初始化项目，包含fast_lio_ws和unitree_sdk2

unitree_sdk2/example/h1/low_level/data_buffer.hpp

@@ -0,0 +1,28 @@
+#pragma once
+
+#include <deque>
+#include <memory>
+#include <mutex>
+#include <shared_mutex>
+
+template <typename T> class DataBuffer {
+public:
+  void SetData(const T &newData) {
+    std::unique_lock<std::shared_mutex> lock(mutex);
+    data = std::make_shared<T>(newData);
+  }
+
+  std::shared_ptr<const T> GetData() {
+    std::shared_lock<std::shared_mutex> lock(mutex);
+    return data ? data : nullptr;
+  }
+
+  void Clear() {
+    std::unique_lock<std::shared_mutex> lock(mutex);
+    data = nullptr;
+  }
+
+private:
+  std::shared_ptr<T> data;
+  std::shared_mutex mutex;
+};