diff --git a/.catkin_workspace b/.catkin_workspace
new file mode 100644
index 0000000..52fd97e
--- /dev/null
+++ b/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..b72c1fb
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,23 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/cmrt/ws_livox/devel/include/**",
+        "/opt/ros/noetic/include/**",
+        "/home/cmrt/ws_livox/src/FAST_LIO/include/**",
+        "/home/cmrt/ws_livox/src/FAST_LIO_LOCALIZATION/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..a21dae1
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,10 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/cmrt/ws_livox/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/cmrt/ws_livox/devel/lib/python3/dist-packages",
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ]
+}
\ No newline at end of file
diff --git a/src/FAST_LIO/CMakeLists.txt b/src/FAST_LIO/CMakeLists.txt
index 205b40d..a1ac27e 100644
--- a/src/FAST_LIO/CMakeLists.txt
+++ b/src/FAST_LIO/CMakeLists.txt
@@ -53,7 +53,7 @@ find_package(catkin REQUIRED COMPONENTS
   tf
   livox_ros_driver2		# <-修改这里
   message_generation
-  eigen_conversions
+  genmsg
 )
 
 find_package(Eigen3 REQUIRED)
diff --git a/src/FAST_LIO_LOCALIZATION/CMakeLists.txt b/src/FAST_LIO_LOCALIZATION/CMakeLists.txt
index 4874940..efa9f54 100644
--- a/src/FAST_LIO_LOCALIZATION/CMakeLists.txt
+++ b/src/FAST_LIO_LOCALIZATION/CMakeLists.txt
@@ -54,6 +54,7 @@ find_package(catkin REQUIRED COMPONENTS
   livox_ros_driver2
   message_generation
   eigen_conversions
+  fast_lio
   genmsg
 )
 
diff --git a/src/FAST_LIO_LOCALIZATION/launch/localization_MID360.launch b/src/FAST_LIO_LOCALIZATION/launch/localization_MID360.launch
index 0ddc0a7..9fda27c 100644
--- a/src/FAST_LIO_LOCALIZATION/launch/localization_MID360.launch
+++ b/src/FAST_LIO_LOCALIZATION/launch/localization_MID360.launch
@@ -5,7 +5,7 @@
 
 	<rosparam command="load" file="$(find fast_lio_localization)/config/mid360.yaml" />
 
-	<param name="feature_extract_enable" type="bool" value="0"/>
+	<param name="feature_extract_enable" type="bool" value="1"/>
 	<param name="point_filter_num" type="int" value="3"/>
 	<param name="max_iteration" type="int" value="3" />
 	<param name="filter_size_surf" type="double" value="0.5" />