diff --git a/CHANGELOG.md b/CHANGELOG.md
index 69716948..7b433ea9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,11 +1,19 @@
 # Changelog
 
-## Unreleased
+## v1.1.0 - 2020-07-01
 
 ### Added
 
 - Add ROS2 support
 
+### Changed
+- Replace while loop with cv.wait
+- Update the vector copy part 
+- Update the program structure
+
+### Removed
+- Remove some unused variables in message struct
+
 ---  
 
 ## v1.0.0 - 2020-06-01
diff --git a/config/config.yaml b/config/config.yaml
index 4f3e1ea9..77a640bc 100755
--- a/config/config.yaml
+++ b/config/config.yaml
@@ -21,7 +21,7 @@
 #****************************************************************************/
 
 common:
-    msg_source: 0                                         #0--not use Lidar
+    msg_source: 1                                         #0--not use Lidar
                                                           #1--lidar packet message come from online lidar
                                                           #2--lidar packet message come from ROS
                                                           #3--lidar packet message come from Pcap bag
@@ -31,11 +31,11 @@ common:
     send_points_ros: true                                 #True--Send pointcloud through ROS
     send_packets_proto: false                             #True--Send packets through Protobuf-UDP
     send_points_proto: false                              #True--Send pointcloud through Protobuf-UDP
-    pcap_directory: /home/xzd/项目/驱动/测试数据/128.pcap              #The path of pcap file
+    pcap_directory: /home/robosense/128.pcap              #The path of pcap file
 
 lidar:
   - driver:
-      lidar_type: RS128           #The lidar type, must be set correctly. If set to RSAUTO, the driver will check the lidar type automatically.This function only support the latest version LiDARs.
+      lidar_type: RS128            #The lidar type, must be set correctly. If set to RSAUTO, the driver will check the lidar type automatically.This function only support the latest version LiDARs.
       frame_id: /rslidar           #The frame id of message
       device_ip: 192.168.1.200     #The device ip address
       msop_port: 6699              #The mosp port of lidar,default is 6699
diff --git a/src/rs_driver b/src/rs_driver
index 168b79ac..d0f6e29b 160000
--- a/src/rs_driver
+++ b/src/rs_driver
@@ -1 +1 @@
-Subproject commit 168b79ac44787b6a26a76d47169b0a1ee446c450
+Subproject commit d0f6e29b9d3460c9ceb303fae676025380719783