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diff --git a/README.md b/README.md
@@ -1,17 +1,45 @@
-YDLIDAR ROS PACKAGE(V1.4.5)
-=====================================================================
+![YDLIDAR](sdk/image/YDLidar.jpg  "YDLIDAR")
+# YDLIDAR ROS PACKAGE(V1.4.5)
+
+## Dataset 
+|LIDAR      | Model  |  Baudrate |  SampleRate(K) | Range(m)  		   |  Frequency(HZ) | Intenstiy(bit) | SingleChannel | voltage(V)|
+| :-------- |:--:|:--:|:--:|:--:|:--:|:--:|:--:|:--:|
+| F4        | 1	   |  115200   |   4            |  0.12~12         | 5~12           | false          | false    	  | 4.8~5.2   |
+| S4        | 4	   |  115200   |   4            |  0.10~8.0        | 5~12 (PWM)     | false          | false    	  | 4.8~5.2   |
+| S4B       | 4/11   |  153600   |   4            |  0.10~8.0        | 5~12(PWM)      | true(8)        | false    	  | 4.8~5.2   |
+| S2        | 4/12   |  115200   |   3            |  0.10~8.0     	| 4~8(PWM)       | false          | true    		  | 4.8~5.2   |
+| G4        | 5	   |  230400   |   9/8/4        |  0.28/0.26/0.1~16| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| X4        | 6	   |  128000   |   5            |  0.12~10     		| 5~12(PWM)      | false          | false    	  | 4.8~5.2   |
+| X2/X2L    | 6	   |  115200   |   3            |  0.10~8.0     	| 4~8(PWM)       | false          | true    		  | 4.8~5.2   |
+| G4PRO     | 7	   |  230400   |   9/8/4        |  0.28/0.26/0.1~16| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| F4PRO     | 8	   |  230400   |   4/6          |  0.12~12         | 5~12        	  | false          | false    	  | 4.8~5.2   |
+| R2        | 9	   |  230400   |   5            |  0.12~16     		| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| G6        | 13     |  512000   |   18/16/8      |  0.28/0.26/0.1~25| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| G2A       | 14	   |  230400   |   5            |  0.12~12         | 5~12      	  | false          | false    	  | 4.8~5.2   |
+| G2        | 15		|  230400   |   5            |  0.28~16     		| 5~12      	  | true(8)        | false    	  | 4.8~5.2   |
+| G2C       | 16		|  115200   |   4            |  0.1~12        	| 5~12      	  | false      	 | false    	  | 4.8~5.2   |
+| G4B       | 17		|  512000   |   10           |  0.12~16         | 5~12        	  | true(10)       | false    	  | 4.8~5.2   |
+| G4C       | 18		|  115200   |   4            |  0.1~12		      | 5~12           | false          | false    	  | 4.8~5.2   |
+| G1        | 19		|  230400   |   9            |  0.28~16         | 5~12      	  | false          | false    	  | 4.8~5.2   |
+| TX8    　 | 100	   |  115200   |   4            |  0.1~8      	   | 4~8(PWM)       | false          | true      	  | 4.8~5.2   |
+| TX20    　| 100	   |  115200   |   4            |  0.1~20      	   | 4~8(PWM)       | false          | true     	  | 4.8~5.2   |
+| TG15    　| 100	   |  512000   |   20/18/10     |  0.05~15      	| 3~16      	  | false          | false    	  | 4.8~5.2   |
+| TG30    　| 101	   |  512000   |   20/18/10     |  0.05~30      	| 3~16      	  | false          | false    	  | 4.8~5.2   |
+| TG50    　| 102	   |  512000   |   20/18/10     |  0.05~50      	| 3~16      	  | false          | false    	  | 4.8~5.2   |
+
+Note: PWM option speed control requires external PWM wave.
+
+## How to [install ROS](http://wiki.ros.org/ROS/Installation)
 
-How to [install ROS](http://wiki.ros.org/ROS/Installation)
-=====================================================================
 [ubuntu](http://wiki.ros.org/Installation/Ubuntu)
 
 [windows](http://wiki.ros.org/Installation/Windows)
 
-How to Create a ROS workspace
-=====================================================================
+## How to Create a ROS workspace
+
 [Create a workspace](http://wiki.ros.org/catkin/Tutorials/create_a_workspace)
 
-##How to build YDLiDAR ROS Package
+## How to build YDLiDAR ROS Package
 
     1) Clone this project to your catkin's workspace src folder
     	(1). git clone https://github.com/YDLIDAR/ydlidar_ros
@@ -23,19 +51,18 @@ How to Create a ROS workspace
     --$ sudo sh initenv.sh
 Note: Download and Build details [here](docs/ydlidar.md)
 
-##How to Run YDLIDAR ROS Package
-####1. Run YDLIDAR node and view in the rviz
+## How to Run YDLIDAR ROS Package
+#### 1. Run YDLIDAR node and view in the rviz
 ------------------------------------------------------------
 	roslaunch ydlidar_ros lidar_view.launch
 
-####2. Run YDLIDAR node and view using test application
+#### 2. Run YDLIDAR node and view using test application
 ------------------------------------------------------------
 	roslaunch ydlidar_ros lidar.launch
 
 	rosrun ydlidar_ros ydlidar_client
 
-ros-interfaces
-=====================================================================
+## ros-interfaces
 
 <center>
 
@@ -63,7 +90,7 @@ ros-interfaces
 
 </center>
 
-##Parameters
+## Parameters
 
 port (string, default: /dev/ydlidar)
 
@@ -166,8 +193,7 @@ frequency (double, default: 10)
     the LIDAR scanning frequency.
 
 
-Change Log
-=====================================================================
+## Change Log
 
 2020-01-04 version:1.4.5
 
@@ -200,3 +226,8 @@ Change Log
    3.Only support G2A LiDAR
 
    4.optimal turnOn and  turnOff 
+
+## Contact EAI
+![Development Path](sdk/image/EAI.png)
+
+If you have any extra questions, please feel free to [contact us](http://www.ydlidar.cn/cn/contact)
diff --git a/docs/paramters.md b/docs/paramters.md
@@ -1,6 +1,6 @@
-#ROS Paramters Table
+#　ROS Paramters Table
 
-##Paramters Description
+##　Paramters Description
 | Parameter         | Type                    | Description                                         |
 |-----------------------|------------------------|-----------------------------------------------------|
 | `port`        		| String                 	| port of lidar (ex. /dev/ttyUSB0)                         		|
@@ -19,7 +19,7 @@
 | `samp_rate`       	| int                  	| sampling rate of lidar, default: 9      				|
 | `frequency`       	| float                  	| scan frequency of lidar,default: 10.0      			|
 
-##Baudrate Table
+##　Baudrate Table
 
 | LiDAR                					| baudrate               | 
 |-----------------------------------------------|-----------------------|
@@ -57,7 +57,7 @@
 |S2                    		| 3			 	 |
 |TG15/TG30/TG50           | 10,18,20		 |
 
-##Frequency Table
+##　Frequency Table
 
 
 | LiDAR                					| frequency             | 

diff --git a/docs/ydlidar.md b/docs/ydlidar.md
@@ -1,16 +1,16 @@
-#YDLIDAR ROS Package Download and Build
-##Step1: create a ROS workspace, if there is no workspace, othereise Skip to Step2
-####Linux/OS X
+#　YDLIDAR ROS Package Download and Build
+##　Step1: create a ROS workspace, if there is no workspace, othereise Skip to Step2
+####　Linux/OS X
 	$mkdir -p ~/ydlidar_ros_ws/src
 	$cd ~/ydlidar_ros_ws/src
-####Windows
+####　Windows
 	$md \dev\ydlidar_ros_ws\src
 	$cd \dev\ydlidar_ros_ws\src
 
-##Step2: clone ydlidar ros package
+##　Step2: clone ydlidar ros package
 	$git clone https://github.com/YDLIDAR/ydlidar_ros
 
-##Step3: Build [ydlidar_ros](https://github.com/YDLIDAR/ydlidar_ros) package
+##　Step3: Build [ydlidar_ros](https://github.com/YDLIDAR/ydlidar_ros) package
 	$cd ..
 	$catkin_make
 
@@ -19,8 +19,7 @@ Note: Set ROS Workspace Environment Variables
 	$echo "source ~/ydlidar_ros_ws//devel/setup.bash" >> ~/.bashrc
 	$source ~/.bashrc
 
-##Step4:Configure LiDAR [paramters](launch/lidar.launch)
-	```
+##　Step4:Configure LiDAR [paramters](../launch/lidar.launch)
 	<launch>
   	<node name="ydlidar_node"  pkg="ydlidar_ros"  type="ydlidar_node" output="screen" respawn="false" >
     		<param name="port"         type="string" value="/dev/ydlidar"/>  
@@ -41,15 +40,14 @@ Note: Set ROS Workspace Environment Variables
     args="0.2245 0.0 0.2 0.0 0.0  0.0 /base_footprint /laser_frame 40" />
 	</launch>
 
-    ```
 Note: How to configure paramters, see [here](paramters.md)
 
-##Step5:Create serial port Alias[/dev/ydlidar] 
+##　Step5:Create serial port Alias[/dev/ydlidar] 
 	$chmod 0777 src/ydlidar_ros/startup/*
 	$sudo sh src/ydlidar_ros/startup/initenv.sh
 Note: After completing the previous operation, replug the LiDAR again.
 
-##Step6:Run ydlidar_ros node
+##　Step6:Run ydlidar_ros node
 
 	$roslaunch ydlidar_ros lidar.launch
 

diff --git a/sdk/README.md b/sdk/README.md
@@ -1,4 +1,4 @@
-![YDLIDAR](image/index-X4.jpg  "YDLIDAR_X4")
+![YDLIDAR](image/YDLidar.jpg  "YDLIDAR")
 
 YDLIDAR SDK [![Build Status](https://travis-ci.org/cansik/sdk.svg?branch=samsung)](https://travis-ci.org/cansik/sdk) [![Build status](https://ci.appveyor.com/api/projects/status/2w9xm1dbafbi7xc0?svg=true)](https://ci.appveyor.com/project/cansik/sdk) [![codebeat badge](https://codebeat.co/badges/3d8634b7-84eb-410c-b92b-24bf6875d8ef)](https://codebeat.co/projects/github-com-cansik-sdk-samsung)
 =====================================================================
@@ -11,6 +11,13 @@ YDLIDAR(https://www.ydlidar.com/) series is a set of high-performance and low-co
 
 If you are using ROS (Robot Operating System), please use our open-source [ROS Driver]( https://github.com/ydlidar/ydlidar_ros) .
 
+Prerequisites
+-------------------------------------------------------------------------------------------------------------------------------------------------------
+* Linux
+* Windows 7/10, Visual Studio 2015/2017
+* C++11 compiler
+
+
 Licence
 -------------------------------------------------------------------------------------------------------------------------------------------------------
 
@@ -32,16 +39,32 @@ Release Notes
 
 Dataset 
 -------------------------------------------------------------------------------------------------------------------------------------------------------
-
-
-| Model      |  Baudrate |  Sampling Frequency | Range(m)  | Scanning Frequency(HZ) | Working temperature(°C) | Laser power max(mW) | voltage(V) | Current(mA) | Intensity
-| :-------- | --------:|--------:|  --------:| --------:|--------:| --------:| --------:| --------:| :--: |
-| TG15   |  512000 |   20000  |  0.1-15   |3-15.7|0-50| ~5|4.8-5.2|400-480| false |
-| TG30   |  512000 |   4000  |  0.1-30   |3-15.7|0-50| ~5|4.8-5.2|400-480| false |
-| TG50   |  512000 |   4000  |  0.1-50   |3-15.7|0-50| ~5|4.8-5.2|400-480| false |
-| G2A    |  230400 |   5000  |  0.12-12   |5-12|0-50| ~5|4.8-5.2|400-480| false |
-| G2      |  230400 |   5000  |  0.12-12   |5-12|0-50| ~5|4.8-5.2|400-480| true |
-| G2C   |  230400 |   4000  |  0.12-12   |5-12|0-50| ~5|4.8-5.2|400-480| false |
+|LIDAR      | Model  |  Baudrate |  SampleRate(K) | Range(m)  		   |  Frequency(HZ) | Intenstiy(bit) | SingleChannel | voltage(V)|
+| :-------- |:--:|:--:|:--:|:--:|:--:|:--:|:--:|:--:|
+| F4        | 1	   |  115200   |   4            |  0.12~12         | 5~12           | false          | false    	  | 4.8~5.2   |
+| S4        | 4	   |  115200   |   4            |  0.10~8.0        | 5~12 (PWM)     | false          | false    	  | 4.8~5.2   |
+| S4B       | 4/11   |  153600   |   4            |  0.10~8.0        | 5~12(PWM)      | true(8)        | false    	  | 4.8~5.2   |
+| S2        | 4/12   |  115200   |   3            |  0.10~8.0     	| 4~8(PWM)       | false          | true    		  | 4.8~5.2   |
+| G4        | 5	   |  230400   |   9/8/4        |  0.28/0.26/0.1~16| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| X4        | 6	   |  128000   |   5            |  0.12~10     		| 5~12(PWM)      | false          | false    	  | 4.8~5.2   |
+| X2/X2L    | 6	   |  115200   |   3            |  0.10~8.0     	| 4~8(PWM)       | false          | true    		  | 4.8~5.2   |
+| G4PRO     | 7	   |  230400   |   9/8/4        |  0.28/0.26/0.1~16| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| F4PRO     | 8	   |  230400   |   4/6          |  0.12~12         | 5~12        	  | false          | false    	  | 4.8~5.2   |
+| R2        | 9	   |  230400   |   5            |  0.12~16     		| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| G6        | 13     |  512000   |   18/16/8      |  0.28/0.26/0.1~25| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| G2A       | 14	   |  230400   |   5            |  0.12~12         | 5~12      	  | false          | false    	  | 4.8~5.2   |
+| G2        | 15		|  230400   |   5            |  0.28~16     		| 5~12      	  | true(8)        | false    	  | 4.8~5.2   |
+| G2C       | 16		|  115200   |   4            |  0.1~12        	| 5~12      	  | false      	 | false    	  | 4.8~5.2   |
+| G4B       | 17		|  512000   |   10           |  0.12~16         | 5~12        	  | true(10)       | false    	  | 4.8~5.2   |
+| G4C       | 18		|  115200   |   4            |  0.1~12		      | 5~12           | false          | false    	  | 4.8~5.2   |
+| G1        | 19		|  230400   |   9            |  0.28~16         | 5~12      	  | false          | false    	  | 4.8~5.2   |
+| TX8    　 | 100	   |  115200   |   4            |  0.1~8      	   | 4~8(PWM)       | false          | true      	  | 4.8~5.2   |
+| TX20    　| 100	   |  115200   |   4            |  0.1~20      	   | 4~8(PWM)       | false          | true     	  | 4.8~5.2   |
+| TG15    　| 100	   |  512000   |   20/18/10     |  0.05~15      	| 3~16      	  | false          | false    	  | 4.8~5.2   |
+| TG30    　| 101	   |  512000   |   20/18/10     |  0.05~30      	| 3~16      	  | false          | false    	  | 4.8~5.2   |
+| TG50    　| 102	   |  512000   |   20/18/10     |  0.05~50      	| 3~16      	  | false          | false    	  | 4.8~5.2   |
+
+   Note: PWM option speed control requires external PWM wave.
 
 How to build YDLIDAR SDK samples
 ---------------
@@ -98,10 +121,10 @@ Data structure
 See [the protocol page](include/ydlidar_protocol.h) for more info.
 
 
-Coordinate System
+TOF LiDAR
 -------------------------------------------------------------------------------------------------------------------------------------------------------
 
-![Coordinate](image/image.png  "Coordinate")
+![TOF](image/TOF.png  "TOF")
 
 
 Upgrade Log
@@ -192,5 +215,6 @@ Upgrade Log
 
    Contact EAI
 ---------------
+![Development Path](image/EAI.png)
 
 If you have any extra questions, please feel free to [contact us](http://www.ydlidar.cn/cn/contact)
diff --git a/sdk/image/EAI.png b/sdk/image/EAI.png
diff --git a/sdk/image/G1.png b/sdk/image/G1.png
diff --git a/sdk/image/G2.png b/sdk/image/G2.png
diff --git a/sdk/image/G4.png b/sdk/image/G4.png
diff --git a/sdk/image/G6.png b/sdk/image/G6.png
diff --git a/sdk/image/T15.jpg b/sdk/image/T15.jpg
diff --git a/sdk/image/TG30.png b/sdk/image/TG30.png
diff --git a/sdk/image/TOF.png b/sdk/image/TOF.png
diff --git a/sdk/image/TS4.jpg b/sdk/image/TS4.jpg
diff --git a/sdk/image/TX20.png b/sdk/image/TX20.png
diff --git a/sdk/image/YDLidar.jpg b/sdk/image/YDLidar.jpg
diff --git a/sdk/image/index-TX8.jpg b/sdk/image/index-TX8.jpg
diff --git a/sdk/image/index-X2.jpg b/sdk/image/index-X2.jpg