doc: update doc

CrazyTomX · CrazyTomX · commit bc13fe5a15db · 2020-10-29T17:27:38.000+08:00
diff --git a/doc/howto/how_to_offline_decode_pcap.md b/doc/howto/how_to_offline_decode_pcap.md
@@ -4,8 +4,6 @@
 
 This document will show you how to decode pcap bag  and send point cloud to ROS. Please make sure you have read the LiDAR user-guide and [Intro to parameters](doc/intro/parameter_intro.md) before reading this document.
 
-
-
 ## 2 Steps
 
 ### 2.1 Get the data port number & ip address
@@ -30,8 +28,6 @@ Send point cloud to ROS so set ```send_point_cloud_ros = true```.
 
 Make sure the ```pcap_path``` is correct.
 
-
-
 ### 2.3 Set up the lidar-driver part of the config file
 
 ```yaml
@@ -52,8 +48,6 @@ Set the ```lidar_type```  to your LiDAR type.
 
 Set the ```msop_port``` and ```difop_port```  to your LiDAR's port number. 
 
-​	
-
 ### 2.4 Set up the lidar-ros part of the config file
 
 ```yaml
@@ -65,8 +59,6 @@ ros:
 
 Set the ```ros_send_point_cloud_topic```  to the topic you want to send. 
 
-
-
 ### 2.5 Run
 
 Run the program. 
diff --git a/doc/howto/how_to_offline_decode_pcap_cn.md b/doc/howto/how_to_offline_decode_pcap_cn.md
@@ -4,16 +4,12 @@
 
 ​	本文档将展示如何解码pcap包并发送点云数据到ROS。 在阅读本文档之前，请确保已阅读雷达用户手册和 [参数简介](../intro/parameter_intro.md) 。
 
-
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 ## 2 步骤
 
 ### 2.1 获取数据端口号
 
 ​	首先根据雷达用户手册连接雷达并设置好您的电脑的IP地址。此时应该已知雷达的msop端口号和difop端口号，默认值为```msop-6699, difop-7788```。 如果不清楚上述内容，请查看雷达用户手册。
 
-
-
 ### 2.2 设置参数文件的common部分
 
 ```yaml
@@ -32,8 +28,6 @@ common:
 
 ​    请确保路径```pcap_path``` 是正确的。
 
-
-
 ### 2.3 设置参数文件的 lidar-driver部分
 
 ```yaml
@@ -55,8 +49,6 @@ lidar:
 
 ​	设置 ```msop_port``` 和 ```difop_port``` 为雷达数据端口号。
 
-​	
-
 ### 2.4设置配置文件的lidar-ros部分
 
 ```yaml
@@ -68,8 +60,6 @@ ros:
 
 ​	将 ```ros_send_point_cloud_topic``` 设置为发送点云的话题。 
 
-
-
 #### 2.5 运行
 
 ​	运行程序。
diff --git a/doc/howto/how_to_online_send_point_cloud_ros.md b/doc/howto/how_to_online_send_point_cloud_ros.md
@@ -1,13 +1,9 @@
 # How to online connect lidar and send point cloud to ROS
 
-
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 ## 1 Introduction
 
 This document will show you how to online connect a LiDAR and send point cloud to ROS. Please make sure you have read the LiDAR user-guide and [Intro to parameters](../intro/parameter_intro.md) before reading this document.
 
-
-
 ## 2 Steps
 
 ### 2.1 Get the data port number
@@ -30,8 +26,6 @@ Since the message come from the LiDAR, set ```msg_source = 1```.
 
 Send point cloud to ROS so set ```send_point_cloud_ros = true```.
 
-
-
 ### 2.3 Set up the lidar-driver part of the config file
 
 ```yaml
@@ -55,8 +49,6 @@ Set the ```lidar_type```  to your LiDAR type.
 
 Set the ```msop_port``` and ```difop_port```  to your LiDAR's port number. 
 
-
-
 ### 2.4 Set up the lidar-ros part of the config file
 
 ```yaml
@@ -68,8 +60,6 @@ ros:
 
 Set the ```ros_send_point_cloud_topic```  to the topic you want to send. 
 
-
-
 ### 2.5 Run
 
 Run the program. 
diff --git a/doc/howto/how_to_online_send_point_cloud_ros_cn.md b/doc/howto/how_to_online_send_point_cloud_ros_cn.md
@@ -4,16 +4,12 @@
 
 ​	本文档描述了如何在线连接雷达并发送点云数据到ROS。在阅读本文档之前， 请确保已经阅读过雷达用户手册和[参数简介](../intro/parameter_intro.md) 。
 
-
-
 ## 2 步骤
 
 ### 2.1 获取数据端口号
 
 ​	首先根据雷达用户手册连接雷达并设置好您的电脑的IP地址。此时应该已知雷达的msop端口号和difop端口号，默认值为```msop-6699, difop-7788```。 如果不清楚上述内容，请查看雷达用户手册。
 
-
-
 ### 2.2 设置参数文件的common部分
 
 ```yaml
@@ -30,8 +26,6 @@ common:
 
 ​	将点云发送到ROS以查看，因此设置 ```send_point_cloud_ros = true``` 。
 
-
-
 ### 2.3 设置参数文件的 lidar-driver部分
 
 ```yaml
@@ -54,8 +48,6 @@ lidar:
 
 ​	设置 ```msop_port``` 和 ```difop_port``` 为雷达数据端口号。
 
-
-
 ### 2.4设置配置文件的lidar-ros部分
 
 ```yaml
@@ -67,8 +59,6 @@ ros:
 
 ​	将 ```ros_send_point_cloud_topic``` 设置为发送点云的话题。 
 
-
-
 ### 2.5 运行
 
 ​	运行程序。
diff --git a/doc/howto/how_to_record_and_offline_decode_rosbag.md b/doc/howto/how_to_record_and_offline_decode_rosbag.md
@@ -1,13 +1,9 @@
 # How to record and decode rosbag
 
-
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 ## 1 Introduction
 
 This document will show you how to record and decode rosbag. Please make sure you have read the LiDAR user-guide and [Intro to parameters](../intro/parameter_intro.md) before reading this document.
 
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 ## 2 Record
 
 ### 2.1 Send packet to ROS
@@ -28,8 +24,6 @@ common:
 
 In order to record packets, set ```send_packet_ros = true```. 
 
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 ### 2.2 Record according to the topic
 
 ```yaml
@@ -45,9 +39,7 @@ User can also adjust the packets topic by adjust the ```ros_send_packet_topic```
 rosbag record /rslidar_packets /rslidar_packets_difop -O bag
 ```
 
-**Note:  If you set send_packet_ros = true, both two kinds of packets will be send to ROS. And you must record both of these two kinds of packets.**
-
-
+**If you set send_packet_ros = true, both two kinds of packets will be send to ROS. And you must record both of these two kinds of packets.**
 
 ## 3 Offline Decode
 
@@ -69,8 +61,6 @@ Since the packets message come from the ROS, set ```msg_source = 2```.
 
 We want to send point cloud to ROS so set ```send_point_cloud_ros = true```.
 
-
-
 ### 3.2 Set up the lidar-driver part of the config file
 
 ```yaml
@@ -89,8 +79,6 @@ lidar:
 
 Set the ```lidar_type```  to your LiDAR type.
 
-
-
 ### 3.3 Set the lidar-ros part of the config file
 
 ```yaml
@@ -102,8 +90,6 @@ ros:
 
 Set up the ```ros_recv_packet_topic```  to the ```msop``` topic in the rosbag.
 
-
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 ### 3.4 Run
 
 Run the program & play rosbag.
diff --git a/doc/howto/how_to_record_and_offline_decode_rosbag_cn.md b/doc/howto/how_to_record_and_offline_decode_rosbag_cn.md
@@ -4,8 +4,6 @@
 
 ​	本文档将展示如何记录与解码rosbag。 在阅读这本文档之前请先阅读雷达用户手册与[参数简介](../intro/parameter_intro.md) 。
 
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 ## 2 录包
 
 ### 2.1 将packet发送至ROS
@@ -41,9 +39,7 @@ ros:
 rosbag record /rslidar_packets /rslidar_packets_difop -O bag
 ```
 
-**注意：如果将send_packet_ros设置为true，则两种数据包都将发送到ROS。 录包时必须同时记录这两种数据。**
-
-
+**如果将send_packet_ros设置为true，则两种数据包都将发送到ROS。 录包时必须同时记录这两种数据。**
 
 ## 3 离线解码
 
@@ -65,8 +61,6 @@ common:
 
 ​	将点云发送到ROS，因此设置 ```send_point_cloud_ros = true```。
 
-
-
 ### 3.2 设置配置文件的lidar-driver部分
 
 ```yaml
@@ -85,8 +79,6 @@ lidar:
 
 ​	将 ```lidar_type``` 设置为LiDAR类型 。
 
-
-
 ### 3.3 设置配置文件的lidar-ros部分
 
 ```yaml
@@ -98,8 +90,6 @@ ros:
 
 ​	将 ```ros_recv_packet_topic``` 设置为rosbag中的```msop```数据的话题。
 
-
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 ### 3.4 运行
 
 ​	运行程序并播放rosbag。
diff --git a/doc/howto/how_to_use_multi_lidars.md b/doc/howto/how_to_use_multi_lidars.md
@@ -4,16 +4,12 @@
 
 This document will show you how to send out multi-LiDARs point cloud with only one driver running.  Theoretically, one driver can decoder unlimited number of LiDARs at the same time. For convenient, we will use three LiDARs as an example. Please make sure you have read the LiDAR user-guide and [Intro to parameters](../intro/parameter_intro.md) before reading this document.
 
-
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 ## 2 Online connect with multi-LiDARs
 
 ### 2.1 Get the data port number
 
 Please follow the instructions in LiDAR user-guide to connect the LiDAR and set up your computer's ip address. At this time, you should have already known msop port number and difop port number for each LiDAR.  If you have no idea about what it is, please check the LiDAR user-guide first.
 
-
-
 ### 2.2 Set up the common part of the config file
 
 ```yaml
@@ -30,8 +26,6 @@ Since the message come from the LiDAR, set ```msg_source = 1```.
 
 Send point cloud to ROS so set ```send_point_cloud_ros = true```.
 
-
-
 ### 2.3 Set up the lidar part of the config file
 
 ```yaml
@@ -113,14 +107,10 @@ Set ```msop_port``` and ```difop_port```  for each LiDAR.
 
 Set ```ros_send_point_cloud_topic``` for each LiDAR.
 
-
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 ### 2.4 Run
 
 Run the demo.
 
-
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 ## 3 Offline use rosbag with multi-LiDARs
 
 ### 3.1 Set up the common part of the config file
@@ -139,8 +129,6 @@ Since the packets message come from the ROS, set ```msg_source = 2```.
 
 We want to send point cloud to ROS so set ```send_point_cloud_ros = true```.
 
-
-
 ### 3.2 Set up the lidar part of the config file
 
 ```yaml
@@ -222,8 +210,6 @@ Set the ```ros_recv_packet_topic``` for each LiDAR which need to corresbond to t
 
 Set ```ros_send_point_cloud_topic``` for each LiDAR.
 
-
-
 ### 3.3 Run
 
 Run the program & play rosbag.
diff --git a/doc/howto/how_to_use_multi_lidars_cn.md b/doc/howto/how_to_use_multi_lidars_cn.md
@@ -4,16 +4,12 @@
 
 ​	本文档将展示如何在仅运行一个驱动程序的情况解析并发送多台雷达的点云。理论上，一个驱动可以同时解码无限数量的雷达。为了方便起见，本文档将会使用三个雷达作为示例。在阅读本文档之前， 请确保已经阅读过雷达用户手册和[参数简介](../intro/parameter_intro.md) 。
 
-
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 ## 2 在线解析多雷达
 
 ### 2.1 获取数据端口号
 
 ​	首先将三个雷达与计算机正确连接，此时应已知每个LiDAR的msop端口号 与 difop端口号。  如果不清楚上述内容，请查看雷达用户手册。
 
-
-
 ### 2.2 设置参数文件的common部分
 
 ```yaml
@@ -30,8 +26,6 @@ common:
 
 ​	将点云发送到ROS以查看，因此设置 ```send_point_cloud_ros = true``` 。
 
-
-
 ### 2.3 设置配置文件中的lidar部分
 
 ```yaml
@@ -113,14 +107,10 @@ lidar:
 
 ​	为每个雷达设置点云发送的话题```ros_send_point_cloud_topic```。
 
-
-
 ### 2.4 运行
 
 ​	运行程序。
 
-
-
 ## 3 离线解析多雷达rosbag
 
 ### 3.1 设置配置文件中的common部分
@@ -139,8 +129,6 @@ common:
 
 ​	将点云发送到ROS，因此设置 ```send_point_cloud_ros = true```。
 
-
-
 ### 3.2 设置配置文件中的lidar部分
 
 ```yaml
@@ -222,8 +210,6 @@ lidar:
 
 ​	为每个雷达设置点云发送的话题```ros_send_point_cloud_topic```。
 
-
-
 ### 3.3 运行
 
 ​	运行程序并播放rosbag。
diff --git a/doc/howto/how_to_use_protobuf_function.md b/doc/howto/how_to_use_protobuf_function.md
diff --git a/doc/howto/how_to_use_protobuf_function_cn.md b/doc/howto/how_to_use_protobuf_function_cn.md
