\033[43;37m" && Font_color_suffix="\033[0m" && Yellow_font_prefix="\e[1;33m" && Blue_font_prefix="\e[0;34m"
@ -26,6 +26,20 @@ OSArch=$(uname -m)
 calibra_default="${filepath}/../.ros/camera_info"


+calibration="calibration"
+color_block="color_block"
+
+TYPE_LIDAR=$(cat /opt/lidar.txt)
+echo ${TYPE_LIDAR}
+if [[ "${TYPE_LIDAR}" == "ydlidar_g2" ]]; then
+	LIDARTYPE="ydlidar_g2"
+elif [[ "${TYPE_LIDAR}" == "3iroboticslidar2" ]]; then
+	LIDARTYPE="3iroboticslidar2"
+else
+	echo "暂不支持的雷达：${TYPE_LIDAR}，使用默认的杉川雷达运行"
+	LIDARTYPE="3iroboticslidar2"
+fi
+
 #检查系统要求
 check_sys(){
        if [[ "${Version}" == "20.04" ]]; then
@ -48,8 +62,30 @@ check_dev(){
 	
 	#检查摄像头
 	check_camera
+	#检查雷达
+	check_lidar
 }
+#检查雷达设备
+check_lidar(){

+	lidar_flag=0
+
+	#检查使用哪种设备
+	if [ -n "$(lsusb -d 10c4:ea60)" ]; then
+		lidar_flag=$[$lidar_flag + 1]
+	fi
+
+
+
+	if [ $lidar_flag -ge 2 ]; then
+		echo -e "${Warn} 正在使用多个雷达设备，请退出并拔掉其中一个再使用!"
+		echo -e "${Warn} 退出请输入：Ctrl + c！"
+	elif [ $lidar_flag -eq 1 ]; then
+		echo -e "${Info} 正在使用${LIDARTYPE}雷达"
+	elif [ $lidar_flag -eq 0 ]; then
+		echo -e "${Error} 没有找到雷达，请确认雷达已正确连接！！"
+	fi	
+}
 #检查摄像头设备
 check_camera(){

@ -304,8 +340,8 @@ let_robot_go(){
 	echo -e "${Info}                           " 
 	echo -e "${Info}    退出请输入：Ctrl + c    " 
 	echo && stty erase ^? && read -p "按回车键（Enter）开始：" 
-	print_command "roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE}"
-	roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE}
+	print_command "roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	roslaunch spark_teleop teleop.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
 }


@ -323,8 +359,8 @@ remote_control_robot(){
 	echo -e "${Info}退出请输入：Ctrl + c" 
 	echo -e "${Info}" 
 	echo && stty erase ^? && read -p "按回车键（Enter）开始：" 
-	print_command "roslaunch spark_teleop app_op.launch camera_type_tel:=${CAMERATYPE}"
-	roslaunch spark_teleop app_op.launch camera_type_tel:=${CAMERATYPE}
+	print_command "roslaunch spark_teleop app_op.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	roslaunch spark_teleop app_op.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
 }

 #让SPARK跟着你走
@ -399,20 +435,20 @@ cal_camera_arm(){
 	echo && stty erase ^? && read -p "按回车键（Enter）开始：" 
 	if [ $ROSVER = "kinetic" ]; then
 		echo -e "${Info}It is kinetic." 
-		print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE}"
-	  	roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE}
+		print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	  	roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
 	elif [ $ROSVER = "indigo" ]; then
 		echo -e "${Info}It is indigo." 
-		print_command "roslaunch spark_carry_object spark_carry_cal_cv2.launch camera_type_tel:=${CAMERATYPE}"
-	  	roslaunch spark_carry_object spark_carry_cal_cv2.launch camera_type_tel:=${CAMERATYPE}
+		print_command "roslaunch spark_carry_object spark_carry_cal_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	  	roslaunch spark_carry_object spark_carry_cal_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
 	elif [ $ROSVER = "melodic" ]; then
 		echo -e "${Info}It is melodic." 
-		print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE}"
-	  	roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE}
+		print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	  	roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
 	elif [ $ROSVER = "noetic" ]; then
 		echo -e "${Info}It is melodic." 
-		print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE}"
-	  	roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE}
+		print_command "roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	  	roslaunch spark_carry_object spark_carry_cal_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
 	fi
 		
 }
@ -433,8 +469,8 @@ spark_navigation_2d(){
 	echo -e "${Info}退出请输入：Ctrl + c " 
 	echo -e "${Info}" 
 	echo && stty erase '^H' && read -p "按回车键（Enter）开始：" 
-	print_command "roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=${CAMERATYPE}"
-	roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=${CAMERATYPE}
+	print_command "roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	roslaunch spark_navigation amcl_demo_lidar_rviz.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
 }
 #让SPARK使用深度摄像头进行导航
 spark_navigation_3d(){
@ -610,20 +646,20 @@ spark_carry_obj(){
 	echo && stty erase ^? && read -p "按回车键（Enter）开始：" 
 	if [ $ROSVER = "kinetic" ]; then
 		echo -e "${Info}It is kinetic." 
-		print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE}"
-	  	roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE}
+		print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	  	roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
 	elif [ $ROSVER = "indigo" ]; then
 		echo -e "${Info}It is indigo." 
-		print_command "roslaunch spark_carry_object spark_carry_object_only_cv2.launch camera_type_tel:=${CAMERATYPE}"
-	  	roslaunch spark_carry_object spark_carry_object_only_cv2.launch camera_type_tel:=${CAMERATYPE}
+		print_command "roslaunch spark_carry_object spark_carry_object_only_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	  	roslaunch spark_carry_object spark_carry_object_only_cv2.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
 	elif [ $ROSVER = "melodic" ]; then
 		echo -e "${Info}It is melodic." 
-		print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE}"
-	  	roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE}
+		print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	  	roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
 	elif [ $ROSVER = "noetic" ]; then
 		echo -e "${Info}It is noetic." 
-		print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE}"
-	  	roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE}	  	
+		print_command "roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	  	roslaunch spark_carry_object spark_carry_object_only_cv3.launch camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}	
 	fi
 	
 }
@ -672,8 +708,8 @@ spark_build_map_2d(){
 	echo -e "${Info}退出请输入：Ctrl + c        " 
 	echo -e "${Info}" 
 	echo && stty erase ^? && read -p "按回车键（Enter）开始：" 
-	print_command "roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE}"
-	roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE}
+	print_command "roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}"
+	roslaunch spark_slam 2d_slam_teleop.launch slam_methods_tel:=${SLAMTYPE} camera_type_tel:=${CAMERATYPE} lidar_type_tel:=${LIDARTYPE}
 	
 }
 #让SPARK去充电
@ -695,6 +731,32 @@ spark_dock(){
 }


+#让SPARK夺宝奇兵比赛用示例程序
+spark_carry_game(){
+	echo -e "${Info}" 
+	echo -e "${Info}夺宝奇兵比赛用示例程序" 
+	ROSVER=`/usr/bin/rosversion -d`
+	PROJECTPATH=$(cd `dirname $0`; pwd)
+	source ${PROJECTPATH}/devel/setup.bash
+	echo -e "${Info}请选择比赛方式：
+	  ${Green_font_prefix}1.${Font_color_suffix} 手动模式
+	  ${Green_font_prefix}2.${Font_color_suffix} 自动模式
+	  ${Green_font_prefix}3.${Font_color_suffix} 退出请输入：Ctrl + c" 
+	echo && stty erase ^? && read -p "请输入数字 [1-2]：" armnum
+	case "$armnum" in
+		1)
+		roslaunch move2grasp teleop2grasp.launch camera_type_tel:=${CAMERATYPE}  lidar_type_tel:=${LIDARTYPE}
+		;;
+		2)
+		roslaunch move2grasp move2grasp.launch camera_type_tel:=${CAMERATYPE}  lidar_type_tel:=${LIDARTYPE}
+		;;
+		*)
+		echo -e "${Error} 错误，请填入正确的数字"
+		;;
+	esac	
+}
+
+
 spark_test_mode(){
 	PROJECTPATH=$(cd `dirname $0`; pwd)
 	source ${PROJECTPATH}/devel/setup.bash	
--- a/src/spark/spark_bringup/launch/driver_bringup.launch
+++ b/src/spark/spark_bringup/launch/driver_bringup.launch
@ -6,10 +6,11 @@
 	<arg name="serialport" default="/dev/sparkBase"/>
 	<arg name="dp_rgist" default="false"/>
 	<arg name="camera_types" default="astrapro" doc="camera type [astrapro, astra,d435]"/>
-
+	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
  	<!--启动描述 -->
 	<include file="$(find spark_description)/launch/spark_description.launch">
 		<arg name="camera_types"	value="$(arg camera_types)"/>	
+		<arg name="lidar_type_tel" value="$(arg lidar_type_tel)"/>	
 	</include>

 	<!--启动底盘 -->
--- a/src/spark/spark_description/launch/spark_description.launch
+++ b/src/spark/spark_description/launch/spark_description.launch
@ -3,12 +3,14 @@
 <launch>

 	<arg name="camera_types" default="astrapro" doc="camera types [asatra, astrapro, d435...]"/>
+
+ 	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
        <arg name="model" default="$(find spark_description)/robots/spark.urdf.xacro"/>
-  
+   
  	<arg name="use_gui" default="false"/>
  	<arg name="publish_default_positions" default="true"/>

-	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg model)' camera_types:=$(arg camera_types)"/>
+	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg model)' camera_types:=$(arg camera_types) lidar_type_tel:=$(arg lidar_type_tel)"/>

  	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
  		<param name="use_gui" value="$(arg use_gui)"/>
--- a/src/spark/spark_description/launch/spark_description_rviz.launch
+++ b/src/spark/spark_description/launch/spark_description_rviz.launch
@ -1,12 +1,13 @@
 <!--spark description with rviz-->
 <launch>
-
+  <arg name="camera_types" default="astrapro" doc="camera types [asatra, astrapro, d435...]"/>
+  <arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
  <arg name="model" default="$(find spark_description)/robots/spark.urdf.xacro"/>
  
  <arg name="use_gui" default="false"/>
  <arg name="publish_default_positions" default="true"/>
  
-  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg model)' camera_types:=$(arg camera_types) lidar_type_tel:=$(arg lidar_type_tel)"/>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
  	<param name="use_gui" value="$(arg use_gui)"/>
--- a/src/spark/spark_description/robots/spark.urdf.xacro
+++ b/src/spark/spark_description/robots/spark.urdf.xacro
@ -8,7 +8,9 @@

 <robot name="spark" xmlns:xacro="http://ros.org/wiki/xacro">
 	<xacro:arg name="camera_types" default="astrapro"/>
+	<xacro:arg name="lidar_type_tel"	default="3iroboticslidar2"/>
  	<xacro:include filename="$(find spark_description)/urdf/spark_340.urdf.xacro">
 		<xacro:arg name="camera_types"	value="$(arg camera_types)"/>	
+		<xacro:arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>	
 	</xacro:include> 	
 </robot>
--- a/src/spark/spark_description/urdf/spark_340.urdf.xacro
+++ b/src/spark/spark_description/urdf/spark_340.urdf.xacro
@ -12,11 +12,21 @@

 	<xacro:property name="camera"	value="$(arg camera_types)"/>

+  	<xacro:arg name="lidar_type_tel"	default="astrapro"/>
+
+	<xacro:property name="lidar"	value="$(arg lidar_type_tel)"/>
+
  	<xacro:include filename="$(find spark_description)/urdf/base/spark_base.urdf"/>  	
  		
  	<xacro:include filename="$(find spark_description)/urdf/stack/spark_stack.urdf"/>

-	<xacro:include filename="$(find spark_description)/urdf/sensors/spark_lidar.urdf"/>
+	<xacro:if value="${lidar == 'ydlidar_g2'}">
+		<xacro:include filename="$(find ydlidar_g2)/urdf/ydlidar.urdf" />
+	</xacro:if>
+
+	<xacro:if value="${lidar == '3iroboticslidar2'}">
+		<xacro:include filename="$(find spark_description)/urdf/sensors/spark_lidar.urdf"/>
+	</xacro:if>

 	<xacro:if value="${camera == 'astrapro' or camera == 'astra'}">
 		<xacro:include filename="$(find spark_description)/urdf/sensors/spark_$(arg camera_types).urdf"/>
--- a/src/spark/spark_teleop/launch/app_op.launch
+++ b/src/spark/spark_teleop/launch/app_op.launch
@ -2,9 +2,14 @@
 <launch>
 	<!-- camera -->
 	<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
+	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
 	<!--spark底盘驱动，机器人描述,底盘,相机-->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
 		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
+	</include>
+ 	<!-- 启动雷达 -->
+	<include file="$(find lidar_driver_transfer)/launch/$(arg lidar_type_tel).launch">
 	</include>
 	<!--在rviz显示-->
  	<arg name="rvizconfig" default="$(find spark_teleop)/rviz/teleop.rviz" />
--- a/src/spark/spark_teleop/launch/teleop.launch
+++ b/src/spark/spark_teleop/launch/teleop.launch
@ -2,12 +2,15 @@
 <launch>
 	<!-- 启动哪种摄像机 -->
 	<arg name="camera_type_tel" default="astrapro" doc="camera type [astrapro, astra, d435...]"/>
-
+	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
 	<!--spark底盘驱动，机器人描述,底盘,相机-->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
 		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
+	</include>
+ 	<!-- 启动雷达 -->
+	<include file="$(find lidar_driver_transfer)/launch/$(arg lidar_type_tel).launch">
 	</include>
-
 	<!--spark键盘控制 “wsad”分别代表“前后左右”-->
 	<!--node pkg="spark_teleop" type="spark_teleop_node" name="spark_teleop_node" args="0.15 0.5"/-->

--- a/src/spark/spark_teleop/launch/teleop_only.launch
+++ b/src/spark/spark_teleop/launch/teleop_only.launch
--- a/src/spark/spark_teleop/rviz/teleop_astra.rviz
+++ b/src/spark/spark_teleop/rviz/teleop_astra.rviz
@ -1,13 +1,12 @@
 Panels:
  - Class: rviz/Displays
-    Help Height: 75
+    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1/Frames1
-        - /PointCloud21
      Splitter Ratio: 0.5
-    Tree Height: 75
+    Tree Height: 140
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
@ -16,7 +15,7 @@ Panels:
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
@ -27,6 +26,8 @@ Panels:
    Name: Time
    SyncMode: 0
    SyncSource: Image
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
  toolButtonStyle: 2
 Visualization Manager:
@ -38,7 +39,7 @@ Visualization Manager:
      Color: 160; 160; 164
      Enabled: true
      Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
@ -246,6 +247,7 @@ Visualization Manager:
          Value: false
        spark_stack:
          Value: false
+      Marker Alpha: 1
      Marker Scale: 1
      Name: TF
      Show Arrows: true
@ -321,8 +323,8 @@ Visualization Manager:
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
-        Max Value: 2.84632468
-        Min Value: -0.040540576
+        Max Value: 3.607553005218506
+        Min Value: 0.008338510990142822
        Value: true
      Axis: Z
      Channel Name: intensity
@ -333,21 +335,47 @@ Visualization Manager:
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
-      Max Intensity: 4096
      Min Color: 0; 0; 0
-      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
-      Size (m): 0.00999999978
+      Size (m): 0.009999999776482582
      Style: Flat Squares
      Topic: /camera/depth/points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
@ -363,7 +391,10 @@ Visualization Manager:
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
@ -375,33 +406,33 @@ Visualization Manager:
      Class: rviz/Orbit
      Distance: 10
      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
+      Field of View: 0.7853981852531433
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.415398329
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.41539832949638367
      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 2.71539736
+      Yaw: 2.715397357940674
    Saved: ~
 Window Geometry:
  Displays:
    collapsed: false
-  Height: 576
+  Height: 536
  Hide Left Dock: false
  Hide Right Dock: true
  Image:
    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000001b6fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000000d7000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000105000000d90000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003bf0000003efc0100000002fb0000000800540069006d00650100000000000003bf0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000024f000001b600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000017afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001b500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000000c9000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000010c000000ab0000001600ffffff000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b80000003efc0100000002fb0000000800540069006d00650100000000000003b8000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002480000017a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
@ -410,6 +441,6 @@ Window Geometry:
    collapsed: false
  Views:
    collapsed: true
-  Width: 959
-  X: 65
-  Y: 24
+  Width: 952
+  X: 72
+  Y: 27
--- a/src/spark_app/spark_carry/launch/hsv_detection.launch
+++ b/src/spark_app/spark_carry/launch/hsv_detection.launch
@ -0,0 +1,15 @@
+<!--
+  机械臂与摄像头之间的校准功能。注意摄像头需要反着装，垂直向下。使用一个蓝色圆贴在吸盘的正上方当校准点。
+ -->
+<launch> 	
+  <arg name="color" default="red"/>
+  <!--UARM机械臂-->
+  <include file="$(find swiftpro)/launch/pro_control_nomoveit.launch"/>
+
+  <!--HSV获取-->
+  <node pkg="spark_carry_object" type="hsv_detection.py" name="spark_hsv_detection" output="screen">
+  	<param name="color"	value="$(arg color)"/>
+  </node>
+  
+
+</launch>
--- a/src/spark_app/spark_carry/launch/spark_carry_object.launch
+++ b/src/spark_app/spark_carry/launch/spark_carry_object.launch
--- a/src/spark_app/spark_carry/launch/spark_carry_object_only_cv3.launch
+++ b/src/spark_app/spark_carry/launch/spark_carry_object_only_cv3.launch
@ -1,6 +1,6 @@
 <!-- NXROBO SPARK -->
 <launch> 	
-
+	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
 	<!-- 摄像机类型 -->
 	<arg name="camera_type_tel" default="astrapro" doc="camera type [astrapro, astra, d435...]"/>

@ -8,6 +8,7 @@
  	<include file="$(find spark_navigation)/launch/amcl_demo_lidar.launch">
 		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
 		<arg name="start_camera"	value="true"/>
+		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
 	</include>
    
  	<!--UARM机械臂 -->
--- a/src/spark_app/spark_navigation/launch/amcl_demo_lidar.launch
+++ b/src/spark_app/spark_navigation/launch/amcl_demo_lidar.launch
@ -2,16 +2,19 @@
 <launch>
 	<arg name="start_camera" default="false"/>
 	<arg name="camera_types" default="astrapro"/>
+	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
 		<arg name="camera_types"	value="$(arg camera_types)"/>
 		<arg name="start_camera" 	value="$(arg start_camera)"/>
+		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
 	</include>

 	<!-- 3D sensor -->
  	<arg name="3d_sensor" default="3i_lidar"/>  
-  	<include file="$(find iiiroboticslidar2)/launch/3iroboticslidar2.launch">
-  	</include>
+  	<!-- 启动雷达 -->
+	<include file="$(find lidar_driver_transfer)/launch/$(arg lidar_type_tel).launch">
+	</include>

 	<!-- Map server -->
  	<arg name="map_file" default="$(find spark_slam)/scripts/test_map.yaml"/>
--- a/src/spark_app/spark_navigation/launch/amcl_demo_lidar_rviz.launch
+++ b/src/spark_app/spark_navigation/launch/amcl_demo_lidar_rviz.launch
@ -1,19 +1,20 @@
 <!--spark navigation lidar-->
 <launch>
-
- 	<!-- description file -->
-  	<include file="$(find spark_description)/launch/spark_description.launch"/>
-
-	<!-- base -->
-  	<include file="$(find spark_base)/launch/spark_base.launch">
-		<arg name="serialport"                  value="/dev/sparkBase"/>
-  	</include>
-
+	<arg name="start_camera" default="false"/>
+	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
+	<arg name="camera_type_tel" default="astrapro" doc="camera type [astrapro, astra, d435...]"/>
+	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
+	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
+		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
+		<arg name="start_camera" default="false"/>
+	</include>

 	<!-- 3D sensor -->
  	<arg name="3d_sensor" default="3i_lidar"/>  
-  	<include file="$(find iiiroboticslidar2)/launch/3iroboticslidar2.launch">
-  	</include>
+  	<!-- 启动雷达 -->
+	<include file="$(find lidar_driver_transfer)/launch/$(arg lidar_type_tel).launch">
+	</include>


 	<!-- Map server -->
--- a/src/spark_app/spark_slam/launch/2d_slam.launch
+++ b/src/spark_app/spark_slam/launch/2d_slam.launch
@ -6,17 +6,19 @@
  	<arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
  	<arg name="configuration_basename" default="spark_lds_2d.lua"/>
  	<arg name="open_rviz" default="true"/>
-
+	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
 		<arg name="start_camera"	value="false"/>
 		<arg name="camera_types"	value="$(arg camera_types)"/>
+		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
 	</include>

 	<!-- 3D sensor -->
  	<arg name="3d_sensor" default="3i_lidar"/>  
-    		<include file="$(find iiiroboticslidar2)/launch/3iroboticslidar2.launch">
-  	</include>
+ 	<!-- 启动雷达 -->
+	<include file="$(find lidar_driver_transfer)/launch/$(arg lidar_type_tel).launch">
+	</include>

  	<!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration-->
  	<include file="$(find spark_slam)/launch/spark_$(arg slam_methods).launch">
--- a/src/spark_app/spark_slam/launch/2d_slam_norviz.launch
+++ b/src/spark_app/spark_slam/launch/2d_slam_norviz.launch
@ -6,20 +6,20 @@
  	<arg name="open_rviz" default="true"/>


-  	<include file="$(find spark_description)/launch/spark_description_norviz.launch"/>
-  	<!--include file="$(find spark_description)/launch/spark_description.launch"/-->
-
-
-   	<include file="$(find spark_base)/launch/spark_base.launch">
-		<arg name="serialport"                  value="/dev/sparkBase"/>
- 	</include> 
-
+	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
+	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
+	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
+		<arg name="start_camera"	value="false"/>
+		<arg name="camera_types"	value="$(arg camera_types)"/>
+		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
+	</include>


 	<!-- 3D sensor -->
  	<arg name="3d_sensor" default="3i_lidar"/>  
-  	<include file="$(find iiiroboticslidar2)/launch/3iroboticslidar2.launch">
-  	</include>
+ 	<!-- 启动雷达 -->
+	<include file="$(find lidar_driver_transfer)/launch/$(arg lidar_type_tel).launch">
+	</include>

  	<!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration-->
  	<include file="$(find spark_slam)/launch/spark_$(arg slam_methods).launch">
--- a/src/spark_app/spark_slam/launch/2d_slam_teleop.launch
+++ b/src/spark_app/spark_slam/launch/2d_slam_teleop.launch
@ -1,12 +1,14 @@
 <!--spark 2d slam-->
 <!--SPARK技术讨论与反馈群：8346256-->
 <launch>
+	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
 	<!--spark slam-->
  	<arg name="slam_methods_tel" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
 	<arg name="camera_type_tel"	default="astrapro"/>
 	<include file="$(find spark_slam)/launch/2d_slam.launch">
 		<arg name="slam_methods"	value="$(arg slam_methods_tel)"/>
 		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
 	</include> 
  	<!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”-->
  	<node pkg="spark_teleop" type="keyboard_control.sh" name="kc_2d" />
--- a/src/spark_driver/lidar/iiiroboticslidar2/CMakeLists.txt
+++ b/src/spark_driver/lidar/iiiroboticslidar2/CMakeLists.txt
@ -1,10 +1,10 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(iiiroboticslidar2)

-set(iiiroboticslidar2_SDK_PATH "./sdk/")
+set(delta_lidar_SDK_PATH "./sdk/")

-FILE(GLOB iiiroboticslidar2_SDK_SRC 
-  "${iiiroboticslidar2_SDK_PATH}/src/*.cpp"
+FILE(GLOB delta_lidar_SDK_SRC 
+  "${delta_lidar_SDK_PATH}/src/*.cpp"
 )

 find_package(catkin REQUIRED COMPONENTS
@ -14,20 +14,20 @@ find_package(catkin REQUIRED COMPONENTS
 )

 include_directories(
-  ${iiiroboticslidar2_SDK_PATH}/include
-  ${iiiroboticslidar2_SDK_PATH}/src
+  ${delta_lidar_SDK_PATH}/include
+  ${delta_lidar_SDK_PATH}/src
  ${catkin_INCLUDE_DIRS}
 )

 catkin_package()

-add_executable(iiirobotics_lidar2_node src/node.cpp ${iiiroboticslidar2_SDK_SRC})
-target_link_libraries(iiirobotics_lidar2_node ${catkin_LIBRARIES} -lrt)
+add_executable(delta_lidar_node src/node.cpp ${delta_lidar_SDK_SRC})
+target_link_libraries(delta_lidar_node ${catkin_LIBRARIES} -lrt)

-add_executable(iiirobotics_lidar2_node_client src/client.cpp)
-target_link_libraries(iiirobotics_lidar2_node_client ${catkin_LIBRARIES})
+add_executable(delta_lidar_node_client src/client.cpp)
+target_link_libraries(delta_lidar_node_client ${catkin_LIBRARIES})

-install(TARGETS iiirobotics_lidar2_node iiirobotics_lidar2_node_client
+install(TARGETS delta_lidar_node delta_lidar_node_client
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
--- a/src/spark_driver/lidar/iiiroboticslidar2/launch/3iroboticslidar2.launch
+++ b/src/spark_driver/lidar/iiiroboticslidar2/launch/3iroboticslidar2.launch
@ -1,5 +1,5 @@
 <launch>
-  <node name="iiiroboticslidar2"    pkg="iiiroboticslidar2"  type="iiirobotics_lidar2_node" output="screen">
+  <node name="iiiroboticslidar2"    pkg="iiiroboticslidar2"  type="delta_lidar_node" output="screen">
  <param name="serial_port"         type="string" value="/dev/3ilidar"/>
  <param name="frame_id"            type="string" value="lidar_link"/>
  </node>
--- a/src/spark_driver/lidar/iiiroboticslidar2/package.xml
+++ b/src/spark_driver/lidar/iiiroboticslidar2/package.xml
@ -2,7 +2,7 @@
 <package>
  <name>iiiroboticslidar2</name>
  <version>1.0.0</version>
-  <description>The 3iRoboticsLidar ros package, support 3iRoboticsLidar </description>
+  <description>The iiiroboticslidar2 ros package, support delta_lidar </description>

  <maintainer email="robot@3irobotics.com">3i Robotics ROS Maintainer</maintainer>
  <license>BSD</license>
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/C3iroboticsLidar.h
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/C3iroboticsLidar.h
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CArcTime.h
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CArcTime.h
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CCountDown.h
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CCountDown.h
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CDeviceConnection.h
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CDeviceConnection.h
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLidarPacket.h
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLidarPacket.h
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLidarPacketReceiver.h
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLidarPacketReceiver.h
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLidarPacketSender.h
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLidarPacketSender.h
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLogUtitls.h
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CLogUtitls.h
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CSerialConnection.h
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CSerialConnection.h
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CTime.h
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/CTime.h
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/typedef.h
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/include/typedef.h
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/C3iroboticsLidar.cpp
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/C3iroboticsLidar.cpp
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CArcTime.cpp
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CArcTime.cpp
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CCountDown.cpp
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CCountDown.cpp
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CDeviceConnection.cpp
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CDeviceConnection.cpp
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CLidarPacket.cpp
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CLidarPacket.cpp
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CLidarPacketReceiver.cpp
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CLidarPacketReceiver.cpp
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CLidarPacketSender.cpp
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CLidarPacketSender.cpp
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CSerialConnection.cpp
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CSerialConnection.cpp
--- a/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CTime.cpp
+++ b/src/spark_driver/lidar/iiiroboticslidar2/sdk/src/CTime.cpp
--- a/src/spark_driver/lidar/iiiroboticslidar2/src/CMakeLists.txt
+++ b/src/spark_driver/lidar/iiiroboticslidar2/src/CMakeLists.txt
--- a/src/spark_driver/lidar/iiiroboticslidar2/src/client.cpp
+++ b/src/spark_driver/lidar/iiiroboticslidar2/src/client.cpp
--- a/src/spark_driver/lidar/iiiroboticslidar2/src/node.cpp
+++ b/src/spark_driver/lidar/iiiroboticslidar2/src/node.cpp
@ -46,33 +46,41 @@ void publish_scan(ros::Publisher *pub,
                  std::string frame_id)
 {
    sensor_msgs::LaserScan scan_msg;
-
+    //printf("node_count = %d\n",node_count);
    scan_msg.header.stamp = start;
    scan_msg.header.frame_id = frame_id;
    scan_msg.angle_min = angle_min;
    scan_msg.angle_max = angle_max;
-    scan_msg.angle_increment = (scan_msg.angle_max - scan_msg.angle_min) /(double)(node_count - 1);
+    scan_msg.angle_increment = (scan_msg.angle_max - scan_msg.angle_min) / (360.0f - 1.0f);

    scan_msg.scan_time = scan_time;
-    scan_msg.time_increment = scan_time / (double)(node_count-1);
+    scan_msg.time_increment = scan_time / (double)(node_count - 1);
    scan_msg.range_min = 0.15;
-    scan_msg.range_max = 16.0;
+    scan_msg.range_max = 5.0;

-    scan_msg.ranges.resize(node_count);
-    scan_msg.intensities.resize(node_count);
+
+    scan_msg.ranges.resize(360, std::numeric_limits<float>::infinity());
+    scan_msg.intensities.resize(360, 0.0);

    //Unpack data
    for (size_t i = 0; i < node_count; i++)
    {
+        size_t current_angle = floor(nodes[i].angle);
+        //printf("current_angle = %d\r\n", current_angle);
+        if(current_angle >= 360.0)
+        {
+            //printf("lidar angle over rang\n");
+            continue;
+        }
        float read_value = (float) nodes[i].distance;
-        if (read_value == 0.0)
-            scan_msg.ranges[node_count- 1- i] = std::numeric_limits<float>::infinity();
+        if (read_value > scan_msg.range_max || read_value < scan_msg.range_min)
+            scan_msg.ranges[360 - 1 - current_angle] = std::numeric_limits<float>::infinity();
        else
-            scan_msg.ranges[node_count -1- i] = read_value;
+            scan_msg.ranges[360 - 1 - current_angle] = read_value;

-		//scan_msg.intensities[node_count -1- i] = (float) nodes[i].signal;
+            //scan_msg.intensities[node_count -1- i] = (float) nodes[i].signal;

-	}
+    }

    pub->publish(scan_msg);
 }
@ -188,7 +196,7 @@ int main(int argc, char * argv[])
            }
            case LIDAR_GRAB_SUCESS:
            {
-				robotics_lidar.m_dynamic_scan.resetGrabResult();
+                                robotics_lidar.m_dynamic_scan.resetGrabResult();
 			
                lidar_dynamicscan = robotics_lidar.getLidarDynamicScan();
                lidar_scan_size = lidar_dynamicscan.getSize();              
--- a/src/spark_driver/lidar/lidar_driver_transfer/CMakeLists.txt
+++ b/src/spark_driver/lidar/lidar_driver_transfer/CMakeLists.txt
@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(lidar_driver_transfer)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES lidar_driver_transfer
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/lidar_driver_transfer.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/lidar_driver_transfer_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_lidar_driver_transfer.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
--- a/src/spark_driver/lidar/lidar_driver_transfer/launch/3iroboticslidar2.launch
+++ b/src/spark_driver/lidar/lidar_driver_transfer/launch/3iroboticslidar2.launch
@ -0,0 +1,7 @@
+<!-- 启动杉川雷达 -->
+<launch>
+  	<arg name="3d_sensor" default="3i_lidar"/>  
+    		<include file="$(find iiiroboticslidar2)/launch/3iroboticslidar2.launch">
+  	</include>
+</launch>
+
--- a/src/spark_driver/lidar/lidar_driver_transfer/launch/ydlidar_g2.launch
+++ b/src/spark_driver/lidar/lidar_driver_transfer/launch/ydlidar_g2.launch
@ -0,0 +1,7 @@
+<!-- 启动杉川雷达 -->
+<launch>
+  	<arg name="3d_sensor" default="ydlidar_g2"/>  
+    		<include file="$(find ydlidar_g2)/launch/lidar.launch">
+  	</include>
+</launch>
+
--- a/src/spark_driver/lidar/lidar_driver_transfer/package.xml
+++ b/src/spark_driver/lidar/lidar_driver_transfer/package.xml
@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>lidar_driver_transfer</name>
+  <version>0.0.0</version>
+  <description>The lidar_driver_transfer package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="spark@todo.todo">spark</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/lidar_driver_transfer</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <author email="litian.zhuang@nxrobo.com">litian.zhuang</author>
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
--- a/src/spark_driver/lidar/ydlidar_g2/.gitignore
+++ b/src/spark_driver/lidar/ydlidar_g2/.gitignore
@ -0,0 +1,29 @@
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
--- a/src/spark_driver/lidar/ydlidar_g2/CMakeLists.txt
+++ b/src/spark_driver/lidar/ydlidar_g2/CMakeLists.txt
@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ydlidar_g2)
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+#add_definitions(-std=c++11) # Use C++11
+
+find_package(catkin REQUIRED COMPONENTS
+  rosconsole
+  roscpp
+  sensor_msgs
+)
+
+#add_subdirectory(sdk)
+
+set(SDK_PATH "./sdk/")
+
+FILE(GLOB SDK_SRC 
+  "${SDK_PATH}/src/impl/unix/*.cpp"
+  "${SDK_PATH}/src/*.cpp"
+  "${SDK_PATH}/src/*.c"
+)
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${PROJECT_SOURCE_DIR}/src
+  ${PROJECT_SOURCE_DIR}/sdk/include
+  ${PROJECT_SOURCE_DIR}/sdk/src
+)
+
+add_executable(ydlidar_g2_node src/ydlidar_node.cpp  ${SDK_SRC})
+add_executable(ydlidar_g2_client src/ydlidar_client.cpp)
+
+target_link_libraries(ydlidar_g2_node
+   ${catkin_LIBRARIES} 
+ )
+target_link_libraries(ydlidar_g2_client
+   ${catkin_LIBRARIES} 
+ )
+
+install(TARGETS ydlidar_g2_node ydlidar_g2_client
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+
+install(DIRECTORY launch startup sdk
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+)
+
+
--- a/src/spark_driver/lidar/ydlidar_g2/README.md
+++ b/src/spark_driver/lidar/ydlidar_g2/README.md
@ -0,0 +1,104 @@
+YDLIDAR ROS驱动包(V1.4.2)
+=====================================================================
+
+
+
+怎么构建ROS驱动包
+=====================================================================
+    1) Clone this project to your catkin's workspace src folder
+    	(1). git clone https://github.com/YDLIDAR/ydlidar_ros
+    	(2). git chectout gaussian
+    2) Running catkin_make to build ydlidar_node and ydlidar_client
+    3) Create the name "/dev/ydlidar" for YDLIDAR
+    --$ roscd ydlidar_ros/startup
+    --$ sudo chmod 777 ./*
+    --$ sudo sh initenv.sh
+
+怎样运行YDLIDAR ROS 包
+=====================================================================
+有两种方式运行方式
+
+1. 运行YDLIDAR 节点并在RVIZ上显示
+------------------------------------------------------------
+	roslaunch ydlidar_ros lidar_view.launch
+
+2.运行YDLIDAR 节点在终端上显示
+------------------------------------------------------------
+	roslaunch ydlidar_ros lidar.launch
+
+	rosrun ydlidar_ros ydlidar_client
+
+
+
+配置参数
+=====================================================================
+port (string, default: /dev/ydlidar)
+
+    当前雷达端口号
+
+baudrate (int, default:230400)
+
+    当前雷达波特率（G2 G2A: 230400, G2C:115200)
+
+frame_id (string, default: laser_frame)
+
+    雷达坐标系名称
+
+reversion (bool, default: true)
+
+    是否旋转雷达数据180度
+
+resolution_fixed (bool, default: true)
+
+    是否固定角度分辨率输出
+auto_reconnect(bool, default: true)
+
+     是否雷达支持热插拔
+
+angle_min (double, default: -180)
+
+    雷达最小有效角度
+
+angle_max (double, default: 180)
+
+    雷达最大有效角度
+
+range_min (double, default: 0.08)
+
+    雷达最小有效距离
+
+range_max (double, default: 16.0)
+
+    雷达最大有效距离
+
+ignore_array (string, default: "")
+
+    剔除角度列表
+
+frequency (double, default: 10)
+
+    雷达扫描频率
+
+
+
+
+更新日志
+=====================================================================
+
+2019-07-16 version:1.4.2
+
+  1.扫描频率偏移
+
+2019-03-25 version:1.4.1
+
+   1.修复内存泄露.
+
+2019-03-25 version:1.4.0
+
+   1.修复时间戳错误
+   
+   2.雷达启动异常检测
+   
+   3.移除别的雷达型号支持, 仅仅支持G2A雷达
+   
+   4.优化turnOn 和 turnOff 
--- a/src/spark_driver/lidar/ydlidar_g2/launch/display.launch
+++ b/src/spark_driver/lidar/ydlidar_g2/launch/display.launch
@ -0,0 +1,42 @@
+<launch>
+  <arg
+    name="model" />
+  <arg
+    name="gui"
+    default="False" />
+  <param
+    name="robot_description"
+    textfile="$(find ydlidar_g2)/urdf/ydlidar.urdf" />
+  <param
+    name="use_gui"
+    value="$(arg gui)" />
+  <node
+    name="joint_state_publisher"
+    pkg="joint_state_publisher"
+    type="joint_state_publisher" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="state_publisher" />
+ <node name="ydlidar_g2_node"  pkg="ydlidar_g2"  type="ydlidar_g2_node" output="screen">
+    <param name="port"         type="string" value="/dev/ydlidar"/>  
+    <param name="baudrate"     type="int"    value="115200"/>
+    <param name="frame_id"     type="string" value="laser_frame"/>
+    <param name="angle_fixed"  type="bool"   value="true"/>
+    <param name="low_exposure"  type="bool"   value="false"/>
+    <param name="heartbeat"    type="bool"   value="false"/>
+    <param name="resolution_fixed"    type="bool"   value="true"/>
+    <param name="angle_min"    type="double" value="-180" />
+    <param name="angle_max"    type="double" value="180" />
+    <param name="range_min"    type="double" value="0.08" />
+    <param name="range_max"    type="double" value="16.0" />
+    <param name="ignore_array" type="string" value="" />
+    <param name="samp_rate"    type="int"    value="9"/>
+    <param name="frequency"    type="double" value="7"/>
+  </node>
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find ydlidar_g2)/ydlidar.rviz" />
+</launch>
--- a/src/spark_driver/lidar/ydlidar_g2/launch/gazebo.launch
+++ b/src/spark_driver/lidar/ydlidar_g2/launch/gazebo.launch
@ -0,0 +1,20 @@
+<launch>
+  <include
+    file="$(find ydlidar_g2)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_laser base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find ydlidar_g2)/urdf/ydlidar.urdf -urdf -model ydlidar"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>
--- a/src/spark_driver/lidar/ydlidar_g2/launch/lidar.launch
+++ b/src/spark_driver/lidar/ydlidar_g2/launch/lidar.launch
@ -0,0 +1,17 @@
+<launch>
+  <node name="ydlidar_g2_node"  pkg="ydlidar_g2"  type="ydlidar_g2_node" output="screen" respawn="false" >
+    <param name="port"         type="string" value="/dev/ydlidar"/>  
+    <param name="baudrate"         type="int" value="230400"/>  
+    <param name="frame_id"     type="string" value="laser_frame"/>
+    <param name="resolution_fixed"    type="bool"   value="true"/>
+    <param name="auto_reconnect"    type="bool"   value="true"/>
+    <param name="reversion"    type="bool"   value="true"/>
+    <param name="angle_min"    type="double" value="-180" />
+    <param name="angle_max"    type="double" value="180" />
+    <param name="range_min"    type="double" value="0.1" />
+    <param name="range_max"    type="double" value="12.0" />
+    <param name="ignore_array" type="string" value="" />
+    <param name="frequency"    type="double" value="10"/>
+  </node>
+
+</launch>
--- a/src/spark_driver/lidar/ydlidar_g2/launch/lidar.rviz
+++ b/src/spark_driver/lidar/ydlidar_g2/launch/lidar.rviz
@ -0,0 +1,128 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /LidarLaserScan1
+      Splitter Ratio: 0.5
+    Tree Height: 413
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 0
+        Min Value: 0
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: AxisColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LidarLaserScan
+      Position Transformer: XYZ
+      Queue Size: 1000
+      Selectable: true
+      Size (Pixels): 5
+      Size (m): 0.03
+      Style: Squares
+      Topic: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: laser_frame
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/MoveCamera
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/Select
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 11.1184
+      Focal Point:
+        X: -0.0344972
+        Y: 0.065886
+        Z: 0.148092
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.615399
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.82358
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 626
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001950000022cfc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000022c000000dd00fffffffb0000000a0049006d006100670065000000028d000000c60000000000000000000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003240000022c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1215
+  X: 65
+  Y: 24
--- a/src/spark_driver/lidar/ydlidar_g2/launch/lidar_view.launch
+++ b/src/spark_driver/lidar/ydlidar_g2/launch/lidar_view.launch
@ -0,0 +1,4 @@
+<launch>
+  <include file="$(find ydlidar_g2)/launch/lidar.launch" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ydlidar_g2)/launch/lidar.rviz" />
+</launch>
--- a/src/spark_driver/lidar/ydlidar_g2/meshes/ydlidar.dae
+++ b/src/spark_driver/lidar/ydlidar_g2/meshes/ydlidar.dae
--- a/src/spark_driver/lidar/ydlidar_g2/meshes/ydlidar.png
+++ b/src/spark_driver/lidar/ydlidar_g2/meshes/ydlidar.png
--- a/src/spark_driver/lidar/ydlidar_g2/package.xml
+++ b/src/spark_driver/lidar/ydlidar_g2/package.xml
@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<package>
+  <name>ydlidar_g2</name>
+  <version>1.4.2</version>
+  <description>The ydlidar package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="shao@eaibot.com">shao</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/flashgo</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rosconsole</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <run_depend>rosconsole</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
--- a/src/spark_driver/lidar/ydlidar_g2/sdk/CMakeLists.txt
+++ b/src/spark_driver/lidar/ydlidar_g2/sdk/CMakeLists.txt
@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 2.8)
+#add_definitions(-std=c++11) # Use C++11
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+include_directories(include)
+include_directories(src)
+
+IF (WIN32)
+FILE(GLOB SDK_SRC 
+  "src/*.cpp"
+  "src/*.c"
+  "src/*.h"
+  "src/impl/windows/*.cpp"
+  "src/impl/windows/*.h"
+)
+	
+ELSE()
+FILE(GLOB SDK_SRC 
+  "src/*.cpp"
+  "src/*.c"
+  "src/*.h"
+  "src/impl/unix/*.cpp"
+  "src/impl/unix/*.h"
+)
+
+	
+ENDIF()
+
+add_subdirectory(samples)
+
+add_library(ydlidar_driver STATIC ${SDK_SRC})
+IF (WIN32)
+target_link_libraries(ydlidar_driver setupapi Winmm)
+ELSE()
+target_link_libraries(ydlidar_driver rt pthread)
+ENDIF()                    
--- a/src/spark_driver/lidar/ydlidar_g2/sdk/README.md
+++ b/src/spark_driver/lidar/ydlidar_g2/sdk/README.md
@ -0,0 +1,247 @@
+![YDLIDAR](image/index-X4.jpg  "YDLIDAR_X4")
+
+YDLIDAR SDK [![Build Status](https://travis-ci.org/cansik/sdk.svg?branch=samsung)](https://travis-ci.org/cansik/sdk) [![Build status](https://ci.appveyor.com/api/projects/status/2w9xm1dbafbi7xc0?svg=true)](https://ci.appveyor.com/project/cansik/sdk) [![codebeat badge](https://codebeat.co/badges/3d8634b7-84eb-410c-b92b-24bf6875d8ef)](https://codebeat.co/projects/github-com-cansik-sdk-samsung)
+=====================================================================
+
+
+Introduction
+-------------------------------------------------------------------------------------------------------------------------------------------------------
+
+YDLIDAR(https://www.ydlidar.com/) series is a set of high-performance and low-cost LIDAR sensors, which is the perfect sensor of 2D SLAM, 3D reconstruction, multi-touch, and safety applications.
+
+If you are using ROS (Robot Operating System), please use our open-source [ROS Driver]( https://github.com/ydlidar/ydlidar) .
+
+Licence
+-------------------------------------------------------------------------------------------------------------------------------------------------------
+
+The SDK itself is licensed under BSD [License](license)
+
+Release Notes
+-------------------------------------------------------------------------------------------------------------------------------------------------------
+| Title      |  Version |  Data |
+| :-------- | --------:|  :--: |
+| SDK     |  1.4.2 |   2019-08-29  |
+
+
+- [feature] offset angle.
+
+
+
+
+Dataset 
+-------------------------------------------------------------------------------------------------------------------------------------------------------
+
+
+| Model      |  Baudrate |  Sampling Frequency | Range(m)  | Scanning Frequency(HZ) | Working temperature(°C) | Laser power max(mW) | voltage(V) | Current(mA) | Intensity
+| :-------- | --------:|--------:|  --------:| --------:|--------:| --------:| --------:| --------:| :--: |
+| G2A    |  230400 |   5000  |  0.12-12   |5-12|0-50| ~5|4.8-5.2|400-480| false |
+| G2      |  230400 |   5000  |  0.12-12   |5-12|0-50| ~5|4.8-5.2|400-480| true |
+| G2C   |  230400 |   4000  |  0.12-12   |5-12|0-50| ~5|4.8-5.2|400-480| false |
+
+How to build YDLIDAR SDK samples
+---------------
+    $ git clone https://github.com/ydlidar/sdk
+    $ cd sdk
+    $ git checkout G2
+    $ cd ..
+    $ mkdir build
+    $ cd build
+    $ cmake ../sdk
+    $ make			###linux
+    $ vs open Project.sln	###windows
+
+How to run YDLIDAR SDK samples
+---------------
+    $ cd samples
+
+linux:
+
+    $ ./ydlidar_test
+    $Please enter the lidar serial port:/dev/ttyUSB0
+
+windows:
+
+    $ ydlidar_test.exe
+    $Please enter the lidar serial port:/dev/ttyUSB0
+
+
+You should see YDLIDAR's scan result in the console:
+
+	[YDLIDAR]:SDK Version: 1.4.2
+	[YDLIDAR]:Lidar running correctly ! The health status: good
+	[YDLIDAR] Connection established in [/dev/ttyUSB0][230400]:
+	Firmware version: 1.1
+	Hardware version: 1
+	Model: G2
+	Serial: 2019071800011111
+	[YDLIDAR INFO] Current Sampling Rate : 5K
+	[YDLIDAR INFO] Current Scan Frequency : 10.000000Hz
+	[YDLIDAR INFO] Now YDLIDAR is scanning ......
+	Scan received: 500 ranges
+	Scan received: 503 ranges
+	
+	
+
+
+
+Data structure
+-------------------------------------------------------------------------------------------------------------------------------------------------------
+
+data structure:
+
+    //! A struct for returning configuration from the YDLIDAR
+    struct LaserConfig {
+
+        //! Start angle for the laser scan [rad].  0 is forward and angles are measured clockwise when viewing YDLIDAR from the top.
+        float min_angle;
+
+        //! Stop angle for the laser scan [rad].   0 is forward and angles are measured clockwise when viewing YDLIDAR from the top.
+        float max_angle;
+
+        //! Scan resolution [rad].
+        float ang_increment;
+
+        //! Scan resoltuion [ns]
+        float time_increment;
+
+        //! Time between scans
+        float scan_time;
+
+        //! Minimum range [m]
+        float min_range;
+
+        //! Maximum range [m]
+        float max_range;
+
+        //! Range Resolution [m]
+        float range_res;
+
+      };
+
+
+      struct LaserScan {
+
+        //! Array of ranges
+        std::vector<float> ranges;
+
+        //! Array of intensities
+        std::vector<float> intensities;
+
+        //! Self reported time stamp in nanoseconds
+        uint64_t self_time_stamp;
+
+        //! System time when first range was measured in nanoseconds
+        uint64_t system_time_stamp;
+
+        //! Configuration of scan
+        LaserConfig config;
+
+      };
+
+example angle parsing:
+
+    LaserScan scan;
+
+    for(size_t i =0; i < scan.ranges.size(); i++) {
+
+      // current angle
+      double angle = scan.config.min_angle + i*scan.config.ang_increment;// radian format
+
+      //current distance
+      double distance = scan.ranges[i];//meters
+
+      //current intensity
+      int intensity = scan.intensities[i];
+
+    }
+    
+
+Coordinate System
+-------------------------------------------------------------------------------------------------------------------------------------------------------
+
+![Coordinate](image/image.png  "Coordinate")
+
+
+
+### The relationship between the angle value and the data structure in the above figure:
+
+	double current_angle =  scan.config.min_angle + index*scan.config.ang_increment;// radian format
+	doube Angle = current_angle*180/M_PI;//Angle fomat
+
+
+Upgrade Log
+---------------
+
+2019-08-29 version 1.4.2
+
+   1.offset angle.
+
+2019-08-12 version 1.4.2
+
+   1.support G2 G2A G2C.
+
+2019-05-10 version:1.4.1
+
+   1.fix memory leak.
+
+2019-03-25 version:1.4.0
+
+   1.fix Large motor resistance at startup issues.
+
+   2.fix ascendScanData timestamp issues.
+
+   3.check lidar abnormality when turn on lidar.
+
+   4.only support G4 lidar
+
+   5.Remove other lidar model interfaces functions.
+
+   6.fix turnOn function.
+   
+2018-12-07 version:1.3.9
+
+   1.Remove other lidar model interfaces functions.
+
+   2.Remove heartbeat
+
+2018-11-24 version:1.3.8
+
+   1.Reduce abnormal situation recovery time.
+   
+   2.fix timestamp from zero.
+
+2018-10-26 version:1.3.7
+
+   1.add input angle calibration file.
+   
+   2.remove network.
+
+2018-10-15 version:1.3.6
+
+   1.add network support.
+
+2018-05-23 version:1.3.4
+
+   1.add automatic reconnection if there is an exception
+
+   2.add serial file lock.
+
+2018-05-14 version:1.3.3
+
+   1.add the heart function constraint.
+
+   2.add packet type with scan frequency support.
+
+2018-04-16 version:1.3.2
+
+   1.add multithreading support.
+
+2018-04-16 version:1.3.1
+
+   1.Compensate for each laser point timestamp.
+   
+   
+   Contact EAI
+---------------
+
+If you have any extra questions, please feel free to [contact us](http://www.ydlidar.cn/cn/contact)
--- a/src/spark_driver/lidar/ydlidar_g2/sdk/doc/Doxyfile
+++ b/src/spark_driver/lidar/ydlidar_g2/sdk/doc/Doxyfile
--- a/src/spark_driver/lidar/ydlidar_g2/sdk/doc/YDLIDAR
+++ b/src/spark_driver/lidar/ydlidar_g2/sdk/doc/YDLIDAR
--- a/src/spark_driver/lidar/ydlidar_g2/sdk/doc/html/_active_socket_8h_source.html
+++ b/src/spark_driver/lidar/ydlidar_g2/sdk/doc/html/_active_socket_8h_source.html
--- a/src/spark_driver/lidar/ydlidar_g2/sdk/doc/html/_c_yd_lidar_8h_source.html
+++ b/src/spark_driver/lidar/ydlidar_g2/sdk/doc/html/_c_yd_lidar_8h_source.html
--- a/src/spark_driver/lidar/ydlidar_g2/sdk/doc/html/_channel_device_8h_source.html
+++ b/src/spark_driver/lidar/ydlidar_g2/sdk/doc/html/_channel_device_8h_source.html
@ -0,0 +1,103 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.11"/>
+<title>YDLIDAR SDK: include/ChannelDevice.h Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<script type="text/javascript">
+  $(document).ready(function() { init_search(); });
+</script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="ydliar.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">YDLIDAR SDK
+   &#160;<span id="projectnumber">V1.3.6</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.11 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+  <div id="navrow1" class="tabs">
+    <ul class="tablist">
+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
+      <li><a href="pages.html"><span>Related&#160;Pages</span></a></li>
+      <li><a href="namespaces.html"><span>Namespaces</span></a></li>
+      <li><a href="annotated.html"><span>Classes</span></a></li>
+      <li class="current"><a href="files.html"><span>Files</span></a></li>
+      <li>
+        <div id="MSearchBox" class="MSearchBoxInactive">
+        <span class="left">
+          <img id="MSearchSelect" src="search/mag_sel.png"
+               onmouseover="return searchBox.OnSearchSelectShow()"
+               onmouseout="return searchBox.OnSearchSelectHide()"
+               alt=""/>
+          <input type="text" id="MSearchField" value="Search" accesskey="S"
+               onfocus="searchBox.OnSearchFieldFocus(true)" 
+               onblur="searchBox.OnSearchFieldFocus(false)" 
+               onkeyup="searchBox.OnSearchFieldChange(event)"/>
+          </span><span class="right">
+            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
+          </span>
+        </div>
+      </li>
+    </ul>
+  </div>
+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li><a href="files.html"><span>File&#160;List</span></a></li>
+    </ul>
+  </div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">ChannelDevice.h</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#include &quot;v8stdint.h&quot;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno"><a class="line" href="class_channel_device.html">    4</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_channel_device.html">ChannelDevice</a></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;{</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;    <a class="code" href="class_channel_device.html">ChannelDevice</a>(){}</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="class_channel_device.html">ChannelDevice</a>(){}</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> bindport(<span class="keyword">const</span> <span class="keywordtype">char</span>*, uint32_t ) = 0;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> open() = 0;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isOpen() = 0;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> closePort() = 0;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> flush() = 0;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">int</span> waitfordata(<span class="keywordtype">size_t</span> data_count,uint32_t timeout = -1, <span class="keywordtype">size_t</span> * returned_size = NULL) = 0;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> writeData(<span class="keyword">const</span> uint8_t * data, <span class="keywordtype">size_t</span> size) = 0;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">size_t</span> readData(uint8_t * data, <span class="keywordtype">size_t</span> size) = 0;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> setDTR(<span class="keywordtype">bool</span> level = <span class="keyword">true</span>) {<span class="keywordflow">return</span> <span class="keyword">true</span>;}</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">int</span> getByteTime() { <span class="keywordflow">return</span> 0;}</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> ReleasePort() {<span class="keywordflow">return</span>;}</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;};</div><div class="ttc" id="class_channel_device_html"><div class="ttname"><a href="class_channel_device.html">ChannelDevice</a></div><div class="ttdef"><b>Definition:</b> ChannelDevice.h:4</div></div>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.11
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+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="ydliar.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">YDLIDAR-SS SDK
+   &#160;<span id="projectnumber">V2.0.0</span>
+   </div>
+  </td>
+ </tr>
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+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.11 -->
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+  <div id="navrow1" class="tabs">
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+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
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+      <li><a href="namespaces.html"><span>Namespaces</span></a></li>
+      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
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+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li class="current"><a href="annotated.html"><span>Class&#160;List</span></a></li>
+      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
+      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
+      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
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+  <div class="headertitle">
+<div class="title">Class List</div>  </div>
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+<div class="contents">
+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
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+</a> 1.8.11
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+</body>
+</html>
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+++ b/src/spark_driver/lidar/ydlidar_g2/sdk/doc/html/app(2).png
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--- a/src/spark_driver/lidar/ydlidar_g2/sdk/doc/html/class_c_simple_ini_templ-members.html
+++ b/src/spark_driver/lidar/ydlidar_g2/sdk/doc/html/class_c_simple_ini_templ-members.html
@ -0,0 +1,144 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.11"/>
+<title>YDLIDAR-SS SDK: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+  $(document).ready(function() { init_search(); });
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectlogo"><img alt="Logo" src="ydliar.png"/></td>
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">YDLIDAR-SS SDK
+   &#160;<span id="projectnumber">V2.0.0</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.11 -->
+<script type="text/javascript">
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+  <div id="navrow1" class="tabs">
+    <ul class="tablist">
+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
+      <li><a href="pages.html"><span>Related&#160;Pages</span></a></li>
+      <li><a href="namespaces.html"><span>Namespaces</span></a></li>
+      <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
+      <li><a href="files.html"><span>Files</span></a></li>
+      <li>
+        <div id="MSearchBox" class="MSearchBoxInactive">
+        <span class="left">
+          <img id="MSearchSelect" src="search/mag_sel.png"
+               onmouseover="return searchBox.OnSearchSelectShow()"
+               onmouseout="return searchBox.OnSearchSelectHide()"
+               alt=""/>
+          <input type="text" id="MSearchField" value="Search" accesskey="S"
+               onfocus="searchBox.OnSearchFieldFocus(true)" 
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+  </div>
+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
+      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
+      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
+      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
+    </ul>
+  </div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
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+<div class="header">
+  <div class="headertitle">
+<div class="title">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt; Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#af878d0a2aa780255b621e95f58f691d8">CSimpleIniTempl</a>(bool a_bIsUtf8=false, bool a_bMultiKey=false, bool a_bMultiLine=false)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#aa5c1cdd0b306434d9e9f1422888049da">Delete</a>(const SI_CHAR *a_pSection, const SI_CHAR *a_pKey, bool a_bRemoveEmpty=false)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a04551ae6c3e92475b2a823d2729652d6">DeleteValue</a>(const SI_CHAR *a_pSection, const SI_CHAR *a_pKey, const SI_CHAR *a_pValue, bool a_bRemoveEmpty=false)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a8cf1357d78d28653b68790ab5d5b45f1">GetAllKeys</a>(const SI_CHAR *a_pSection, TNamesDepend &amp;a_names) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a65b01b5bf88d0dfe3ba51f12278cbcb8">GetAllSections</a>(TNamesDepend &amp;a_names) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a263c85a8cd839c315fefc078e048257b">GetAllValues</a>(const SI_CHAR *a_pSection, const SI_CHAR *a_pKey, TNamesDepend &amp;a_values) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#af0a8cffb0b7f6ca04e3eed9ab4660666">GetBoolValue</a>(const SI_CHAR *a_pSection, const SI_CHAR *a_pKey, bool a_bDefault=false, bool *a_pHasMultiple=NULL) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a98442d01db35187f2770f0a91042cce8">GetConverter</a>() const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a6ce7c77a1d5d64dc289927a5c2659e78">GetDoubleValue</a>(const SI_CHAR *a_pSection, const SI_CHAR *a_pKey, double a_nDefault=0, bool *a_pHasMultiple=NULL) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a994c6b29bb8b4c16a4b1a7f4c8b2b3f4">GetLongValue</a>(const SI_CHAR *a_pSection, const SI_CHAR *a_pKey, long a_nDefault=0, bool *a_pHasMultiple=NULL) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a795e2fcbad3472055aedfe188f4f8d33">GetSection</a>(const SI_CHAR *a_pSection) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a2e612d67d1e1631c157af6291ac8c348">GetSectionSize</a>(const SI_CHAR *a_pSection) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a39999339113e9395d5e2c6b02ef5c618">GetValue</a>(const SI_CHAR *a_pSection, const SI_CHAR *a_pKey, const SI_CHAR *a_pDefault=NULL, bool *a_pHasMultiple=NULL) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#acaada2b1ab734fc7dd8780ba7f376c26">IsEmpty</a>() const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a8069b3c574949b78fe0274ae803f0685">IsMultiKey</a>() const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a805dba3689efd63f8c4485a5f2e89090">IsMultiLine</a>() const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#aa18f29d67107392a9e9f361def892c71">IsUnicode</a>() const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a174244fd3e09ff78da05fe46be86e714">LoadData</a>(const std::string &amp;a_strData)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#aa797cf47cec05906f07d5065882af4d3">LoadData</a>(const char *a_pData, size_t a_uDataLen)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#aebb6e5fff76efc05ca6cc4b7b56481a3">LoadFile</a>(const char *a_pszFile)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a7ccb65e82fa347b42b59330968f826ae">LoadFile</a>(FILE *a_fpFile)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a89b34d38be4518e9ed91c634a41b8055">Reset</a>()</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a5fea5d590edbb5eef694991c7c355915">Save</a>(OutputWriter &amp;a_oOutput, bool a_bAddSignature=false) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#af944674fb44473ede150a3bcdc103d63">Save</a>(std::string &amp;a_sBuffer, bool a_bAddSignature=false) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a1449e083d968790ef7479de24edddba0">SaveFile</a>(const char *a_pszFile, bool a_bAddSignature=true) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#af3f26b331a0f9d7f071d7b4aa8038758">SaveFile</a>(FILE *a_pFile, bool a_bAddSignature=false) const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a48ae136fa20c5d7eb7ab0b75342b27cf">SetBoolValue</a>(const SI_CHAR *a_pSection, const SI_CHAR *a_pKey, bool a_bValue, const SI_CHAR *a_pComment=NULL, bool a_bForceReplace=false)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#af92ba0b8067553ab693c62a370de6534">SetDoubleValue</a>(const SI_CHAR *a_pSection, const SI_CHAR *a_pKey, double a_nValue, const SI_CHAR *a_pComment=NULL, bool a_bForceReplace=false)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#ab2238be407232e4bba0f1343e4793e4e">SetLongValue</a>(const SI_CHAR *a_pSection, const SI_CHAR *a_pKey, long a_nValue, const SI_CHAR *a_pComment=NULL, bool a_bUseHex=false, bool a_bForceReplace=false)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#ac3cfaf072a64f960bdcb7ddf2edc52b6">SetMultiKey</a>(bool a_bAllowMultiKey=true)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#aa7214b76600790053a5c715e9730aab0">SetMultiLine</a>(bool a_bAllowMultiLine=true)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#ae3c0eae2dcd84a42c99bb86ae103662c">SetSpaces</a>(bool a_bSpaces=true)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#aa9a15a66de893571014f661f89cb4d4b">SetUnicode</a>(bool a_bIsUtf8=true)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#aa2014a3dc8fdd638316cf1d3611796ab">SetValue</a>(const SI_CHAR *a_pSection, const SI_CHAR *a_pKey, const SI_CHAR *a_pValue, const SI_CHAR *a_pComment=NULL, bool a_bForceReplace=false)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>SI_CHAR_T</b> typedef (defined in <a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a568d70ad0c08d7a0f9ae5dae0b8372b9">TKeyVal</a> typedef</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a391b3f3751e06cd9e9de4fb16ac14342">TNamesDepend</a> typedef</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a31bef7b63de3d584e9a42cd1b526ec76">TSection</a> typedef</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a9c967faf796cf5babea67e97975bed9b">UsingSpaces</a>() const </td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_c_simple_ini_templ.html#a8c933adc1d46bb663caeb6f9dee5aa12">~CSimpleIniTempl</a>()</td><td class="entry"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.11
+</small></address>
+</body>
+</html>
--- a/src/spark_driver/lidar/ydlidar_g2/sdk/doc/html/class_c_simple_ini_templ.html
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+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Converter</b>(bool a_bStoreIsUtf8) (defined in <a class="el" href="class_c_simple_ini_templ_1_1_converter.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::Converter</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ_1_1_converter.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::Converter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Converter</b>(const Converter &amp;rhs) (defined in <a class="el" href="class_c_simple_ini_templ_1_1_converter.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::Converter</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ_1_1_converter.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::Converter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>ConvertToStore</b>(const SI_CHAR *a_pszString) (defined in <a class="el" href="class_c_simple_ini_templ_1_1_converter.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::Converter</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ_1_1_converter.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::Converter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Data</b>() (defined in <a class="el" href="class_c_simple_ini_templ_1_1_converter.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::Converter</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ_1_1_converter.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::Converter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>operator=</b>(const Converter &amp;rhs) (defined in <a class="el" href="class_c_simple_ini_templ_1_1_converter.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::Converter</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ_1_1_converter.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::Converter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_c_simple_ini_templ_1_1_converter-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::Converter Class Reference</div>  </div>
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+<tr class="separator:ab8e740b211e4ece127d4d25773ba7e42"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2f6e993014ed5d60c6e890e55beb0805"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2f6e993014ed5d60c6e890e55beb0805"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>Converter</b> (const <a class="el" href="class_c_simple_ini_templ_1_1_converter.html">Converter</a> &amp;rhs)</td></tr>
+<tr class="separator:a2f6e993014ed5d60c6e890e55beb0805"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af858c01c6a7e4ce9fafd18abc9e0ac1b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af858c01c6a7e4ce9fafd18abc9e0ac1b"></a>
+<a class="el" href="class_c_simple_ini_templ_1_1_converter.html">Converter</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator=</b> (const <a class="el" href="class_c_simple_ini_templ_1_1_converter.html">Converter</a> &amp;rhs)</td></tr>
+<tr class="separator:af858c01c6a7e4ce9fafd18abc9e0ac1b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4e4186867214b54326cf622e323c9f2f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4e4186867214b54326cf622e323c9f2f"></a>
+bool&#160;</td><td class="memItemRight" valign="bottom"><b>ConvertToStore</b> (const SI_CHAR *a_pszString)</td></tr>
+<tr class="separator:a4e4186867214b54326cf622e323c9f2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a918bbd4f861a2872e148bc9481ac80bb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a918bbd4f861a2872e148bc9481ac80bb"></a>
+const char *&#160;</td><td class="memItemRight" valign="bottom"><b>Data</b> ()</td></tr>
+<tr class="separator:a918bbd4f861a2872e148bc9481ac80bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;class SI_CHAR, class SI_STRLESS, class SI_CONVERTER&gt;<br />
+class CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::Converter</h3>
+
+<p>Characterset conversion utility class to convert strings to the same format as is used for the storage. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/<a class="el" href="_simple_ini_8h_source.html">SimpleIni.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.11
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::FileWriter Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="class_c_simple_ini_templ_1_1_file_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::FileWriter</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>FileWriter</b>(FILE *a_file) (defined in <a class="el" href="class_c_simple_ini_templ_1_1_file_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::FileWriter</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ_1_1_file_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::FileWriter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>OutputWriter</b>() (defined in <a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Write</b>(const char *a_pBuf) (defined in <a class="el" href="class_c_simple_ini_templ_1_1_file_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::FileWriter</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ_1_1_file_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::FileWriter</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~OutputWriter</b>() (defined in <a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_c_simple_ini_templ_1_1_file_writer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::FileWriter Class Reference</div>  </div>
+</div><!--header-->
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+
+<p><code>#include &lt;<a class="el" href="_simple_ini_8h_source.html">SimpleIni.h</a>&gt;</code></p>
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+Inheritance diagram for CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::FileWriter:</div>
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+<div class="dyncontent">
+<div class="center"><img src="class_c_simple_ini_templ_1_1_file_writer__coll__graph.png" border="0" usemap="#_c_simple_ini_templ_3_01_s_i___c_h_a_r_00_01_s_i___s_t_r_l_e_s_s_00_01_s_i___c_o_n_v_e_r_t_e_r_01_4_1_1_file_writer_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aecd4d79480c9b4e70b598c10014856f8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aecd4d79480c9b4e70b598c10014856f8"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>FileWriter</b> (FILE *a_file)</td></tr>
+<tr class="separator:aecd4d79480c9b4e70b598c10014856f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae8885b97884ef9dd5bf074bc4f011373"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae8885b97884ef9dd5bf074bc4f011373"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><b>Write</b> (const char *a_pBuf)</td></tr>
+<tr class="separator:ae8885b97884ef9dd5bf074bc4f011373"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;class SI_CHAR, class SI_STRLESS, class SI_CONVERTER&gt;<br />
+class CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::FileWriter</h3>
+
+<p><a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">OutputWriter</a> class to write the INI data to a file </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/<a class="el" href="_simple_ini_8h_source.html">SimpleIni.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.11
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+  <div class="headertitle">
+<div class="title">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>OutputWriter</b>() (defined in <a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>Write</b>(const char *a_pBuf)=0 (defined in <a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~OutputWriter</b>() (defined in <a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter</a>)</td><td class="entry"><a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.11
+</small></address>
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+</html>
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+<title>YDLIDAR-SS SDK: CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter Class Reference</title>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">YDLIDAR-SS SDK
+   &#160;<span id="projectnumber">V2.0.0</span>
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+      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
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+  <div id="navrow2" class="tabs2">
+    <ul class="tablist">
+      <li><a href="annotated.html"><span>Class&#160;List</span></a></li>
+      <li><a href="classes.html"><span>Class&#160;Index</span></a></li>
+      <li><a href="inherits.html"><span>Class&#160;Hierarchy</span></a></li>
+      <li><a href="functions.html"><span>Class&#160;Members</span></a></li>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="class_c_simple_ini_templ.html">CSimpleIniTempl</a></li><li class="navelem"><a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">OutputWriter</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_c_simple_ini_templ_1_1_output_writer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &lt;<a class="el" href="_simple_ini_8h_source.html">SimpleIni.h</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_c_simple_ini_templ_1_1_output_writer__inherit__graph.png" border="0" usemap="#_c_simple_ini_templ_3_01_s_i___c_h_a_r_00_01_s_i___s_t_r_l_e_s_s_00_01_s_i___c_o_n_v_e_r_t_e_r_01_4_1_1_output_writer_inherit__map" alt="Inheritance graph"/></div>
+<map name="_c_simple_ini_templ_3_01_s_i___c_h_a_r_00_01_s_i___s_t_r_l_e_s_s_00_01_s_i___c_o_n_v_e_r_t_e_r_01_4_1_1_output_writer_inherit__map" id="_c_simple_ini_templ_3_01_s_i___c_h_a_r_00_01_s_i___s_t_r_l_e_s_s_00_01_s_i___c_o_n_v_e_r_t_e_r_01_4_1_1_output_writer_inherit__map">
+<area shape="rect" id="node2" href="class_c_simple_ini_templ_1_1_file_writer.html" title="CSimpleIniTempl\&lt; SI\l_CHAR, SI_STRLESS, SI\l_CONVERTER \&gt;::FileWriter" alt="" coords="267,5,458,61"/>
+<area shape="rect" id="node3" href="class_c_simple_ini_templ_1_1_string_writer.html" title="CSimpleIniTempl\&lt; SI\l_CHAR, SI_STRLESS, SI\l_CONVERTER \&gt;::StringWriter" alt="" coords="261,85,464,141"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a48e5905a9defbe96d14f3068a383463d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a48e5905a9defbe96d14f3068a383463d"></a>
+virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>Write</b> (const char *a_pBuf)=0</td></tr>
+<tr class="separator:a48e5905a9defbe96d14f3068a383463d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><h3>template&lt;class SI_CHAR, class SI_STRLESS, class SI_CONVERTER&gt;<br />
+class CSimpleIniTempl&lt; SI_CHAR, SI_STRLESS, SI_CONVERTER &gt;::OutputWriter</h3>
+
+<p>interface definition for the <a class="el" href="class_c_simple_ini_templ_1_1_output_writer.html">OutputWriter</a> object to pass to <a class="el" href="class_c_simple_ini_templ.html#a5fea5d590edbb5eef694991c7c355915">Save()</a> in order to output the INI file data. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/<a class="el" href="_simple_ini_8h_source.html">SimpleIni.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.11
+</small></address>
+</body>
+</html>
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