diff --git a/.vscode/browse.vc.db-shm b/.vscode/browse.vc.db-shm
new file mode 100644
index 0000000..5acc17d
Binary files /dev/null and b/.vscode/browse.vc.db-shm differ
diff --git a/.vscode/browse.vc.db-wal b/.vscode/browse.vc.db-wal
new file mode 100644
index 0000000..e69de29
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..9721c09
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,30 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/sunrise/yiliao_ws/install/origincar_base/include/**",
+        "/home/sunrise/yiliao_ws/install/origincar_msg/include/**",
+        "/home/sunrise/yiliao_ws/install/lslidar_msgs/include/**",
+        "/opt/ros/humble/include/**",
+        "/home/sunrise/yiliao_ws/src/LSLIDAR_X_ROS2-20240228/src/lslidar_driver/include/**",
+        "/home/sunrise/yiliao_ws/src/cyy_navigation2/include/**",
+        "/home/sunrise/yiliao_ws/src/cyy_slamtoolbox/include/**",
+        "/home/sunrise/yiliao_ws/src/gc_navigation_fish/include/**",
+        "/home/sunrise/yiliao_ws/src/gc_slam_toolbox_fish/include/**",
+        "/home/sunrise/yiliao_ws/src/origincar_base/include/**",
+        "/home/sunrise/yiliao_ws/src/zbw_slamtoolbox/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ros2",
+      "intelliSenseMode": "gcc-arm64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++17"
+    }
+  ],
+  "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/launch.json b/.vscode/launch.json
new file mode 100644
index 0000000..7f63e8f
--- /dev/null
+++ b/.vscode/launch.json
@@ -0,0 +1,28 @@
+{
+    // 使用 IntelliSense 了解相关属性。 
+    // 悬停以查看现有属性的描述。
+    // 欲了解更多信息，请访问: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "ROS2 C++ Debug",
+            "request": "launch",
+            "type": "cppdbg",
+            "MIMode": "gdb",
+            "cwd": "${workspaceFolder}",
+            "program": "${workspaceFolder}/install/xxx"
+        },
+        {
+            "name": "ROS2: Launch grab_service",
+            "request": "launch",
+            "target": "${workspaceFolder}/install/xxx",
+            "launch": ["rviz", "gz", "gzserver", "gzclient"],
+            "type": "ros2"
+        },
+        {
+            "name": "ROS: Attach",
+            "request": "attach",
+            "type": "ros2"
+        }
+    ]
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 9ddf6b2..6f93542 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,3 +1,18 @@
 {
-    "cmake.ignoreCMakeListsMissing": true
+    "cmake.ignoreCMakeListsMissing": true,
+    "ROS2.distro": "humble",
+    "python.autoComplete.extraPaths": [
+        "/home/sunrise/yiliao_ws/install/origincar_base/local/lib/python3.10/dist-packages",
+        "/home/sunrise/yiliao_ws/install/origincar_msg/local/lib/python3.10/dist-packages",
+        "/home/sunrise/yiliao_ws/install/lslidar_msgs/local/lib/python3.10/dist-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/sunrise/yiliao_ws/install/origincar_base/local/lib/python3.10/dist-packages",
+        "/home/sunrise/yiliao_ws/install/origincar_msg/local/lib/python3.10/dist-packages",
+        "/home/sunrise/yiliao_ws/install/lslidar_msgs/local/lib/python3.10/dist-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ]
 }
\ No newline at end of file
diff --git a/README.md b/README.md
index 284084b..73a4318 100644
--- a/README.md
+++ b/README.md
@@ -1,15 +1,17 @@
 # 智慧医疗2026年代码仓库
 
 # 一、文件夹说明
-## 1. `dependencies`
+## `dependencies`
 `dependencies.txt`存储依赖名称
 
-## 2. `src`
+## `src`
 存放源代码
 
-## 3. `bashes`
+## `bashes`
 自动脚本的存放路径
 
+---
+<br></br>
 # 二、关于雷达驱动自动配置脚本的说明
 ## 1. 配置说明：在设备上配置开机自启动(仅使用雷达的情况直接看第二点)
 1. 放到固定位置并授权
@@ -76,4 +78,15 @@
     ```
     看返回数据，默认串口连接设备为`ttyACM*`，名为`ttyACM0`的设备是IMU，如果存在`ttyACM1`，则雷达连接失败；
     
-    如果出现`ttyCH340`，则说明雷达设备驱动成功
\ No newline at end of file
+    如果出现`ttyCH340`，则说明雷达设备驱动成功
+
+---
+<br></br>
+# 三、其它说明
+我设置了一些自定义指令，方便终端调试：
+```bash
+rosbuild <package_name> # 编译指定包
+build_debug <package_name> # 以调试模式编译指定包
+foxglove # 启动foxbridge
+```
+