diff --git a/src/doc/conf.py b/src/doc/conf.py
new file mode 100644
index 0000000..bb18b12
--- /dev/null
+++ b/src/doc/conf.py
@@ -0,0 +1,25 @@
+import sys, os
+
+sys.path += [ os.path.abspath( '.' )]
+
+extensions = [ 'sphinx.ext.extlinks',
+               'tutorialformatter' ]
+
+# The master toctree document.
+master_doc = 'index'
+
+# The suffix of source filenames.
+source_suffix = '.rst'
+
+project = u'librviz_tutorial'
+
+copyright = u'2012,  Willow Garage, Inc'
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+show_authors = True
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+extlinks = {'codedir': ('https://github.com/ros-visualization/visualization_tutorials/blob/hydro-devel/librviz_tutorial/%s', '')}
diff --git a/src/doc/index.rst b/src/doc/index.rst
new file mode 100644
index 0000000..28910ab
--- /dev/null
+++ b/src/doc/index.rst
@@ -0,0 +1,67 @@
+Librviz Tutorial
+================
+
+Overview
+--------
+
+RViz is not just a visualizer application, it is also a library!  Much
+of RViz's functionality can be accessed within your own application by
+linking against librviz.so (or whatever your OS likes to call it).
+
+This tutorial shows a very simple example of creating a 3D visualizer
+widget (rviz::RenderPanel), programmatically creating a new Grid
+display within it, then using Qt slider controls to adjust a couple of
+the grid's properties.  The app is called "myviz".
+
+The source code for this tutorial is in the librviz_tutorial
+package. You can check out the source directly or (if you use Ubuntu)
+you can just apt-get install the pre-compiled Debian package like so::
+
+    sudo apt-get install ros-hydro-visualization-tutorials
+
+The running application looks like this:
+
+.. image:: myviz.png
+
+The Code
+--------
+
+The code for myviz is in these files: 
+:codedir:`src/main.cpp`,
+:codedir:`src/myviz.h`, and
+:codedir:`src/myviz.cpp`.
+
+main.cpp
+^^^^^^^^
+
+The full text of main.cpp is here: :codedir:`src/main.cpp`
+
+.. tutorial-formatter:: ../main.cpp
+
+myviz.h
+^^^^^^^
+
+The full text of myviz.h is here: :codedir:`src/myviz.h`
+
+.. tutorial-formatter:: ../myviz.h
+
+myviz.cpp
+^^^^^^^^^
+
+The full text of myviz.cpp is here: :codedir:`src/myviz.cpp`
+
+.. tutorial-formatter:: ../myviz.cpp
+
+Building
+--------
+
+The full text of CMakeLists.txt is here: :codedir:`CMakeLists.txt`
+
+.. tutorial-formatter:: ../../CMakeLists.txt
+
+Running
+-------
+
+Just type::
+
+    rosrun librviz_tutorial myviz
diff --git a/src/doc/myviz.png b/src/doc/myviz.png
new file mode 100644
index 0000000..ab623d2
Binary files /dev/null and b/src/doc/myviz.png differ
diff --git a/src/doc/tutorialformatter.py b/src/doc/tutorialformatter.py
new file mode 100644
index 0000000..8260942
--- /dev/null
+++ b/src/doc/tutorialformatter.py
@@ -0,0 +1,132 @@
+"""
+    tutorialformatter
+    ===========================
+
+    This extension provides a directive to include a source code file
+    in a document, but with certain comments from the file formatted
+    as regular document text.  This allows code for a tutorial to look like:
+
+        /// BEGIN_TUTORIAL
+        /// This next line adds one.
+        i = i + 1;
+        /// Then we need to double it.
+        i = i * 2;
+        /// END_TUTORIAL
+
+    And have it formatted as
+
+    This next line adds one.::
+        i = i + 1;
+
+    Then we need to double it.::
+        i = i * 2;
+
+    The special-looking comment character sequence at the start of
+    each text line can be anything not starting or ending with
+    whitespace.  tutorialformatter starts by scanning the file for the
+    string BEGIN_TUTORIAL.  When it finds it, it takes all the
+    characters before BEGIN_TUTORIAL on that line, strips whitespace
+    from the left, and uses that as the text marker.  So this would
+    also be fine:
+
+        #My Tutorial# BEGIN_TUTORIAL
+        #My Tutorial# This next line adds one.
+        i = i + 1
+        #My Tutorial# Then we need to double it.
+        i = i * 2
+        #My Tutorial# END_TUTORIAL
+
+    .. moduleauthor::  Dave Hershberger <hersh@willowgarage.com>
+"""
+
+__version__ = '0.1.0'
+
+import os
+from docutils.parsers import rst
+from docutils.parsers.rst.directives import flag, unchanged
+from docutils.statemachine import string2lines
+from pygments.lexers import get_lexer_for_filename
+
+class TutorialFormatterDirective(rst.Directive):
+    has_content = False
+    final_argument_whitespace = True
+    required_arguments = 1
+
+    option_spec = dict(shell=flag, prompt=flag, nostderr=flag,
+                       in_srcdir=flag, extraargs=unchanged,
+                       until=unchanged)
+
+    def run(self):
+        filename = self.arguments[0]
+        text_tag = None
+        tag_len = 0
+
+        filepath = self.state.document.settings.env.srcdir
+        absfilename = os.path.join( filepath, filename )
+        if absfilename.endswith('.h'):
+            language = 'c++'
+        elif absfilename.endswith('CMakeLists.txt'):
+            language = 'cmake'
+        else:
+            try:
+                language = get_lexer_for_filename( absfilename ).name.lower()
+                if language == 'text only':
+                    language = 'none'
+            except:
+                language = 'none'
+        code_prefix = '\n.. code-block:: ' + language + '\n\n'
+        code_suffix = '\n'
+
+        print "tutorial-formatter running on", absfilename
+        file_ = open( absfilename, 'r' )
+        text_to_process = ""
+        current_block = ""
+        in_code = False
+        in_text = False
+        in_tutorial = False
+        for line in file_:
+            if not in_tutorial:
+                begin_pos = line.find( 'BEGIN_TUTORIAL' )
+                if begin_pos != -1:
+                    text_tag = line[:begin_pos].lstrip()
+                    tag_len = len( text_tag )
+                    in_tutorial = True
+                continue
+            if line.find( 'END_TUTORIAL' ) != -1:
+                break
+            stripped = line.lstrip()
+            if stripped.startswith( text_tag.strip() ):
+                if in_code:
+                    text_to_process += code_prefix + current_block + code_suffix
+                    current_block = ""
+                    in_code = False
+                in_text = True
+                addition = stripped[tag_len:]
+                if addition == '' or addition[-1] != '\n':
+                    addition += '\n'
+                current_block += addition
+            else:
+                if in_text:
+                    text_to_process += current_block
+                    current_block = ""
+                    in_text = False
+                    in_code = True # Code to show begins right after tagged text
+                if in_code:
+                    current_block += ' ' + line
+        if in_code:
+            text_to_process += code_prefix + current_block + code_suffix
+        elif in_text:
+            text_to_process += current_block
+
+        # Debug writes...
+        #print 'text_to_process ='
+        #print text_to_process
+        #print '= text_to_process'
+
+        lines = string2lines( text_to_process )
+        self.state_machine.insert_input( lines, absfilename )
+
+        return []
+
+def setup(app):
+    app.add_directive('tutorial-formatter', TutorialFormatterDirective)
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000..c6ad557
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+// BEGIN_TUTORIAL
+
+// The main() for this "myviz" example is very simple, it just
+// initializes ROS, creates a QApplication, creates the top-level
+// widget (of type "MyViz"), shows it, and runs the Qt event loop.
+
+#include <QApplication>
+#include <ros/ros.h>
+#include "myviz.h"
+
+int main(int argc, char **argv)
+{
+  if( !ros::isInitialized() )
+  {
+    ros::init( argc, argv, "myviz", ros::init_options::AnonymousName );
+  }
+
+  QApplication app( argc, argv );
+
+  MyViz* myviz = new MyViz();
+  myviz->setGeometry(0, 0, 2000, 1000);
+  myviz->show();
+
+  app.exec();
+
+  delete myviz;
+}
diff --git a/src/myviz.cpp b/src/myviz.cpp
new file mode 100644
index 0000000..cee9b81
--- /dev/null
+++ b/src/myviz.cpp
@@ -0,0 +1,270 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <QColor>
+#include <QSlider>
+#include <QLabel>
+#include <QGridLayout>
+#include <QVBoxLayout>
+#include<QLineEdit>
+#include<QSpinBox>
+#include<QPushButton>
+#include <QProcess>
+#include <QDebug>
+
+#include<iostream>
+#include "rviz/visualization_manager.h"
+#include "rviz/render_panel.h"
+#include "rviz/display.h"
+
+#include "myviz.h"
+#include "qthread.h"
+
+// BEGIN_TUTORIAL
+// Constructor for MyViz.  This does most of the work of the class.
+MyViz::MyViz( QWidget* parent )
+  : QWidget( parent )
+{
+
+  nh=ros::NodeHandle("~");
+  sub=nh.subscribe("/test",1000,&MyViz::subCallback,this);
+  pub=nh.advertise<std_msgs::String>("/test_pub",1000);
+  pub_thread=std::thread(&MyViz::pubThread,this);
+  //pub_thread.join();
+  // Construct and lay out labels and slider controls.
+  QLabel* thickness_label = new QLabel( "Line Thickness" );
+  QSlider* thickness_slider = new QSlider( Qt::Horizontal );
+  thickness_slider->setMinimum( 1 );
+  thickness_slider->setMaximum( 100 );
+  QLabel* cell_size_label = new QLabel( "Cell Size" );
+  QSlider* cell_size_slider = new QSlider( Qt::Horizontal );
+  cell_size_slider->setMinimum( 1 );
+  cell_size_slider->setMaximum( 100 );
+  QLabel* Topic=new QLabel("TOPIC:");
+  QLineEdit* Topic_text=new QLineEdit();
+  QGridLayout* controls_layout = new QGridLayout();
+  QLabel* Size=new QLabel("Cloud Size");
+  QSpinBox* size=new QSpinBox();
+
+  /*button goto file begining*/
+  QPushButton* but_reset = new QPushButton("reset", this);
+  /*button goto file ending*/
+  QPushButton* but_ending = new QPushButton("end", this);
+
+  //TODO: set button color
+  //button->setStyleSheet("background-color: red; color: white;");
+  //TODO: set shortcut key
+  //button->setShortcut(QKeySequence(Qt::CTRL + Qt::Key_A));
+
+
+  //enable button
+  but_reset->setEnabled(true);
+  but_ending->setEnabled(true);
+
+  but_reset->setFixedSize(100, 30);
+  but_ending->setFixedSize(100, 30);
+
+  controls_layout->addWidget( thickness_label, 0, 0 );
+  controls_layout->addWidget( thickness_slider, 0, 1 );
+  controls_layout->addWidget( cell_size_label, 0, 2 );
+  controls_layout->addWidget( cell_size_slider, 0, 3 );
+
+  //button locatin
+  controls_layout->addWidget( but_reset, 1, 0 );
+  controls_layout->addWidget( but_ending, 1, 1 );
+
+  controls_layout->addWidget(Topic,0,4);
+  controls_layout->addWidget(Topic_text,0,5);
+  controls_layout->addWidget(Size,0,6);
+  controls_layout->addWidget(size,0,7);
+
+
+  // Construct and lay out render panel.
+  render_panel_ = new rviz::RenderPanel();
+  QVBoxLayout* main_layout = new QVBoxLayout;
+  main_layout->addLayout( controls_layout );
+  main_layout->addWidget( render_panel_ );
+
+  // Set the top-level layout for this MyViz widget.
+  setLayout( main_layout );
+
+  // Make signal/slot connections.
+  connect( thickness_slider, SIGNAL( valueChanged( int )), this, SLOT( setThickness( int )));
+  connect( cell_size_slider, SIGNAL( valueChanged( int )), this, SLOT( setCellSize( int )));
+  //connect(Topic_text,SIGNAL(textChanged(const QString &)),this,SLOT(setCloudTopic(const QString &)));
+
+  //topic change signal
+  connect(Topic_text,SIGNAL(textChanged(const QString &)),this,SLOT(setlaserTopic(const QString &)));
+  //button signal
+  connect(but_ending, &QPushButton::clicked, this,  [&]() {
+    QStringList arguments, infoarg;
+    QString time;
+    QString file_path = "/home/noerror/123/catkin_for_ros/src/librviz_tutorial/data/result.bag";
+    QProcess *rosbaginfoProcess = new QProcess(this); 
+
+    infoarg  << "info" << file_path;
+    rosbaginfoProcess->start("rosbag", infoarg);
+    
+    if(rosbaginfoProcess->waitForFinished()){
+      QByteArray output = rosbaginfoProcess->readAllStandardOutput();
+      QString outputString = QString::fromLocal8Bit(output);
+      QString delimiter = "duration:";
+      outputString = outputString.section(delimiter, 1, 1);
+      delimiter = "\n";
+      outputString = outputString.section(delimiter, 0, 0);
+      outputString.remove(" ");
+      outputString.remove("s");
+      double number = outputString.toDouble(); //qstring convert to double
+      time = QString::number(number-0.1);
+      qDebug() << time;
+    }
+    
+    arguments << "play" << file_path << "--start" << time;
+    QProcess *rosbagProcess = new QProcess(this); 
+    //QProcess::execute("rosbag play /home/noerror/123/catkin_for_ros/src/librviz_tutorial/data/result.bag");
+
+    rosbagProcess->start("rosbag", arguments);
+    
+    });
+  connect(but_reset, &QPushButton::clicked, this,  [&]() {
+    QStringList arguments, infoarg;
+    QString time;
+    QString file_path = "/home/noerror/123/catkin_for_ros/src/librviz_tutorial/data/result.bag";
+    
+    arguments << "play" << file_path;
+    QProcess *rosbagProcess = new QProcess(this); 
+    //QProcess::execute("rosbag play /home/noerror/123/catkin_for_ros/src/librviz_tutorial/data/result.bag");
+
+    rosbagProcess->start("rosbag", arguments);
+    
+    });
+  connect(size,SIGNAL(valueChanged(int)),this,SLOT(setCloudSize(int)));
+  // Next we initialize the main RViz classes.
+  //
+  // The VisualizationManager is the container for Display objects,
+  // holds the main Ogre scene, holds the ViewController, etc.  It is
+  // very central and we will probably need one in every usage of
+  // librviz.
+  manager_ = new rviz::VisualizationManager( render_panel_ );
+  render_panel_->initialize( manager_->getSceneManager(), manager_ );
+  //manager_->setFixedFrame("world");
+
+  /*TODO: laser data*/
+  manager_->setFixedFrame("laser");
+  manager_->initialize();
+  manager_->startUpdate();
+
+  // Create a Grid display.
+  grid_ = manager_->createDisplay( "rviz/Grid", "adjustable grid", true );
+  ROS_ASSERT( grid_ != NULL );
+  
+  cloud = manager_->createDisplay( "rviz/PointCloud2", "point cloud", true );
+  ROS_ASSERT( cloud != NULL );
+
+  /*TODO: laser data display*/
+  laser = manager_->createDisplay( "rviz/LaserScan", "laser", true );
+  ROS_ASSERT( laser != NULL );
+  //set defualt topic to /scan
+  laser->subProp("Topic")->setValue("/scan");
+  laser->subProp("Decay Time")->setValue("0");
+
+
+  cloud->subProp("Topic")->setValue("/pose_graph/octree");
+  cloud->subProp("Style")->setValue("Points");
+  cloud->subProp("Size (Pixels)")->setValue("2");
+  cloud->subProp("Color Transformer")->setValue("Intensity");
+  cloud->subProp("Invert Rainbow")->setValue("true");
+  cloud->subProp("Decay Time")->setValue("1");
+  // Configure the GridDisplay the way we like it.
+  grid_->subProp( "Line Style" )->setValue( "Billboards" );
+  grid_->subProp( "Color" )->setValue( QColor( Qt::yellow ) );
+
+  // Initialize the slider values.
+  thickness_slider->setValue( 5 );
+  cell_size_slider->setValue( 10 );
+}
+
+// Destructor.
+MyViz::~MyViz()
+{
+  delete manager_;
+}
+
+// This function is a Qt slot connected to a QSlider's valueChanged()
+// signal.  It sets the line thickness of the grid by changing the
+// grid's "Line Width" property.
+void MyViz::setThickness( int thickness_percent )
+{
+  if( grid_ != NULL )
+  {
+    grid_->subProp( "Line Style" )->subProp( "Line Width" )->setValue( thickness_percent / 100.0f );
+  }
+}
+
+// This function is a Qt slot connected to a QSlider's valueChanged()
+// signal.  It sets the cell size of the grid by changing the grid's
+// "Cell Size" Property.
+void MyViz::setCellSize( int cell_size_percent )
+{
+  if( grid_ != NULL )
+  {
+    grid_->subProp( "Cell Size" )->setValue( cell_size_percent / 10.0f );
+  }
+}
+void MyViz::setCloudTopic(const QString &newTopic){
+  if(cloud!=NULL){
+    cloud->subProp( "Topic" )->setValue(newTopic);
+    //ROS_INFO_STREAM("cloud topic changed to => "<<newTopic.toStdString());
+  }
+}
+void MyViz::setCloudSize(int cloudsize){
+  if(cloud!=NULL){
+    cloud->subProp("Size (Pixels)")->setValue(cloudsize);
+  }
+}
+void MyViz::subCallback(const std_msgs::String& msg){
+  ROS_INFO_STREAM("receive message!");
+}
+void MyViz::pubThread(){
+  while(ros::ok()){
+    ROS_INFO_STREAM_ONCE("here is in publish process!");
+  }
+}
+void MyViz::setlaserTopic(const QString & lasertopic){
+  if(laser!=NULL){
+    laser->subProp("Topic")->setValue(lasertopic);
+    manager_->startUpdate();
+  }
+    
+}
+void MyViz::PushButtonBegining(const QString & things){
+  
+  QProcess::execute("rosbag play /home/noerror/123/catkin_for_ros/src/librviz_tutorial/data/result.bag ");
+  
+}
\ No newline at end of file
diff --git a/src/myviz.h b/src/myviz.h
new file mode 100644
index 0000000..be8d46f
--- /dev/null
+++ b/src/myviz.h
@@ -0,0 +1,79 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef MYVIZ_H
+#define MYVIZ_H
+
+#include <QWidget>
+#include<QString>
+#include<ros/ros.h>
+#include"std_msgs/String.h"
+#include<thread>
+namespace rviz
+{
+class Display;
+class RenderPanel;
+class VisualizationManager;
+}
+
+// BEGIN_TUTORIAL
+// Class "MyViz" implements the top level widget for this example.
+class MyViz: public QWidget
+{
+Q_OBJECT
+public:
+  MyViz( QWidget* parent = 0 );
+  virtual ~MyViz();
+  void subCallback(const std_msgs::String& msg);
+  void pubThread();
+private Q_SLOTS:
+  void setThickness( int thickness_percent );
+  void setCellSize( int cell_size_percent );
+  void setCloudTopic(const QString &newTopic);
+  void setCloudSize(int cloudsize);
+  void setlaserTopic(const QString &lasertopic);
+  void PushButtonBegining(const QString & things);
+  
+private:
+  rviz::VisualizationManager* manager_;
+  rviz::RenderPanel* render_panel_;
+  rviz::Display* grid_;
+  rviz::Display* cloud;
+
+  /*TODO: laser data*/
+  rviz::Display* laser;
+  /*TODO: create new thread*/
+  QProcess *rosbagProcessStart, *rosbagProcessEnd, *rosbagProcessReset;
+
+  ros::NodeHandle nh;
+  ros::Subscriber sub;
+  ros::Publisher pub;
+  std::thread pub_thread;
+};
+// END_TUTORIAL
+#endif // MYVIZ_H
diff --git a/src/qthread.h b/src/qthread.h
new file mode 100644
index 0000000..2575075
--- /dev/null
+++ b/src/qthread.h
@@ -0,0 +1,20 @@
+#include <QThread>
+#include <QProcess>
+
+class RosbagThread : public QThread {
+    Q_OBJECT
+
+public:
+    void run() override {
+        // 在这里执行您的rosbag任务
+        // 例如，记录数据到ROS bag文件或播放ROS bag文件
+        // 使用与前面示例中相似的方式启动rosbag进程
+
+        QStringList arguments;
+        QProcess rosbagProcess;
+
+        arguments << "play" << "/home/noerror/123/catkin_for_ros/src/librviz_tutorial/data/result.bag";
+        //QProcess::execute("rosbag play /home/noerror/123/catkin_for_ros/src/librviz_tutorial/data/result.bag");
+        rosbagProcess.start("rosbag", arguments);
+    }
+};
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