├── .clang-format ├── .gitignore ├── .vscode ├── c_cpp_properties.json ├── launch.json └── settings.json ├── README.MD └── src ├── chip_board ├── .clangd ├── .gitignore ├── .mxproject ├── .vscode │ ├── launch.json │ ├── settings.json │ └── tasks.json ├── CMakeLists.txt ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ ├── Include │ │ │ │ ├── stm32f407xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ │ │ └── LICENSE.txt │ │ ├── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ │ └── LICENSE.txt │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_adc.h │ │ ├── stm32f4xx_hal_adc_ex.h │ │ ├── stm32f4xx_hal_can.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_crc.h │ │ ├── stm32f4xx_hal_dac.h │ │ ├── stm32f4xx_hal_dac_ex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_i2c.h │ │ ├── stm32f4xx_hal_i2c_ex.h │ │ ├── stm32f4xx_hal_pcd.h │ │ ├── stm32f4xx_hal_pcd_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_rng.h │ │ ├── stm32f4xx_hal_rtc.h │ │ ├── stm32f4xx_hal_rtc_ex.h │ │ ├── stm32f4xx_hal_spi.h │ │ ├── stm32f4xx_hal_tim.h │ │ ├── stm32f4xx_hal_tim_ex.h │ │ ├── stm32f4xx_hal_uart.h │ │ ├── stm32f4xx_ll_adc.h │ │ ├── stm32f4xx_ll_bus.h │ │ ├── stm32f4xx_ll_cortex.h │ │ ├── stm32f4xx_ll_crc.h │ │ ├── stm32f4xx_ll_dac.h │ │ ├── stm32f4xx_ll_dma.h │ │ ├── stm32f4xx_ll_exti.h │ │ ├── stm32f4xx_ll_gpio.h │ │ ├── stm32f4xx_ll_i2c.h │ │ ├── stm32f4xx_ll_pwr.h │ │ ├── stm32f4xx_ll_rcc.h │ │ ├── stm32f4xx_ll_rng.h │ │ ├── stm32f4xx_ll_rtc.h │ │ ├── stm32f4xx_ll_spi.h │ │ ├── stm32f4xx_ll_system.h │ │ ├── stm32f4xx_ll_tim.h │ │ ├── stm32f4xx_ll_usart.h │ │ ├── stm32f4xx_ll_usb.h │ │ └── stm32f4xx_ll_utils.h │ │ ├── LICENSE.txt │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_adc.c │ │ ├── stm32f4xx_hal_adc_ex.c │ │ ├── stm32f4xx_hal_can.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_crc.c │ │ ├── stm32f4xx_hal_dac.c │ │ ├── stm32f4xx_hal_dac_ex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_i2c.c │ │ ├── stm32f4xx_hal_i2c_ex.c │ │ ├── stm32f4xx_hal_pcd.c │ │ ├── stm32f4xx_hal_pcd_ex.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_rng.c │ │ ├── stm32f4xx_hal_rtc.c │ │ ├── stm32f4xx_hal_rtc_ex.c │ │ ├── stm32f4xx_hal_spi.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ ├── stm32f4xx_hal_uart.c │ │ ├── stm32f4xx_ll_adc.c │ │ └── stm32f4xx_ll_usb.c ├── Inc │ ├── FreeRTOSConfig.h │ ├── adc.h │ ├── can.h │ ├── crc.h │ ├── dac.h │ ├── dma.h │ ├── gpio.h │ ├── i2c.h │ ├── main.h │ ├── rng.h │ ├── rtc.h │ ├── spi.h │ ├── stm32f4xx_hal_conf.h │ ├── stm32f4xx_it.h │ ├── tim.h │ ├── usart.h │ ├── usb_device.h │ ├── usbd_cdc_if.h │ ├── usbd_conf.h │ └── usbd_desc.h ├── LICENSE ├── Makefile ├── Middlewares │ ├── ST │ │ ├── ARM │ │ │ └── DSP │ │ │ │ ├── Inc │ │ │ │ └── arm_math.h │ │ │ │ ├── Include │ │ │ │ ├── arm_common_tables.h │ │ │ │ ├── arm_common_tables_f16.h │ │ │ │ ├── arm_const_structs.h │ │ │ │ ├── arm_const_structs_f16.h │ │ │ │ ├── arm_helium_utils.h │ │ │ │ ├── arm_math.h │ │ │ │ ├── arm_math_f16.h │ │ │ │ ├── arm_math_memory.h │ │ │ │ ├── arm_math_types.h │ │ │ │ ├── arm_math_types_f16.h │ │ │ │ ├── arm_mve_tables.h │ │ │ │ ├── arm_mve_tables_f16.h │ │ │ │ ├── arm_vec_math.h │ │ │ │ ├── arm_vec_math_f16.h │ │ │ │ └── dsp │ │ │ │ │ ├── basic_math_functions.h │ │ │ │ │ ├── basic_math_functions_f16.h │ │ │ │ │ ├── bayes_functions.h │ │ │ │ │ ├── bayes_functions_f16.h │ │ │ │ │ ├── complex_math_functions.h │ │ │ │ │ ├── complex_math_functions_f16.h │ │ │ │ │ ├── controller_functions.h │ │ │ │ │ ├── controller_functions_f16.h │ │ │ │ │ ├── debug.h │ │ │ │ │ ├── distance_functions.h │ │ │ │ │ ├── distance_functions_f16.h │ │ │ │ │ ├── fast_math_functions.h │ │ │ │ │ ├── fast_math_functions_f16.h │ │ │ │ │ ├── filtering_functions.h │ │ │ │ │ ├── filtering_functions_f16.h │ │ │ │ │ ├── interpolation_functions.h │ │ │ │ │ ├── interpolation_functions_f16.h │ │ │ │ │ ├── matrix_functions.h │ │ │ │ │ ├── matrix_functions_f16.h │ │ │ │ │ ├── matrix_utils.h │ │ │ │ │ ├── none.h │ │ │ │ │ ├── quaternion_math_functions.h │ │ │ │ │ ├── statistics_functions.h │ │ │ │ │ ├── statistics_functions_f16.h │ │ │ │ │ ├── support_functions.h │ │ │ │ │ ├── support_functions_f16.h │ │ │ │ │ ├── svm_defines.h │ │ │ │ │ ├── svm_functions.h │ │ │ │ │ ├── svm_functions_f16.h │ │ │ │ │ ├── transform_functions.h │ │ │ │ │ ├── transform_functions_f16.h │ │ │ │ │ ├── utils.h │ │ │ │ │ └── window_functions.h │ │ │ │ └── Lib │ │ │ │ ├── libCMSISDSP.a │ │ │ │ └── libarm_cortexM4lf_math.a │ │ └── STM32_USB_Device_Library │ │ │ ├── Class │ │ │ └── CDC │ │ │ │ ├── Inc │ │ │ │ └── usbd_cdc.h │ │ │ │ └── Src │ │ │ │ └── usbd_cdc.c │ │ │ ├── Core │ │ │ ├── Inc │ │ │ │ ├── usbd_core.h │ │ │ │ ├── usbd_ctlreq.h │ │ │ │ ├── usbd_def.h │ │ │ │ └── usbd_ioreq.h │ │ │ └── Src │ │ │ │ ├── usbd_core.c │ │ │ │ ├── usbd_ctlreq.c │ │ │ │ └── usbd_ioreq.c │ │ │ └── LICENSE.txt │ └── Third_Party │ │ ├── FreeRTOS │ │ └── Source │ │ │ ├── CMSIS_RTOS │ │ │ ├── cmsis_os.c │ │ │ └── cmsis_os.h │ │ │ ├── LICENSE │ │ │ ├── croutine.c │ │ │ ├── event_groups.c │ │ │ ├── include │ │ │ ├── FreeRTOS.h │ │ │ ├── StackMacros.h │ │ │ ├── atomic.h │ │ │ ├── croutine.h │ │ │ ├── deprecated_definitions.h │ │ │ ├── event_groups.h │ │ │ ├── list.h │ │ │ ├── message_buffer.h │ │ │ ├── mpu_prototypes.h │ │ │ ├── mpu_wrappers.h │ │ │ ├── portable.h │ │ │ ├── projdefs.h │ │ │ ├── queue.h │ │ │ ├── semphr.h │ │ │ ├── stack_macros.h │ │ │ ├── stream_buffer.h │ │ │ ├── task.h │ │ │ └── timers.h │ │ │ ├── list.c │ │ │ ├── portable │ │ │ ├── GCC │ │ │ │ └── ARM_CM4F │ │ │ │ │ ├── port.c │ │ │ │ │ └── portmacro.h │ │ │ └── MemMang │ │ │ │ └── heap_4.c │ │ │ ├── queue.c │ │ │ ├── stream_buffer.c │ │ │ ├── tasks.c │ │ │ └── timers.c │ │ └── SEGGER │ │ ├── Config │ │ └── SEGGER_RTT_Conf.h │ │ └── RTT │ │ ├── SEGGER_RTT.c │ │ ├── SEGGER_RTT.h │ │ ├── SEGGER_RTT_ASM_ARMv7M.s │ │ └── SEGGER_RTT_printf.c ├── README.md ├── README_ZH.md ├── RoboMaster 开发板 C 型用户手册.pdf ├── RoboMaster Development Board Type C User Manual.pdf ├── STM32F407.svd ├── STM32F407IGHx_FLASH.ld ├── Src │ ├── adc.c │ ├── can.c │ ├── crc.c │ ├── dac.c │ ├── dma.c │ ├── freertos.c │ ├── gpio.c │ ├── i2c.c │ ├── main.c │ ├── rng.c │ ├── rtc.c │ ├── spi.c │ ├── stm32f4xx_hal_msp.c │ ├── stm32f4xx_hal_timebase_tim.c │ ├── stm32f4xx_it.c │ ├── system_stm32f4xx.c │ ├── tim.c │ ├── usart.c │ ├── usb_device.c │ ├── usbd_cdc_if.c │ ├── usbd_conf.c │ └── usbd_desc.c ├── basic_framework.ioc ├── bsp │ ├── adc │ │ ├── bsp_adc.c │ │ ├── bsp_adc.h │ │ └── bsp_adc.md │ ├── bsp.md │ ├── bsp_init.h │ ├── bsp_tools.c │ ├── bsp_tools.h │ ├── can │ │ ├── bsp_can.c │ │ ├── bsp_can.h │ │ └── bsp_can.md │ ├── dwt │ │ ├── bsp_dwt.c │ │ ├── bsp_dwt.h │ │ └── bsp_dwt.md │ ├── flash │ │ ├── bsp_flash.c │ │ ├── bsp_flash.h │ │ └── bsp_flash.md │ ├── gpio │ │ ├── bsp_gpio.c │ │ ├── bsp_gpio.h │ │ └── bsp_gpio.md │ ├── iic │ │ ├── bsp_iic.c │ │ ├── bsp_iic.h │ │ └── bsp_iic.md │ ├── log │ │ ├── bsp_log.c │ │ ├── bsp_log.h │ │ └── bsp_log.md │ ├── pwm │ │ ├── bsp_pwm.c │ │ ├── bsp_pwm.h │ │ └── bsp_pwm.md │ ├── spi │ │ ├── bsp_spi.c │ │ ├── bsp_spi.h │ │ └── bsp_spi.md │ ├── usart │ │ ├── bsp_usart.c │ │ ├── bsp_usart.h │ │ └── bsp_usart.md │ └── usb │ │ ├── bsp_usb.c │ │ ├── bsp_usb.h │ │ └── bsp_usb.md ├── connect_1.png ├── connect_2.jpg ├── modules │ ├── BMI088 │ │ ├── bmi088-datasheet.pdf │ │ ├── bmi088.c │ │ ├── bmi088.h │ │ ├── bmi088.md │ │ └── bmi088_regNdef.h │ ├── TFminiPlus │ │ ├── tfminiplus.c │ │ ├── tfminiplus.h │ │ └── tfminiplus.md │ ├── alarm │ │ ├── buzzer.c │ │ ├── buzzer.h │ │ └── buzzer.md │ ├── algorithm │ │ ├── QuaternionEKF.c │ │ ├── QuaternionEKF.h │ │ ├── algorithm.md │ │ ├── controller.c │ │ ├── controller.h │ │ ├── crc16.c │ │ ├── crc16.h │ │ ├── crc8.c │ │ ├── crc8.h │ │ ├── kalman_filter.c │ │ ├── kalman_filter.h │ │ ├── user_lib.c │ │ └── user_lib.h │ ├── bluetooth │ │ ├── HC05.c │ │ └── HC05.h │ ├── can_comm │ │ ├── can_comm.c │ │ ├── can_comm.h │ │ └── can_comm.md │ ├── daemon │ │ ├── daemon.c │ │ ├── daemon.h │ │ └── daemon.md │ ├── encoder │ │ └── encoder.md │ ├── general_def.h │ ├── imu │ │ ├── BMI088Middleware.c │ │ ├── BMI088Middleware.h │ │ ├── BMI088driver.c │ │ ├── BMI088driver.h │ │ ├── BMI088reg.h │ │ ├── ins_task.c │ │ ├── ins_task.h │ │ └── ins_task.md │ ├── ist8310 │ │ ├── ist8310.c │ │ ├── ist8310.h │ │ └── ist8310.md │ ├── message_center │ │ ├── message_center.c │ │ ├── message_center.h │ │ └── message_center.md │ ├── module.md │ ├── motor │ │ ├── DJImotor │ │ │ ├── dji_motor.c │ │ │ ├── dji_motor.h │ │ │ └── dji_motor.md │ │ ├── DMmotor │ │ │ ├── dmmotor.c │ │ │ └── dmmotor.h │ │ ├── HTmotor │ │ │ ├── HT04.c │ │ │ ├── HT04.h │ │ │ ├── HT04.md │ │ │ ├── 控制报文.png │ │ │ └── 驱动器硬件说明.pdf │ │ ├── LKmotor │ │ │ ├── LK-TECH电机CAN协议说明V2_3.pdf │ │ │ ├── LK9025.c │ │ │ ├── LK9025.h │ │ │ ├── LK_motor.md │ │ │ ├── 反馈报文.png │ │ │ └── 报文格式.png │ │ ├── motor_def.h │ │ ├── motor_task.c │ │ ├── motor_task.h │ │ ├── servo_motor │ │ │ ├── servo_motor.c │ │ │ ├── servo_motor.h │ │ │ └── servo_motor.md │ │ └── step_motor │ │ │ ├── step_motor.c │ │ │ └── step_motor.h │ ├── oled │ │ ├── oled.c │ │ ├── oled.h │ │ ├── oled.md │ │ └── oledfont.h │ ├── referee │ │ ├── crc_ref.c │ │ ├── crc_ref.h │ │ ├── referee.md │ │ ├── referee_UI.c │ │ ├── referee_UI.h │ │ ├── referee_protocol.h │ │ ├── referee_task.c │ │ ├── referee_task.h │ │ ├── rm_referee.c │ │ └── rm_referee.h │ ├── remote │ │ ├── remote.md │ │ ├── remote_control.c │ │ └── remote_control.h │ ├── standard_cmd │ │ ├── standard_cmd.md │ │ ├── std_cmd.c │ │ └── std_cmd.h │ ├── super_cap │ │ ├── super_cap.c │ │ ├── super_cap.h │ │ └── super_cap.md │ ├── syn │ │ ├── syn.c │ │ └── syn.h │ └── unicomm │ │ ├── unicomm.c │ │ ├── unicomm.h │ │ └── unicomm.md └── startup_stm32f407xx.s ├── livox_ros_driver ├── CMakeLists.txt ├── change ├── cmake │ └── version.cmake ├── common │ ├── FastCRC │ │ ├── FastCRC.h │ │ ├── FastCRC_tables.hpp │ │ ├── FastCRCsw.cpp │ │ ├── LICENSE.md │ │ └── README.md │ ├── comm │ │ ├── comm_device.h │ │ ├── comm_protocol.cpp │ │ ├── comm_protocol.h │ │ ├── gps_protocol.cpp │ │ ├── gps_protocol.h │ │ ├── protocol.h │ │ ├── sdk_protocol.cpp │ │ └── sdk_protocol.h │ ├── rapidjson │ │ ├── allocators.h │ │ ├── cursorstreamwrapper.h │ │ ├── document.h │ │ ├── encodedstream.h │ │ ├── encodings.h │ │ ├── error │ │ │ ├── en.h │ │ │ └── error.h │ │ ├── filereadstream.h │ │ ├── filewritestream.h │ │ ├── fwd.h │ │ ├── internal │ │ │ ├── biginteger.h │ │ │ ├── clzll.h │ │ │ ├── diyfp.h │ │ │ ├── dtoa.h │ │ │ ├── ieee754.h │ │ │ ├── itoa.h │ │ │ ├── meta.h │ │ │ ├── pow10.h │ │ │ ├── regex.h │ │ │ ├── stack.h │ │ │ ├── strfunc.h │ │ │ ├── strtod.h │ │ │ └── swap.h │ │ ├── istreamwrapper.h │ │ ├── memorybuffer.h │ │ ├── memorystream.h │ │ ├── msinttypes │ │ │ ├── inttypes.h │ │ │ └── stdint.h │ │ ├── ostreamwrapper.h │ │ ├── pointer.h │ │ ├── prettywriter.h │ │ ├── rapidjson.h │ │ ├── reader.h │ │ ├── schema.h │ │ ├── stream.h │ │ ├── stringbuffer.h │ │ └── writer.h │ └── rapidxml │ │ ├── rapidxml.hpp │ │ ├── rapidxml_iterators.hpp │ │ ├── rapidxml_print.hpp │ │ └── rapidxml_utils.hpp ├── config │ ├── display_hub_points.rviz │ ├── display_lidar_points.rviz │ ├── livox_hub_config.json │ └── livox_lidar_config.json ├── launch │ ├── livox_hub.launch │ ├── livox_hub_msg.launch │ ├── livox_hub_rviz.launch │ ├── livox_lidar.launch │ ├── livox_lidar_msg.launch │ ├── livox_lidar_rviz.launch │ ├── livox_template.launch │ ├── lvx_to_rosbag.launch │ └── lvx_to_rosbag_rviz.launch ├── livox_ros_driver │ ├── include │ │ └── livox_ros_driver.h │ ├── lddc.cpp │ ├── lddc.h │ ├── ldq.cpp │ ├── ldq.h │ ├── lds.cpp │ ├── lds.h │ ├── lds_hub.cpp │ ├── lds_hub.h │ ├── lds_lidar.cpp │ ├── lds_lidar.h │ ├── lds_lvx.cpp │ ├── lds_lvx.h │ ├── livox_ros_driver.cpp │ ├── lvx_file.cpp │ └── lvx_file.h ├── livox_sdk │ ├── CMakeLists.txt │ ├── Doxyfile │ ├── LICENSE.txt │ ├── README.md │ ├── README_CN.md │ ├── doc │ │ └── images │ │ │ ├── 1.png │ │ │ ├── broadcast_code.png │ │ │ ├── sample.png │ │ │ ├── sdk.png │ │ │ └── sdk_init.png │ └── sdk_core │ │ ├── CMakeLists.txt │ │ ├── include │ │ ├── comm │ │ │ ├── comm_port.h │ │ │ └── protocol.h │ │ ├── config.h │ │ ├── livox_def.h │ │ ├── livox_sdk.h │ │ └── third_party │ │ │ ├── FastCRC │ │ │ └── FastCRC.h │ │ │ ├── cmdline │ │ │ └── cmdline.h │ │ │ └── spdlog │ │ │ └── spdlog │ │ │ ├── async.h │ │ │ ├── async_logger.h │ │ │ ├── common.h │ │ │ ├── details │ │ │ ├── async_logger_impl.h │ │ │ ├── circular_q.h │ │ │ ├── console_globals.h │ │ │ ├── file_helper.h │ │ │ ├── fmt_helper.h │ │ │ ├── log_msg.h │ │ │ ├── logger_impl.h │ │ │ ├── mpmc_blocking_q.h │ │ │ ├── null_mutex.h │ │ │ ├── os.h │ │ │ ├── pattern_formatter.h │ │ │ ├── periodic_worker.h │ │ │ ├── registry.h │ │ │ └── thread_pool.h │ │ │ ├── fmt │ │ │ ├── bin_to_hex.h │ │ │ ├── bundled │ │ │ │ ├── LICENSE.rst │ │ │ │ ├── chrono.h │ │ │ │ ├── color.h │ │ │ │ ├── core.h │ │ │ │ ├── format-inl.h │ │ │ │ ├── format.h │ │ │ │ ├── locale.h │ │ │ │ ├── ostream.h │ │ │ │ ├── posix.h │ │ │ │ ├── printf.h │ │ │ │ ├── ranges.h │ │ │ │ └── time.h │ │ │ ├── fmt.h │ │ │ └── ostr.h │ │ │ ├── formatter.h │ │ │ ├── logger.h │ │ │ ├── sinks │ │ │ ├── android_sink.h │ │ │ ├── ansicolor_sink.h │ │ │ ├── base_sink.h │ │ │ ├── basic_file_sink.h │ │ │ ├── daily_file_sink.h │ │ │ ├── dist_sink.h │ │ │ ├── msvc_sink.h │ │ │ ├── null_sink.h │ │ │ ├── ostream_sink.h │ │ │ ├── rotating_file_sink.h │ │ │ ├── sink.h │ │ │ ├── stdout_color_sinks.h │ │ │ ├── stdout_sinks.h │ │ │ ├── syslog_sink.h │ │ │ └── wincolor_sink.h │ │ │ ├── spdlog.h │ │ │ ├── tweakme.h │ │ │ └── version.h │ │ └── src │ │ ├── base │ │ ├── command_callback.h │ │ ├── io_loop.cpp │ │ ├── io_loop.h │ │ ├── io_thread.cpp │ │ ├── io_thread.h │ │ ├── logging.cpp │ │ ├── logging.h │ │ ├── multiple_io │ │ │ ├── multiple_io_base.cpp │ │ │ ├── multiple_io_base.h │ │ │ ├── multiple_io_epoll.cpp │ │ │ ├── multiple_io_epoll.h │ │ │ ├── multiple_io_factory.h │ │ │ ├── multiple_io_kqueue.cpp │ │ │ ├── multiple_io_kqueue.h │ │ │ ├── multiple_io_poll.cpp │ │ │ ├── multiple_io_poll.h │ │ │ ├── multiple_io_select.cpp │ │ │ └── multiple_io_select.h │ │ ├── network │ │ │ ├── network_util.h │ │ │ ├── unix │ │ │ │ └── network_util.cpp │ │ │ └── win │ │ │ │ └── network_util.cpp │ │ ├── noncopyable.h │ │ ├── thread_base.cpp │ │ ├── thread_base.h │ │ └── wake_up │ │ │ ├── unix │ │ │ └── wake_up_pipe.cpp │ │ │ ├── wake_up_pipe.h │ │ │ └── win │ │ │ └── wake_up_pipe.cpp │ │ ├── comm │ │ ├── comm_port.cpp │ │ ├── sdk_protocol.cpp │ │ └── sdk_protocol.h │ │ ├── command_handler │ │ ├── command_channel.cpp │ │ ├── command_channel.h │ │ ├── command_handler.cpp │ │ ├── command_handler.h │ │ ├── command_impl.cpp │ │ ├── command_impl.h │ │ ├── hub_command_handler.cpp │ │ ├── hub_command_handler.h │ │ ├── lidar_command_handler.cpp │ │ └── lidar_command_handler.h │ │ ├── data_handler │ │ ├── data_handler.cpp │ │ ├── data_handler.h │ │ ├── hub_data_handler.cpp │ │ ├── hub_data_handler.h │ │ ├── lidar_data_handler.cpp │ │ └── lidar_data_handler.h │ │ ├── device_discovery.cpp │ │ ├── device_discovery.h │ │ ├── device_manager.cpp │ │ ├── device_manager.h │ │ ├── livox_sdk.cpp │ │ └── third_party │ │ └── FastCRC │ │ ├── FastCRC_tables.hpp │ │ ├── FastCRCsw.cpp │ │ ├── LICENSE.md │ │ └── README.md ├── msg │ ├── CustomMsg.msg │ └── CustomPoint.msg ├── package.xml └── timesync │ ├── timesync.cpp │ ├── timesync.h │ └── user_uart │ ├── user_uart.cpp │ └── user_uart.h └── mvs_ros_pkg ├── CMakeLists.txt ├── README.md ├── config ├── camera.yaml └── camera_trigger.yaml ├── include ├── CameraParams.h ├── CustomMsg.h ├── CustomPoint.h ├── MvCameraControl.h ├── MvDeviceBase.h ├── MvErrorDefine.h ├── MvGigEDevice.h ├── MvInclude.h ├── MvUsb3VDevice.h ├── PixelType.h ├── TlFactory.h └── common.h ├── launch ├── mvs_camera_trigger.launch ├── parse_topic.launch └── parse_type.launch ├── lib ├── CommonParameters.ini ├── MvFGProducerCML.cti ├── MvFGProducerCXP.cti ├── MvFGProducerGEV.cti ├── MvFGProducerXoF.cti ├── MvProducerGEV.cti ├── MvProducerU3V.cti ├── libCLAllSerial_gcc447_v3_0.so ├── libCLProtocol_gcc447_v3_0.so ├── libCLSerCOM.so ├── libCLSerHvc.so ├── libFormatConversion.so ├── libGCBase_gcc421_v3_0.so ├── libGCBase_gcc447_v3_0.so ├── libGenApi_gcc421_v3_0.so ├── libGenCP_gcc447_v3_0.so ├── libLog_gcc421_v3_0.so ├── libLog_gcc447_v3_0.so ├── libMVFGControl.so ├── libMVGigEVisionSDK.so ├── libMVGigEVisionSDK.so.3.2.2.1 ├── libMVGigEVisionSDK.so.4.1.2.2 ├── libMVRender.so ├── libMathParser_gcc421_v3_0.so ├── libMediaProcess.so ├── libMvCamLVision.so ├── libMvCamLVision.so.4.1.0.3 ├── libMvCameraControl.so ├── libMvCameraControl.so.3.2.2.1 ├── libMvCameraControl.so.4.1.2.2 ├── libMvCameraControlWrapper.so ├── libMvCameraControlWrapper.so.1.0.1.0 ├── libMvUsb3vTL.so ├── 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