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diff --git a/classUnitySensors_1_1ROS_1_1Publisher_1_1LiDAR_1_1CameraImageMsgPublisher.html b/classUnitySensors_1_1ROS_1_1Publisher_1_1Image_1_1CameraImageMsgPublisher.html
similarity index 79%
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 <div class="header">
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 <div class="header">
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 <div class="contents">
 
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similarity index 80%
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   <div class="headertitle">
-<div class="title">UnitySensors.ROS.Publisher.PointCloud.ImageMsgPublisher&lt; T &gt; Class Template Reference</div>  </div>
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 </div><!--header-->
 <div class="contents">
 <div class="dynheader">
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 <div class="header">
   <div class="headertitle">
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similarity index 71%
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   <div class="headertitle">
-<div class="title">UnitySensors.ROS.Publisher.LiDAR.DepthCameraPointCloud2MsgPublisher Class Reference</div>  </div>
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 <div class="contents">
 <div class="dynheader">
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 <div class="dynheader">
-Collaboration diagram for UnitySensors.ROS.Publisher.LiDAR.DepthCameraPointCloud2MsgPublisher:</div>
+Collaboration diagram for UnitySensors.ROS.Publisher.PointCloud.DepthCameraPointCloud2MsgPublisher:</div>
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 <hr/>The documentation for this class was generated from the following file:<ul>
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 </div><div class="memdoc">
 
+</div>
+</div>
+<a id="a5c66cd0305a840857a537309db31e9b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5c66cd0305a840857a537309db31e9b1">&#9670;&nbsp;</a></span>_velocity_tmp</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">Vector3 UnitySensors.Sensor.IMU.IMUSensor._velocity_tmp</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
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+</div><div class="memdoc">
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index f38ad0a1..b39d403d 100644
--- a/classUnitySensors_1_1Sensor_1_1IMU_1_1IMUSensor.js
+++ b/classUnitySensors_1_1Sensor_1_1IMU_1_1IMUSensor.js
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 <dt class="alphachar"><a name="letter_C">C</a></dt>
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+<dd><a class="el" href="classUnitySensors_1_1ROS_1_1Publisher_1_1Image_1_1CameraImageMsgPublisher.html">CameraImageMsgPublisher</a> (<a class="el" href="namespaceUnitySensors_1_1ROS_1_1Publisher_1_1Image.html">UnitySensors.ROS.Publisher.Image</a>)</dd><dd><a class="el" href="classUnitySensors_1_1ROS_1_1Publisher_1_1Camera_1_1CameraInfoMsgPublisher.html">CameraInfoMsgPublisher</a> (<a class="el" href="namespaceUnitySensors_1_1ROS_1_1Publisher_1_1Camera.html">UnitySensors.ROS.Publisher.Camera</a>)</dd><dd><a class="el" href="classUnitySensors_1_1ROS_1_1Serializer_1_1Camera_1_1CameraInfoMsgSerializer.html">CameraInfoMsgSerializer</a> (<a class="el" href="namespaceUnitySensors_1_1ROS_1_1Serializer_1_1Camera.html">UnitySensors.ROS.Serializer.Camera</a>)</dd><dd><a class="el" href="classUnitySensors_1_1Sensor_1_1Camera_1_1CameraSensor.html">CameraSensor</a> (<a class="el" href="namespaceUnitySensors_1_1Sensor_1_1Camera.html">UnitySensors.Sensor.Camera</a>)</dd><dd><a class="el" href="classUnitySensors_1_1Visualization_1_1Camera_1_1CameraTextureVisualizer.html">CameraTextureVisualizer</a> (<a class="el" href="namespaceUnitySensors_1_1Visualization_1_1Camera.html">UnitySensors.Visualization.Camera</a>)</dd><dd><a class="el" href="classUnitySensors_1_1Utils_1_1Camera_1_1Color2Depth.html">Color2Depth</a> (<a class="el" href="namespaceUnitySensors_1_1Utils_1_1Camera.html">UnitySensors.Utils.Camera</a>)</dd></dl>
 <dl class="classindex odd">
 <dt class="alphachar"><a name="letter_D">D</a></dt>
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+<dd><a class="el" href="classUnitySensors_1_1ROS_1_1Publisher_1_1LiDAR_1_1DepthBufferLiDARPointCloud2MsgPublisher.html">DepthBufferLiDARPointCloud2MsgPublisher</a> (<a class="el" href="namespaceUnitySensors_1_1ROS_1_1Publisher_1_1LiDAR.html">UnitySensors.ROS.Publisher.LiDAR</a>)</dd><dd><a class="el" href="classUnitySensors_1_1Sensor_1_1LiDAR_1_1DepthBufferLiDARSensor.html">DepthBufferLiDARSensor</a> (<a class="el" href="namespaceUnitySensors_1_1Sensor_1_1LiDAR.html">UnitySensors.Sensor.LiDAR</a>)</dd><dd><a class="el" href="classUnitySensors_1_1ROS_1_1Publisher_1_1PointCloud_1_1DepthCameraPointCloud2MsgPublisher.html">DepthCameraPointCloud2MsgPublisher</a> (<a class="el" href="namespaceUnitySensors_1_1ROS_1_1Publisher_1_1PointCloud.html">UnitySensors.ROS.Publisher.PointCloud</a>)</dd><dd><a class="el" href="classUnitySensors_1_1Visualization_1_1Camera_1_1DepthCameraPointCloudVisualizer.html">DepthCameraPointCloudVisualizer</a> (<a class="el" href="namespaceUnitySensors_1_1Visualization_1_1Camera.html">UnitySensors.Visualization.Camera</a>)</dd><dd><a class="el" href="classUnitySensors_1_1Sensor_1_1Camera_1_1DepthCameraSensor.html">DepthCameraSensor</a> (<a class="el" href="namespaceUnitySensors_1_1Sensor_1_1Camera.html">UnitySensors.Sensor.Camera</a>)</dd></dl>
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 <dt class="alphachar"><a name="letter_G">G</a></dt>
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 <dl class="classindex even">
 <dt class="alphachar"><a name="letter_I">I</a></dt>
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 <dt class="alphachar"><a name="letter_L">L</a></dt>
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+      [ "ImageMsgPublisher", "classUnitySensors_1_1ROS_1_1Publisher_1_1Image_1_1ImageMsgPublisher.html", null ]
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+      [ "DepthCameraPointCloud2MsgPublisher", "classUnitySensors_1_1ROS_1_1Publisher_1_1PointCloud_1_1DepthCameraPointCloud2MsgPublisher.html", null ]
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 <li>_random
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+<tr id="row_17_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUnitySensors_1_1ROS_1_1Publisher_1_1PointCloud_1_1DepthCameraPointCloud2MsgPublisher.html" target="_self">UnitySensors.ROS.Publisher.PointCloud.DepthCameraPointCloud2MsgPublisher</a></td><td class="desc"></td></tr>
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@@ -165,7 +165,7 @@
 <tr id="row_26_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_26_" class="arrow" onclick="toggleFolder('26_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUnitySensors_1_1ROS_1_1Publisher_1_1RosMsgPublisher.html" target="_self">UnitySensors.ROS.Publisher.RosMsgPublisher&lt; IMUSensor, IMUMsgSerializer, ImuMsg &gt;</a></td><td class="desc"></td></tr>
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-<tr id="row_27_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUnitySensors_1_1ROS_1_1Publisher_1_1PointCloud_1_1ImageMsgPublisher.html" target="_self">UnitySensors.ROS.Publisher.PointCloud.ImageMsgPublisher&lt; T &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_27_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUnitySensors_1_1ROS_1_1Publisher_1_1Image_1_1ImageMsgPublisher.html" target="_self">UnitySensors.ROS.Publisher.Image.ImageMsgPublisher&lt; T &gt;</a></td><td class="desc"></td></tr>
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 <tr id="row_28_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classUnitySensors_1_1ROS_1_1Publisher_1_1PointCloud_1_1PointCloud2MsgPublisher.html" target="_self">UnitySensors.ROS.Publisher.PointCloud.PointCloud2MsgPublisher&lt; T, TT &gt;</a></td><td class="desc"></td></tr>
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diff --git a/hierarchy.js b/hierarchy.js
index 8f7686b6..c57f8152 100644
--- a/hierarchy.js
+++ b/hierarchy.js
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-      [ "UnitySensors.ROS.Publisher.LiDAR.CameraImageMsgPublisher", "classUnitySensors_1_1ROS_1_1Publisher_1_1LiDAR_1_1CameraImageMsgPublisher.html", null ]
+    [ "UnitySensors.ROS.Publisher.Image.ImageMsgPublisher< CameraSensor >", "classUnitySensors_1_1ROS_1_1Publisher_1_1Image_1_1ImageMsgPublisher.html", [
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     ] ],
     [ "UnitySensors.Data.PointCloud.IPointCloudInterface< T >", "interfaceUnitySensors_1_1Data_1_1PointCloud_1_1IPointCloudInterface.html", [
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+      [ "UnitySensors.ROS.Publisher.PointCloud.DepthCameraPointCloud2MsgPublisher", "classUnitySensors_1_1ROS_1_1Publisher_1_1PointCloud_1_1DepthCameraPointCloud2MsgPublisher.html", null ]
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-      [ "UnitySensors.ROS.Publisher.PointCloud.ImageMsgPublisher< T >", "classUnitySensors_1_1ROS_1_1Publisher_1_1PointCloud_1_1ImageMsgPublisher.html", null ]
+      [ "UnitySensors.ROS.Publisher.Image.ImageMsgPublisher< T >", "classUnitySensors_1_1ROS_1_1Publisher_1_1Image_1_1ImageMsgPublisher.html", null ]
     ] ],
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diff --git a/md_README.html b/md_README.html
index 6856a448..d6ee6826 100644
--- a/md_README.html
+++ b/md_README.html
@@ -93,7 +93,7 @@ <h1><a class="anchor" id="autotoc_md1"></a>
 </p>
 <p>The following sensors are added.</p>
 <ul>
-<li>Velodyne 3D LiDAR (Velodyne VLP-16, VLP-16-HiRes, VLP-32, VLS-128)</li>
+<li>Velodyne 3D LiDAR (Velodyne VLP-16, VLP-16-HiRes, VLP-32, HDL-32E, VLS-128)</li>
 <li>Livox 3D LiDAR(Avia, Horizon, Mid40, Mid70, Tele, HAP, Mid360)</li>
 <li>RGB Camera</li>
 <li>RGBD Camera</li>
@@ -114,8 +114,8 @@ <h1><a class="anchor" id="autotoc_md3"></a>
 <li>Using Unity 2021.3 or later, open the Package Manager from <code>Window</code> -&gt; <code>Package Manager</code>.</li>
 <li>In the Package Manager window, find and click the + button in the upper lefthand corner of the window. Select <code>Add package from git URL....</code></li>
 <li>Enter the git URL for the desired package.<ol type="a">
-<li>For the <a class="el" href="namespaceUnitySensors.html">UnitySensors</a>, enter <code><a href="https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors">https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors</a>#v2.0.0b</code>.</li>
-<li>For the UnitySensorsROS, enter <code><a href="https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS">https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS</a>#v2.0.0b</code>. <b>Note: UnitySensorsROS does not contain <a class="el" href="namespaceUnitySensors.html">UnitySensors</a>.</b></li>
+<li>For the <a class="el" href="namespaceUnitySensors.html">UnitySensors</a>, enter <code><a href="https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors">https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensors</a>#v2.0.1</code>.</li>
+<li>For the UnitySensorsROS, enter <code><a href="https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS">https://github.com/Field-Robotics-Japan/UnitySensors.git?path=/Assets/UnitySensorsROS</a>#v2.0.1</code>. <b>Note: UnitySensorsROS does not contain <a class="el" href="namespaceUnitySensors.html">UnitySensors</a>.</b></li>
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