初始化项目，包含fast_lio_ws和unitree_sdk2

unitree_sdk2/example/jsonize/CMakeLists.txt

@@ -0,0 +1,2 @@
+add_executable(test_jsonize test_jsonize.cpp)
+target_link_libraries(test_jsonize unitree_sdk2)

unitree_sdk2/example/jsonize/test_jsonize.cpp

@@ -0,0 +1,86 @@
+#include <unitree/common/json/jsonize.hpp>
+
+namespace unitree
+{
+namespace common
+{
+class Test : public Jsonize
+{
+public:
+    Test() : x(0), y(0), z(0)
+    {}
+
+    void fromJson(JsonMap& json)
+    {
+        FromJson(json["x"], x);
+        FromJson(json["y"], y);
+        FromJson(json["z"], z);
+    }
+
+    void toJson(JsonMap& json) const
+    {
+        ToJson(x, json["x"]);
+        ToJson(y, json["y"]);
+        ToJson(z, json["z"]);
+    }
+
+public:
+    int x;
+    int y;
+    int z;
+};
+}
+}
+
+using namespace unitree::common;
+
+int main()
+{
+    std::vector<Test> vec;
+
+    Test t1;
+    t1.x = 1;
+    t1.y = 2;
+    t1.z = 3;
+
+    vec.push_back(t1);
+
+    Test t2;
+    t2.x = 10;
+    t2.y = 20;
+    t2.z = 30;
+
+    vec.push_back(t2);
+
+    Test t3;
+    t3.x = 100;
+    t3.y = 200;
+    t3.z = 300;
+
+    vec.push_back(t3);
+
+    std::string s = ToJsonString(vec);
+
+    std::cout << "s=" << s << std::endl;
+
+    std::vector<Test> vec2;
+    FromJsonString(s, vec2);
+
+    size_t i, size = vec2.size();
+    for (i=0; i<size; i++)
+    {
+        const Test& t = vec2[i];
+        std::cout << "t.x=" << t.x << ", t.y=" << t.y << ", t.z=" << t.z << std::endl;
+    }
+
+    std::map<std::string,std::string> tmp;
+
+    tmp["abc"] = "a1b1c1";
+    tmp["xyz"] = "x1y1z1";
+
+    s = ToJsonString(tmp);
+
+    std::cout << s << std::endl;
+
+    return 0;
+}