diff --git a/librviz_tutorial/CHANGELOG.rst b/librviz_tutorial/CHANGELOG.rst
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diff --git a/librviz_tutorial/CMakeLists.txt b/librviz_tutorial/CMakeLists.txt
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diff --git a/librviz_tutorial/launch/rplidar.launch b/librviz_tutorial/launch/rplidar.launch
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diff --git a/librviz_tutorial/package.xml b/librviz_tutorial/package.xml
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diff --git a/librviz_tutorial/rosdoc.yaml b/librviz_tutorial/rosdoc.yaml
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diff --git a/librviz_tutorial/sdk/README.txt b/librviz_tutorial/sdk/README.txt
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diff --git a/librviz_tutorial/sdk/include/rplidar.h b/librviz_tutorial/sdk/include/rplidar.h
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diff --git a/librviz_tutorial/sdk/include/rplidar_cmd.h b/librviz_tutorial/sdk/include/rplidar_cmd.h
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diff --git a/librviz_tutorial/sdk/include/rplidar_driver.h b/librviz_tutorial/sdk/include/rplidar_driver.h
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diff --git a/librviz_tutorial/sdk/include/rplidar_protocol.h b/librviz_tutorial/sdk/include/rplidar_protocol.h
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diff --git a/librviz_tutorial/sdk/include/rptypes.h b/librviz_tutorial/sdk/include/rptypes.h
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diff --git a/librviz_tutorial/sdk/src/arch/linux/arch_linux.h b/librviz_tutorial/sdk/src/arch/linux/arch_linux.h
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diff --git a/librviz_tutorial/sdk/src/arch/linux/net_serial.cpp b/librviz_tutorial/sdk/src/arch/linux/net_serial.cpp
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diff --git a/librviz_tutorial/sdk/src/arch/linux/net_serial.h b/librviz_tutorial/sdk/src/arch/linux/net_serial.h
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diff --git a/librviz_tutorial/sdk/src/arch/linux/net_socket.cpp b/librviz_tutorial/sdk/src/arch/linux/net_socket.cpp
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diff --git a/librviz_tutorial/sdk/src/arch/linux/thread.hpp b/librviz_tutorial/sdk/src/arch/linux/thread.hpp
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diff --git a/librviz_tutorial/sdk/src/arch/linux/timer.cpp b/librviz_tutorial/sdk/src/arch/linux/timer.cpp
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diff --git a/librviz_tutorial/sdk/src/arch/linux/timer.h b/librviz_tutorial/sdk/src/arch/linux/timer.h
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diff --git a/librviz_tutorial/sdk/src/arch/macOS/arch_macOS.h b/librviz_tutorial/sdk/src/arch/macOS/arch_macOS.h
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diff --git a/librviz_tutorial/sdk/src/arch/macOS/net_serial.cpp b/librviz_tutorial/sdk/src/arch/macOS/net_serial.cpp
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diff --git a/librviz_tutorial/sdk/src/arch/macOS/net_serial.h b/librviz_tutorial/sdk/src/arch/macOS/net_serial.h
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diff --git a/librviz_tutorial/sdk/src/arch/macOS/net_socket.cpp b/librviz_tutorial/sdk/src/arch/macOS/net_socket.cpp
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diff --git a/librviz_tutorial/sdk/src/arch/macOS/thread.hpp b/librviz_tutorial/sdk/src/arch/macOS/thread.hpp
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diff --git a/librviz_tutorial/sdk/src/arch/macOS/timer.cpp b/librviz_tutorial/sdk/src/arch/macOS/timer.cpp
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diff --git a/librviz_tutorial/sdk/src/arch/macOS/timer.h b/librviz_tutorial/sdk/src/arch/macOS/timer.h
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diff --git a/librviz_tutorial/sdk/src/arch/win32/arch_win32.h b/librviz_tutorial/sdk/src/arch/win32/arch_win32.h
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diff --git a/librviz_tutorial/sdk/src/arch/win32/net_serial.cpp b/librviz_tutorial/sdk/src/arch/win32/net_serial.cpp
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diff --git a/librviz_tutorial/sdk/src/arch/win32/net_serial.h b/librviz_tutorial/sdk/src/arch/win32/net_serial.h
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diff --git a/librviz_tutorial/sdk/src/arch/win32/net_socket.cpp b/librviz_tutorial/sdk/src/arch/win32/net_socket.cpp
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diff --git a/librviz_tutorial/sdk/src/arch/win32/timer.cpp b/librviz_tutorial/sdk/src/arch/win32/timer.cpp
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diff --git a/librviz_tutorial/sdk/src/arch/win32/timer.h b/librviz_tutorial/sdk/src/arch/win32/timer.h
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diff --git a/librviz_tutorial/sdk/src/arch/win32/winthread.hpp b/librviz_tutorial/sdk/src/arch/win32/winthread.hpp
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diff --git a/librviz_tutorial/sdk/src/hal/abs_rxtx.h b/librviz_tutorial/sdk/src/hal/abs_rxtx.h
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diff --git a/librviz_tutorial/sdk/src/hal/assert.h b/librviz_tutorial/sdk/src/hal/assert.h
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diff --git a/librviz_tutorial/sdk/src/hal/byteops.h b/librviz_tutorial/sdk/src/hal/byteops.h
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diff --git a/librviz_tutorial/sdk/src/hal/event.h b/librviz_tutorial/sdk/src/hal/event.h
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diff --git a/librviz_tutorial/sdk/src/hal/locker.h b/librviz_tutorial/sdk/src/hal/locker.h
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diff --git a/librviz_tutorial/sdk/src/hal/socket.h b/librviz_tutorial/sdk/src/hal/socket.h
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diff --git a/librviz_tutorial/sdk/src/hal/thread.cpp b/librviz_tutorial/sdk/src/hal/thread.cpp
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diff --git a/librviz_tutorial/sdk/src/hal/thread.h b/librviz_tutorial/sdk/src/hal/thread.h
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diff --git a/librviz_tutorial/sdk/src/hal/types.h b/librviz_tutorial/sdk/src/hal/types.h
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diff --git a/librviz_tutorial/sdk/src/hal/util.h b/librviz_tutorial/sdk/src/hal/util.h
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diff --git a/librviz_tutorial/sdk/src/rplidar_driver.cpp b/librviz_tutorial/sdk/src/rplidar_driver.cpp
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diff --git a/librviz_tutorial/sdk/src/rplidar_driver_TCP.h b/librviz_tutorial/sdk/src/rplidar_driver_TCP.h
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diff --git a/librviz_tutorial/sdk/src/rplidar_driver_impl.h b/librviz_tutorial/sdk/src/rplidar_driver_impl.h
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diff --git a/librviz_tutorial/sdk/src/rplidar_driver_serial.h b/librviz_tutorial/sdk/src/rplidar_driver_serial.h
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diff --git a/librviz_tutorial/sdk/src/sdkcommon.h b/librviz_tutorial/sdk/src/sdkcommon.h
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diff --git a/librviz_tutorial/src/doc/conf.py b/librviz_tutorial/src/doc/conf.py
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diff --git a/librviz_tutorial/src/doc/index.rst b/librviz_tutorial/src/doc/index.rst
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diff --git a/librviz_tutorial/src/doc/myviz.png b/librviz_tutorial/src/doc/myviz.png
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diff --git a/librviz_tutorial/src/doc/tutorialformatter.py b/librviz_tutorial/src/doc/tutorialformatter.py
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diff --git a/librviz_tutorial/src/main.cpp b/librviz_tutorial/src/main.cpp
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diff --git a/librviz_tutorial/src/myviz.cpp b/librviz_tutorial/src/myviz.cpp
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index 3e9b2a5..888b65b
--- a/librviz_tutorial/src/myviz.cpp
+++ b/librviz_tutorial/src/myviz.cpp
@@ -4,6 +4,7 @@
 #include <QLabel>
 #include<QPlainTextEdit>
 #include<QPushButton>
+#include<QPushButton>
 
 #include <QVBoxLayout>
 #include <QHBoxLayout>
@@ -38,14 +39,38 @@
 #include "rviz/selection/selection_manager.h"
 #include "rviz/panel.h"
 
+#include<QDebug>
+#include<QKeyEvent>
+#include <QMutex>
+#include<QTimer>
+#include<QObject>
+#include <QMetaEnum>
+#include <QRegExp>
+#include <cmath>
+#include<QMessageBox>
+#include<QCoreApplication>
+#include <QProgressBar>
+
+#include <rosbag/bag.h>
+#include <rosbag/view.h>
+#include <rosbag/query.h>
+#include<string>
+#include<QFileDialog>
+
+#include "rviz/properties/property_tree_widget.h"
+#include "rviz/selection/selection_manager.h"
+#include "rviz/panel.h"
+
 #include "rviz/visualization_manager.h"
 #include"rviz/tool_manager.h"
+#include"rviz/tool_manager.h"
 #include "rviz/render_panel.h"
 #include "rviz/display.h"
 
 #include "myviz.h"
 #include "../tools/color.h"
 #include "qthread.h"
+#include "qthread.h"
 // BEGIN_TUTORIAL
 // Constructor for MyViz.  This does most of the work of the class.
 MyViz::MyViz( QWidget* parent)
@@ -60,6 +85,7 @@ MyViz::MyViz( QWidget* parent)
   // 全局变量存放处
   // 颜色名称，可添加，待设置rgb类型设置颜色
   color_name = {"white","red","green","black","blue","yellow","pink","purple","skyblue","lightgreen","orange",
+  color_name = {"white","red","green","black","blue","yellow","pink","purple","skyblue","lightgreen","orange",
   };
   // 颜色路径名
   color_icon_filename = QString("../Rviz/librviz_ws/src/librviz_tutorial/sources/images/%1.png");
@@ -341,6 +367,8 @@ MyViz::MyViz( QWidget* parent)
   // cloud = manager_->createDisplay( "rviz/PointCloud2", "point cloud", true );
   // ROS_ASSERT( cloud != NULL );
 
+  laser_ = manager_->createDisplay( "rviz/LaserScan", "Qlaser", true );
+  ROS_ASSERT( laser_ );
   laser_ = manager_->createDisplay( "rviz/LaserScan", "Qlaser", true );
   ROS_ASSERT( laser_ );
   // 新增雷达
@@ -397,7 +425,7 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){
   QTreeWidgetItem *fixed_frame = new QTreeWidgetItem(global, QStringList("Fixed Frame"));
 
   QLineEdit* fixed_frame_text = new QLineEdit();
-  fixed_frame_text->setText("world");
+  fixed_frame_text->setText("laser");
   fixed_frame_text->setStyleSheet("background:transparent;border-width:0;border-style:inset");
   // 初始化固定坐标系
   cur_fixed_frame = fixed_frame_text->text();
@@ -424,6 +452,9 @@ void MyViz::Tree_Display(QGridLayout* controls_layout, int index){
       QString color_path = color_icon_filename.arg(color_name[i]);
       QIcon color_icon(color_path);
       grid_color_cbox->addItem(color_icon, color_name[i]);
+      QString color_path = color_icon_filename.arg(color_name[i]);
+      QIcon color_icon(color_path);
+      grid_color_cbox->addItem(color_icon, color_name[i]);
   }
   connect(grid_color_cbox, SIGNAL(currentIndexChanged(int)), this, SLOT(GridColorChanged(int)));
   menu->setItemWidget(grid_color, 1, grid_color_cbox);
diff --git a/librviz_tutorial/src/myviz.h b/librviz_tutorial/src/myviz.h
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index 1779b7d..eeaa1eb
--- a/librviz_tutorial/src/myviz.h
+++ b/librviz_tutorial/src/myviz.h
@@ -30,6 +30,7 @@
 #define MYVIZ_H
 
 
+
 #include <QWidget>
 #include<QString>
 #include <QGridLayout>
@@ -55,6 +56,8 @@ class RenderPanel;
 class VisualizationManager;
 class ToolManager;
 class PropertyTreeWidget;
+class ToolManager;
+class PropertyTreeWidget;
 }
 
 // BEGIN_TUTORIAL
@@ -69,6 +72,8 @@ public:
   void pubThread();
   void PlayCircle(int index);  // 圆圈线程执行函数
   rosbag::View *view;
+  void PlayCircle(int index);  // 圆圈线程执行函数
+  rosbag::View *view;
 private Q_SLOTS:   // QT信号和槽
   void setThickness( int thickness_percent );
   void setCellSize( int cell_size_percent );
@@ -83,6 +88,8 @@ private Q_SLOTS:   // QT信号和槽
   void setBackgroundColor(const QString& bg_color); // 背景颜色
   void AxesDisplayChanged(int index); // axe
   void CircleDisplayChanged(int index); // circle
+  void AxesDisplayChanged(int index); // axe
+  void CircleDisplayChanged(int index); // circle
   void Tree_Display(QGridLayout* layout, int index);
 
   void login_button_clicked();
@@ -99,12 +106,17 @@ private:
   rviz::VisualizationManager* manager_; // 
   rviz::RenderPanel* render_panel_;
   rviz::ToolManager* tool_manager_;
+  rviz::ToolManager* tool_manager_;
   rviz::Display* grid_;
   rviz::Display* cloud;
   rviz::Display* laser_;
   rviz::Display* axes_display;
   rviz::Display* marker_;
   rviz::PropertyTreeWidget* tree_widget_ ;
+  rviz::Display* laser_;
+  rviz::Display* axes_display;
+  rviz::Display* marker_;
+  rviz::PropertyTreeWidget* tree_widget_ ;
   ros::NodeHandle nh;
   ros::Subscriber sub;
   ros::Publisher pub;
diff --git a/librviz_tutorial/src/node.cpp b/librviz_tutorial/src/node.cpp
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