diff --git a/cali.npz b/cali.npz
new file mode 100644
index 0000000..f0e7d69
Binary files /dev/null and b/cali.npz differ
diff --git a/cali.txt b/cali.txt
new file mode 100644
index 0000000..310fcd9
--- /dev/null
+++ b/cali.txt
@@ -0,0 +1,25 @@
+相机内参矩阵:
+ [[471.71685159   0.         345.00351901]
+ [  0.         480.71013415 200.45912732]
+ [  0.           0.           1.        ]]
+
+畸变系数: [ 0.00738704,-0.2671454,  0.00290024, 0.00948466, 0.13261826]
+
+平均重投影误差: 0.03705966909590051
+
+
+
+ [[279.11844069   0.         362.89209914]
+ [  0.         283.63075521 204.43889921]
+ [  0.           0.           1.        ]]
+
+ [ 0.05850563 -0.09138211  0.0001271  -0.00078636  0.02402972]
+
+
+√： 800*450
+[281.59527801, 0.0, 364.60571628,
+         0.0, 285.67845685, 204.92614855,
+         0.0, 0.0, 1.0]
+畸变系数: [ 0.03532389,-0.05576607, 0.00027529, 0.00241747, 0.01024998]
+
+平均重投影误差: 0.06006937910128326
\ No newline at end of file
diff --git a/feedback_logs/20000101_083416/feedback.csv b/feedback_logs/20000101_083416/feedback.csv
deleted file mode 100644
index 7cc0780..0000000
--- a/feedback_logs/20000101_083416/feedback.csv
+++ /dev/null
@@ -1,1943 +0,0 @@
-wall_time,elapsed_s,imu_ready,odom_ready,voltage_ready,robotpose_ready,robotvel_ready,gyrodebug_ready,voltage_v,imu_orientation_x,imu_orientation_y,imu_orientation_z,imu_orientation_w,imu_yaw_rad,imu_angular_velocity_x,imu_angular_velocity_y,imu_angular_velocity_z,imu_linear_acceleration_x,imu_linear_acceleration_y,imu_linear_acceleration_z,odom_pose_x,odom_pose_y,odom_yaw_rad,odom_twist_vx,odom_twist_vy,odom_twist_wz,robotpose_x,robotpose_y,robotpose_z,robotvel_x,robotvel_y,robotvel_z,gyro_z_filtered_pre_bias,gyro_z_bias_model,gyro_z_final_for_yaw
-2000-01-01T08:34:16.858,0.320585116,1,1,0,1,1,0,,0.0031821925658732653,0.04225435480475426,-0.0002198325819335878,0.997413694858551,-0.00017021288950483116,0.011190480552613735,-0.006661000195890665,0.0,-2.652167797088623,-0.043066322803497314,10.320365905761719,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:17.058,0.520639397,1,1,0,1,1,0,,0.003610459854826331,0.04755936935544014,-0.00029550891485996544,0.9971733689308167,-0.0002470424584640671,0.010391159914433956,-0.006661000195890665,0.0,-2.604316234588623,-0.056225478649139404,10.329936027526855,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:17.260,0.723371715,1,1,1,1,1,0,11.128000259399414,0.004160837270319462,0.05575095862150192,-0.0004393387644086033,0.9967466592788696,-0.0004144540818460134,0.010124720633029938,-0.005595240276306868,0.0,-2.6366159915924072,-0.056225478649139404,10.327543258666992,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:17.458,0.921347249,1,1,1,1,1,0,11.128000259399414,0.004697434138506651,0.061473548412323,-0.0005741747445426881,0.9964076280593872,-0.0005710042626203176,0.011723360046744347,-0.008792520500719547,0.0,-2.6306345462799072,-0.03828117623925209,10.301225662231445,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:17.656,1.119265492,1,1,1,1,1,0,11.128000259399414,0.004968991037458181,0.06545042991638184,-0.000680126016959548,0.9961528778076172,-0.0007106629348474212,0.011190480552613735,-0.005595240276306868,0.0,-2.646186351776123,-0.0502440445125103,10.316777229309082,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:17.859,1.321771352,1,1,1,1,1,0,11.109999656677246,0.005446154158562422,0.07156667113304138,-0.0008695744909346104,0.9957295060157776,-0.0009620517212819343,0.011456920765340328,-0.005328800063580275,0.0,-2.6545603275299072,-0.031103456392884254,10.325150489807129,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:18.061,1.523476839,1,1,1,1,1,0,11.109999656677246,0.005780407227575779,0.07565828412771225,-0.001035744440741837,0.9954249858856201,-0.0012010929465742328,0.010391159914433956,-0.009325399994850159,0.0,-2.5851757526397705,-0.041870035231113434,10.309598922729492,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:18.256,1.71931146,1,1,1,1,1,0,11.109999656677246,0.006029963959008455,0.07865957170724869,-0.0011688433587551117,0.9951907396316528,-0.0013950819869195284,0.012256240472197533,-0.006661000195890665,0.0,-2.637812376022339,-0.03947746381163597,10.350273132324219,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:18.463,1.925575647,1,1,1,1,1,0,11.109999656677246,0.0064185974188148975,0.08313285559415817,-0.0013995285844430327,0.9948242902755737,-0.0017414530969917501,0.011723360046744347,-0.007993199862539768,0.0,-2.640204906463623,-0.03708488866686821,10.284477233886719,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:18.659,2.122427476,1,1,1,1,1,0,11.109999656677246,0.006584288086742163,0.08624156564474106,-0.0015863716835156083,0.9945582747459412,-0.002050305771828104,0.009591840207576752,-0.008259640075266361,0.0,-2.598334789276123,-0.041870035231113434,10.327543258666992,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:18.858,2.321340884,1,1,1,1,1,0,11.109999656677246,0.006803395692259073,0.08926187455654144,-0.001787674380466342,0.9942898750305176,-0.002378274831702814,0.011190480552613735,-0.005328800063580275,0.0,-2.664130687713623,-0.03947746381163597,10.316777229309082,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:19.056,2.518795836,1,1,1,1,1,0,11.12399959564209,0.0070144422352313995,0.09114684164524078,-0.0019370740046724677,0.9941171407699585,-0.002616150831378954,0.009858280420303345,-0.007193880155682564,0.0,-2.6150827407836914,-0.04067374765872955,10.328740119934082,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:19.259,2.721823528,1,1,1,1,1,0,11.12399959564209,0.007236114237457514,0.09415734559297562,-0.002202198840677738,0.9938344359397888,-0.0030690130902145717,0.01065760012716055,-0.006394560448825359,0.0,-2.6270456314086914,-0.05144033208489418,10.332328796386719,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:19.458,2.921348768,1,1,1,1,1,0,11.12399959564209,0.007489137817174196,0.09624695032835007,-0.002421402605250478,0.9936318397521973,-0.003434000682154451,0.011456920765340328,-0.007993199862539768,0.0,-2.6569528579711914,-0.06579577177762985,10.297636032104492,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:19.660,3.123122255,1,1,1,1,1,0,11.121000289916992,0.007573937065899372,0.09802982211112976,-0.002639570040628314,0.9934563636779785,-0.003833362958508814,0.009858280420303345,-0.007993199862539768,0.0,-2.5815868377685547,-0.044262610375881195,10.308403015136719,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:19.856,3.319431667,1,1,1,1,1,0,11.121000289916992,0.007668270263820887,0.0994323119521141,-0.0028133103623986244,0.9933156967163086,-0.004146088311069853,0.01198980025947094,-0.00905896071344614,0.0,-2.640204906463623,-0.05144033208489418,10.325150489807129,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:20.056,3.519135116,1,1,1,1,1,0,11.121000289916992,0.007826853543519974,0.1010337769985199,-0.0030397844966500998,0.9931522011756897,-0.004549314716036327,0.009858280420303345,-0.0077267601154744625,0.0,-2.6186716556549072,-0.03588860109448433,10.309598922729492,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:20.256,3.719363271,1,1,1,1,1,0,11.128999710083008,0.007939795032143593,0.10248144716024399,-0.0032717688009142876,0.99300217628479,-0.004974948298369277,0.01198980025947094,-0.006394560448825359,0.0,-2.6689157485961914,-0.03947746381163597,10.313187599182129,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:20.460,3.923113296,1,1,1,1,1,0,11.128999710083008,0.008139058016240597,0.10415289551019669,-0.0035650841891765594,0.9928256869316101,-0.0055030798419918835,0.01198980025947094,-0.007993199862539768,0.0,-2.6689157485961914,-0.03708488866686821,10.335917472839355,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:20.660,4.12324541,1,1,1,1,1,0,11.128999710083008,0.008217060007154942,0.10526438057422638,-0.0037961138878017664,0.9927069544792175,-0.00593864000923751,0.010391159914433956,-0.008792520500719547,0.0,-2.5971386432647705,-0.02631830796599388,10.313187599182129,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:20.860,4.323151816,1,1,1,1,1,0,11.125,0.00832960195839405,0.10650348663330078,-0.0040442198514938354,0.9925729036331177,-0.00639940351439463,0.011456920765340328,-0.005062360316514969,0.0,-2.6509714126586914,-0.06579577177762985,10.350273132324219,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:21.060,4.523354847,1,1,1,1,1,0,11.125,0.008507557213306427,0.10737060010433197,-0.004284693859517574,0.9924769401550293,-0.006835754888589401,0.011456920765340328,-0.009591840207576752,0.0,-2.619868040084839,-0.029907168820500374,10.303617477416992,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:21.257,4.719674718,1,1,1,1,1,0,11.125,0.008489283733069897,0.10808948427438736,-0.00445876270532608,0.9923982620239258,-0.007182528884773607,0.010391159914433956,-0.005595240276306868,0.0,-2.6485788822174072,-0.04785146936774254,10.300028800964355,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:21.459,4.921712329,1,1,1,1,1,0,11.121000289916992,0.008639018051326275,0.10905961692333221,-0.004765519872307777,0.9922894239425659,-0.00775796074514605,0.011456920765340328,-0.006927440408617258,0.0,-2.6677193641662598,-0.016748014837503433,10.302421569824219,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:22.871,6.334245733,1,1,1,1,1,0,11.121000289916992,0.008639018051326275,0.10905961692333221,-0.004765519872307777,0.9922894239425659,-0.00775796074514605,0.011456920765340328,-0.006927440408617258,0.0,-2.6677193641662598,-0.016748014837503433,10.302421569824219,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:23.062,6.524622114,1,1,1,1,1,0,11.121999740600586,0.009066052734851837,0.1130986139178276,-0.006753427442163229,0.991821825504303,-0.011644113460684908,0.01198980025947094,-0.008259640075266361,0.0,-2.6330270767211914,-0.029907168820500374,10.314384460449219,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:23.259,6.722412941,1,1,1,1,1,0,11.09000015258789,0.009105623699724674,0.11335030943155289,-0.00701155373826623,0.9917908906936646,-0.012156738230627092,0.010124720633029938,-0.006661000195890665,0.0,-2.5851757526397705,-0.056225478649139404,10.333524703979492,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:23.459,6.921506515,1,1,1,1,1,0,11.09000015258789,0.00912435818463564,0.11368324607610703,-0.007267293054610491,0.9917507767677307,-0.01266823728923887,0.010924040339887142,-0.005861680023372173,0.0,-2.670112133026123,-0.057421762496232986,10.301225662231445,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:23.658,7.121046505,1,1,1,1,1,0,11.09000015258789,0.009220505133271217,0.11392052471637726,-0.007531140930950642,0.9917206764221191,-0.013179605400193006,0.011456920765340328,-0.009591840207576752,0.0,-2.5791943073272705,-0.04904775694012642,10.304814338684082,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:23.856,7.319342581,1,1,1,1,1,0,11.125,0.0093021709471941,0.11398801952600479,-0.007723440881818533,0.9917107224464417,-0.013551121723001594,0.011190480552613735,-0.009858280420303345,0.0,-2.6114940643310547,-0.03708488866686821,10.304814338684082,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
-2000-01-01T08:34:24.062,7.524816019,1,1,1,1,1,0,11.125,0.009319419972598553,0.11432838439941406,-0.008041287772357464,0.9916688799858093,-0.014189489966526369,0.011190480552613735,-0.0077267601154744625,0.0,-2.6569528579711914,-0.032299742102622986,10.341898918151855,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,,,
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diff --git a/feedback_logs/20260623_151129/feedback.csv b/feedback_logs/20260623_151129/feedback.csv
deleted file mode 100644
index 99f06f2..0000000
--- a/feedback_logs/20260623_151129/feedback.csv
+++ /dev/null
@@ -1,956 +0,0 @@
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diff --git a/feedback_logs/20260623_153647/feedback.csv b/feedback_logs/20260623_153647/feedback.csv
deleted file mode 100644
index cf45f97..0000000
--- a/feedback_logs/20260623_153647/feedback.csv
+++ /dev/null
@@ -1,121 +0,0 @@
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diff --git a/feedback_logs/20260623_154112/feedback.csv b/feedback_logs/20260623_154112/feedback.csv
deleted file mode 100644
index 809c4e6..0000000
--- a/feedback_logs/20260623_154112/feedback.csv
+++ /dev/null
@@ -1,1255 +0,0 @@
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diff --git a/feedback_logs/20260623_154528/feedback.csv b/feedback_logs/20260623_154528/feedback.csv
deleted file mode 100644
index d2db139..0000000
--- a/feedback_logs/20260623_154528/feedback.csv
+++ /dev/null
@@ -1,255 +0,0 @@
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diff --git a/feedback_logs/20260623_155159/feedback.csv b/feedback_logs/20260623_155159/feedback.csv
deleted file mode 100644
index 29d9f12..0000000
--- a/feedback_logs/20260623_155159/feedback.csv
+++ /dev/null
@@ -1,508 +0,0 @@
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diff --git a/feedback_logs/20260623_170420/feedback.csv b/feedback_logs/20260623_170420/feedback.csv
deleted file mode 100644
index 03fe43e..0000000
--- a/feedback_logs/20260623_170420/feedback.csv
+++ /dev/null
@@ -1,744 +0,0 @@
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diff --git a/feedback_logs/20260623_170936/feedback.csv b/feedback_logs/20260623_170936/feedback.csv
deleted file mode 100644
index 6955494..0000000
--- a/feedback_logs/20260623_170936/feedback.csv
+++ /dev/null
@@ -1,673 +0,0 @@
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diff --git a/feedback_logs/20260623_171446/feedback.csv b/feedback_logs/20260623_171446/feedback.csv
deleted file mode 100644
index 06db744..0000000
--- a/feedback_logs/20260623_171446/feedback.csv
+++ /dev/null
@@ -1,605 +0,0 @@
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diff --git a/feedback_logs/20260623_194803/feedback.csv b/feedback_logs/20260623_194803/feedback.csv
deleted file mode 100644
index 06881a6..0000000
--- a/feedback_logs/20260623_194803/feedback.csv
+++ /dev/null
@@ -1,196 +0,0 @@
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diff --git a/feedback_logs/20260623_200501/feedback.csv b/feedback_logs/20260623_200501/feedback.csv
deleted file mode 100644
index efed150..0000000
--- a/feedback_logs/20260623_200501/feedback.csv
+++ /dev/null
@@ -1,169 +0,0 @@
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diff --git a/feedback_logs/20260623_211045/feedback.csv b/feedback_logs/20260623_211045/feedback.csv
deleted file mode 100644
index dcb5f19..0000000
--- a/feedback_logs/20260623_211045/feedback.csv
+++ /dev/null
@@ -1,1511 +0,0 @@
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diff --git a/feedback_logs/20260623_215024/feedback.csv b/feedback_logs/20260623_215024/feedback.csv
deleted file mode 100644
index 1f063b3..0000000
--- a/feedback_logs/20260623_215024/feedback.csv
+++ /dev/null
@@ -1,835 +0,0 @@
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diff --git a/scripts/__pycache__/export_bag_image_odom.cpython-310.pyc b/scripts/__pycache__/export_bag_image_odom.cpython-310.pyc
new file mode 100644
index 0000000..121da0a
Binary files /dev/null and b/scripts/__pycache__/export_bag_image_odom.cpython-310.pyc differ
diff --git a/scripts/evaluate_gyro_bias.py b/scripts/evaluate_gyro_bias.py
new file mode 100644
index 0000000..d379474
--- /dev/null
+++ b/scripts/evaluate_gyro_bias.py
@@ -0,0 +1,152 @@
+#!/usr/bin/env python3
+
+import argparse
+import csv
+import math
+from pathlib import Path
+from typing import Iterable, List, Optional, Sequence, Tuple
+
+
+Sample = Tuple[float, float]
+
+
+def parse_float(row: dict, key: str) -> Optional[float]:
+    value = row.get(key)
+    if value in ("", None):
+        return None
+    return float(value)
+
+
+def load_series(csv_path: Path, key: str) -> List[Sample]:
+    samples: List[Sample] = []
+    with csv_path.open("r", encoding="utf-8", newline="") as f:
+        reader = csv.DictReader(f)
+        for row in reader:
+            t = parse_float(row, "elapsed_s")
+            y = parse_float(row, key)
+            if t is None or y is None:
+                continue
+            samples.append((t, y))
+    return samples
+
+
+def fit_line(samples: Sequence[Sample]) -> Tuple[float, float]:
+    n = len(samples)
+    if n < 2:
+        raise ValueError("need at least 2 valid samples")
+
+    mean_t = sum(t for t, _ in samples) / n
+    mean_y = sum(y for _, y in samples) / n
+    s_tt = sum((t - mean_t) * (t - mean_t) for t, _ in samples)
+    if s_tt == 0.0:
+        raise ValueError("all timestamps are identical")
+    s_ty = sum((t - mean_t) * (y - mean_y) for t, y in samples)
+    slope = s_ty / s_tt
+    intercept = mean_y - slope * mean_t
+    return intercept, slope
+
+
+def mean(values: Iterable[float]) -> float:
+    values = list(values)
+    if not values:
+        raise ValueError("need at least 1 value")
+    return sum(values) / len(values)
+
+
+def stddev(values: Sequence[float]) -> float:
+    if len(values) < 2:
+        return 0.0
+    mu = mean(values)
+    return math.sqrt(sum((v - mu) * (v - mu) for v in values) / len(values))
+
+
+def integrate(samples: Sequence[Sample]) -> float:
+    if len(samples) < 2:
+        return 0.0
+    total = 0.0
+    prev_t, prev_y = samples[0]
+    for t, y in samples[1:]:
+        dt = t - prev_t
+        total += 0.5 * (prev_y + y) * dt
+        prev_t, prev_y = t, y
+    return total
+
+
+def drift_rate_deg_per_min(samples: Sequence[Sample]) -> float:
+    if len(samples) < 2:
+        return 0.0
+    total_time = samples[-1][0] - samples[0][0]
+    if total_time <= 0.0:
+        return 0.0
+    yaw_drift_rad = integrate(samples)
+    return math.degrees(yaw_drift_rad) / (total_time / 60.0)
+
+
+def print_series_stats(name: str, samples: Sequence[Sample]) -> None:
+    values = [y for _, y in samples]
+    intercept, slope = fit_line(samples)
+    print(f"{name}:")
+    print(f"  samples={len(samples)}")
+    print(f"  mean={mean(values):.12f} rad/s")
+    print(f"  stddev={stddev(values):.12f} rad/s")
+    print(f"  line_intercept={intercept:.12f} rad/s")
+    print(f"  line_slope={slope:.12f} rad/s^2")
+    print(f"  integrated_drift={integrate(samples):.12f} rad ({math.degrees(integrate(samples)):.6f} deg)")
+    print(f"  drift_rate={drift_rate_deg_per_min(samples):.6f} deg/min")
+
+
+def print_yaw_span(name: str, samples: Sequence[Sample]) -> None:
+    if len(samples) < 2:
+        return
+    yaw_delta = samples[-1][1] - samples[0][1]
+    total_time = samples[-1][0] - samples[0][0]
+    print(f"{name}:")
+    print(f"  start={samples[0][1]:.12f} rad")
+    print(f"  end={samples[-1][1]:.12f} rad")
+    print(f"  delta={yaw_delta:.12f} rad ({math.degrees(yaw_delta):.6f} deg)")
+    if total_time > 0.0:
+        print(f"  rate={math.degrees(yaw_delta) / (total_time / 60.0):.6f} deg/min")
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="Evaluate gyro bias compensation quality from feedback.csv")
+    parser.add_argument("csv_path", type=Path, help="path to feedback.csv")
+    args = parser.parse_args()
+
+    pre_bias = load_series(args.csv_path, "gyro_z_filtered_pre_bias")
+    bias_model = load_series(args.csv_path, "gyro_z_bias_model")
+    final_for_yaw = load_series(args.csv_path, "gyro_z_final_for_yaw")
+    odom_yaw = load_series(args.csv_path, "odom_yaw_rad")
+    imu_yaw = load_series(args.csv_path, "imu_yaw_rad")
+
+    if pre_bias:
+        print_series_stats("gyro_z_filtered_pre_bias", pre_bias)
+        print()
+    else:
+        print("gyro_z_filtered_pre_bias: no valid samples")
+        print()
+
+    if bias_model:
+        print_series_stats("gyro_z_bias_model", bias_model)
+        print()
+    else:
+        print("gyro_z_bias_model: no valid samples")
+        print()
+
+    if final_for_yaw:
+        print_series_stats("gyro_z_final_for_yaw", final_for_yaw)
+        print()
+    else:
+        print("gyro_z_final_for_yaw: no valid samples")
+        print()
+
+    if odom_yaw:
+        print_yaw_span("odom_yaw_rad", odom_yaw)
+        print()
+
+    if imu_yaw:
+        print_yaw_span("imu_yaw_rad", imu_yaw)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/scripts/export_bag_image_odom.py b/scripts/export_bag_image_odom.py
new file mode 100755
index 0000000..c0eed42
--- /dev/null
+++ b/scripts/export_bag_image_odom.py
@@ -0,0 +1,250 @@
+#!/usr/bin/env python3
+"""Export matched /image and /odom_combined samples from a ROS2 bag."""
+
+import argparse
+import bisect
+import math
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Dict, Iterable, List, Optional, Sequence, Tuple
+
+
+DEFAULT_IMAGE_TOPIC = "/image"
+DEFAULT_ODOM_TOPIC = "/odom_combined"
+DEFAULT_OUTPUT_ROOT = Path("/home/sunrise/yiliao_ws/bag_outputs")
+DEFAULT_MAX_DELTA_S = 0.2
+
+
+@dataclass(frozen=True)
+class OdomSample:
+    stamp: float
+    x: float
+    y: float
+    cos_yaw: float
+    sin_yaw: float
+
+
+@dataclass(frozen=True)
+class ImageRecord:
+    stamp: float
+    msg: object
+    msg_type: str
+
+
+def stamp_to_seconds(stamp) -> float:
+    return float(stamp.sec) + float(stamp.nanosec) * 1e-9
+
+
+def message_time_seconds(msg, fallback_nanoseconds: int) -> float:
+    header = getattr(msg, "header", None)
+    stamp = getattr(header, "stamp", None)
+    if stamp is not None and (getattr(stamp, "sec", 0) != 0 or getattr(stamp, "nanosec", 0) != 0):
+        return stamp_to_seconds(stamp)
+    return fallback_nanoseconds * 1e-9
+
+
+def yaw_sin_cos_from_quaternion(q) -> Tuple[float, float]:
+    siny_cosp = 2.0 * (q.w * q.z + q.x * q.y)
+    cosy_cosp = 1.0 - 2.0 * (q.y * q.y + q.z * q.z)
+    yaw = math.atan2(siny_cosp, cosy_cosp)
+    return math.cos(yaw), math.sin(yaw)
+
+
+def odom_sample_from_msg(stamp: float, msg) -> OdomSample:
+    pose = msg.pose.pose
+    cos_yaw, sin_yaw = yaw_sin_cos_from_quaternion(pose.orientation)
+    return OdomSample(
+        stamp=stamp,
+        x=float(pose.position.x),
+        y=float(pose.position.y),
+        cos_yaw=cos_yaw,
+        sin_yaw=sin_yaw,
+    )
+
+
+def find_nearest_odom(
+    odom_samples: Sequence[OdomSample],
+    image_stamp: float,
+    max_delta_s: float,
+) -> Optional[OdomSample]:
+    if not odom_samples:
+        return None
+
+    stamps = [sample.stamp for sample in odom_samples]
+    index = bisect.bisect_left(stamps, image_stamp)
+    candidates = []
+    if index < len(odom_samples):
+        candidates.append(odom_samples[index])
+    if index > 0:
+        candidates.append(odom_samples[index - 1])
+    nearest = min(candidates, key=lambda sample: abs(sample.stamp - image_stamp))
+    if abs(nearest.stamp - image_stamp) > max_delta_s:
+        return None
+    return nearest
+
+
+def read_bag_records(
+    bag_path: Path,
+    image_topic: str,
+    odom_topic: str,
+) -> Tuple[List[ImageRecord], List[OdomSample]]:
+    from rclpy.serialization import deserialize_message
+    from rosbag2_py import ConverterOptions, SequentialReader, StorageOptions
+    from rosidl_runtime_py.utilities import get_message
+
+    reader = SequentialReader()
+    reader.open(
+        StorageOptions(uri=str(bag_path), storage_id="sqlite3"),
+        ConverterOptions(input_serialization_format="cdr", output_serialization_format="cdr"),
+    )
+
+    topic_types: Dict[str, str] = {
+        topic_metadata.name: topic_metadata.type for topic_metadata in reader.get_all_topics_and_types()
+    }
+    required = [topic for topic in (image_topic, odom_topic) if topic not in topic_types]
+    if required:
+        available = ", ".join(sorted(topic_types))
+        raise ValueError(f"topic(s) missing from bag: {', '.join(required)}. Available topics: {available}")
+
+    msg_classes = {
+        image_topic: get_message(topic_types[image_topic]),
+        odom_topic: get_message(topic_types[odom_topic]),
+    }
+
+    image_records: List[ImageRecord] = []
+    odom_samples: List[OdomSample] = []
+    while reader.has_next():
+        topic, data, bag_time_ns = reader.read_next()
+        if topic not in msg_classes:
+            continue
+        msg = deserialize_message(data, msg_classes[topic])
+        stamp = message_time_seconds(msg, bag_time_ns)
+        if topic == image_topic:
+            image_records.append(ImageRecord(stamp=stamp, msg=msg, msg_type=topic_types[image_topic]))
+        elif topic == odom_topic:
+            odom_samples.append(odom_sample_from_msg(stamp, msg))
+
+    odom_samples.sort(key=lambda sample: sample.stamp)
+    image_records.sort(key=lambda record: record.stamp)
+    return image_records, odom_samples
+
+
+def bag_output_name(bag_path: Path) -> str:
+    return bag_path.resolve().name
+
+
+def ensure_clean_output_dirs(image_dir: Path, odom_dir: Path, overwrite: bool) -> None:
+    image_dir.mkdir(parents=True, exist_ok=True)
+    odom_dir.mkdir(parents=True, exist_ok=True)
+    existing = list(image_dir.glob("*.png")) + list(odom_dir.glob("*.txt"))
+    if existing and not overwrite:
+        raise FileExistsError(
+            f"output already contains exported files: {image_dir} or {odom_dir}. "
+            "Use --overwrite to replace numbered outputs."
+        )
+    if overwrite:
+        for path in existing:
+            path.unlink()
+
+
+def write_image_png(msg, msg_type: str, path: Path) -> None:
+    import cv2
+    import numpy as np
+
+    if msg_type == "sensor_msgs/msg/CompressedImage":
+        encoded = np.frombuffer(msg.data, dtype=np.uint8)
+        image = cv2.imdecode(encoded, cv2.IMREAD_UNCHANGED)
+        if image is None:
+            raise ValueError("failed to decode compressed image")
+    elif msg_type == "sensor_msgs/msg/Image":
+        from cv_bridge import CvBridge
+
+        image = CvBridge().imgmsg_to_cv2(msg, desired_encoding="passthrough")
+    else:
+        raise ValueError(f"unsupported image message type: {msg_type}")
+
+    if not cv2.imwrite(str(path), image):
+        raise IOError(f"failed to write image: {path}")
+
+
+def write_odom_txt(sample: OdomSample, path: Path) -> None:
+    path.write_text(
+        f"{sample.x:.9f} {sample.y:.9f} {sample.cos_yaw:.9f} {sample.sin_yaw:.9f}\n",
+        encoding="utf-8",
+    )
+
+
+def export_matched_records(
+    image_records: Iterable[ImageRecord],
+    odom_samples: Sequence[OdomSample],
+    image_dir: Path,
+    odom_dir: Path,
+    max_delta_s: float,
+) -> Tuple[int, int]:
+    exported = 0
+    dropped = 0
+    for record in image_records:
+        odom = find_nearest_odom(odom_samples, record.stamp, max_delta_s)
+        if odom is None:
+            dropped += 1
+            continue
+        exported += 1
+        stem = f"{exported:04d}"
+        write_image_png(record.msg, record.msg_type, image_dir / f"{stem}.png")
+        write_odom_txt(odom, odom_dir / f"{stem}.txt")
+    return exported, dropped
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description="Export /image frames and nearest /odom_combined poses from a ROS2 bag."
+    )
+    parser.add_argument("bag_path", type=Path, help="Path to the ROS2 bag directory.")
+    parser.add_argument("--image-topic", default=DEFAULT_IMAGE_TOPIC, help=f"Image topic, default: {DEFAULT_IMAGE_TOPIC}")
+    parser.add_argument("--odom-topic", default=DEFAULT_ODOM_TOPIC, help=f"Odom topic, default: {DEFAULT_ODOM_TOPIC}")
+    parser.add_argument(
+        "--output-root",
+        type=Path,
+        default=DEFAULT_OUTPUT_ROOT,
+        help=f"Output root, default: {DEFAULT_OUTPUT_ROOT}",
+    )
+    parser.add_argument(
+        "--max-delta",
+        type=float,
+        default=DEFAULT_MAX_DELTA_S,
+        help=f"Maximum image/odom timestamp difference in seconds, default: {DEFAULT_MAX_DELTA_S}",
+    )
+    parser.add_argument("--overwrite", action="store_true", help="Delete existing numbered png/txt files first.")
+    return parser.parse_args()
+
+
+def main() -> None:
+    args = parse_args()
+    bag_path = args.bag_path.expanduser().resolve()
+    if not bag_path.exists():
+        raise FileNotFoundError(f"bag path does not exist: {bag_path}")
+
+    output_name = bag_output_name(bag_path)
+    image_dir = args.output_root / "images" / output_name
+    odom_dir = args.output_root / "odom" / output_name
+    ensure_clean_output_dirs(image_dir, odom_dir, args.overwrite)
+
+    image_records, odom_samples = read_bag_records(bag_path, args.image_topic, args.odom_topic)
+    exported, dropped = export_matched_records(
+        image_records=image_records,
+        odom_samples=odom_samples,
+        image_dir=image_dir,
+        odom_dir=odom_dir,
+        max_delta_s=args.max_delta,
+    )
+    print(f"bag: {bag_path}")
+    print(f"images read: {len(image_records)}")
+    print(f"odom read: {len(odom_samples)}")
+    print(f"exported pairs: {exported}")
+    print(f"dropped images: {dropped}")
+    print(f"image output: {image_dir}")
+    print(f"odom output: {odom_dir}")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/src/car_image_proc/CMakeLists.txt b/src/car_image_proc/CMakeLists.txt
new file mode 100755
index 0000000..2e70e40
--- /dev/null
+++ b/src/car_image_proc/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.8)
+project(car_image_proc)
+
+find_package(ament_cmake REQUIRED)
+
+# This package currently only provides launch files.
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/src/car_image_proc/launch/image_proc.launch.py b/src/car_image_proc/launch/image_proc.launch.py
new file mode 100644
index 0000000..4bd95ff
--- /dev/null
+++ b/src/car_image_proc/launch/image_proc.launch.py
@@ -0,0 +1,41 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    image_topic_arg = DeclareLaunchArgument(
+        'image_topic',
+        default_value='/image',
+        description='Input raw image topic.'
+    )
+    camera_info_topic_arg = DeclareLaunchArgument(
+        'camera_info_topic',
+        default_value='/camera_info',
+        description='Input camera info topic.'
+    )
+    image_rect_topic_arg = DeclareLaunchArgument(
+        'image_rect_topic',
+        default_value='/image_rect',
+        description='Output rectified image topic.'
+    )
+
+    rectify_node = Node(
+        package='image_proc',
+        executable='rectify_node',
+        name='rectify_node',
+        output='screen',
+        remappings=[
+            ('image', LaunchConfiguration('image_topic')),
+            ('camera_info', LaunchConfiguration('camera_info_topic')),
+            ('image_rect', LaunchConfiguration('image_rect_topic')),
+        ],
+    )
+
+    return LaunchDescription([
+        image_topic_arg,
+        camera_info_topic_arg,
+        image_rect_topic_arg,
+        rectify_node,
+    ])
diff --git a/src/car_image_proc/package.xml b/src/car_image_proc/package.xml
new file mode 100644
index 0000000..bc127d8
--- /dev/null
+++ b/src/car_image_proc/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>car_image_proc</name>
+  <version>0.0.1</version>
+  <description>Launch wrapper for rectifying the car camera image stream.</description>
+
+  <maintainer email="sunrise@example.com">sunrise</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>image_proc</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/car_usb_cam/config/usb_camera_calibration.yaml b/src/car_usb_cam/config/usb_camera_calibration.yaml
new file mode 100644
index 0000000..9b388fc
--- /dev/null
+++ b/src/car_usb_cam/config/usb_camera_calibration.yaml
@@ -0,0 +1,30 @@
+image_width: 1920
+image_height: 1080
+camera_name: usb_camera
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [281.59527801, 0.0, 364.60571628,
+         0.0, 285.67845685, 204.92614855,
+         0.0, 0.0, 1.0]
+
+distortion_model: plumb_bob
+
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [ 0.03532389,-0.05576607, 0.00027529, 0.00241747, 0.01024998]
+
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1.0, 0.0, 0.0,
+         0.0, 1.0, 0.0,
+         0.0, 0.0, 1.0]
+
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [281.59527801, 0.0, 364.60571628, 0.0,
+         0.0, 285.67845685, 204.92614855, 0.0,
+         0.0, 0.0, 1.0, 0.0]
\ No newline at end of file
diff --git a/src/car_usb_cam/launch/__pycache__/hobot_usb_cam.launch.cpython-310.pyc b/src/car_usb_cam/launch/__pycache__/hobot_usb_cam.launch.cpython-310.pyc
new file mode 100644
index 0000000..38aefb8
Binary files /dev/null and b/src/car_usb_cam/launch/__pycache__/hobot_usb_cam.launch.cpython-310.pyc differ
diff --git a/src/car_usb_cam/launch/__pycache__/hobot_usb_cam_websocket.launch.cpython-310.pyc b/src/car_usb_cam/launch/__pycache__/hobot_usb_cam_websocket.launch.cpython-310.pyc
new file mode 100644
index 0000000..a27794f
Binary files /dev/null and b/src/car_usb_cam/launch/__pycache__/hobot_usb_cam_websocket.launch.cpython-310.pyc differ
diff --git a/src/car_usb_cam/launch/hobot_usb_cam.launch.py b/src/car_usb_cam/launch/hobot_usb_cam.launch.py
new file mode 100644
index 0000000..b01b7a7
--- /dev/null
+++ b/src/car_usb_cam/launch/hobot_usb_cam.launch.py
@@ -0,0 +1,93 @@
+# Copyright (c) 2024，D-Robotics.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, TextSubstitution
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python import get_package_share_directory
+from ament_index_python.packages import get_package_prefix
+import os
+
+def generate_launch_description():
+    config_file_path = os.path.join(
+        get_package_prefix('hobot_usb_cam'),
+        "/home/sunrise/yiliao_ws/src/car_usb_cam/config/usb_camera_calibration.yaml")
+    print("config_file_path is ", config_file_path)
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'usb_camera_calibration_file_path',
+            default_value=TextSubstitution(text=str(config_file_path)),
+            description='camera calibration file path'),
+        DeclareLaunchArgument(
+            'usb_frame_id',
+            default_value='default_usb_cam',
+            description='image message frame_id'),
+        DeclareLaunchArgument(
+            'usb_framerate',
+            default_value='30',
+            description='framerate'),
+        DeclareLaunchArgument(
+            'usb_image_height',
+            default_value='450',
+            description='image height'),
+        DeclareLaunchArgument(
+            'usb_image_width',
+            default_value='800',
+            description='image width'),
+        DeclareLaunchArgument(
+            'usb_io_method',
+            default_value='mmap',
+            description='io_method, mmap/read/userptr'),
+        DeclareLaunchArgument(
+            'usb_pixel_format',
+            default_value='yuyv2rgb',
+            description='pixel format, mjpeg/yuyv2rgb'),
+        DeclareLaunchArgument(
+            'usb_video_device',
+            default_value='/dev/video0',
+            description='usb camera device'),
+        DeclareLaunchArgument(
+            'usb_zero_copy',
+            default_value='False',
+            description='use zero copy or not'),
+        # 启动零拷贝环境配置node
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(
+                    get_package_share_directory('hobot_shm'),
+                    'launch/hobot_shm.launch.py'))
+        ),
+        Node(
+            package='hobot_usb_cam',
+            executable='hobot_usb_cam',
+            name='hobot_usb_cam',
+            parameters=[
+                {"camera_calibration_file_path": LaunchConfiguration(
+                    'usb_camera_calibration_file_path')},
+                {"frame_id": LaunchConfiguration('usb_frame_id')},
+                {"framerate": LaunchConfiguration('usb_framerate')},
+                {"image_height": LaunchConfiguration('usb_image_height')},
+                {"image_width": LaunchConfiguration('usb_image_width')},
+                {"io_method": LaunchConfiguration('usb_io_method')},
+                {"pixel_format": LaunchConfiguration('usb_pixel_format')},
+                {"video_device": LaunchConfiguration('usb_video_device')},
+                {"zero_copy": LaunchConfiguration('usb_zero_copy')}
+            ],
+            arguments=['--ros-args', '--log-level', 'warn']
+        )
+    ])
diff --git a/src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py b/src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py
new file mode 100644
index 0000000..eb9c3f9
--- /dev/null
+++ b/src/car_usb_cam/launch/hobot_usb_cam_websocket.launch.py
@@ -0,0 +1,94 @@
+# Copyright (c) 2024，D-Robotics.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python import get_package_share_directory
+
+
+def generate_launch_description():
+    camera_node = None
+
+    print("using usb camera")
+    # using usb cam publish image
+    usb_cam_device_arg = DeclareLaunchArgument(
+        'device',
+        default_value='/dev/video0',
+        description='usb camera device')
+
+    usb_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('car_usb_cam'),
+                'launch/hobot_usb_cam.launch.py')),
+        launch_arguments={
+            'usb_image_width': '800',
+            'usb_image_height': '450',
+            'usb_framerate': '30',
+            'usb_pixel_format': 'yuyv2rgb',# yuyv2rgb
+            'usb_zero_copy': 'False',
+            'usb_video_device': LaunchConfiguration('device')
+        }.items()
+    )
+
+    # nv12->jpeg
+    jpeg_codec_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('hobot_codec'),
+                'launch/hobot_codec_encode.launch.py')),
+        launch_arguments={
+            #'codec_in_mode': 'shared_mem',
+            'codec_in_mode': 'ros',
+            'codec_in_format': 'rgb8',#rgb8
+            'codec_out_mode': 'ros', #
+            #'codec_sub_topic': '/hbmem_img',
+            'codec_sub_topic': '/image',
+            'codec_pub_topic': '/image_mjpeg' # 原image_mjpeg
+        }.items()
+    )
+    # web
+    web_node = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('websocket'),
+                'launch/websocket.launch.py')),
+        launch_arguments={
+            'websocket_image_topic': '/image_mjpeg',
+            'websocket_only_show_image': 'True'
+        }.items()
+    )
+
+
+    return LaunchDescription([
+        # 启动零拷贝环境配置node
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(
+                    get_package_share_directory('hobot_shm'),
+                    'launch/hobot_shm.launch.py'))
+        ),
+        usb_cam_device_arg,
+        usb_node,
+        # image codec
+        jpeg_codec_node,
+        # web display
+        # web_node
+    ])
diff --git a/src/car_usb_cam/local_setup.bash b/src/car_usb_cam/local_setup.bash
new file mode 100644
index 0000000..49782f2
--- /dev/null
+++ b/src/car_usb_cam/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/src/car_usb_cam/package.xml b/src/car_usb_cam/package.xml
new file mode 100644
index 0000000..98e2b7d
--- /dev/null
+++ b/src/car_usb_cam/package.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>car_usb_cam</name>
+  <version>2.3.0</version>
+  <description>TogetheROS hobot usb camera</description>
+  <maintainer email="kairui.wang@d-robotics.cc">kairui</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>hbm_img_msgs</depend>
+  <depend>v4l-utils</depend>
+  <depend>yaml_cpp_vendor</depend>
+  <!-- Only required for MJPEG to RGB converison -->
+  <depend>ffmpeg</depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
index 21d05de..09fde8a 100644
--- a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
+++ b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
@@ -212,7 +212,7 @@ planner_server:
       angle_quantization_bins: 72
       analytic_expansion_ratio: 2.0
       analytic_expansion_max_length: 3.0
-      minimum_turning_radius: 0.35
+      minimum_turning_radius: 0.5
       reverse_penalty: 1.3
       change_penalty: 0.0
       non_straight_penalty: 0.0
diff --git a/src/origincar_base/include/origincar_base/origincar_base.h b/src/origincar_base/include/origincar_base/origincar_base.h
index bbbe4b9..a282341 100644
--- a/src/origincar_base/include/origincar_base/origincar_base.h
+++ b/src/origincar_base/include/origincar_base/origincar_base.h
@@ -223,15 +223,12 @@ private:
 	Vel_Pos_Data Robot_Vel;
 	MPU6050_DATA Mpu6050_Data;
 	float Power_voltage;
-	float gyro_z_bias_intercept_;
-	float gyro_z_bias_slope_;
 	float gyro_z_raw_from_mcu_;
 	float gyro_z_after_startup_bias_;
 	float gyro_z_after_median_;
 	float gyro_z_filtered_pre_bias_;
 	float gyro_z_bias_model_;
 	float gyro_z_final_for_yaw_;
-	double gyro_z_bias_elapsed_s_;
 	float gyro_z_low_pass_alpha_;
 	float gyro_z_low_pass_;
 	std::array<float, 3> gyro_z_median_window_;
diff --git a/src/origincar_base/launch/base_serial.launch.py b/src/origincar_base/launch/base_serial.launch.py
index c14796b..6ac9d39 100644
--- a/src/origincar_base/launch/base_serial.launch.py
+++ b/src/origincar_base/launch/base_serial.launch.py
@@ -11,8 +11,6 @@ def generate_launch_description():
          'cmd_vel': 'cmd_vel',
          'akm_cmd_vel': 'none',
          'product_number': 0,
-         'gyro_z_bias_intercept': 0.0,
-         'gyro_z_bias_slope': 0.0,
          'gyro_z_low_pass_alpha': 0.6,
          'odom_pose_cov_x': 0.01,
          'odom_pose_cov_y': 0.01,
diff --git a/src/origincar_base/src/origincar_base.cpp b/src/origincar_base/src/origincar_base.cpp
index 02c9b6b..43b47f2 100644
--- a/src/origincar_base/src/origincar_base.cpp
+++ b/src/origincar_base/src/origincar_base.cpp
@@ -5,6 +5,7 @@
 #include "robot_localization/srv/set_pose.hpp"
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <algorithm>
+#include <cmath>
 
 using std::placeholders::_1;
 using namespace std;
@@ -16,6 +17,7 @@ float gyro_z_sum = 0;
 namespace
 {
   constexpr float kDefaultGyroZLowPassAlpha = 0.6f;
+  constexpr float kStationaryLinearSpeedThreshold = 0.01f;
 
   float median3(float a, float b, float c)
   {
@@ -33,6 +35,12 @@ namespace
     }
     return b;
   }
+
+  bool shouldForceZeroYawRate(float vx, float vy)
+  {
+    return std::fabs(vx) < kStationaryLinearSpeedThreshold &&
+           std::fabs(vy) < kStationaryLinearSpeedThreshold;
+  }
 }
 
 int main(int argc, char *argv[])
@@ -370,6 +378,8 @@ bool origincar_base::Get_Sensor_Data()
           gyro_z_after_startup_bias_ = 0.0f;
           gyro_z_after_median_ = 0.0f;
           gyro_z_filtered_pre_bias_ = 0.0f;
+          gyro_z_bias_model_ = 0.0f;
+          gyro_z_final_for_yaw_ = 0.0f;
           Mpu6050.angular_velocity.z = 0;
         }
         else
@@ -405,8 +415,13 @@ bool origincar_base::Get_Sensor_Data()
                 (1.0f - gyro_z_low_pass_alpha_) * median_gyro_z;
           }
           gyro_z_filtered_pre_bias_ = gyro_z_low_pass_;
-          Mpu6050.angular_velocity.z = gyro_z_filtered_pre_bias_;
-          // RCLCPP_INFO(this->get_logger(),"gyro_z_sum: %.2f, err: %.2f, gyroz: %.2f ", gyro_z_sum ,(gyro_z_sum / (float)Init_imu_num), Mpu6050.angular_velocity.z);
+          gyro_z_bias_model_ = 0.0f;
+          gyro_z_final_for_yaw_ = gyro_z_filtered_pre_bias_;
+          if (shouldForceZeroYawRate(Robot_Vel.X, Robot_Vel.Y))
+          {
+            gyro_z_final_for_yaw_ = 0.0f;
+          }
+          Mpu6050.angular_velocity.z = gyro_z_final_for_yaw_;
         }
         Robot_Vel.Z = Mpu6050.angular_velocity.z;
         transition_16 = 0;
@@ -433,12 +448,6 @@ void origincar_base::Control()
     Sampling_Time = (current_time - last_time).seconds();
     if (true == Get_Sensor_Data())
     {
-      gyro_z_bias_elapsed_s_ += Sampling_Time;
-      gyro_z_bias_model_ =
-          gyro_z_bias_intercept_ + gyro_z_bias_slope_ * static_cast<float>(gyro_z_bias_elapsed_s_);
-      gyro_z_final_for_yaw_ = gyro_z_filtered_pre_bias_ - gyro_z_bias_model_;
-      Mpu6050.angular_velocity.z = gyro_z_final_for_yaw_;
-      Robot_Vel.Z = gyro_z_final_for_yaw_;
       Robot_Pos.X += 1.03 * (Robot_Vel.X * cos(Robot_Pos.Z) - Robot_Vel.Y * sin(Robot_Pos.Z)) * Sampling_Time;
       Robot_Pos.Y += 1.01 * (Robot_Vel.X * sin(Robot_Pos.Z) + Robot_Vel.Y * cos(Robot_Pos.Z)) * Sampling_Time; // 1.125
       Robot_Pos.Z += Robot_Vel.Z * Sampling_Time;
@@ -460,15 +469,12 @@ origincar_base::origincar_base()
   memset(&Receive_Data, 0, sizeof(Receive_Data));
   memset(&Send_Data, 0, sizeof(Send_Data));
   memset(&Mpu6050_Data, 0, sizeof(Mpu6050_Data));
-  gyro_z_bias_intercept_ = 0.0f;
-  gyro_z_bias_slope_ = 0.0f;
   gyro_z_raw_from_mcu_ = 0.0f;
   gyro_z_after_startup_bias_ = 0.0f;
   gyro_z_after_median_ = 0.0f;
   gyro_z_filtered_pre_bias_ = 0.0f;
   gyro_z_bias_model_ = 0.0f;
   gyro_z_final_for_yaw_ = 0.0f;
-  gyro_z_bias_elapsed_s_ = 0.0;
   gyro_z_median_window_.fill(0.0f);
   gyro_z_median_index_ = 0;
   gyro_z_median_count_ = 0;
@@ -486,8 +492,6 @@ origincar_base::origincar_base()
   this->declare_parameter<std::string>("robot_frame_id", "base_link");
   this->declare_parameter<std::string>("gyro_frame_id", "gyro_link");
   this->declare_parameter<bool>("publish_tf", false);
-  this->declare_parameter<double>("gyro_z_bias_intercept", 0.0);
-  this->declare_parameter<double>("gyro_z_bias_slope", 0.0);
   this->declare_parameter<double>("gyro_z_low_pass_alpha", kDefaultGyroZLowPassAlpha);
 
   // Odom covariance parameters (tunable via YAML)
@@ -503,10 +507,6 @@ origincar_base::origincar_base()
   this->get_parameter("robot_frame_id", robot_frame_id);
   this->get_parameter("gyro_frame_id", gyro_frame_id);
   this->get_parameter("publish_tf", publish_tf_);
-  gyro_z_bias_intercept_ =
-      static_cast<float>(this->get_parameter("gyro_z_bias_intercept").as_double());
-  gyro_z_bias_slope_ =
-      static_cast<float>(this->get_parameter("gyro_z_bias_slope").as_double());
   gyro_z_low_pass_alpha_ =
       static_cast<float>(this->get_parameter("gyro_z_low_pass_alpha").as_double());
   if (gyro_z_low_pass_alpha_ < 0.0f)
diff --git a/src/vlm_detect/config/vlm_detect.yaml b/src/vlm_detect/config/vlm_detect.yaml
new file mode 100644
index 0000000..8c6674b
--- /dev/null
+++ b/src/vlm_detect/config/vlm_detect.yaml
@@ -0,0 +1,36 @@
+# vlm_detect 参数配置
+# 使用: ros2 launch vlm_detect vlm_detect.launch.py
+
+vlm_node:
+  ros__parameters:
+    # VLM 推理服务地址
+    vlm_host: "http://192.168.10.189:8000"
+    # 模型名称 (OpenAI 格式)
+    vlm_model: "./OpenGVLab/InternVL3-1B/"
+    # 订阅的压缩图像话题
+    image_topic: "/image_mjpeg"
+    # 订阅的触发信号话题
+    trigger_topic: "/sign4return"
+    # 触发信号值
+    trigger_sign: 9
+    # 发布结果的话题
+    result_topic: "/vlm_result"
+    # 发送给 VLM 的提示词
+    prompt_text: "描述图片中有一个病人的特征，字数控制在20字以内。"
+    # 最大输出 token 数
+    max_tokens: 100
+
+tts_node:
+  ros__parameters:
+    # VLM 推理服务地址 (需与 vlm_node 一致)
+    vlm_host: "http://192.168.10.189:8000"
+    # 音频输出设备 (PulseAudio sink)
+    audio_sink: "alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo"
+    # 订阅 VLM 结果的话题 (需与 vlm_node 一致)
+    result_topic: "/vlm_result"
+    # TTS 语音 (edge-tts 语音名)
+    tts_voice: "zh-CN-XiaoxiaoNeural"
+    # 临时 MP3 存储路径
+    tmp_mp3_path: "/tmp/tts_out.mp3"
+    # 播放速度 (ffplay atempo, 范围 0.5~2.0)
+    tts_speed: 1.5
diff --git a/src/vlm_detect/launch/vlm_detect.launch.py b/src/vlm_detect/launch/vlm_detect.launch.py
new file mode 100644
index 0000000..b45783e
--- /dev/null
+++ b/src/vlm_detect/launch/vlm_detect.launch.py
@@ -0,0 +1,152 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+vlm_detect 联合启动文件
+同时启动 vlm_node (图生文) 和 tts_node (语音播报)
+
+用法:
+  ros2 launch vlm_detect vlm_detect.launch.py                          # 默认配置
+  ros2 launch vlm_detect vlm_detect.launch.py vlm_host:=http://...     # 覆盖 VLM 服务地址
+  ros2 launch vlm_detect vlm_detect.launch.py use_tts:=false           # 只启动 vlm_node
+"""
+
+import os
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, LogInfo
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    # ==================== Launch 参数 ====================
+    use_tts = LaunchConfiguration('use_tts')
+
+    config_file = LaunchConfiguration('config_file')
+
+    # vlm_node 可覆盖参数
+    vlm_host = LaunchConfiguration('vlm_host')
+    vlm_model = LaunchConfiguration('vlm_model')
+    image_topic = LaunchConfiguration('image_topic')
+    trigger_topic = LaunchConfiguration('trigger_topic')
+    trigger_sign = LaunchConfiguration('trigger_sign')
+    result_topic = LaunchConfiguration('result_topic')
+    prompt_text = LaunchConfiguration('prompt_text')
+    max_tokens = LaunchConfiguration('max_tokens')
+
+    # tts_node 可覆盖参数
+    audio_sink = LaunchConfiguration('audio_sink')
+    tts_voice = LaunchConfiguration('tts_voice')
+    tts_speed = LaunchConfiguration('tts_speed')
+
+    # ==================== 声明参数 ====================
+    declare_use_tts = DeclareLaunchArgument(
+        'use_tts', default_value='true',
+        description='是否同时启动 TTS 语音播报节点')
+
+    declare_config_file = DeclareLaunchArgument(
+        'config_file',
+        default_value=PathJoinSubstitution([
+            get_package_share_directory('vlm_detect'), 'config', 'vlm_detect.yaml'
+        ]),
+        description='YAML 配置文件路径')
+
+    # vlm_node 参数
+    declare_vlm_host = DeclareLaunchArgument(
+        'vlm_host', default_value='http://192.168.10.189:8000',
+        description='VLM 推理服务地址')
+    declare_vlm_model = DeclareLaunchArgument(
+        'vlm_model', default_value='./OpenGVLab/InternVL3-1B/',
+        description='VLM 模型名称')
+    declare_image_topic = DeclareLaunchArgument(
+        'image_topic', default_value='/image_mjpeg',
+        description='订阅的压缩图像话题')
+    declare_trigger_topic = DeclareLaunchArgument(
+        'trigger_topic', default_value='/sign4return',
+        description='订阅的触发信号话题')
+    declare_trigger_sign = DeclareLaunchArgument(
+        'trigger_sign', default_value='9',
+        description='触发信号值 (Int32)')
+    declare_result_topic = DeclareLaunchArgument(
+        'result_topic', default_value='/vlm_result',
+        description='发布 VLM 结果的话题')
+    declare_prompt_text = DeclareLaunchArgument(
+        'prompt_text', default_value='描述图片中有一个病人的特征，字数控制在20字以内。',
+        description='发送给 VLM 的提示词')
+    declare_max_tokens = DeclareLaunchArgument(
+        'max_tokens', default_value='100',
+        description='最大输出 token 数')
+
+    # tts_node 参数
+    declare_audio_sink = DeclareLaunchArgument(
+        'audio_sink',
+        default_value='alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo',
+        description='音频输出设备 (PulseAudio sink)')
+    declare_tts_voice = DeclareLaunchArgument(
+        'tts_voice', default_value='zh-CN-XiaoxiaoNeural',
+        description='TTS 语音名称 (edge-tts)')
+    declare_tts_speed = DeclareLaunchArgument(
+        'tts_speed', default_value='1.5',
+        description='播放速度倍率 (0.5~2.0)')
+
+    # ==================== 节点 ====================
+    vlm_node = Node(
+        package='vlm_detect',
+        executable='vlm_node',
+        name='vlm_detect',
+        output='screen',
+        parameters=[config_file,
+            {
+                'vlm_host': vlm_host,
+                'vlm_model': vlm_model,
+                'image_topic': image_topic,
+                'trigger_topic': trigger_topic,
+                'trigger_sign': trigger_sign,
+                'result_topic': result_topic,
+                'prompt_text': prompt_text,
+                'max_tokens': max_tokens,
+            }],
+    )
+
+    tts_node = Node(
+        package='vlm_detect',
+        executable='tts_node',
+        name='tts_node',
+        output='screen',
+        condition=IfCondition(use_tts),
+        parameters=[config_file,
+            {
+                'vlm_host': vlm_host,
+                'audio_sink': audio_sink,
+                'result_topic': result_topic,
+                'tts_voice': tts_voice,
+                'tts_speed': tts_speed,
+            }],
+    )
+
+    # ==================== 启动描述 ====================
+    return LaunchDescription([
+        # 参数声明
+        declare_use_tts,
+        declare_config_file,
+        declare_vlm_host,
+        declare_vlm_model,
+        declare_image_topic,
+        declare_trigger_topic,
+        declare_trigger_sign,
+        declare_result_topic,
+        declare_prompt_text,
+        declare_max_tokens,
+        declare_audio_sink,
+        declare_tts_voice,
+        declare_tts_speed,
+        # 节点
+        LogInfo(msg=['配置文件: ', config_file]),
+        LogInfo(msg=['VLM 服务: ', vlm_host]),
+        LogInfo(msg=['TTS 播报: ', use_tts]),
+        vlm_node,
+        tts_node,
+    ])
diff --git a/src/vlm_detect/setup.py b/src/vlm_detect/setup.py
index cb4a7ca..8c070ef 100644
--- a/src/vlm_detect/setup.py
+++ b/src/vlm_detect/setup.py
@@ -1,3 +1,5 @@
+import os
+from glob import glob
 from setuptools import find_packages, setup
 
 package_name = 'vlm_detect'
@@ -10,19 +12,21 @@ setup(
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name + '/launch', glob('launch/*.launch.py')),
+        ('share/' + package_name + '/config', glob('config/*.yaml')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
     maintainer='root',
     maintainer_email='root@todo.todo',
-    description='TODO: Package description',
+    description='VLM 图生文检测 + TTS 语音播报',
     license='TODO: License declaration',
     tests_require=['pytest'],
     entry_points={
-      'console_scripts': [
-        'vlm_node = vlm_detect.vlm_node:main',
+        'console_scripts': [
+            'vlm_node = vlm_detect.vlm_node:main',
             'test_publisher = vlm_detect.test_publisher:main',
             'tts_node = vlm_detect.tts_node:main',
-      ],
+        ],
     },
 )
diff --git a/src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc b/src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc
index efe8441..2ed8d18 100644
Binary files a/src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc and b/src/vlm_detect/vlm_detect/__pycache__/__init__.cpython-310.pyc differ
diff --git a/src/vlm_detect/vlm_detect/__pycache__/test_publisher.cpython-310.pyc b/src/vlm_detect/vlm_detect/__pycache__/test_publisher.cpython-310.pyc
new file mode 100644
index 0000000..49408f7
Binary files /dev/null and b/src/vlm_detect/vlm_detect/__pycache__/test_publisher.cpython-310.pyc differ
diff --git a/src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc b/src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc
index 02e57c1..29784a4 100644
Binary files a/src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc and b/src/vlm_detect/vlm_detect/__pycache__/tts_node.cpython-310.pyc differ
diff --git a/src/vlm_detect/vlm_detect/__pycache__/vlm_node.cpython-310.pyc b/src/vlm_detect/vlm_detect/__pycache__/vlm_node.cpython-310.pyc
new file mode 100644
index 0000000..7c0e001
Binary files /dev/null and b/src/vlm_detect/vlm_detect/__pycache__/vlm_node.cpython-310.pyc differ
diff --git a/src/vlm_detect/vlm_detect/tts_node.py b/src/vlm_detect/vlm_detect/tts_node.py
index 030ca11..c847a1c 100644
--- a/src/vlm_detect/vlm_detect/tts_node.py
+++ b/src/vlm_detect/vlm_detect/tts_node.py
@@ -1,42 +1,71 @@
 #!/usr/bin/env python3
+# -*- coding: utf-8 -*-
 import rclpy, subprocess, requests, os
 from rclpy.node import Node
 from std_msgs.msg import String
 
-VLM_HOST = "http://192.168.10.173:8000"
-# USB Audio Device (Card 1)
-AUDIO_SINK = "alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo"
-AUDIO_ENV = {**os.environ, "PULSE_SINK": AUDIO_SINK}
-
 class TTSNode(Node):
     def __init__(self):
         super().__init__("tts_node")
-        self.sub = self.create_subscription(String, "/vlm_result", self.callback, 10)
-        self.get_logger().info("TTS 播报节点已启动 (USB Audio Device, edge-tts 自然语音)")
+
+        self.declare_parameter('vlm_host', 'http://192.168.10.189:8000')
+        self.declare_parameter('audio_sink',
+            'alsa_output.usb-C-Media_Electronics_Inc._USB_Audio_Device-00.analog-stereo')
+        self.declare_parameter('result_topic', '/vlm_result')
+        self.declare_parameter('tts_voice', 'zh-CN-XiaoxiaoNeural')
+        self.declare_parameter('tmp_mp3_path', '/tmp/tts_out.mp3')
+        self.declare_parameter('tts_speed', 1.5)
+
+        self.vlm_host = self.get_parameter('vlm_host').value
+        audio_sink = self.get_parameter('audio_sink').value
+        result_topic = self.get_parameter('result_topic').value
+        self.tts_voice = self.get_parameter('tts_voice').value
+        self.tmp_mp3 = self.get_parameter('tmp_mp3_path').value
+        self.tts_speed = self.get_parameter('tts_speed').value
+
+        self.audio_env = {**os.environ, "PULSE_SINK": audio_sink}
+
+        self.sub = self.create_subscription(String, result_topic, self.callback, 10)
+        self.get_logger().info(
+            f"TTS 节点启动 | host={self.vlm_host} | sink={audio_sink} | "
+            f"voice={self.tts_voice} | speed={self.tts_speed}x"
+        )
 
     def callback(self, msg):
         text = msg.data
-        self.get_logger().info(f"播报: {text}")
+        self.get_logger().info(f"语音播报: {text}")
         try:
-            resp = requests.post(f"{VLM_HOST}/v1/tts",
-                json={"text": text, "voice": "zh-CN-XiaoxiaoNeural"}, timeout=60)
-            mp3 = "/tmp/tts_out.mp3"
-            with open(mp3, "wb") as f:
+            resp = requests.post(
+                f"{self.vlm_host}/v1/tts",
+                json={"text": text, "voice": self.tts_voice},
+                timeout=60
+            )
+            resp.raise_for_status()
+            with open(self.tmp_mp3, "wb") as f:
                 f.write(resp.content)
-            subprocess.Popen(["ffplay", "-nodisp", "-autoexit", mp3],
+            speed_str = f"atempo={self.tts_speed}"
+            subprocess.Popen(
+                ["ffplay", "-nodisp", "-autoexit", "-af", speed_str, self.tmp_mp3],
                 stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL,
-                env=AUDIO_ENV)
+                env=self.audio_env
+            )
         except Exception as e:
-            self.get_logger().error(f"TTS 失败,降级 espeak: {e}")
-            subprocess.Popen(["espeak-ng", "-v", "zh", "-s", "150", text],
-                env=AUDIO_ENV)
+            self.get_logger().error(f"TTS 失败, 降级 espeak: {e}")
+            subprocess.Popen(
+                ["espeak-ng", "-v", "zh", "-s", "150", text],
+                env=self.audio_env
+            )
 
 def main(args=None):
     rclpy.init(args=args)
     node = TTSNode()
-    try: rclpy.spin(node)
-    except KeyboardInterrupt: pass
-    finally: node.destroy_node(); rclpy.shutdown()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
 
 if __name__ == "__main__":
     main()
diff --git a/src/vlm_detect/vlm_detect/vlm_node.py b/src/vlm_detect/vlm_detect/vlm_node.py
index 5348bd1..02ca5fb 100644
--- a/src/vlm_detect/vlm_detect/vlm_node.py
+++ b/src/vlm_detect/vlm_detect/vlm_node.py
@@ -1,146 +1,128 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import Int32, String
-from sensor_msgs.msg import CompressedImage
-from cv_bridge import CvBridge
-import cv2
-import base64
-import threading
-from openai import OpenAI
-import os
-import time
-import numpy as np
-
-class VLMProcessor(Node):
-    def __init__(self):
-        super().__init__('vlm_detect')
-        
-        # 初始化 OpenAI 客户端
-        self.client = OpenAI(
-            base_url="http://192.168.10.173:8000/v1",  # 本地 API 地址
-            api_key="EMPTY",  # 不需要真实 API key
-        )
-     
-        # ROS2 组件
-        self.bridge = CvBridge()
-        self.latest_image = None
-        self.image_lock = threading.Lock()
-        
-        # 订阅图像话题
-        self.image_sub = self.create_subscription(
-            CompressedImage,
-            '/image_mjpeg',
-            self.image_callback,
-            10
-        )
-        
-        # 订阅触发信号
-        self.sign_sub = self.create_subscription(
-            Int32,
-            '/sign4return',
-            self.sign_callback,
-            10
-        )
-        
-        # 发布结果
-        self.result_pub = self.create_publisher(
-            String,
-            '/vlm_result',
-            10
-        )
-        
-        self.get_logger().info("VLM Processor...")
-
-    def image_callback(self, msg):
-        """保存最新的图像"""
-        with self.image_lock:
-            try:
-                # bridge = CvBridge()
-                np_arr = np.frombuffer(msg.data, np.uint8)
-                # 使用 OpenCV 解码图像
-                cv_image = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
-                # cv_image =bridge.imgmsg_to_cv2(msg,desired_encoding='bgr8')
-                self.latest_image = cv_image
-                self.get_logger().debug("recive picture")
-            except Exception as e:
-                self.get_logger().error(f"err picture: {e}")
-
-    def sign_callback(self, msg):
-        """处理触发信号"""
-        if msg.data == 9:
-            self.get_logger().info(f"收到触发信号 ({msg.data})，开始处理图像...")
-            
-            # 检查是否有可用图像
-            with self.image_lock:
-                if self.latest_image is None:
-                    self.get_logger().warning("没有可用图像")
-                    return
-                
-                # 保存临时图像文件
-                temp_path = "/tmp/vlm_temp_image.jpg"
-                cv2.imwrite(temp_path, self.latest_image)
-                self.get_logger().info(f"已保存临时图像: {temp_path}")
-            
-            # 处理图像
-            try:
-                description = self.process_image(temp_path)
-                self.get_logger().info(f"图像描述结果: {description}")
-                
-                # 发布结果
-                result_msg = String()
-                result_msg.data = description
-                self.result_pub.publish(result_msg)
-                
-                # 清理临时文件
-                os.remove(temp_path)
-            except Exception as e:
-                self.get_logger().error(f"处理图像时出错: {e}")
-
-    def process_image(self, image_path):
-        """使用 VLM 模型处理图像"""
-        # 读取并编码图像
-        with open(image_path, "rb") as image_file:
-            base64_image = base64.b64encode(image_file.read()).decode('utf-8')
-        
-        # 发送请求到 VLM 模型
-        start_time = time.time()
-        
-        response = self.client.chat.completions.create(
-            model="./OpenGVLab/InternVL3-1B/",
-            messages=[
-                {
-                    "role": "user",
-                    "content": [
-                        {"type": "text", "text": "描述图片中有一个病人的特征，字数控制在20字以内。"},
-                        {
-                            "type": "image_url",
-                            "image_url": {
-                                "url": f"data:image/jpeg;base64,{base64_image}"
-                            },
-                        },
-                    ]
-                }
-            ],
-            max_tokens=100,
-        )
-        
-        processing_time = time.time() - start_time
-        self.get_logger().info(f"VLM 处理耗时 {processing_time:.1f}s")
-        
-        return response.choices[0].message.content
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = VLMProcessor()
-    try:
-        rclpy.spin(node)
-    except KeyboardInterrupt:
-        pass
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-if __name__ == '__main__':
-    main()
\ No newline at end of file
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Int32, String
+from sensor_msgs.msg import CompressedImage
+from cv_bridge import CvBridge
+import cv2
+import base64
+import threading
+from openai import OpenAI
+import os
+import time
+import numpy as np
+
+class VLMProcessor(Node):
+    def __init__(self):
+        super().__init__('vlm_detect')
+
+        # 声明 ROS2 参数
+        self.declare_parameter('vlm_host', 'http://192.168.10.189:8000')
+        self.declare_parameter('vlm_model', './OpenGVLab/InternVL3-1B/')
+        self.declare_parameter('image_topic', '/image_mjpeg')
+        self.declare_parameter('trigger_topic', '/sign4return')
+        self.declare_parameter('trigger_sign', 9)
+        self.declare_parameter('result_topic', '/vlm_result')
+        self.declare_parameter('prompt_text', '描述图片中有一个病人的特征，字数控制在20字以内。')
+        self.declare_parameter('max_tokens', 100)
+
+        vlm_host = self.get_parameter('vlm_host').value
+        vlm_model = self.get_parameter('vlm_model').value
+        image_topic = self.get_parameter('image_topic').value
+        trigger_topic = self.get_parameter('trigger_topic').value
+        self.trigger_sign = self.get_parameter('trigger_sign').value
+        result_topic = self.get_parameter('result_topic').value
+        self.prompt_text = self.get_parameter('prompt_text').value
+        self.max_tokens = self.get_parameter('max_tokens').value
+
+        # 初始化 OpenAI 客户端
+        self.client = OpenAI(
+            base_url=f"{vlm_host}/v1",
+            api_key="EMPTY",
+        )
+        self.vlm_model = vlm_model
+
+        # ROS2 组件
+        self.bridge = CvBridge()
+        self.latest_image = None
+        self.image_lock = threading.Lock()
+
+        self.image_sub = self.create_subscription(
+            CompressedImage, image_topic, self.image_callback, 10
+        )
+        self.sign_sub = self.create_subscription(
+            Int32, trigger_topic, self.sign_callback, 10
+        )
+        self.result_pub = self.create_publisher(String, result_topic, 10)
+
+        self.get_logger().info(
+            f"VLM Processor 启动 | host={vlm_host} | model={vlm_model} | "
+            f"image={image_topic} | trigger={trigger_topic}(sign={self.trigger_sign})"
+        )
+
+    def image_callback(self, msg):
+        with self.image_lock:
+            try:
+                np_arr = np.frombuffer(msg.data, np.uint8)
+                cv_image = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
+                self.latest_image = cv_image
+                self.get_logger().debug("图片已接收")
+            except Exception as e:
+                self.get_logger().error(f"图片接收错误: {e}")
+
+    def sign_callback(self, msg):
+        if msg.data == self.trigger_sign:
+            self.get_logger().info(f"收到触发信号 ({msg.data}), 开始处理...")
+            with self.image_lock:
+                if self.latest_image is None:
+                    self.get_logger().warning("无可用图片")
+                    return
+                temp_path = "/tmp/vlm_temp_image.jpg"
+                cv2.imwrite(temp_path, self.latest_image)
+                self.get_logger().info(f"临时图片已保存: {temp_path}")
+
+            try:
+                description = self.process_image(temp_path)
+                self.get_logger().info(f"图像描述: {description}")
+                result_msg = String()
+                result_msg.data = description
+                self.result_pub.publish(result_msg)
+                os.remove(temp_path)
+            except Exception as e:
+                self.get_logger().error(f"图像处理出错: {e}")
+
+    def process_image(self, image_path):
+        with open(image_path, "rb") as image_file:
+            base64_image = base64.b64encode(image_file.read()).decode('utf-8')
+
+        start_time = time.time()
+        response = self.client.chat.completions.create(
+            model=self.vlm_model,
+            messages=[{
+                "role": "user",
+                "content": [
+                    {"type": "text", "text": self.prompt_text},
+                    {"type": "image_url", "image_url": {
+                        "url": f"data:image/jpeg;base64,{base64_image}"
+                    }},
+                ]
+            }],
+            max_tokens=self.max_tokens,
+        )
+        self.get_logger().info(f"VLM 推理耗时 {time.time() - start_time:.1f}s")
+        return response.choices[0].message.content
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = VLMProcessor()
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
diff --git a/标定.py b/标定.py
new file mode 100644
index 0000000..7fd8bed
--- /dev/null
+++ b/标定.py
@@ -0,0 +1,72 @@
+import cv2
+import numpy as np
+import glob
+
+# 图片储存的路径
+img_path = "/home/sunrise/yiliao_ws/imagebag_outputs"
+
+# 棋盘格参数
+CHECKERBOARD = (8, 5)  # 内角点数量（列×行）
+square_size = 27  # 棋盘格方块实际尺寸（单位：毫米）
+
+# 存储3D和2D点
+objpoints = []  # 世界坐标系中的点
+imgpoints = []  # 图像坐标系中的点
+
+# 生成世界坐标系中的角点坐标（z=0）
+objp = np.zeros((CHECKERBOARD[0]*CHECKERBOARD[1], 3), np.float32)
+objp[:, :2] = np.mgrid[0:CHECKERBOARD[0], 0:CHECKERBOARD[1]].T.reshape(-1, 2) * square_size
+
+
+# 读取所有棋盘格图片
+images = glob.glob(f'{img_path}/*.png')
+
+for fname in images:
+    img = cv2.imread(fname)
+    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+
+    # 检测角点
+    ret, corners = cv2.findChessboardCorners(gray, CHECKERBOARD, None)
+
+    if ret:
+        objpoints.append(objp)
+
+        # 亚像素角点优化
+        criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
+        corners2 = cv2.cornerSubPix(gray, corners, (11,11), (-1,-1), criteria)
+        imgpoints.append(corners2)
+
+        # 绘制角点（可选）
+        # cv2.drawChessboardCorners(img, CHECKERBOARD, corners2, ret)
+        # cv2.imshow('Detected Corners', img)
+        # cv2.waitKey(500)
+
+# cv2.destroyAllWindows()
+
+# 相机标定
+ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(
+    objpoints, imgpoints, gray.shape[::-1], None, None
+)
+
+# 输出标定结果
+print("相机内参矩阵:\n", mtx)
+print("\n畸变系数:", dist.ravel())
+
+# 计算重投影误差
+mean_error = 0
+for i in range(len(objpoints)):
+    imgpoints2, _ = cv2.projectPoints(objpoints[i], rvecs[i], tvecs[i], mtx, dist)
+    error = cv2.norm(imgpoints[i], imgpoints2, cv2.NORM_L2) / len(imgpoints2)
+    mean_error += error
+print("\n平均重投影误差:", mean_error / len(objpoints))
+
+# 保存参数
+np.savez('cali.npz', mtx=mtx, dist=dist)
+
+
+# 测试校正效果
+img = cv2.imread(fname)  # 替换为实际的图片路径
+# ret, img = cap.read()
+h, w = img.shape[:2]
+newcameramtx, roi = cv2.getOptimalNewCameraMatrix(mtx, dist, (w,h), 1, (w,h))
+