diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
deleted file mode 100644
index f3253eb..0000000
--- a/sample/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-cmake_minimum_required(VERSION 3.10.2)
-project(sdk_sample)
-
-find_package(ugv_sdk REQUIRED)
-find_package(Threads REQUIRED)
-
-add_executable(app_tracer_demo tracer_demo.cpp)
-target_link_libraries(app_tracer_demo PRIVATE ugv_sdk Threads::Threads)
\ No newline at end of file
diff --git a/sample/tracer_demo.cpp b/sample/tracer_demo.cpp
deleted file mode 100644
index 982ac23..0000000
--- a/sample/tracer_demo.cpp
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
- * demo_tracer_can.cpp
- *
- * Created on: Jun 12, 2019 05:03
- * Description:
- *
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#include "ugv_sdk/tracer_base.hpp"
-
-using namespace westonrobot;
-
-int main(int argc, char **argv) {
-  std::string device_name;
-
-  if (argc == 2) {
-    device_name = {argv[1]};
-    std::cout << "Specified CAN: " << device_name << std::endl;
-  } else {
-    std::cout << "Usage: app_tracer_demo <interface>" << std::endl
-              << "Example 1: ./app_tracer_demo can0" << std::endl;
-    return -1;
-  }
-
-  TracerBaseV2 tracer;
-  tracer.Connect(device_name);
-
-  tracer.EnableCommandedMode();
-  //   tracer.DisableTimeout();
-
-  // light control
-  std::cout << "Light: const off" << std::endl;
-  tracer.SetLightCommand({CONST_OFF, 0});
-  //   usleep(50000);
-  sleep(3);
-  std::cout << "Light: const on" << std::endl;
-  tracer.SetLightCommand({CONST_ON, 0});
-  //   usleep(50000);
-  sleep(3);
-  std::cout << "Light: breath" << std::endl;
-  tracer.SetLightCommand({BREATH, 0});
-  //   usleep(50000);
-  sleep(8);
-  std::cout << "Light: custom 90-80" << std::endl;
-  tracer.SetLightCommand({CUSTOM, 90});
-  //   usleep(50000);
-  sleep(3);
-  std::cout << "Light: diabled cmd control" << std::endl;
-  tracer.SetLightCommand(TracerLightCmd());
-
-  int count = 0;
-  while (true) {
-    // motion control
-    if (count < 5) {
-      std::cout << "Motor: 0.2, 0.0" << std::endl;
-      tracer.SetMotionCommand(0.2, 0.0);
-    } else if (count < 10) {
-      std::cout << "Motor: 0.8, 0.3" << std::endl;
-      tracer.SetMotionCommand(0.8, 0.3);
-    } else if (count < 15) {
-      std::cout << "Motor: 1.5, 0.5" << std::endl;
-      tracer.SetMotionCommand(1.5, 0.5);
-    } else if (count < 20) {
-      std::cout << "Motor: 1.0, 0.3" << std::endl;
-      tracer.SetMotionCommand(1.0, 0.3);
-    } else if (count < 25) {
-      std::cout << "Motor: 0.0, 0.0" << std::endl;
-      tracer.SetMotionCommand(0.0, 0.0);
-    } else if (count < 30) {
-      std::cout << "Motor: -0.5, -0.3" << std::endl;
-      tracer.SetMotionCommand(-0.5, -0.3);
-    } else if (count < 35) {
-      std::cout << "Motor: -1.0, -0.5" << std::endl;
-      tracer.SetMotionCommand(-1.0, -0.5);
-    } else if (count < 40) {
-      std::cout << "Motor: 0.0, 0.0," << std::endl;
-      tracer.SetMotionCommand(0.0, 0.0);
-    }
-    // tracer.SetMotionCommand(0.8, 0.8);
-
-    auto state = tracer.GetTracerState();
-    std::cout << "-------------------------------" << std::endl;
-    std::cout << "count: " << count << std::endl;
-    std::cout << "control mode: " << static_cast<int>(state.system_state.control_mode)
-              << " , vehicle state: " << static_cast<int>(state.system_state.vehicle_state)
-              << std::endl;
-    std::cout << "battery voltage: " << state.system_state.battery_voltage << std::endl;
-    std::cout << "velocity (linear, angular): " << state.motion_state.linear_velocity << ", "
-              << state.motion_state.angular_velocity << std::endl;
-    std::cout << "-------------------------------" << std::endl;
-
-    // usleep(20000);
-    sleep(1);
-    ++count;
-  }
-
-  return 0;
-}
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