<fix>​ Fix format errors in README, Add rviz configuration loading.​​

CMakeLists.txt

@@ -4,7 +4,7 @@ project(odin_ros_driver)
 
 if(DEFINED BUILD_SYSTEM)
     set(ROS_VERSION ${BUILD_SYSTEM})
-    message(STATUS "使用命令行指定的构建系统: ${ROS_VERSION}")
+    message(STATUS "ROS_VERSION: ${ROS_VERSION}")
 elseif(DEFINED ENV{ROS_DISTRO})
     if("$ENV{ROS_DISTRO}" MATCHES "foxy|galactic|humble|iron|rolling")
         set(ROS_VERSION "ROS2")
@@ -18,30 +18,30 @@ elseif(DEFINED ENV{ROS_VERSION})
         set(ROS_VERSION "ROS1")
     endif()
 else()
-    # 尝试自动检测
+    # Attempt automatic detection
     if(COMMAND catkin_package)
         set(ROS_VERSION "ROS1")
     elseif(COMMAND ament_package)
         set(ROS_VERSION "ROS2")
     else()
-        # 默认使用ROS2
+        # Default to ROS2
         set(ROS_VERSION "ROS2")
-        message(WARNING "无法确定ROS版本，默认使用ROS2")
+        message(WARNING "Unable to determine ROS version, defaulting to ROS2")
     endif()
 endif()
 
-# 检测 ROS 版本后添加编译宏
+# Add compile definitions after detecting ROS version
 if(ROS_VERSION STREQUAL "ROS2")
     add_definitions(-DROS2)
-    message(STATUS "定义 ROS2 宏")
+    message(STATUS "Defining ROS2")
 else()
     add_definitions(-DROS1)
-    message(STATUS "定义 ROS1 宏")
+    message(STATUS "Defining ROS1")
 endif()
 
-message(STATUS "构建系统: ${ROS_VERSION}")
+message(STATUS "Build system: ${ROS_VERSION}")
 
-# 平台检测
+# Platform detection
 execute_process(
     COMMAND uname -m
     OUTPUT_VARIABLE ARCH
@@ -50,27 +50,27 @@ execute_process(
 
 if(ARCH STREQUAL "x86_64")
     set(TARGET_PLATFORM "x86")
-    message(STATUS "检测到 x86_64 架构")
+    message(STATUS "Detected x86_64 architecture")
 elseif(ARCH MATCHES "arm|aarch64")
     set(TARGET_PLATFORM "arm")
-    message(STATUS "检测到 ARM 架构: ${ARCH}")
+    message(STATUS "Detected ARM architecture: ${ARCH}")
 else()
-    message(WARNING "不支持的架构: ${ARCH}. 使用默认设置")
+    message(WARNING "Unsupported architecture: ${ARCH}. Using default settings")
     set(TARGET_PLATFORM "unknown")
 endif()
 
-# 设置库路径
+# Set library path
 set(LIB_DIR "${CMAKE_CURRENT_SOURCE_DIR}/lib")
-message(STATUS "库目录: ${LIB_DIR}")
+message(STATUS "Library directory: ${LIB_DIR}")
 
-# 根据平台设置库名称
+# Set library name based on platform
 if(TARGET_PLATFORM STREQUAL "arm")
     set(LYD_HOST_API_LIB_NAME "lydHostApi_arm")
 else()
     set(LYD_HOST_API_LIB_NAME "lydHostApi_amd")
 endif()
 
-# 查找预编译的 lydHostApi 库
+# Find precompiled lydHostApi library
 find_library(LYD_HOST_API_LIB
     NAMES 
         ${LYD_HOST_API_LIB_NAME}
@@ -81,22 +81,22 @@ find_library(LYD_HOST_API_LIB
 )
 
 if(LYD_HOST_API_LIB)
-    message(STATUS "找到 lydHostApi 库: ${LYD_HOST_API_LIB}")
+    message(STATUS "Found lydHostApi library: ${LYD_HOST_API_LIB}")
 else()
     file(GLOB LIB_FILES "${LIB_DIR}/lib${LYD_HOST_API_LIB_NAME}.*")
     if(LIB_FILES)
-        message(STATUS "找到库文件: ${LIB_FILES}")
+        message(STATUS "Found library files: ${LIB_FILES}")
         set(LYD_HOST_API_LIB ${LIB_FILES})
     else()
-        message(FATAL_ERROR "在 ${LIB_DIR} 中找不到预编译的 lydHostApi 库")
+        message(FATAL_ERROR "Could not find precompiled lydHostApi library in ${LIB_DIR}")
     endif()
 endif()
 
-# 设置公共编译选项
+# Set common compile options
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-# 公共依赖查找
+# Find common dependencies
 find_package(PkgConfig REQUIRED)
 find_package(OpenCV REQUIRED COMPONENTS core imgproc highgui)
 find_package(Eigen3 REQUIRED)
@@ -104,7 +104,7 @@ find_package(yaml-cpp REQUIRED)
 find_package(OpenSSL REQUIRED)
 pkg_check_modules(LIBUSB REQUIRED libusb-1.0)
 
-# 共享包含目录
+# Shared include directories
 include_directories(
     include
     ${EIGEN3_INCLUDE_DIRS}
@@ -114,7 +114,7 @@ include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}/include
 )
 
-# 共享链接库列表
+# Shared library list
 set(COMMON_LIBS
     ${OpenCV_LIBS}
     ${yaml-cpp_LIBRARIES}
@@ -126,9 +126,9 @@ set(COMMON_LIBS
     ${LYD_HOST_API_LIB}
 )
 
-# ===== ROS1 专属配置 =====
+# ===== ROS1 Configuration =====
 if(ROS_VERSION STREQUAL "ROS1")
-    message(STATUS "配置为 ROS1 构建")
+    message(STATUS "Configuring for ROS1 build")
     
     find_package(catkin REQUIRED COMPONENTS
         roscpp
@@ -146,7 +146,7 @@ if(ROS_VERSION STREQUAL "ROS1")
         INCLUDE_DIRS include
     )
     
-    # 设置输出目录
+    # Set output directories
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME})
     set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib)
     set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib)
@@ -166,7 +166,7 @@ if(ROS_VERSION STREQUAL "ROS1")
         usb-1.0
     )
     
-    # 安装规则
+    # Installation rules
     install(TARGETS host_sdk_sample
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
     )
@@ -181,11 +181,11 @@ if(ROS_VERSION STREQUAL "ROS1")
         )
     endif()
 
-# ===== ROS2 配置 =====
+# ===== ROS2 Configuration =====
 elseif(ROS_VERSION STREQUAL "ROS2")
-    message(STATUS "配置为 ROS2 构建")
+    message(STATUS "Configuring for ROS2 build")
     
-    # 查找所有必要的ROS2包
+    # Find all necessary ROS2 packages
     find_package(ament_cmake REQUIRED)
     find_package(rclcpp REQUIRED)
     find_package(std_msgs REQUIRED)
@@ -194,13 +194,13 @@ elseif(ROS_VERSION STREQUAL "ROS2")
     find_package(cv_bridge REQUIRED)
     find_package(image_transport REQUIRED)
     
-    # 创建可执行文件
+    # Create executable
     add_executable(host_sdk_sample 
         src/host_sdk_sample.cpp
         src/yaml_parser.cpp  
         )
     
-    # 链接库
+    # Link libraries
     target_link_libraries(host_sdk_sample
         ${catkin_LIBRARIES}
         ${COMMON_LIBS}
@@ -208,7 +208,7 @@ elseif(ROS_VERSION STREQUAL "ROS2")
         usb-1.0
     )
     
-    # 添加ROS2依赖
+    # Add ROS2 dependencies
     ament_target_dependencies(host_sdk_sample
         rclcpp 
         std_msgs 
@@ -218,8 +218,8 @@ elseif(ROS_VERSION STREQUAL "ROS2")
         image_transport
     )
     
-    # 安装规则 - 确保所有安装目标在 ament_package() 之前定义
-    # 安装可执行文件
+    # Installation rules - ensure all install targets are defined before ament_package()
+    # Install executable
     install(TARGETS host_sdk_sample
         EXPORT export_${PROJECT_NAME}
         ARCHIVE DESTINATION lib
@@ -227,39 +227,39 @@ elseif(ROS_VERSION STREQUAL "ROS2")
         RUNTIME DESTINATION lib/${PROJECT_NAME}
     )
     
-    # 安装 package.xml
+    # Install package.xml
     install(FILES package.xml
         DESTINATION share/${PROJECT_NAME}
     )
     
-    # 安装头文件
+    # Install headers
     install(DIRECTORY include/
         DESTINATION include
     )
-    # 安装 launch_ROS2 目录
+    # Install launch_ROS2 directory
     if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch_ROS2")
         install(DIRECTORY launch_ROS2/
             DESTINATION share/${PROJECT_NAME}/launch
         )
-        message(STATUS "安装 launch_ROS2 目录到 share/${PROJECT_NAME}/launch")
+        message(STATUS "Installing launch_ROS2 directory to share/${PROJECT_NAME}/launch")
     else()
-        message(WARNING "未找到 launch_ROS2 目录")
+        message(WARNING "launch_ROS2 directory not found")
     endif()
-    # 安装配置文件 (如果存在)
+    # Install config files
     if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/config")
         install(DIRECTORY config/
             DESTINATION share/${PROJECT_NAME}/config
         )
     endif()
     
-    # 安装启动文件 (如果存在)
+    # Install launch files
     if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch")
         install(DIRECTORY launch/
             DESTINATION share/${PROJECT_NAME}/launch
         )
     endif()
     ament_export_targets(export_${PROJECT_NAME})
-    # 声明依赖
+    # Declare dependencies
     ament_export_dependencies(
         rclcpp 
         std_msgs 
@@ -269,28 +269,25 @@ elseif(ROS_VERSION STREQUAL "ROS2")
         image_transport
     )
     
-    # 可选的lint检查
-    
-    # 完成包配置 - 必须在所有安装规则之后调用
     ament_package()
-    message(STATUS "安装目标已添加")
+    message(STATUS "Install targets added")
     
 else()
-    message(FATAL_ERROR "无效的 ROS_VERSION: ${ROS_VERSION}")
+    message(FATAL_ERROR "Invalid ROS_VERSION: ${ROS_VERSION}")
 endif()
 
-# ARM平台特定的链接选项
+# ARM platform specific link options
 if(TARGET_PLATFORM STREQUAL "arm")
     set_target_properties(host_sdk_sample PROPERTIES
         LINK_FLAGS "-Wl,--no-as-needed -Wl,--rpath=${LIB_DIR}"
     )
-    message(STATUS "添加 ARM 特定的链接选项和 RPATH")
+    message(STATUS "Adding ARM-specific link options and RPATH")
 endif()
 
-# 添加调试信息
+# Add debug information
 message(STATUS "=======================================")
 message(STATUS "Project: ${PROJECT_NAME}")
-message(STATUS "ROS 版本: ${ROS_VERSION}")
+message(STATUS "ROS_VERSION: ${ROS_VERSION}")
 message(STATUS "Target platform: ${TARGET_PLATFORM}")
 message(STATUS "lydHostApi library: ${LYD_HOST_API_LIB}")
 message(STATUS "libusb library: ${LIBUSB_LIBRARIES}")

README.md

@@ -67,13 +67,17 @@ sudo apt-get install libopencv-dev
 ```
 
 #### 2.3.4 ROS install
-```shell
-#Installation method
-For ROS Melodic installation, please refer to: ROS Melodic installation instructions
-For ROS Noetic installation, please refer to: ROS Noetic installation instructions
-For ROS2 Foxy installation, please refer to: ROS Foxy installation instructions
-For ROS2 Humble installation, please refer to: ROS Humble installation instructions
-```
+For ROS Melodic installation, please refer to:
+[ROS Melodic installation instructions](https://wiki.ros.org/melodic/Installation)
+
+For ROS Noetic installation, please refer to:
+[ROS Noetic installation instructions](https://wiki.ros.org/noetic/Installation)
+
+For ROS2 Foxy installation, please refer to:
+[ROS Foxy installation instructions](https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html)
+
+For ROS2 Humble installation, please refer to:
+[ROS Humble installation instructions](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
 
 ## 3. Preparation
 
@@ -83,7 +87,7 @@ sudo vim /etc/udev/rules.d/99-odin-usb.rules
 ```
 Add the following content to the 99-odin-usb.rules file
 ```shell
-SUBSYSTEM=="usb", ATTR{idVendor}=="2207", ATTR{idProduct}=="0019", MODE="0666", GROUP="plugdev
+SUBSYSTEM=="usb", ATTR{idVendor}=="2207", ATTR{idProduct}=="0019", MODE="0666", GROUP="plugdev"
 ```
 Reload rules and reinsert devices
 ```shell

config/odin_ros.rviz

@@ -0,0 +1,222 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 489
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        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
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /odin1/image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      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/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /odin1/cloud_raw
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: true
+      Keep: 1
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Queue Size: 100
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Axes
+      Topic: /odin1/odometry_map
+      Unreliable: false
+      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/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic: /odin1/cloud_slam
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - 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
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10.812461853027344
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: -0.4511165916919708
+        Y: -0.1217871829867363
+        Z: 0.8345625996589661
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.830398678779602
+      Target Frame: <Fixed Frame>
+      Yaw: 3.0054032802581787
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1029
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000274000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002b7000000ed0000001600ffffff000000010000010f00000367fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000367000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000033700fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 0
+  Y: 27

config/odin_ros2.rviz

@@ -0,0 +1,248 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /PointCloud21
+        - /PointCloud22
+        - /Image1
+        - /Image1/Topic1
+        - /Odometry1
+      Splitter Ratio: 0.5
+    Tree Height: 472
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        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: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      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: PointCloud2
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /odin1/cloud_slam
+      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_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: ""
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: ""
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /odin1/cloud_raw
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/Image
+      Enabled: true
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /odin1/image
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz_default_plugins/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: true
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1
+        Shaft Radius: 0.05000000074505806
+        Value: Axes
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /odin1/odometry_map
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 10.72309398651123
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7503987550735474
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.205399513244629
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1029
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000242000003abfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000263000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002a6000001420000002800ffffff000000010000010f000003abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003ab000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000423000003ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 0
+  Y: 27

include/host_sdk_sample.h

@@ -67,14 +67,14 @@ limitations under the License.
     }
 #endif
 
-// 公共定义
+// Common definitions
 #define GD_ACCL_G 9.7833f
 #define ACC_1G_ms2 9.8
 #define ACC_SEN_SCALE 16348
 #define PAI 3.14159265358979323846
 #define GYRO_SEN_SCALE 32.8f
 
-// 公共函数
+// Common functions
 inline float accel_convert(int16_t raw, int sen_scale) {
     return (raw * GD_ACCL_G / sen_scale);
 }
@@ -103,7 +103,7 @@ inline uint64_t ros_time_to_ns(const ros::Time &t) {
     #endif
 }
 
-// 多传感器发布器类
+// Multi-sensor publisher class
 class MultiSensorPublisher {
 public:
     #ifdef ROS2
@@ -175,7 +175,7 @@ void publishIntensityCloud(capture_Image_List_t* stream, int idx)
         #else
             sensor_msgs::PointCloud2 msg;
             msg.header.frame_id = "map";
-        msg.header.stamp = ros::Time::now();  // ROS1使用全局时间
+            msg.header.stamp = ros::Time::now();  
             msg.height = stream->imageList[idx].height;
             msg.width = stream->imageList[idx].width;
             msg.is_dense = false;
@@ -206,18 +206,18 @@ void publishIntensityCloud(capture_Image_List_t* stream, int idx)
 
             #ifdef ROS2
                 *iter_x = pf[2] / 1000.0f; ++iter_x;
-            *iter_y = pf[0] / 1000.0f; ++iter_y;
-            *iter_z = -pf[1] / 1000.0f; ++iter_z;
+                *iter_y = -pf[0] / 1000.0f; ++iter_y;
+                *iter_z = pf[1] / 1000.0f; ++iter_z;
                 *iter_intensity = static_cast<uint8_t>(intensity_data[i] >> 8); ++iter_intensity;
             #else
                 *iter_x = pf[2] / 1000.0f; ++iter_x;
-            *iter_y = pf[0] / 1000.0f; ++iter_y;
-            *iter_z = -pf[1] / 1000.0f; ++iter_z;
+                *iter_y = -pf[0] / 1000.0f; ++iter_y;
+                *iter_z = pf[1] / 1000.0f; ++iter_z;
                 *iter_intensity = static_cast<uint8_t>(intensity_data[i] >> 8); ++iter_intensity;
             #endif
         }
 
-    // 发布点云
+        // Publish Intensity point cloud
         #ifdef ROS2
             cloud_pub_->publish(std::move(msg));
         #else
@@ -228,7 +228,7 @@ void publishIntensityCloud(capture_Image_List_t* stream, int idx)
     void publishRgb(capture_Image_List_t *stream) {
         buffer_List_t &image = stream->imageList[0];
         
-        // 验证图像参数
+        // Validate image parameters
         if (!image.pAddr) {
             #ifdef ROS2
                 RCLCPP_ERROR(node_->get_logger(), "Invalid RGB image: null data pointer");
@@ -247,10 +247,10 @@ void publishIntensityCloud(capture_Image_List_t* stream, int idx)
             return;
         }
         
-        // 计算 NV12 图像高度
+        // Calculate NV12 image height
         const int height_nv12 = image.height * 3 / 2;
         
-        // 验证 NV12 图像尺寸
+        // Validate NV12 image size
         const size_t expected_size = static_cast<size_t>(image.width) * height_nv12;
         if (image.length < expected_size) {
             #ifdef ROS2
@@ -371,7 +371,7 @@ void publishPC2XYZRGBA(capture_Image_List_t* stream, int idx)
             sensor_msgs::PointCloud2Iterator<float> iter_rgb(msg, "rgb");
         #endif
         
-    // 共享的数据处理逻辑
+        // Shared data processing logic
         int32_t* xyz_data = static_cast<int32_t*>(stream->imageList[idx].pAddr);
         
         for(uint32_t i = 0; i < points; i++) {
@@ -402,7 +402,7 @@ void publishPC2XYZRGBA(capture_Image_List_t* stream, int idx)
         }
         
         #ifdef ROS2
-        flag = 0; // 如果flag在其他地方使用，保留赋值
+            flag = 0; // Preserve assignment if flag is used elsewhere
             xyzrgbacloud_pub_->publish(std::move(msg));
         #else
             flag = 0;
@@ -476,7 +476,6 @@ private:
     #endif
 };
 
-// 命令行控制类
 class CommandLineControl {
 public:
     using Callback = std::function<void(const std::string&, int)>;
@@ -539,7 +538,6 @@ private:
 
 };
 
-// 控制命令定义
 #define STREAMCTRL "streamctrl"        /* start/stop all streams */
 #define SENDRGB    "sendrgb"           /* send RGB data */
 #define SENDIMU    "sendimu"           /* send IMU data */

include/yaml_parser.h

@@ -21,7 +21,6 @@ namespace odin_ros_driver {
 
 class YamlParser {
 public:
-    // 使用一致的成员变量名
     YamlParser(const std::string& config_file);
     
     bool loadConfig();
@@ -33,6 +32,6 @@ private:
     std::map<std::string, int> register_keys_;
 };
 
-} // namespace odin_ros_driver
+} 
 
-#endif // YAML_PARSER_H
+#endif 

launch_ROS1/odin1_ros1.launch

@@ -1,12 +1,22 @@
 <launch>
     <!-- 
-        用法: roslaunch odin_ros_driver odin1_ros1.launch
+        Usage: roslaunch odin_ros_driver odin1_ros1.launch
     -->
     
-    <!-- 设置节点名称 -->
+    <!-- Set node name -->
     <arg name="node_name" default="host_sdk_sample"/>
     
-    <!-- 启动节点 -->
+    <!-- Set parameter file path -->
+    <arg name="config_file" default="$(find odin_ros_driver)/config/control_command.yaml"/>
+    
+    <!-- Set RViz configuration file path -->
+    <arg name="rviz_config" default="$(find odin_ros_driver)/config/odin_ros.rviz"/>
+    
+    <!-- Launch main node -->
     <node name="$(arg node_name)" pkg="odin_ros_driver" type="host_sdk_sample" output="screen">
+        <param name="config_file" value="$(arg config_file)"/>
     </node>
+    
+    <!-- Launch RViz with configuration -->
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rviz_config)" output="screen"/>
 </launch>

launch_ROS2/odin1_ros2.launch.py

@@ -1,5 +1,5 @@
 
-#用法: ros2 launch odin_ros_driver odin1_ros2.launch.py
+# USAGE: ros2 launch odin_ros_driver odin1_ros2.launch.py
 import os
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
@@ -8,17 +8,24 @@ from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 def generate_launch_description():
-    # 获取包目录
+    # Get package directory
     package_dir = get_package_share_directory('odin_ros_driver')
     
-    # 声明配置参数
+    # Declare configuration parameter
     config_file_arg = DeclareLaunchArgument(
         'config_file',
         default_value=os.path.join(package_dir, 'config', 'control_command.yaml'),
         description='Path to the control config YAML file'
     )
     
-    # 创建节点
+    # Add RViz2 configuration file parameter
+    rviz_config_arg = DeclareLaunchArgument(
+        'rviz_config',
+        default_value=os.path.join(package_dir, 'config', 'odin_ros2.rviz'),
+        description='Path to RViz2 config file'
+    )
+    
+    # Create main node
     host_sdk_node = Node(
         package='odin_ros_driver',
         executable='host_sdk_sample',
@@ -30,9 +37,20 @@ def generate_launch_description():
         }]
     )
     
-    # 创建启动描述
+    # Create RViz2 node - loads specified configuration file
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', LaunchConfiguration('rviz_config')]
+    )
+    
+    # Create launch description
     ld = LaunchDescription()
     ld.add_action(config_file_arg)
+    ld.add_action(rviz_config_arg)  # Add RViz configuration argument
     ld.add_action(host_sdk_node)
+    ld.add_action(rviz_node)  # Add RViz node
     
     return ld

package_ros1.xml

@@ -6,10 +6,10 @@
   <maintainer email="[email protected]">rlk</maintainer>
   <license>Apache 2.0</license>
   
-  <!-- ROS1 使用 catkin 作为构建工具 -->
+  <!-- ROS1 uses catkin as the build tool -->
   <buildtool_depend>catkin</buildtool_depend>
   
-  <!-- ROS1 依赖项 -->
+  <!-- ROS1 dependencies -->
   <depend>roscpp</depend>
   <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
@@ -17,12 +17,12 @@
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
   
-  <!-- 系统依赖项 -->
+  <!-- System dependencies -->
   <depend>eigen</depend>
   <depend>opencv</depend>
   <depend>yaml-cpp</depend>
   
-  <!-- 指定构建类型为 catkin -->
+  <!-- Specify build type as catkin -->
   <export>
     <build_type>catkin</build_type>
   </export>

package_ros2.xml

@@ -5,17 +5,17 @@
   <description>ROS2 driver for Odin sensor</description>
   <maintainer email="[email protected]">rlk</maintainer>
   <license>Apache 2.0</license>
-    <!-- ROS2 使用 colcon 作为构建工具 -->
+  <!-- ROS2 uses colcon as the build tool -->
   <buildtool_depend>ament_cmake</buildtool_depend>
-    <!-- ROS2 依赖项 -->
+  <!-- ROS2 dependencies -->
   <depend>rclcpp</depend>
-    <!-- 系统依赖项 -->
+  <!-- System dependencies -->
   <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
-    <!-- 指定构建类型为 ament -->
+  <!-- Specify build type as ament -->
   <export>  
     <build_type>ament_cmake</build_type>  
   </export> 

script/build_ros.sh

@@ -1,117 +1,117 @@
 #!/bin/bash
 
-# 获取脚本所在目录（Odin_ROS_Driver 目录）
+# Get the directory where the script is located (Odin_ROS_Driver directory)
 PKG_DIR="$(cd "$(dirname "$0")/.."; pwd)"
-# 计算工作空间根目录（包含 devel、build、src 的目录）
+# Calculate the workspace root directory (contains devel, build, src)
 WORKSPACE_ROOT="$(dirname "$(dirname "$PKG_DIR")")"
-# 工作空间源码目录（包含所有包的 src）
+# Workspace source directory (contains all packages)
 WORKSPACE_SRC="${WORKSPACE_ROOT}/src"
 PROJECT_NAME="odin_ros_driver"
 
-# 定义颜色代码
+# Define color codes
 RED='\033[0;31m'
 GREEN='\033[0;32m'
 YELLOW='\033[1;33m'
-NC='\033[0m' # 无颜色
+NC='\033[0m' 
 
-# 清理函数
+# Clean workspace function
 clean_workspace() {
-    echo -e "${YELLOW}🧹 清理构建目录${NC}"
+    echo -e "${YELLOW}Cleaning build directories${NC}"
     
-    # 清理工作空间根目录下的构建产物
+    # Clean build artifacts in workspace
     rm -rf "${WORKSPACE_ROOT}/build" 
     rm -rf "${WORKSPACE_ROOT}/install" 
     rm -rf "${WORKSPACE_ROOT}/log"
     rm -rf "${WORKSPACE_ROOT}/devel"
     
-    echo -e "${GREEN}✅ 清理完成${NC}"
+    echo -e "${GREEN}Cleanup complete${NC}"
 }
 
-# 运行函数
+# Run node function
 run_node() {
-    echo -e "${YELLOW}🏃‍♂️‍➡️ 运行 ROS1 节点${NC}"
+    echo -e "${YELLOW}Running ROS1 node${NC}"
     
-    # 检查环境文件是否存在
+    # Check if environment file exists
     if [ ! -f "${WORKSPACE_ROOT}/devel/setup.bash" ]; then
-        echo -e "${RED}❌ 找不到 devel/setup.bash，请先执行 ./build_ros1.sh 构建项目${NC}"
+        echo -e "${RED}Could not find devel/setup.bash, please build the project with ./build_ros1.sh first${NC}"
         return 1
     fi
     
-    # Source 环境并运行节点
+    # Source environment and run node
     source "${WORKSPACE_ROOT}/devel/setup.bash"
     
 }
 
-# 构建函数
+# Build workspace function
 build_workspace() {
-    echo -e "${YELLOW}🔍 工作空间结构:${NC}"
-    echo "  工作空间根目录: ${WORKSPACE_ROOT}"
-    echo "  源码目录: ${WORKSPACE_SRC}"
-    echo "  包目录: ${PKG_DIR}"
-    echo "  ROS版本: ROS1"
+    echo -e "${YELLOW}Workspace structure:${NC}"
+    echo "  Workspace root: ${WORKSPACE_ROOT}"
+    echo "  Source directory: ${WORKSPACE_SRC}"
+    echo "  Package directory: ${PKG_DIR}"
+    echo "  ROS version: ROS1"
     
-    echo -e "${YELLOW}🔧 开始构建 ROS1 工程...${NC}"
+    echo -e "${YELLOW}Starting ROS1 project build...${NC}"
     
-    # 清理
+    # Clean
     cd $WS_DIR
     rm -rf build devel install
     
-    # 确保 ROS1 环境已加载
+    # Ensure ROS1 environment is loaded
     if [ -f "/opt/ros/noetic/setup.bash" ]; then
         source "/opt/ros/noetic/setup.bash"
     elif [ -f "/opt/ros/melodic/setup.bash" ]; then
         source "/opt/ros/melodic/setup.bash"
     else
-        echo -e "${RED}❌ 找不到 ROS1 的 setup.bash 文件。请确保 ROS1 已安装。${NC}"
+        echo -e "${RED}Could not find ROS1 setup.bash file. Please ensure ROS1 is installed.${NC}"
         return 1
     fi
     
-    # 创建临时 package.xml
+    # Create temporary package.xml
     if [ -f "${PKG_DIR}/package_ros1.xml" ]; then
-        echo "🔄 创建临时 package.xml（使用 package_ros1.xml）"
+        echo "Creating temporary package.xml (using package_ros1.xml)"
         cp "${PKG_DIR}/package_ros1.xml" "${PKG_DIR}/package.xml"
         TEMP_PACKAGE=true
     elif [ -f "${PKG_DIR}/package.xml" ]; then
-        echo "ℹ️ 使用现有的 package.xml"
+        echo "Using existing package.xml"
     else
-        echo -e "${RED}❌ 在包目录中找不到 package.xml${NC}"
+        echo -e "${RED}Could not find package.xml in package directory${NC}"
         return 1
     fi
     
-    # 设置构建系统变量
+    # Set build system variable
     export BUILD_SYSTEM=ROS1
     
-    # 切换到工作空间根目录并构建
+    # Switch to workspace root and build
     cd "${WORKSPACE_ROOT}" || return 1
     catkin_make -DBUILD_SYSTEM=ROS1 -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -j$(nproc)
     BUILD_RESULT=$?
     
-    # 构建成功，source 环境
+    # If build successful, source environment
     if [[ $BUILD_RESULT -eq 0 ]]; then
-        echo -e "${GREEN}✅ ROS1 构建成功，载入环境变量：source devel/setup.bash${NC}"
+        echo -e "${GREEN}ROS1 build successful, loading environment: source devel/setup.bash${NC}"
         source "${WORKSPACE_ROOT}/devel/setup.bash"
     else
-        echo -e "${RED}❌ ROS1 构建失败，请检查错误日志${NC}"
+        echo -e "${RED}ROS1 build failed, please check error logs${NC}"
     fi
     
 
 }
 
-# 帮助函数
+# Help function
 show_help() {
-    echo -e "${YELLOW}使用说明:${NC}"
-    echo "  ./build_ros.sh          # 构建项目"
-    echo "  ./build_ros.sh -c       # 清理构建产物"
-    echo "  ./build_ros.sh -h       # 显示帮助信息"
+    echo -e "${YELLOW}Usage:${NC}"
+    echo "  ./build_ros.sh          # Build project"
+    echo "  ./build_ros.sh -c       # Clean build artifacts"
+    echo "  ./build_ros.sh -h       # Show help information"
     echo ""
-    echo -e "${YELLOW}当前配置:${NC}"
-    echo "  项目名称: ${PROJECT_NAME}"
-    echo "  包目录: ${PKG_DIR}"
-    echo "  工作空间根目录: ${WORKSPACE_ROOT}"
-    echo "  源码目录: ${WORKSPACE_SRC}"
+    echo -e "${YELLOW}Current configuration:${NC}"
+    echo "  Project name: ${PROJECT_NAME}"
+    echo "  Package directory: ${PKG_DIR}"
+    echo "  Workspace root: ${WORKSPACE_ROOT}"
+    echo "  Source directory: ${WORKSPACE_SRC}"
 }
 
-# 主程序
+# Main
 case "$1" in
     -c|--clean)
         clean_workspace

script/build_ros2.sh

@@ -1,73 +1,73 @@
 #!/bin/bash
 
-# 获取脚本所在目录（Odin_ROS_Driver 目录）
+# Get the directory where the script is located (Odin_ROS_Driver directory)
 PKG_DIR="$(cd "$(dirname "$0")/.."; pwd)"
-# 计算工作空间根目录（包含 devel、build、src 的目录）
+# Calculate the workspace root directory (contains devel, build, src)
 WORKSPACE_ROOT="$(dirname "$(dirname "$PKG_DIR")")"
-# 工作空间源码目录（包含所有包的 src）
+# Workspace source directory (contains all packages)
 WORKSPACE_SRC="${WORKSPACE_ROOT}/src"
 PROJECT_NAME="odin_ros_driver"
 PACKAGE_DIR_NAME=$(basename "$PKG_DIR")
 
-# 定义颜色代码
+# Define color codes
 RED='\033[0;31m'
 GREEN='\033[0;32m'
 YELLOW='\033[1;33m'
-NC='\033[0m' # 无颜色
+NC='\033[0m'
 
-# 从 package.xml 中提取包名
+# Extract package name from package.xml
 get_package_name() {
     local package_xml="$1"
     if [ -f "$package_xml" ]; then
-        # 提取 <name> 标签内容
+        # Extract content of <name> tag
         grep -oP '<name>\K[^<]+' "$package_xml" | head -1
     else
         echo ""
     fi
 }
 
-# 清理函数
+# Clean workspace function
 clean_workspace() {
-    echo -e "${YELLOW}🧹 清理构建目录${NC}"
+    echo -e "${YELLOW}Cleaning build directories${NC}"
     
-    # 清理工作空间根目录下的构建产物
+    # Clean build artifacts in workspace
     rm -rf "${WORKSPACE_ROOT}/build" 
     rm -rf "${WORKSPACE_ROOT}/install" 
     rm -rf "${WORKSPACE_ROOT}/log"
     rm -rf "${WORKSPACE_ROOT}/devel"
     
-    echo -e "${GREEN}✅ 清理完成${NC}"
+    echo -e "${GREEN}Cleanup complete${NC}"
 }
 
-# 运行函数
+# Run node function
 run_node() {
-    echo -e "${YELLOW}🏃‍♂️‍➡️ 运行 ROS2 节点${NC}"
+    echo -e "${YELLOW}Running ROS2 node${NC}"
     
-    # 检查环境文件是否存在
+    # Check if environment file exists
     if [ ! -f "${WORKSPACE_ROOT}/install/setup.bash" ]; then
-        echo -e "${RED}❌ 找不到 install/setup.bash，请先执行 ./build_ros2.sh 构建项目${NC}"
+        echo -e "${RED}Could not find install/setup.bash, please build the project with ./build_ros2.sh first${NC}"
         return 1
     fi
     
-    # Source 环境并运行节点
+    # Source environment and run node
     source "${WORKSPACE_ROOT}/install/setup.bash"
     
 }
 
-# 构建函数
+# Build workspace function
 build_workspace() {
-    echo -e "${YELLOW}🔍 工作空间结构:${NC}"
-    echo "  工作空间根目录: ${WORKSPACE_ROOT}"
-    echo "  源码目录: ${WORKSPACE_SRC}"
-    echo "  包目录: ${PKG_DIR}"
-    echo "  目录名: ${PACKAGE_DIR_NAME}"
-    echo "  ROS版本: ROS2"
+    echo -e "${YELLOW}Workspace structure:${NC}"
+    echo "  Workspace root: ${WORKSPACE_ROOT}"
+    echo "  Source directory: ${WORKSPACE_SRC}"
+    echo "  Package directory: ${PKG_DIR}"
+    echo "  Directory name: ${PACKAGE_DIR_NAME}"
+    echo "  ROS version: ROS2"
+    
+    echo -e "${YELLOW}Starting ROS2 project build...${NC}"
 
-    echo -e "${YELLOW}🔧 开始构建 ROS2 工程...${NC}"
-        # 清理
     cd $WS_DIR
     rm -rf build install log
-    # 确保 ROS2 环境已加载
+    # Ensure ROS2 environment is loaded
     if [ -f "/opt/ros/foxy/setup.bash" ]; then
         source "/opt/ros/foxy/setup.bash"
     elif [ -f "/opt/ros/galactic/setup.bash" ]; then
@@ -75,38 +75,38 @@ build_workspace() {
     elif [ -f "/opt/ros/humble/setup.bash" ]; then
         source "/opt/ros/humble/setup.bash"
     else
-        echo -e "${RED}❌ 找不到 ROS2 的 setup.bash 文件。请确保 ROS2 已安装。${NC}"
+        echo -e "${RED}Could not find ROS2 setup.bash file. Please ensure ROS2 is installed.${NC}"
         return 1
     fi
     
-    # 创建临时 package.xml
+    # Create temporary package.xml
     if [ -f "${PKG_DIR}/package_ros2.xml" ]; then
-        echo "🔄 创建临时 package.xml（使用 package_ros2.xml）"
+        echo "Creating temporary package.xml (using package_ros2.xml)"
         cp "${PKG_DIR}/package_ros2.xml" "${PKG_DIR}/package.xml"
         TEMP_PACKAGE=true
     elif [ -f "${PKG_DIR}/package.xml" ]; then
-        echo "ℹ️ 使用现有的 package.xml"
+         echo "Using existing package.xml"
         TEMP_PACKAGE=false
     else
-        echo -e "${RED}❌ 在包目录中找不到 package.xml${NC}"
+        echo -e "${RED}Could not find package.xml in package directory${NC}"
         return 1
     fi
     
-    # 从 package.xml 中提取包名
+    # Extract package name from package.xml
     PACKAGE_NAME=$(get_package_name "${PKG_DIR}/package.xml")
     if [ -z "$PACKAGE_NAME" ]; then
-        echo -e "${RED}❌ 无法从 package.xml 中提取包名${NC}"
+        echo -e "${RED}Failed to extract package name from package.xml${NC}"
         return 1
     fi
-    echo "  包名: ${PACKAGE_NAME}"
+    echo "  Package name: ${PACKAGE_NAME}"
     
-    # 设置构建系统变量
+    # Set build system variable
     export BUILD_SYSTEM=ROS2
     
-    # 切换到工作空间根目录并构建
+    # Switch to workspace root and build
     cd "${WORKSPACE_ROOT}" || return 1
     
-    # 使用正确的包名构建
+    # Build with correct package name
     colcon build \
         --packages-select "${PACKAGE_NAME}" \
         --parallel-workers $(nproc) \
@@ -116,32 +116,32 @@ build_workspace() {
     
     BUILD_RESULT=$?
     
-    # 构建成功，source 环境
+    # If build successful, source environment
     if [[ $BUILD_RESULT -eq 0 ]]; then
-        echo -e "${GREEN}✅ ROS2 构建成功，载入环境变量：source install/setup.bash${NC}"
+        echo -e "${GREEN}ROS2 build successful, loading environment: source install/setup.bash${NC}"
         source "${WORKSPACE_ROOT}/install/setup.bash"
         
     else
-        echo -e "${RED}❌ ROS2 构建失败，请检查错误日志${NC}"
+        echo -e "${RED}ROS2 build failed, please check error logs${NC}"
     fi
     
 }
 
-# 帮助函数
+# Help function
 show_help() {
-    echo -e "${YELLOW}使用说明:${NC}"
-    echo "  ./build_ros2.sh          # 构建项目"
-    echo "  ./build_ros2.sh -c       # 清理构建产物"
-    echo "  ./build_ros2.sh -h       # 显示帮助信息"
+    echo -e "${YELLOW}Usage:${NC}"
+    echo "  ./build_ros2.sh          # Build project"
+    echo "  ./build_ros2.sh -c       # Clean build artifacts"
+    echo "  ./build_ros2.sh -h       # Show help information"
     echo ""
-    echo -e "${YELLOW}当前配置:${NC}"
-    echo "  项目名称: ${PROJECT_NAME}"
-    echo "  包目录: ${PKG_DIR}"
-    echo "  工作空间根目录: ${WORKSPACE_ROOT}"
-    echo "  源码目录: ${WORKSPACE_SRC}"
+    echo -e "${YELLOW}Current configuration:${NC}"
+    echo "  Project name: ${PROJECT_NAME}"
+    echo "  Package directory: ${PKG_DIR}"
+    echo "  Workspace root: ${WORKSPACE_ROOT}"
+    echo "  Source directory: ${WORKSPACE_SRC}"
 }
 
-# 主程序
+# Main program
 case "$1" in
     -c|--clean)
         clean_workspace

src/host_sdk_sample.cpp

@@ -16,7 +16,7 @@ static device_handle odinDevice = nullptr;
 static std::shared_ptr<MultiSensorPublisher> g_ros_object;
 static std::atomic<bool> deviceConnected(false);
 
-// 定义获取包路径的函数
+// Function to get package share path
 std::string get_package_share_path(const std::string& package_name) {
 #ifdef ROS2
     try {
@@ -33,7 +33,7 @@ std::string get_package_share_path(const std::string& package_name) {
 #endif
 }
 
-// 全局配置变量
+// Global configuration variables
 static int g_sendrgb = 1;
 static int g_sendimu = 1;
 static int g_senddtof = 1;
@@ -93,7 +93,7 @@ static void lidar_device_callback(const lidar_device_info_t* device, bool attach
             ROS_INFO("Device attaching...");
         #endif
         
-        // 清理任何已存在的设备
+        // Clean up any existing device
         if (odinDevice) {
             lidar_stop_stream(odinDevice, type);
             lidar_unregister_stream_callback(odinDevice);
@@ -102,7 +102,7 @@ static void lidar_device_callback(const lidar_device_info_t* device, bool attach
             odinDevice = nullptr;
         }
         
-        // 修复：使用const_cast移除const限定符
+        // Use const_cast to remove const qualifier
         if (lidar_create_device(const_cast<lidar_device_info_t*>(device), &odinDevice)) {
             #ifdef ROS2
                 RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Create device failed");
@@ -112,7 +112,7 @@ static void lidar_device_callback(const lidar_device_info_t* device, bool attach
             return;
         }
         
-        // 打开设备
+        // Open device
         if (lidar_open_device(odinDevice)) {
             #ifdef ROS2
                 RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Open device failed");
@@ -124,7 +124,7 @@ static void lidar_device_callback(const lidar_device_info_t* device, bool attach
             return;
         }
         
-        // 设置模式
+        // Set mode
         if (lidar_set_mode(odinDevice, type)) {
             #ifdef ROS2
                 RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Set mode failed");
@@ -137,7 +137,7 @@ static void lidar_device_callback(const lidar_device_info_t* device, bool attach
             return;
         }
         
-        // 注册回调
+        // Register callback
         lidar_data_callback_info_t data_callback_info;
         data_callback_info.data_callback = lidar_data_callback;
         data_callback_info.user_data = &odinDevice;
@@ -154,7 +154,7 @@ static void lidar_device_callback(const lidar_device_info_t* device, bool attach
             return;
         }
         
-        // 启动数据流
+        // Start data stream
         if (lidar_start_stream(odinDevice, type)) {
             #ifdef ROS2
                 RCLCPP_ERROR(rclcpp::get_logger("device_cb"), "Start stream failed");
@@ -167,7 +167,7 @@ static void lidar_device_callback(const lidar_device_info_t* device, bool attach
             return;
         }
         
-        // 根据配置激活数据流类型
+        // Activate stream types based on configuration
         if (g_sendrgb) {
             lidar_activate_stream_type(odinDevice, LIDAR_DT_RAW_RGB);
         }
@@ -211,7 +211,7 @@ static void lidar_device_callback(const lidar_device_info_t* device, bool attach
 
 int main(int argc, char *argv[])
 {
-    // ROS初始化
+    // ROS initialization
     #ifdef ROS2
         rclcpp::init(argc, argv);
         auto node = std::make_shared<rclcpp::Node>("lydros_node");
@@ -226,10 +226,10 @@ int main(int argc, char *argv[])
         std::string package_path = get_package_share_path("odin_ros_driver");
         std::string config_file = package_path + "/config/control_command.yaml";   
         
-        // 创建 YAML 解析器
+        // Create YAML parser
         odin_ros_driver::YamlParser parser(config_file);
         
-        // 加载配置
+        // Load configuration
         if (!parser.loadConfig()) {
         #ifdef ROS2
             RCLCPP_ERROR(node->get_logger(), "Failed to load config file: %s", config_file.c_str());
@@ -239,13 +239,12 @@ int main(int argc, char *argv[])
             return -1;
         }
         
-        // 获取键值映射
+        // Get key-value
         auto keys = parser.getRegisterKeys();
         
-        // 打印配置
+        // Print configuration
         parser.printConfig();
         
-        // 获取键值函数
         auto get_key_value = [&](const std::string& key_name, int default_value) -> int {  
             auto it = keys.find(key_name);
             if (it != keys.end()) {
@@ -254,17 +253,17 @@ int main(int argc, char *argv[])
             return default_value;
         };
         
-        // 读取配置值到全局变量
+        // Read configuration values into global variables
         g_sendrgb = get_key_value("sendrgb", 1);
         g_sendimu = get_key_value("sendimu", 1);
         g_senddtof = get_key_value("senddtof", 1);
         g_sendodom = get_key_value("sendodom", 1);
         g_sendcloudslam = get_key_value("sendcloudslam", 0);
         
-        // 设置日志级别
+        // Set log level
         lidar_log_set_level(LIDAR_LOG_INFO);
 
-        // 初始化系统，启动USB监控
+        // Initialize system and start USB monitoring
         if(lidar_system_init(lidar_device_callback)) {
         #ifdef ROS2
             RCLCPP_ERROR(node->get_logger(), "Lidar system init failed");
@@ -274,7 +273,7 @@ int main(int argc, char *argv[])
             return -1;
         }
         
-        // 等待设备连接（最长30秒）
+        // wait device connect
         #ifdef ROS2
             RCLCPP_INFO(node->get_logger(), "Waiting for device connection...");
         #else
@@ -308,7 +307,7 @@ int main(int argc, char *argv[])
             return -1;
     }
 
-    // ROS主循环
+    // ROS loop
     #ifdef ROS2
         rclcpp::spin(node);
         rclcpp::shutdown();
@@ -317,7 +316,7 @@ int main(int argc, char *argv[])
         ros::shutdown();
     #endif
 
-    // 清理
+    // Cleanup
     if (odinDevice) {
         lidar_stop_stream(odinDevice, LIDAR_MODE_SLAM);
         lidar_unregister_stream_callback(odinDevice);

src/yaml_parser.cpp

@@ -2,35 +2,34 @@
 #include <fstream>
 #include <filesystem>
 #include <iostream>
-#include <algorithm> // 用于 std::transform
+#include <algorithm> 
 
 namespace odin_ros_driver {
 
-// 使用一致的成员变量名
 YamlParser::YamlParser(const std::string& config_file) 
-    : config_file_(config_file) {} // 这里使用 config_file_
+    : config_file_(config_file) {} // // Using config_file_ member variable
 
 bool YamlParser::loadConfig() {
     try {
-        // 使用成员变量 config_file_
+        //  Using member variable config_file_
         std::cerr << "Loading config file: " << config_file_ << std::endl;
         
-        // 检查文件是否存在
+        // Check if file exists
         if (!std::filesystem::exists(config_file_)) {
             std::cerr << "Config file not found: " << config_file_ << std::endl;
             return false;
         }
         
-        // 打印文件内容
+        // Print file contents
         std::ifstream file(config_file_);
         std::string content((std::istreambuf_iterator<char>(file)), 
                            std::istreambuf_iterator<char>());
         std::cerr << "Config file content:\n" << content << "\n--- End of file ---" << std::endl;
         
-        // 加载 YAML - 使用成员变量 config_file_
+        // Load YAML
         YAML::Node config = YAML::LoadFile(config_file_);
         
-        // 检查是否存在 register_keys 节点
+        // Check if 'register_keys' node exists
         if (!config["register_keys"]) {
             std::cerr << "Missing 'register_keys' section in config file" << std::endl;
             return false;
@@ -39,14 +38,14 @@ bool YamlParser::loadConfig() {
         YAML::Node register_keys = config["register_keys"];
         register_keys_.clear();
         
-        // 打印键值对数量
+        // Print number of key-value pairs found
         std::cerr << "Found " << register_keys.size() << " keys in config" << std::endl;
         
         for (YAML::const_iterator it = register_keys.begin(); it != register_keys.end(); ++it) {
             std::string key = it->first.as<std::string>();
             int value = it->second.as<int>();
             
-            // 转换为小写
+            // Convert key to lowercase
             std::transform(key.begin(), key.end(), key.begin(), 
                            [](unsigned char c){ return std::tolower(c); });
             
@@ -80,4 +79,4 @@ void YamlParser::printConfig() const {
     }
 }
 
-} // namespace odin_ros_driver
+}