diff --git a/.vscode/browse.vc.db-shm b/.vscode/browse.vc.db-shm
index 5acc17d..208cf95 100644
Binary files a/.vscode/browse.vc.db-shm and b/.vscode/browse.vc.db-shm differ
diff --git a/bashes/radar-driver-switch.sh b/bashes/radar-driver-switch.sh
index edf5f15..c64b9ce 100644
--- a/bashes/radar-driver-switch.sh
+++ b/bashes/radar-driver-switch.sh
@@ -4,38 +4,30 @@
 # 0 - 成功
 # 1 - 错误：等待TTY设备就绪超时
 # 2 - 错误：未找到CH343驱动
-# 3 - 错误：未找到含Qingheng的USB设备
-# 4 - 错误：未找到对应USB地址
-# 5 - 错误：未找到cdc_acm绑定的对应USB设备
-# 6 - 错误：解绑cdc_acm驱动失败
-# 7 - 错误：绑定usb_ch343驱动失败
+# 3 - 错误：雷达端口上未找到CH34x设备
+# 4 - 错误：未从cdc_acm找到雷达接口
+# 5 - 错误：解绑cdc_acm驱动失败
+# 6 - 错误：绑定usb_ch343驱动失败
 
-# 变量设置
-TTY_DEVICE="/dev/ttyACM*" # 替换为你要等待的tty设备路径
+# ── 配置 ────────────────────────────────────────────
+TTY_DEVICE="/dev/ttyACM*"
 CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm"
 USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343"
-CHECK_INTERVAL=1 # 检查设备就绪的时间间隔（秒）
-MAX_WAIT_SECONDS=30 # 最大等待时间（秒），0表示无限等待
+RADAR_USB_PORT="1-1.4"          # 雷达 CH34x 的 USB 物理端口（固定不变）
+CHECK_INTERVAL=1
+MAX_WAIT_SECONDS=30
 
-# 初始化变量
+# ── 初始化 ──────────────────────────────────────────
 start_time=$(cut -d. -f1 /proc/uptime)
-current_time=0
-qinheng_id=""
-usb_address=""
-vendor_id=""
-product_id=""
-cdc_acm_sub_addr=""
 
-
-# ----------------- 1. 等待TTY设备就绪 -----------------
-# 循环等待tty设备就绪（检查设备节点是否存在+是否可读写）
+# ── 1. 等待 TTY 设备就绪 ────────────────────────────
 while true; do
     for dev in /dev/ttyACM*; do
         [ -e "$dev" ] || continue
         if [ -c "$dev" ] && [ -r "$dev" ] && [ -w "$dev" ]; then
             echo "[雷达驱动自动切换程序] 设备 $dev 已就绪！" > /dev/kmsg
             TTY_DEVICE="$dev"
-            break 2   # 跳出两层循环
+            break 2
         fi
     done
 
@@ -48,82 +40,62 @@ while true; do
         fi
         echo "[雷达驱动自动切换程序] 仍在等待${TTY_DEVICE}（已等待${elapsed_seconds}秒）..." > /dev/kmsg
     fi
-
     sleep ${CHECK_INTERVAL}
 done
 
-# ------ 2. 查看CH343是否存在 ------
-if ls /sys/bus/usb/drivers/usb_ch343 > /dev/null 2>&1; then
-    echo "[雷达驱动自动切换程序] 检测到CH343驱动存在，继续执行..." > /dev/kmsg
+# ── 2. 确认 CH343 驱动已加载 ────────────────────────
+if [ -d "${USB_CH343_PATH}" ]; then
+    echo "[雷达驱动自动切换程序] CH343驱动已加载，继续..." > /dev/kmsg
 else
     echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg
     exit 2
 fi
 
+# ── 3. 通过物理端口定位雷达 CH34x ───────────────────
+radar_sysfs="/sys/bus/usb/devices/${RADAR_USB_PORT}"
 
-# ------------- 3. 查找Qingheng对应的usb接口 -------------
-echo "[雷达驱动自动切换程序] 开始提取QinHeng设备ID..." > /dev/kmsg
-
-# 执行lsusb并过滤含QinHeng的行，提取ID（核心逻辑）
-qinheng_id=$(lsusb | grep "QinHeng" | awk '{print $6}' | head -n 1)
-
-# 检查是否提取到ID
-if [ -z "${qinheng_id}" ]; then
-    echo "[雷达驱动自动切换程序] 错误：未找到含QinHeng的USB设备！" > /dev/kmsg
-    exit 3 
-else
-    echo "[雷达驱动自动切换程序] 成功提取QinHeng设备ID：${qinheng_id}" > /dev/kmsg
-    # 将ID拆分为vendor_id和product_id
-    vendor_id=$(echo "${qinheng_id}" | cut -d ':' -f 1)
-    product_id=$(echo "${qinheng_id}" | cut -d ':' -f 2)
+if [ ! -d "${radar_sysfs}" ]; then
+    echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上无设备！" > /dev/kmsg
+    exit 3
 fi
 
-# -------------------- 4. 提取USB地址 --------------------
-echo "[雷达驱动自动切换程序] 开始查找idVendor=${vendor_id},idProduct=${product_id}的USB地址..." > /dev/kmsg
-# 核心命令：过滤dmesg日志，提取USB地址
-usb_address=$(dmesg | grep -E "idVendor=${vendor_id}, idProduct=${product_id}" | grep -oE "usb [0-9]+-[0-9.]+:" | awk '{print $2}' | sed 's/://' | tail -n 1)
+vendor_id=$(cat "${radar_sysfs}/idVendor" 2>/dev/null)
+product_id=$(cat "${radar_sysfs}/idProduct" 2>/dev/null)
 
-# 检查是否提取到USB地址
-if [ -z "${usb_address}" ]; then
-    echo "[雷达驱动自动切换程序] 错误：未找到对应USB地址" > /dev/kmsg
-    exit 4
-else
-    echo "[雷达驱动自动切换程序] 成功找到USB地址：${usb_address}" > /dev/kmsg
+if [ "${vendor_id}" != "1a86" ] || [ "${product_id}" != "55d4" ]; then
+    echo "[雷达驱动自动切换程序] 错误：端口 ${RADAR_USB_PORT} 上 VID:PID=${vendor_id}:${product_id}，非雷达CH34x！" > /dev/kmsg
+    exit 3
 fi
 
-# ---- 5. 找到cdc_acm驱动对应的usb设备 ----
-echo "[雷达驱动自动切换程序] 开始从${CDC_ACM_PATH}提取${usb_address}对应的子地址..." > /dev/kmsg
+echo "[雷达驱动自动切换程序] 雷达确认位于端口 ${RADAR_USB_PORT}，VID:PID=${vendor_id}:${product_id}" > /dev/kmsg
+
+# ── 4. 查找 cdc_acm 下雷达的接口 ────────────────────
+cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${RADAR_USB_PORT}:" | head -n 1)
 
-cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${usb_address}:" | head -n 1)
-    
 if [ -z "${cdc_acm_sub_addr}" ]; then
-    echo "[雷达驱动自动切换程序] 错误：${CDC_ACM_PATH}中未找到${usb_address}绑定的对应USB设备" > /dev/kmsg
-    exit 5
-else
-    echo "[雷达驱动自动切换程序] 成功提取cdc_acm子地址：${cdc_acm_sub_addr}" > /dev/kmsg
+    echo "[雷达驱动自动切换程序] 错误：cdc_acm驱动中未找到端口 ${RADAR_USB_PORT} 的接口" > /dev/kmsg
+    exit 4
 fi
 
-# 6. 切换驱动
-echo "[雷达驱动自动切换程序] 开始切换cdc_acm驱动到USB地址${usb_address}..." > /dev/kmsg
+echo "[雷达驱动自动切换程序] 雷达 cdc_acm 接口：${cdc_acm_sub_addr}" > /dev/kmsg
 
-echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" 2>/dev/null
+# ── 5. 解绑 cdc_acm ─────────────────────────────────
+echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" > /dev/null 2>&1
 if [ $? -eq 0 ]; then
-    echo "[雷达驱动自动切换程序] 成功解绑cdc_acm驱动：${cdc_acm_sub_addr}" > /dev/kmsg
+    echo "[雷达驱动自动切换程序] 已解绑 cdc_acm：${cdc_acm_sub_addr}" > /dev/kmsg
 else
-    echo "[雷达驱动自动切换程序] 错误：解绑cdc_acm驱动失败" > /dev/kmsg
+    echo "[雷达驱动自动切换程序] 错误：解绑 cdc_acm 失败" > /dev/kmsg
+    exit 5
+fi
+
+# ── 6. 绑定 ch343 ───────────────────────────────────
+echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" > /dev/null 2>&1
+if [ $? -eq 0 ]; then
+    echo "[雷达驱动自动切换程序] 已绑定 usb_ch343：${cdc_acm_sub_addr}" > /dev/kmsg
+else
+    echo "[雷达驱动自动切换程序] 错误：绑定 usb_ch343 失败" > /dev/kmsg
     exit 6
 fi
 
-echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" 2>/dev/null
-if [ $? -eq 0 ]; then
-    echo "[雷达驱动自动切换程序] 成功绑定usb_ch343驱动：${cdc_acm_sub_addr}" > /dev/kmsg
-else
-    echo "[雷达驱动自动切换程序] 错误：绑定usb_ch343驱动失败（检查驱动是否加载）" > /dev/kmsg
-    exit 7
-fi
-
-
-# 执行完成
-echo "[雷达驱动自动切换程序] 雷达驱动自动切换完毕！" > /dev/kmsg
-
-exit 0
\ No newline at end of file
+echo "[雷达驱动自动切换程序] 雷达驱动切换完毕！" > /dev/kmsg
+exit 0
diff --git a/bashes/radar-driver-switch.sh.bak b/bashes/radar-driver-switch.sh.bak
new file mode 100644
index 0000000..edf5f15
--- /dev/null
+++ b/bashes/radar-driver-switch.sh.bak
@@ -0,0 +1,129 @@
+#!/bin/bash
+
+# 退出码说明
+# 0 - 成功
+# 1 - 错误：等待TTY设备就绪超时
+# 2 - 错误：未找到CH343驱动
+# 3 - 错误：未找到含Qingheng的USB设备
+# 4 - 错误：未找到对应USB地址
+# 5 - 错误：未找到cdc_acm绑定的对应USB设备
+# 6 - 错误：解绑cdc_acm驱动失败
+# 7 - 错误：绑定usb_ch343驱动失败
+
+# 变量设置
+TTY_DEVICE="/dev/ttyACM*" # 替换为你要等待的tty设备路径
+CDC_ACM_PATH="/sys/bus/usb/drivers/cdc_acm"
+USB_CH343_PATH="/sys/bus/usb/drivers/usb_ch343"
+CHECK_INTERVAL=1 # 检查设备就绪的时间间隔（秒）
+MAX_WAIT_SECONDS=30 # 最大等待时间（秒），0表示无限等待
+
+# 初始化变量
+start_time=$(cut -d. -f1 /proc/uptime)
+current_time=0
+qinheng_id=""
+usb_address=""
+vendor_id=""
+product_id=""
+cdc_acm_sub_addr=""
+
+
+# ----------------- 1. 等待TTY设备就绪 -----------------
+# 循环等待tty设备就绪（检查设备节点是否存在+是否可读写）
+while true; do
+    for dev in /dev/ttyACM*; do
+        [ -e "$dev" ] || continue
+        if [ -c "$dev" ] && [ -r "$dev" ] && [ -w "$dev" ]; then
+            echo "[雷达驱动自动切换程序] 设备 $dev 已就绪！" > /dev/kmsg
+            TTY_DEVICE="$dev"
+            break 2   # 跳出两层循环
+        fi
+    done
+
+    if [ ${MAX_WAIT_SECONDS} -gt 0 ]; then
+        current_time=$(cut -d. -f1 /proc/uptime)
+        elapsed_seconds=$((current_time - start_time))
+        if [ ${elapsed_seconds} -ge ${MAX_WAIT_SECONDS} ]; then
+            echo "[雷达驱动自动切换程序] 错误：等待 ${TTY_DEVICE} 超时（${MAX_WAIT_SECONDS}秒）！" > /dev/kmsg
+            exit 1
+        fi
+        echo "[雷达驱动自动切换程序] 仍在等待${TTY_DEVICE}（已等待${elapsed_seconds}秒）..." > /dev/kmsg
+    fi
+
+    sleep ${CHECK_INTERVAL}
+done
+
+# ------ 2. 查看CH343是否存在 ------
+if ls /sys/bus/usb/drivers/usb_ch343 > /dev/null 2>&1; then
+    echo "[雷达驱动自动切换程序] 检测到CH343驱动存在，继续执行..." > /dev/kmsg
+else
+    echo "[雷达驱动自动切换程序] 错误：未找到CH343驱动！" > /dev/kmsg
+    exit 2
+fi
+
+
+# ------------- 3. 查找Qingheng对应的usb接口 -------------
+echo "[雷达驱动自动切换程序] 开始提取QinHeng设备ID..." > /dev/kmsg
+
+# 执行lsusb并过滤含QinHeng的行，提取ID（核心逻辑）
+qinheng_id=$(lsusb | grep "QinHeng" | awk '{print $6}' | head -n 1)
+
+# 检查是否提取到ID
+if [ -z "${qinheng_id}" ]; then
+    echo "[雷达驱动自动切换程序] 错误：未找到含QinHeng的USB设备！" > /dev/kmsg
+    exit 3 
+else
+    echo "[雷达驱动自动切换程序] 成功提取QinHeng设备ID：${qinheng_id}" > /dev/kmsg
+    # 将ID拆分为vendor_id和product_id
+    vendor_id=$(echo "${qinheng_id}" | cut -d ':' -f 1)
+    product_id=$(echo "${qinheng_id}" | cut -d ':' -f 2)
+fi
+
+# -------------------- 4. 提取USB地址 --------------------
+echo "[雷达驱动自动切换程序] 开始查找idVendor=${vendor_id},idProduct=${product_id}的USB地址..." > /dev/kmsg
+# 核心命令：过滤dmesg日志，提取USB地址
+usb_address=$(dmesg | grep -E "idVendor=${vendor_id}, idProduct=${product_id}" | grep -oE "usb [0-9]+-[0-9.]+:" | awk '{print $2}' | sed 's/://' | tail -n 1)
+
+# 检查是否提取到USB地址
+if [ -z "${usb_address}" ]; then
+    echo "[雷达驱动自动切换程序] 错误：未找到对应USB地址" > /dev/kmsg
+    exit 4
+else
+    echo "[雷达驱动自动切换程序] 成功找到USB地址：${usb_address}" > /dev/kmsg
+fi
+
+# ---- 5. 找到cdc_acm驱动对应的usb设备 ----
+echo "[雷达驱动自动切换程序] 开始从${CDC_ACM_PATH}提取${usb_address}对应的子地址..." > /dev/kmsg
+
+cdc_acm_sub_addr=$(ls "${CDC_ACM_PATH}" 2>/dev/null | grep "^${usb_address}:" | head -n 1)
+    
+if [ -z "${cdc_acm_sub_addr}" ]; then
+    echo "[雷达驱动自动切换程序] 错误：${CDC_ACM_PATH}中未找到${usb_address}绑定的对应USB设备" > /dev/kmsg
+    exit 5
+else
+    echo "[雷达驱动自动切换程序] 成功提取cdc_acm子地址：${cdc_acm_sub_addr}" > /dev/kmsg
+fi
+
+# 6. 切换驱动
+echo "[雷达驱动自动切换程序] 开始切换cdc_acm驱动到USB地址${usb_address}..." > /dev/kmsg
+
+echo "${cdc_acm_sub_addr}" | sudo tee "${CDC_ACM_PATH}/unbind" 2>/dev/null
+if [ $? -eq 0 ]; then
+    echo "[雷达驱动自动切换程序] 成功解绑cdc_acm驱动：${cdc_acm_sub_addr}" > /dev/kmsg
+else
+    echo "[雷达驱动自动切换程序] 错误：解绑cdc_acm驱动失败" > /dev/kmsg
+    exit 6
+fi
+
+echo "${cdc_acm_sub_addr}" | sudo tee "${USB_CH343_PATH}/bind" 2>/dev/null
+if [ $? -eq 0 ]; then
+    echo "[雷达驱动自动切换程序] 成功绑定usb_ch343驱动：${cdc_acm_sub_addr}" > /dev/kmsg
+else
+    echo "[雷达驱动自动切换程序] 错误：绑定usb_ch343驱动失败（检查驱动是否加载）" > /dev/kmsg
+    exit 7
+fi
+
+
+# 执行完成
+echo "[雷达驱动自动切换程序] 雷达驱动自动切换完毕！" > /dev/kmsg
+
+exit 0
\ No newline at end of file
diff --git a/src/ground_slam b/src/ground_slam
new file mode 160000
index 0000000..287e307
--- /dev/null
+++ b/src/ground_slam
@@ -0,0 +1 @@
+Subproject commit 287e3077d7e3a2d23c15cd3faf113425c2803621
diff --git a/src/origincar_base/launch/robot_mode_description.launch.py b/src/origincar_base/launch/robot_mode_description.launch.py
index 4bce9d9..c5ee02a 100644
--- a/src/origincar_base/launch/robot_mode_description.launch.py
+++ b/src/origincar_base/launch/robot_mode_description.launch.py
@@ -8,13 +8,16 @@ from launch.actions import (DeclareLaunchArgument, GroupAction,LogInfo,
                             IncludeLaunchDescription, SetEnvironmentVariable)
 from launch.substitutions import LaunchConfiguration
 
+urdf_path = os.path.join(get_package_share_directory('origincar_description'),'urdf','origincar.urdf')
+
 def generate_launch_description():
     origincar_description = GroupAction([
         launch_ros.actions.Node(
             package='robot_state_publisher', 
             executable='robot_state_publisher', 
             name='robot_state_publisher',
-            arguments=[os.path.join(get_package_share_directory('origincar_description'),'urdf','origincar.urdf')]
+            parameters=[{'robot_description': open(urdf_path).read()}],
+            arguments=[]
         )
     ])
  
diff --git a/调试记录.log b/调试记录.log
new file mode 100644
index 0000000..4518581
--- /dev/null
+++ b/调试记录.log
@@ -0,0 +1,19 @@
+2026/6/1
+16:12 
+关闭了雷达的自启动服务。
+
+\TODO lsusb无法识别雷达usb设备，原本属于lslidar的 QinHeng Electronics USB Single Serial被赋予给了下位机的IMU设备。下面是lsusb的输出：
+
+Bus 002 Device 002: ID 05e3:0626 Genesys Logic, Inc. USB3.1 Hub
+Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
+Bus 001 Device 004: ID 2ce3:0010 Alcorlink Corp. USB 2.0 Camera
+Bus 001 Device 003: ID 1a86:55d4 QinHeng Electronics USB Single Serial
+Bus 001 Device 002: ID 05e3:0610 Genesys Logic, Inc. Hub
+Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
+
+拔插之后lslidar后无改变
+串口设备仅有ttyACM0，无ttyACM1.
+
+
+16:48
+雷达串口问题解决，原因是type-c转接线的芯片问题，换了一条转接线后雷达串口设备正常显示为ttyACM0和ttyACM1了。
\ No newline at end of file