创建了单电机驱动

创建go电机发送反馈串口驱动
2025-05-15 20:43:12 +08:00 · 2025-05-15 20:42:30 +08:00
43 changed files with 4749 additions and 0 deletions
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -0,0 +1,69 @@
+{
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "semaphore": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp"
+    }
+}
--- a/src/hardware/fdilink_ahrs_ROS2/CMakeLists.txt
+++ b/src/hardware/fdilink_ahrs_ROS2/CMakeLists.txt
@ -0,0 +1,80 @@
+cmake_minimum_required(VERSION 3.5)
+project(fdilink_ahrs)
+
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(Eigen3 REQUIRED)
+set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(serial REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+include_directories(
+  include
+  src
+  ${catkin_INCLUDE_DIRS}
+  ${Eigen3_INCLUDE_DIRS} 
+)
+
+
+add_executable(ahrs_driver_node src/ahrs_driver.cpp src/crc_table.cpp)
+ament_target_dependencies(ahrs_driver_node rclcpp rclpy  std_msgs  sensor_msgs  serial tf2_ros tf2 nav_msgs geometry_msgs)
+
+
+add_executable(imu_tf_node src/imu_tf.cpp)
+ament_target_dependencies(imu_tf_node rclcpp rclpy std_msgs sensor_msgs serial tf2_ros tf2 tf2_geometry_msgs)
+
+# find_package(Boost 1.55.0 REQUIRED COMPONENTS system filesystem)
+# include_directories(ahrs_driver_node ${Boost_INCLOUDE_DIRS})
+# link_directories(ahrs_driver_node ${Boost_LIBRARY_DIRS})
+# target_link_libraries(ahrs_driver_node ${Boost_LIBRSRIES})
+
+install(TARGETS
+  ahrs_driver_node
+  imu_tf_node
+
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY launch 
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
--- a/src/hardware/fdilink_ahrs_ROS2/data/gps_data.bag
+++ b/src/hardware/fdilink_ahrs_ROS2/data/gps_data.bag
--- a/src/hardware/fdilink_ahrs_ROS2/include/ahrs_driver.h
+++ b/src/hardware/fdilink_ahrs_ROS2/include/ahrs_driver.h
@ -0,0 +1,111 @@
+#ifndef BASE_DRIVER_H_
+#define BASE_DRIVER_H_
+
+
+#include <inttypes.h>
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include <tf2_ros/transform_broadcaster.h>
+#include <iostream>
+#include <unistd.h>
+#include <serial/serial.h> //ROS的串口包 http://wjwwood.io/serial/doc/1.1.0/index.html
+#include <math.h>
+#include <fstream>
+#include <fdilink_data_struct.h>
+//#include <sensor_msgs/Imu.h>
+#include <sensor_msgs/msg/imu.hpp>
+#include <sensor_msgs/msg/nav_sat_fix.hpp>
+#include <geometry_msgs/msg/pose2_d.hpp>
+#include <geometry_msgs/msg/twist.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+
+#include <string>
+//#include <ros/package.h>
+#include <ament_index_cpp/get_package_prefix.hpp>
+#include <crc_table.h>
+#include <Eigen/Eigen>
+#include <Eigen/Geometry>
+#include <Eigen/Core>
+//#include <boost/thread.h>
+
+using namespace std;
+using namespace Eigen;
+namespace FDILink
+{
+#define FRAME_HEAD 0xfc
+#define FRAME_END 0xfd
+#define TYPE_IMU 0x40
+#define TYPE_AHRS 0x41
+#define TYPE_INSGPS 0x42
+#define TYPE_GEODETIC_POS 0x5c
+#define TYPE_GROUND 0xf0
+
+#define IMU_LEN  0x38   //56
+#define AHRS_LEN 0x30   //48
+#define INSGPS_LEN 0x48 //80
+#define GEODETIC_POS_LEN 0x20 //32
+#define PI 3.141592653589793
+#define DEG_TO_RAD 0.017453292519943295
+
+
+class ahrsBringup : public rclcpp::Node
+{
+public:
+  ahrsBringup();
+  ~ahrsBringup();
+  void processLoop();
+  bool checkCS8(int len);
+  bool checkCS16(int len);
+  void checkSN(int type);
+  void magCalculateYaw(double roll, double pitch, double &magyaw, double magx, double magy, double magz);
+
+private:
+  bool if_debug_;
+  //sum info
+  int sn_lost_ = 0;
+  int crc_error_ = 0;
+  uint8_t read_sn_ = 0;
+  bool frist_sn_;
+  int device_type_ = 1;
+
+  //serial
+  serial::Serial serial_; //声明串口对象
+  std::string serial_port_;
+  int serial_baud_;
+  int serial_timeout_;
+  //data
+  FDILink::imu_frame_read  imu_frame_;
+  FDILink::ahrs_frame_read ahrs_frame_;
+  FDILink::insgps_frame_read insgps_frame_;
+  //FDILink::lanlon_frame_read latlon_frame_;
+  FDILink::Geodetic_Position_frame_read Geodetic_Position_frame_;
+  //frame name
+  //std::string imu_frame_id="gyro_link";
+  std::string imu_frame_id_;
+  std::string insgps_frame_id_;
+  std::string latlon_frame_id_;
+  //topic
+  std::string imu_topic="/imu", mag_pose_2d_topic="/mag_pose_2d";
+  std::string latlon_topic="latlon";
+  std::string Euler_angles_topic="/Euler_angles", Magnetic_topic="/Magnetic";
+  std::string gps_topic="/gps/fix",twist_topic="/system_speed",NED_odom_topic="/NED_odometry";
+
+
+  //Publisher
+  rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr  imu_pub_;
+  rclcpp::Publisher<geometry_msgs::msg::Pose2D>::SharedPtr mag_pose_pub_;
+
+  rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr gps_pub_;
+  
+  rclcpp::Publisher<geometry_msgs::msg::Vector3>::SharedPtr Euler_angles_pub_;
+  rclcpp::Publisher<geometry_msgs::msg::Vector3>::SharedPtr Magnetic_pub_;
+
+  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr  twist_pub_;
+  rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr NED_odom_pub_;
+
+
+
+}; //ahrsBringup
+} // namespace FDILink
+
+#endif
--- a/src/hardware/fdilink_ahrs_ROS2/include/crc_table.h
+++ b/src/hardware/fdilink_ahrs_ROS2/include/crc_table.h
@ -0,0 +1,10 @@
+#ifndef CRC_TABLE_H
+#define CRC_TABLE_H
+
+#include <stdint.h>
+
+uint8_t CRC8_Table(uint8_t* p, uint8_t counter);
+uint16_t CRC16_Table(uint8_t *p, uint8_t counter);
+uint32_t CRC32_Table(uint8_t *p, uint8_t counter);
+
+#endif // CRC_TABLE_H
--- a/src/hardware/fdilink_ahrs_ROS2/include/fdilink_data_struct.h
+++ b/src/hardware/fdilink_ahrs_ROS2/include/fdilink_data_struct.h
@ -0,0 +1,189 @@
+#ifndef FDILINK_DATA_STRUCT_H_
+#define FDILINK_DATA_STRUCT_H_
+
+#include <iostream>
+namespace FDILink{
+#pragma pack(1)
+struct fdilink_header
+{
+	uint8_t  header_start;
+	uint8_t  data_type;
+	uint8_t  data_size;
+	uint8_t  serial_num;
+	uint8_t  header_crc8;
+    uint8_t  header_crc16_h;
+	uint8_t  header_crc16_l;
+};
+#pragma pack()
+
+#pragma pack(1)
+struct IMUData_Packet_t
+{
+	float gyroscope_x;          //unit: rad/s
+	float gyroscope_y;          //unit: rad/s
+	float gyroscope_z;          //unit: rad/s
+	float accelerometer_x;      //m/s^2
+	float accelerometer_y;      //m/s^2
+	float accelerometer_z;      //m/s^2
+	float magnetometer_x;       //mG
+	float magnetometer_y;       //mG
+	float magnetometer_z;       //mG
+	float imu_temperature;      //C
+	float Pressure;             //Pa
+	float pressure_temperature; //C
+	int64_t Timestamp;          //us
+};
+#pragma pack()
+
+struct AHRSData_Packet_t
+{
+	float RollSpeed;   //unit: rad/s
+	float PitchSpeed;  //unit: rad/s
+	float HeadingSpeed;//unit: rad/s
+	float Roll;        //unit: rad
+	float Pitch;       //unit: rad
+	float Heading;     //unit: rad
+	float Qw;//w          //Quaternion
+	float Qx;//x
+	float Qy;//y
+	float Qz;//z
+	int64_t Timestamp; //unit: us
+};
+#pragma pack(1)
+struct INSGPSData_Packet_t
+{
+	float BodyVelocity_X;       
+	float BodyVelocity_Y;       
+	float BodyVelocity_Z;       
+	float BodyAcceleration_X;   
+	float BodyAcceleration_Y;   
+	float BodyAcceleration_Z;   
+	float Location_North;      
+	float Location_East;       
+	float Location_Down;
+	float Velocity_North;
+	float Velocity_East;
+	float Velocity_Down;
+	float Acceleration_North;
+	float Acceleration_East;
+	float Acceleration_Down;
+	float Pressure_Altitude;
+	int64_t Timestamp;
+};
+#pragma pack()
+
+#pragma pack(1)
+struct Geodetic_Position_Packet_t
+{
+	double Latitude;       
+	double Longitude;       
+	double Height;
+	float hAcc;
+	float vAcc;      
+};
+#pragma pack()
+
+//for IMU=========================
+#pragma pack(1)
+struct read_imu_struct{
+  fdilink_header     header;    //7                
+  union data
+  {
+	IMUData_Packet_t   data_pack; //56
+	uint8_t            data_buff[56]; //56
+  }data;
+  uint8_t            frame_end; //1                  
+};            
+
+struct read_imu_tmp{
+  uint8_t frame_header[7];
+  uint8_t read_msg[57];
+};                           
+
+union imu_frame_read{
+  struct read_imu_struct frame;
+  read_imu_tmp read_buf;
+  uint8_t read_tmp[64];
+};
+#pragma pack()
+//for IMU------------------------
+
+//for AHRS=========================
+#pragma pack(1)
+struct read_ahrs_struct{
+  fdilink_header     header;    //7                
+  union data
+  {
+	AHRSData_Packet_t  data_pack; //48
+	uint8_t            data_buff[48]; //48
+  }data;
+  uint8_t            frame_end; //1                  
+};       
+
+ 
+struct read_ahrs_tmp{
+  uint8_t frame_header[7];
+  uint8_t read_msg[49];
+};                           
+
+union ahrs_frame_read{
+  struct read_ahrs_struct frame;
+  read_ahrs_tmp read_buf;
+  uint8_t read_tmp[56];
+};
+#pragma pack()
+//for AHRS------------------------
+
+//for INSGPS=========================
+#pragma pack(1)
+struct read_insgps_struct{
+  fdilink_header     header;    //7                
+  union data
+  {
+	INSGPSData_Packet_t  data_pack; //72
+	uint8_t              data_buff[72]; //72
+  }data;
+  uint8_t            frame_end; //1                  
+};   
+
+                           
+struct read_insgps_tmp{
+  uint8_t frame_header[7];
+  uint8_t read_msg[73];
+};                          
+
+union insgps_frame_read{
+  struct read_insgps_struct frame;
+  read_insgps_tmp read_buf;
+  uint8_t read_tmp[80];
+};
+#pragma pack()
+//for INSGPS------------------------
+
+//for Geodetic_Position=========================
+#pragma pack(1)
+struct read_Geodetic_Position_struct{
+  fdilink_header     header;    //7                
+  union data
+  {
+	Geodetic_Position_Packet_t  data_pack; //40
+	uint8_t                     data_buff[32]; //40
+  }data;
+  uint8_t            frame_end; //1                  
+};   
+                           
+struct read_Geodetic_Position_tmp{
+  uint8_t frame_header[7];
+  uint8_t read_msg[33];
+};                          
+
+union Geodetic_Position_frame_read{
+  struct read_Geodetic_Position_struct frame;
+  read_Geodetic_Position_tmp read_buf;
+  uint8_t read_tmp[40];
+};
+ 
+#pragma pack()
+
+}//namespace FDILink
+#endif//FDILINK_DATA_STRUCT_H_
--- a/src/hardware/fdilink_ahrs_ROS2/launch/ahrs_driver.launch.py
+++ b/src/hardware/fdilink_ahrs_ROS2/launch/ahrs_driver.launch.py
@ -0,0 +1,37 @@
+import os
+from pathlib import Path
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import (DeclareLaunchArgument, GroupAction,
+                            IncludeLaunchDescription, SetEnvironmentVariable)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+# bringup_dir = get_package_share_directory('fdilink_ahrs')
+# launch_dir = os.path.join(bringup_dir, 'launch')
+# imu_tf = IncludeLaunchDescription(
+#         PythonLaunchDescriptionSource(os.path.join(launch_dir, 'imu_tf.launch.py')),
+# )
+def generate_launch_description():
+    ahrs_driver=Node(
+        package="fdilink_ahrs",
+        executable="ahrs_driver_node",
+        parameters=[{'if_debug_': False,
+            # 'serial_port_':'/dev/wheeltec_FDI_IMU_GNSS',
+            'serial_port_':'/dev/ttyUSB0',
+            'serial_baud_':921600,
+            'imu_topic':'/imu',
+            'imu_frame_id_':'gyro_link',
+            'mag_pose_2d_topic':'/mag_pose_2d',
+            'Magnetic_topic':'/magnetic',
+            'Euler_angles_topic':'/euler_angles',
+            'gps_topic':'/gps/fix',
+            'twist_topic':'/system_speed',
+            'NED_odom_topic':'/NED_odometry',
+            'device_type_':1}],
+        output="screen"
+    )
+
+    launch_description =LaunchDescription()
+    launch_description.add_action(ahrs_driver)
+#    launch_description.add_action(imu_tf)
+    return launch_description
--- a/src/hardware/fdilink_ahrs_ROS2/launch/imu_tf.launch.py
+++ b/src/hardware/fdilink_ahrs_ROS2/launch/imu_tf.launch.py
@ -0,0 +1,18 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    imu_tf=Node(
+        package="fdilink_ahrs",
+        #node_executable="imu_tf_node",
+        parameters=[{'imu_topic':'/imu',
+        'world_frame_id':'/world',
+        'imu_frame_id':'/gyro_link',
+        'position_x':1,
+        'position_y':1,
+        'position_z':1,
+        }],
+    )
+
+    launch_description =LaunchDescription([imu_tf])
+    return launch_description
--- a/src/hardware/fdilink_ahrs_ROS2/package.xml
+++ b/src/hardware/fdilink_ahrs_ROS2/package.xml
@ -0,0 +1,27 @@
+<?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>fdilink_ahrs</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="noah@todo.todo">noah</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>nav_msgs</depend>
+  <depend>geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
--- a/src/hardware/fdilink_ahrs_ROS2/src/ahrs_driver.cpp
+++ b/src/hardware/fdilink_ahrs_ROS2/src/ahrs_driver.cpp
@ -0,0 +1,675 @@
+#include <ahrs_driver.h>
+//#include <Eigen/Eigen>
+rclcpp::Node::SharedPtr nh_=nullptr;
+
+
+namespace FDILink
+{
+ahrsBringup::ahrsBringup()
+: rclcpp::Node ("ahrs_bringup")
+{
+  //topic_name & frame_id  加载参数服务器
+  this->declare_parameter("if_debug_",false);
+  this->get_parameter("if_debug_", if_debug_);
+
+  this->declare_parameter<std::int8_t>("device_type_",1);
+  this->get_parameter("device_type_",  device_type_);
+
+  this->declare_parameter<std::string>("imu_topic","/imu");
+  this->get_parameter("imu_topic",  imu_topic);
+
+  this->declare_parameter<std::string>("imu_frame_id_","gyro_link");
+  this->get_parameter("imu_frame_id_",   imu_frame_id_);
+
+  this->declare_parameter<std::string>("mag_pose_2d_topic","/mag_pose_2d");
+  this->get_parameter("mag_pose_2d_topic", mag_pose_2d_topic);
+
+  this->declare_parameter<std::string>("Euler_angles_topic","/euler_angles");
+  this->get_parameter("Euler_angles_topic", Euler_angles_topic);
+
+  this->declare_parameter<std::string>("gps_topic","/gps/fix");
+  this->get_parameter("gps_topic", gps_topic);
+
+
+  this->declare_parameter<std::string>("Magnetic_topic","/magnetic");
+  this->get_parameter("Magnetic_topic", Magnetic_topic);
+
+  this->declare_parameter<std::string>("twist_topic","/system_speed");
+  this->get_parameter("twist_topic", twist_topic);
+
+  this->declare_parameter<std::string>("NED_odom_topic","/NED_odometry");
+  this->get_parameter("NED_odom_topic", NED_odom_topic);
+
+  this->declare_parameter<std::string>("serial_port_","/dev/fdilink_ahrs");
+  this->get_parameter("serial_port_", serial_port_);
+
+  this->declare_parameter<std::int64_t>("serial_baud_",921600);
+  this->get_parameter("serial_baud_", serial_baud_);  
+
+  //pravite_nh.param("debug",     if_debug_,  false);
+  //pravite_nh.param("device_type", device_type_, 1); // default: single imu
+  // pravite_nh.param("imu_topic", imu_topic_, std::string("/imu"));
+  // pravite_nh.param("imu_frame", imu_frame_id_, std::string("imu"));
+  // pravite_nh.param("mag_pose_2d_topic", mag_pose_2d_topic_, std::string("/mag_pose_2d"));
+  // pravite_nh.param("Euler_angles_pub_", Euler_angles_topic_, std::string("/euler_angles"));
+  // pravite_nh.param("Magnetic_pub_", Magnetic_topic_, std::string("/magnetic"));
+ 
+  //serial                                                 
+  //pravite_nh.param("port", serial_port_, std::string("/dev/ttyTHS1")); 
+  //pravite_nh.param("baud", serial_baud_, 115200);
+  
+  //publisher
+  imu_pub_ = create_publisher<sensor_msgs::msg::Imu>(imu_topic.c_str(), 10);
+  gps_pub_ = create_publisher<sensor_msgs::msg::NavSatFix>(gps_topic.c_str(), 10);
+
+  mag_pose_pub_ = create_publisher<geometry_msgs::msg::Pose2D>(mag_pose_2d_topic.c_str(), 10);
+
+  Euler_angles_pub_ = create_publisher<geometry_msgs::msg::Vector3>(Euler_angles_topic.c_str(), 10);
+  Magnetic_pub_ = create_publisher<geometry_msgs::msg::Vector3>(Magnetic_topic.c_str(), 10);
+ 
+  twist_pub_ = create_publisher<geometry_msgs::msg::Twist>(twist_topic.c_str(), 10);
+  NED_odom_pub_ = create_publisher<nav_msgs::msg::Odometry>(NED_odom_topic.c_str(), 10);
+
+
+  //setp up serial  设置串口参数并打开串口
+  try
+  {
+    serial_.setPort(serial_port_);
+    serial_.setBaudrate(serial_baud_);
+    serial_.setFlowcontrol(serial::flowcontrol_none);
+    serial_.setParity(serial::parity_none); //default is parity_none
+    serial_.setStopbits(serial::stopbits_one);
+    serial_.setBytesize(serial::eightbits);
+    serial::Timeout time_out = serial::Timeout::simpleTimeout(serial_timeout_);
+    serial_.setTimeout(time_out);
+    serial_.open();
+  }
+  catch (serial::IOException &e)  // 抓取异常
+  {
+    RCLCPP_ERROR(this->get_logger(),"Unable to open port ");
+    exit(0);
+  }
+  if (serial_.isOpen())
+  {
+    RCLCPP_INFO(this->get_logger(),"Serial Port initialized");
+  }
+  else
+  {
+    RCLCPP_ERROR(this->get_logger(),"Unable to initial Serial port ");
+    exit(0);
+  }
+  processLoop();
+}
+
+ahrsBringup::~ahrsBringup()  // 析构函数关闭串口通道
+{
+  if (serial_.isOpen())
+    serial_.close();
+}
+
+void ahrsBringup::processLoop()  // 数据处理过程
+{
+  RCLCPP_INFO(this->get_logger(),"ahrsBringup::processLoop: start");
+  while (rclcpp::ok())
+  {
+    if (!serial_.isOpen())
+    {
+      RCLCPP_WARN(this->get_logger(),"serial unopen");
+    }
+    //check head start   检查起始 数据帧头
+    uint8_t check_head[1] = {0xff};  
+    size_t head_s = serial_.read(check_head, 1);
+    if (if_debug_){
+      if (head_s != 1)
+      {
+        RCLCPP_ERROR(this->get_logger(),"Read serial port time out! can't read pack head.");
+      }
+      std::cout << std::endl;
+      std::cout << "check_head: " << std::hex << (int)check_head[0] << std::dec << std::endl;
+    }
+    if (check_head[0] != FRAME_HEAD)
+    {
+      continue;
+    }
+    //check head type   检查数据类型
+    uint8_t head_type[1] = {0xff};
+    size_t type_s = serial_.read(head_type, 1);
+    if (if_debug_){
+      std::cout << "head_type:  " << std::hex << (int)head_type[0] << std::dec << std::endl;
+    }
+    if (head_type[0] != TYPE_IMU && head_type[0] != TYPE_AHRS && head_type[0] != TYPE_INSGPS && head_type[0] != TYPE_GEODETIC_POS && head_type[0] != 0x50 && head_type[0] != TYPE_GROUND&& head_type[0] != 0xff)
+    {
+      RCLCPP_WARN(this->get_logger(),"head_type error: %02X",head_type[0]);
+      continue;
+    }
+    //check head length    检查对应数据类型的长度是否符合
+    uint8_t check_len[1] = {0xff};
+    size_t len_s = serial_.read(check_len, 1);
+    if (if_debug_){
+      std::cout << "check_len: "<< std::dec << (int)check_len[0]  << std::endl;
+    }
+    if (head_type[0] == TYPE_IMU && check_len[0] != IMU_LEN)
+    {
+      RCLCPP_WARN(this->get_logger(),"head_len error (imu)");
+      continue;
+    }else if (head_type[0] == TYPE_AHRS && check_len[0] != AHRS_LEN)
+    {
+      RCLCPP_WARN(this->get_logger(),"head_len error (ahrs)");
+      continue;
+    }else if (head_type[0] == TYPE_INSGPS && check_len[0] != INSGPS_LEN)
+    {
+      RCLCPP_WARN(this->get_logger(),"head_len error (insgps)");
+      continue;
+    }else if (head_type[0] == TYPE_GEODETIC_POS && check_len[0] != GEODETIC_POS_LEN)
+    {
+      RCLCPP_WARN(this->get_logger(),"head_len error (GEODETIC_POS)");
+      continue;
+    }
+    else if (head_type[0] == TYPE_GROUND || head_type[0] == 0x50) // 未知数据，防止记录失败
+    {
+      uint8_t ground_sn[1];
+      size_t ground_sn_s = serial_.read(ground_sn, 1);
+      if (++read_sn_ != ground_sn[0])
+      {
+        if ( ground_sn[0] < read_sn_)
+        {
+          if(if_debug_){
+            RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+          }
+          sn_lost_ += 256 - (int)(read_sn_ - ground_sn[0]);
+          read_sn_ = ground_sn[0];
+          // continue;
+        }
+        else
+        {
+          if(if_debug_){
+            RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+          }
+          sn_lost_ += (int)(ground_sn[0] - read_sn_);
+          read_sn_ = ground_sn[0];
+          // continue;
+        }
+      }
+      uint8_t ground_ignore[500];
+      size_t ground_ignore_s = serial_.read(ground_ignore, (check_len[0]+4));
+      continue;
+    }
+    //read head sn 
+    uint8_t check_sn[1] = {0xff};
+    size_t sn_s = serial_.read(check_sn, 1);
+    uint8_t head_crc8[1] = {0xff};
+    size_t crc8_s = serial_.read(head_crc8, 1);
+    uint8_t head_crc16_H[1] = {0xff};
+    uint8_t head_crc16_L[1] = {0xff};
+    size_t crc16_H_s = serial_.read(head_crc16_H, 1);
+    size_t crc16_L_s = serial_.read(head_crc16_L, 1);
+    if (if_debug_){
+      std::cout << "check_sn: "     << std::hex << (int)check_sn[0]     << std::dec << std::endl;
+      std::cout << "head_crc8: "    << std::hex << (int)head_crc8[0]    << std::dec << std::endl;
+      std::cout << "head_crc16_H: " << std::hex << (int)head_crc16_H[0] << std::dec << std::endl;
+      std::cout << "head_crc16_L: " << std::hex << (int)head_crc16_L[0] << std::dec << std::endl;
+    }
+    // put header & check crc8 & count sn lost
+    // check crc8 进行crc8数据校验
+    if (head_type[0] == TYPE_IMU)
+    {
+      imu_frame_.frame.header.header_start   = check_head[0];
+      imu_frame_.frame.header.data_type      = head_type[0];
+      imu_frame_.frame.header.data_size      = check_len[0];
+      imu_frame_.frame.header.serial_num     = check_sn[0];
+      imu_frame_.frame.header.header_crc8    = head_crc8[0];
+      imu_frame_.frame.header.header_crc16_h = head_crc16_H[0];
+      imu_frame_.frame.header.header_crc16_l = head_crc16_L[0];
+      uint8_t CRC8 = CRC8_Table(imu_frame_.read_buf.frame_header, 4);
+      if (CRC8 != imu_frame_.frame.header.header_crc8)
+      {
+        RCLCPP_WARN(this->get_logger(),"header_crc8 error");
+        continue;
+      }
+      if(!frist_sn_){
+        read_sn_  = imu_frame_.frame.header.serial_num - 1;
+        frist_sn_ = true;
+      }
+      //check sn 
+      ahrsBringup::checkSN(TYPE_IMU);
+    }
+    else if (head_type[0] == TYPE_AHRS)
+    {
+      ahrs_frame_.frame.header.header_start   = check_head[0];
+      ahrs_frame_.frame.header.data_type      = head_type[0];
+      ahrs_frame_.frame.header.data_size      = check_len[0];
+      ahrs_frame_.frame.header.serial_num     = check_sn[0];
+      ahrs_frame_.frame.header.header_crc8    = head_crc8[0];
+      ahrs_frame_.frame.header.header_crc16_h = head_crc16_H[0];
+      ahrs_frame_.frame.header.header_crc16_l = head_crc16_L[0];
+      uint8_t CRC8 = CRC8_Table(ahrs_frame_.read_buf.frame_header, 4);
+      if (CRC8 != ahrs_frame_.frame.header.header_crc8)
+      {
+        RCLCPP_WARN(this->get_logger(),"header_crc8 error");
+        continue;
+      }
+      if(!frist_sn_){
+        read_sn_  = ahrs_frame_.frame.header.serial_num - 1;
+        frist_sn_ = true;
+      }
+      //check sn 
+      ahrsBringup::checkSN(TYPE_AHRS);
+    }
+    else if (head_type[0] == TYPE_INSGPS)
+    {
+      insgps_frame_.frame.header.header_start   = check_head[0];
+      insgps_frame_.frame.header.data_type      = head_type[0];
+      insgps_frame_.frame.header.data_size      = check_len[0];
+      insgps_frame_.frame.header.serial_num     = check_sn[0];
+      insgps_frame_.frame.header.header_crc8    = head_crc8[0];
+      insgps_frame_.frame.header.header_crc16_h = head_crc16_H[0];
+      insgps_frame_.frame.header.header_crc16_l = head_crc16_L[0];
+      uint8_t CRC8 = CRC8_Table(insgps_frame_.read_buf.frame_header, 4);
+      if (CRC8 != insgps_frame_.frame.header.header_crc8)
+      {
+        RCLCPP_WARN(this->get_logger(),"header_crc8 error");
+        continue;
+      }
+      else if(if_debug_)
+      {
+        std::cout << "header_crc8 matched." << std::endl;
+      }
+      
+      ahrsBringup::checkSN(TYPE_INSGPS);
+    }
+    else if (head_type[0] == TYPE_GEODETIC_POS)
+    {
+      Geodetic_Position_frame_.frame.header.header_start   = check_head[0];
+      Geodetic_Position_frame_.frame.header.data_type      = head_type[0];
+      Geodetic_Position_frame_.frame.header.data_size      = check_len[0];
+      Geodetic_Position_frame_.frame.header.serial_num     = check_sn[0];
+      Geodetic_Position_frame_.frame.header.header_crc8    = head_crc8[0];
+      Geodetic_Position_frame_.frame.header.header_crc16_h = head_crc16_H[0];
+      Geodetic_Position_frame_.frame.header.header_crc16_l = head_crc16_L[0];
+      uint8_t CRC8 = CRC8_Table(Geodetic_Position_frame_.read_buf.frame_header, 4);
+      if (CRC8 != Geodetic_Position_frame_.frame.header.header_crc8)
+      {
+        RCLCPP_WARN(this->get_logger(),"header_crc8 error");
+        continue;
+      }
+      if(!frist_sn_){
+        read_sn_  = Geodetic_Position_frame_.frame.header.serial_num - 1;
+        frist_sn_ = true;
+      }
+      
+      ahrsBringup::checkSN(TYPE_GEODETIC_POS);
+    }
+    // check crc16 进行crc16数据校验
+    if (head_type[0] == TYPE_IMU)
+    {
+      uint16_t head_crc16_l = imu_frame_.frame.header.header_crc16_l;
+      uint16_t head_crc16_h = imu_frame_.frame.header.header_crc16_h;
+      uint16_t head_crc16 = head_crc16_l + (head_crc16_h << 8);
+      size_t data_s = serial_.read(imu_frame_.read_buf.read_msg, (IMU_LEN + 1)); //48+1
+      // if (if_debug_){
+      //   for (size_t i = 0; i < (IMU_LEN + 1); i++)
+      //   {
+      //     std::cout << std::hex << (int)imu_frame_.read_buf.read_msg[i] << " ";
+      //   }
+      //   std::cout << std::dec << std::endl;
+      // }
+      uint16_t CRC16 = CRC16_Table(imu_frame_.frame.data.data_buff, IMU_LEN);
+      if (if_debug_)
+      {          
+        std::cout << "CRC16:        " << std::hex << (int)CRC16 << std::dec << std::endl;
+        std::cout << "head_crc16:   " << std::hex << (int)head_crc16 << std::dec << std::endl;
+        std::cout << "head_crc16_h: " << std::hex << (int)head_crc16_h << std::dec << std::endl;
+        std::cout << "head_crc16_l: " << std::hex << (int)head_crc16_l << std::dec << std::endl;
+        bool if_right = ((int)head_crc16 == (int)CRC16);
+        std::cout << "if_right: " << if_right << std::endl;
+      }
+      
+      if (head_crc16 != CRC16)
+      {
+        RCLCPP_WARN(this->get_logger(),"check crc16 faild(imu).");
+        continue;
+      }
+      else if(imu_frame_.frame.frame_end != FRAME_END)
+      {
+        RCLCPP_WARN(this->get_logger(),"check frame end.");
+        continue;
+      }
+      
+    }
+    else if (head_type[0] == TYPE_AHRS)
+    {
+      uint16_t head_crc16_l = ahrs_frame_.frame.header.header_crc16_l;
+      uint16_t head_crc16_h = ahrs_frame_.frame.header.header_crc16_h;
+      uint16_t head_crc16 = head_crc16_l + (head_crc16_h << 8);
+      size_t data_s = serial_.read(ahrs_frame_.read_buf.read_msg, (AHRS_LEN + 1)); //48+1
+      // if (if_debug_){
+      //   for (size_t i = 0; i < (AHRS_LEN + 1); i++)
+      //   {
+      //     std::cout << std::hex << (int)ahrs_frame_.read_buf.read_msg[i] << " ";
+      //   }
+      //   std::cout << std::dec << std::endl;
+      // }
+      uint16_t CRC16 = CRC16_Table(ahrs_frame_.frame.data.data_buff, AHRS_LEN);
+      if (if_debug_){          
+        std::cout << "CRC16:        " << std::hex << (int)CRC16 << std::dec << std::endl;
+        std::cout << "head_crc16:   " << std::hex << (int)head_crc16 << std::dec << std::endl;
+        std::cout << "head_crc16_h: " << std::hex << (int)head_crc16_h << std::dec << std::endl;
+        std::cout << "head_crc16_l: " << std::hex << (int)head_crc16_l << std::dec << std::endl;
+        bool if_right = ((int)head_crc16 == (int)CRC16);
+        std::cout << "if_right: " << if_right << std::endl;
+      }
+      
+      if (head_crc16 != CRC16)
+      {
+        RCLCPP_WARN(this->get_logger(),"check crc16 faild(ahrs).");
+        continue;
+      }
+      else if(ahrs_frame_.frame.frame_end != FRAME_END)
+      {
+        RCLCPP_WARN(this->get_logger(),"check frame end.");
+        continue;
+      }
+    }
+    else if (head_type[0] == TYPE_INSGPS)
+    {
+      uint16_t head_crc16_l = insgps_frame_.frame.header.header_crc16_l;
+      uint16_t head_crc16_h = insgps_frame_.frame.header.header_crc16_h;
+      uint16_t head_crc16 = head_crc16_l + (head_crc16_h << 8);
+      size_t data_s = serial_.read(insgps_frame_.read_buf.read_msg, (INSGPS_LEN + 1)); //48+1
+      // if (if_debug_){
+      //   for (size_t i = 0; i < (AHRS_LEN + 1); i++)
+      //   {
+      //     std::cout << std::hex << (int)ahrs_frame_.read_buf.read_msg[i] << " ";
+      //   }
+      //   std::cout << std::dec << std::endl;
+      // }
+      uint16_t CRC16 = CRC16_Table(insgps_frame_.frame.data.data_buff, INSGPS_LEN);
+      if (if_debug_){          
+        std::cout << "CRC16:        " << std::hex << (int)CRC16 << std::dec << std::endl;
+        std::cout << "head_crc16:   " << std::hex << (int)head_crc16 << std::dec << std::endl;
+        std::cout << "head_crc16_h: " << std::hex << (int)head_crc16_h << std::dec << std::endl;
+        std::cout << "head_crc16_l: " << std::hex << (int)head_crc16_l << std::dec << std::endl;
+        bool if_right = ((int)head_crc16 == (int)CRC16);
+        std::cout << "if_right: " << if_right << std::endl;
+      }
+      
+      if (head_crc16 != CRC16)
+      {
+        RCLCPP_WARN(this->get_logger(),"check crc16 faild(ahrs).");
+        continue;
+      }
+      else if(insgps_frame_.frame.frame_end != FRAME_END)
+      {
+        RCLCPP_WARN(this->get_logger(),"check frame end.");
+        continue;
+      } 
+    }
+    else if (head_type[0] == TYPE_GEODETIC_POS)
+    {
+      uint16_t head_crc16_l = Geodetic_Position_frame_.frame.header.header_crc16_l;
+      uint16_t head_crc16_h = Geodetic_Position_frame_.frame.header.header_crc16_h;
+      uint16_t head_crc16 = head_crc16_l + (head_crc16_h << 8);
+      size_t data_s = serial_.read(Geodetic_Position_frame_.read_buf.read_msg, (GEODETIC_POS_LEN + 1)); //24+1
+      // if (if_debug_){
+      //   for (size_t i = 0; i < (AHRS_LEN + 1); i++)
+      //   {
+      //     std::cout << std::hex << (int)ahrs_frame_.read_buf.read_msg[i] << " ";
+      //   }
+      //   std::cout << std::dec << std::endl;
+      // }
+      uint16_t CRC16 = CRC16_Table(Geodetic_Position_frame_.frame.data.data_buff, GEODETIC_POS_LEN);
+      if (if_debug_){          
+        std::cout << "CRC16:        " << std::hex << (int)CRC16 << std::dec << std::endl;
+        std::cout << "head_crc16:   " << std::hex << (int)head_crc16 << std::dec << std::endl;
+        std::cout << "head_crc16_h: " << std::hex << (int)head_crc16_h << std::dec << std::endl;
+        std::cout << "head_crc16_l: " << std::hex << (int)head_crc16_l << std::dec << std::endl;
+        bool if_right = ((int)head_crc16 == (int)CRC16);
+        std::cout << "if_right: " << if_right << std::endl;
+      }
+      
+      if (head_crc16 != CRC16)
+      {
+        RCLCPP_WARN(this->get_logger(),"check crc16 faild(gps).");
+        continue;
+      }
+      else if(Geodetic_Position_frame_.frame.frame_end != FRAME_END)
+      {
+        RCLCPP_WARN(this->get_logger(),"check frame end.");
+        continue;
+      }
+    }
+    // publish magyaw topic
+    //读取IMU数据进行解析，并发布相关话题
+
+    if (head_type[0] == TYPE_IMU)
+    {
+      // publish imu topic
+      sensor_msgs::msg::Imu imu_data;
+      imu_data.header.stamp = rclcpp::Node::now();
+      imu_data.header.frame_id = imu_frame_id_.c_str();
+      Eigen::Quaterniond q_ahrs(ahrs_frame_.frame.data.data_pack.Qw,
+                                ahrs_frame_.frame.data.data_pack.Qx,
+                                ahrs_frame_.frame.data.data_pack.Qy,
+                                ahrs_frame_.frame.data.data_pack.Qz);
+      Eigen::Quaterniond q_r =                          
+          Eigen::AngleAxisd( PI, Eigen::Vector3d::UnitZ()) * 
+          Eigen::AngleAxisd( PI, Eigen::Vector3d::UnitY()) * 
+          Eigen::AngleAxisd( 0.00000, Eigen::Vector3d::UnitX());
+      Eigen::Quaterniond q_rr =                          
+          Eigen::AngleAxisd( 0.00000, Eigen::Vector3d::UnitZ()) * 
+          Eigen::AngleAxisd( 0.00000, Eigen::Vector3d::UnitY()) * 
+          Eigen::AngleAxisd( PI, Eigen::Vector3d::UnitX());
+      Eigen::Quaterniond q_xiao_rr =
+          Eigen::AngleAxisd( PI/2, Eigen::Vector3d::UnitZ()) * 
+          Eigen::AngleAxisd( 0.00000, Eigen::Vector3d::UnitY()) * 
+          Eigen::AngleAxisd( PI, Eigen::Vector3d::UnitX());
+      if (device_type_ == 0)         //未经变换的原始数据
+      {
+        imu_data.orientation.w = ahrs_frame_.frame.data.data_pack.Qw;
+        imu_data.orientation.x = ahrs_frame_.frame.data.data_pack.Qx;
+        imu_data.orientation.y = ahrs_frame_.frame.data.data_pack.Qy;
+        imu_data.orientation.z = ahrs_frame_.frame.data.data_pack.Qz;
+        imu_data.angular_velocity.x = imu_frame_.frame.data.data_pack.gyroscope_x;
+        imu_data.angular_velocity.y = imu_frame_.frame.data.data_pack.gyroscope_y;
+        imu_data.angular_velocity.z = imu_frame_.frame.data.data_pack.gyroscope_z;
+        imu_data.linear_acceleration.x = imu_frame_.frame.data.data_pack.accelerometer_x;
+        imu_data.linear_acceleration.y = imu_frame_.frame.data.data_pack.accelerometer_y;
+        imu_data.linear_acceleration.z = imu_frame_.frame.data.data_pack.accelerometer_z;
+      }
+      else if (device_type_ == 1)    //imu单品rclcpp标准下的坐标变换
+      {
+        
+        Eigen::Quaterniond q_out =  q_r * q_ahrs * q_rr;
+        imu_data.orientation.w = q_out.w();
+        imu_data.orientation.x = q_out.x();
+        imu_data.orientation.y = q_out.y();
+        imu_data.orientation.z = q_out.z();
+        imu_data.angular_velocity.x =  imu_frame_.frame.data.data_pack.gyroscope_x;
+        imu_data.angular_velocity.y = -imu_frame_.frame.data.data_pack.gyroscope_y;
+        imu_data.angular_velocity.z = -imu_frame_.frame.data.data_pack.gyroscope_z;
+        imu_data.linear_acceleration.x = imu_frame_.frame.data.data_pack.accelerometer_x;
+        imu_data.linear_acceleration.y = -imu_frame_.frame.data.data_pack.accelerometer_y;
+        imu_data.linear_acceleration.z = -imu_frame_.frame.data.data_pack.accelerometer_z;
+      }
+      imu_pub_->publish(imu_data);
+}
+    //读取AHRS数据进行解析，并发布相关话题
+    else if (head_type[0] == TYPE_AHRS)
+    {
+      geometry_msgs::msg::Pose2D pose_2d;
+      pose_2d.theta = ahrs_frame_.frame.data.data_pack.Heading;
+      mag_pose_pub_->publish(pose_2d);
+      //std::cout << "YAW: " << pose_2d.theta << std::endl;
+      geometry_msgs::msg::Vector3 Euler_angles_2d,Magnetic;  
+      Euler_angles_2d.x = ahrs_frame_.frame.data.data_pack.Roll;
+      Euler_angles_2d.y = ahrs_frame_.frame.data.data_pack.Pitch;
+      Euler_angles_2d.z = ahrs_frame_.frame.data.data_pack.Heading;
+      Magnetic.x = imu_frame_.frame.data.data_pack.magnetometer_x;
+      Magnetic.y = imu_frame_.frame.data.data_pack.magnetometer_y;
+      Magnetic.z = imu_frame_.frame.data.data_pack.magnetometer_z;
+
+      Euler_angles_pub_->publish(Euler_angles_2d);
+      Magnetic_pub_->publish(Magnetic);
+
+    }
+
+    //读取gps_pos数据进行解析，并发布相关话题
+    else if (head_type[0] == TYPE_GEODETIC_POS)
+    {
+      sensor_msgs::msg::NavSatFix gps_data;
+      gps_data.header.stamp = rclcpp::Node::now();
+      gps_data.header.frame_id = "navsat_link";
+      gps_data.latitude = Geodetic_Position_frame_.frame.data.data_pack.Latitude / DEG_TO_RAD;
+      gps_data.longitude = Geodetic_Position_frame_.frame.data.data_pack.Longitude / DEG_TO_RAD;
+      gps_data.altitude = Geodetic_Position_frame_.frame.data.data_pack.Height;
+
+      //std::cout << "lat: " << Geodetic_Position_frame_.frame.data.data_pack.Latitude << std::endl;
+      //std::cout << "lon: " << Geodetic_Position_frame_.frame.data.data_pack.Longitude << std::endl;
+      //std::cout << "h: " << Geodetic_Position_frame_.frame.data.data_pack.Height << std::endl;
+
+      gps_pub_->publish(gps_data);
+    } 
+    //读取INSGPS数据进行解析，并发布相关话题
+    else if (head_type[0] == TYPE_INSGPS)
+    {
+      nav_msgs::msg::Odometry odom_msg;
+      odom_msg.header.stamp = rclcpp::Node::now(); 
+      // odom_msg.header.frame_id = odom_frame_id; // Odometer TF parent coordinates //里程计TF父坐标
+      odom_msg.pose.pose.position.x = insgps_frame_.frame.data.data_pack.Location_North; //Position //位置
+      odom_msg.pose.pose.position.y = insgps_frame_.frame.data.data_pack.Location_East;
+      odom_msg.pose.pose.position.z = insgps_frame_.frame.data.data_pack.Location_Down;
+
+      // odom_msg.child_frame_id = robot_frame_id; // Odometer TF subcoordinates //里程计TF子坐标
+      odom_msg.twist.twist.linear.x =  insgps_frame_.frame.data.data_pack.Velocity_North; //Speed in the X direction //X方向速度
+      odom_msg.twist.twist.linear.y =  insgps_frame_.frame.data.data_pack.Velocity_East; //Speed in the Y direction //Y方向速度
+      odom_msg.twist.twist.linear.z =  insgps_frame_.frame.data.data_pack.Velocity_Down;
+      NED_odom_pub_->publish(odom_msg);
+
+      geometry_msgs::msg::Twist speed_msg;
+      speed_msg.linear.x =  insgps_frame_.frame.data.data_pack.BodyVelocity_X;
+      speed_msg.linear.y =  insgps_frame_.frame.data.data_pack.BodyVelocity_Y;
+      speed_msg.linear.z =  insgps_frame_.frame.data.data_pack.BodyVelocity_Z;   
+      twist_pub_->publish(speed_msg);
+		  
+    //  std::cout << "N: " << insgps_frame_.frame.data.data_pack.Location_North << std::endl;
+    //  std::cout << "E: " << insgps_frame_.frame.data.data_pack.Location_East << std::endl;
+    //  std::cout << "D: " << insgps_frame_.frame.data.data_pack.Location_Down << std::endl;
+
+    }   
+  }
+}
+
+void ahrsBringup::magCalculateYaw(double roll, double pitch, double &magyaw, double magx, double magy, double magz)
+{
+  double temp1 = magy * cos(roll) + magz * sin(roll);
+  double temp2 = magx * cos(pitch) + magy * sin(pitch) * sin(roll) - magz * sin(pitch) * cos(roll);
+  magyaw = atan2(-temp1, temp2);
+  if(magyaw < 0)
+  {
+    magyaw = magyaw + 2 * PI;
+  }
+  // return magyaw;
+}
+
+void ahrsBringup::checkSN(int type)
+{
+  switch (type)
+  {
+  case TYPE_IMU:
+    if (++read_sn_ != imu_frame_.frame.header.serial_num)
+    {
+      if ( imu_frame_.frame.header.serial_num < read_sn_)
+      {
+        sn_lost_ += 256 - (int)(read_sn_ - imu_frame_.frame.header.serial_num);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+      else
+      {
+        sn_lost_ += (int)(imu_frame_.frame.header.serial_num - read_sn_);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+    }
+    read_sn_ = imu_frame_.frame.header.serial_num;
+    break;
+
+  case TYPE_AHRS:
+    if (++read_sn_ != ahrs_frame_.frame.header.serial_num)
+    {
+      if ( ahrs_frame_.frame.header.serial_num < read_sn_)
+      {
+        sn_lost_ += 256 - (int)(read_sn_ - ahrs_frame_.frame.header.serial_num);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+      else
+      {
+        sn_lost_ += (int)(ahrs_frame_.frame.header.serial_num - read_sn_);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+    }
+    read_sn_ = ahrs_frame_.frame.header.serial_num;
+    break;
+
+  case TYPE_INSGPS:
+    if (++read_sn_ != insgps_frame_.frame.header.serial_num)
+    {
+      if ( insgps_frame_.frame.header.serial_num < read_sn_)
+      {
+        sn_lost_ += 256 - (int)(read_sn_ - insgps_frame_.frame.header.serial_num);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+      else
+      {
+        sn_lost_ += (int)(insgps_frame_.frame.header.serial_num - read_sn_);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+    }
+    read_sn_ = insgps_frame_.frame.header.serial_num;
+    break;
+
+  case TYPE_GEODETIC_POS:
+    if (++read_sn_ != Geodetic_Position_frame_.frame.header.serial_num)
+    {
+      if ( Geodetic_Position_frame_.frame.header.serial_num < read_sn_)
+      {
+        sn_lost_ += 256 - (int)(read_sn_ - Geodetic_Position_frame_.frame.header.serial_num);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+      else
+      {
+        sn_lost_ += (int)(Geodetic_Position_frame_.frame.header.serial_num - read_sn_);
+        if(if_debug_){
+          RCLCPP_WARN(this->get_logger(),"detected sn lost.");
+        }
+      }
+    }
+    read_sn_ = Geodetic_Position_frame_.frame.header.serial_num;
+    break;
+
+  default:
+    break;
+  }
+}
+
+} //namespace FDILink
+
+int main(int argc, char **argv)
+{
+  rclcpp::init(argc, argv);
+  FDILink::ahrsBringup bp;
+
+  return 0;
+}
--- a/src/hardware/fdilink_ahrs_ROS2/src/crc_table.cpp
+++ b/src/hardware/fdilink_ahrs_ROS2/src/crc_table.cpp
@ -0,0 +1,159 @@
+#include <stdint.h>
+#include <crc_table.h>
+
+static const uint8_t CRC8Table[] = {
+    0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
+    157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
+    35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
+    190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
+    70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
+    219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
+    101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
+    248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
+    140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
+    17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
+    175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
+    50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
+    202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
+    87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
+    233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
+    116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53};
+
+static const uint16_t CRC16Table[256] =
+{
+    0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
+    0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
+    0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
+    0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
+    0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
+    0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
+    0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
+    0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
+    0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
+    0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
+    0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
+    0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
+    0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
+    0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
+    0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
+    0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
+    0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
+    0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
+    0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
+    0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
+    0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
+    0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+    0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
+    0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
+    0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
+    0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
+    0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
+    0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
+    0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
+    0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
+    0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
+    0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
+};
+
+static const uint32_t CRC32Table[] = {
+ 0x00000000L, 0x77073096L, 0xee0e612cL, 0x990951baL,
+ 0x076dc419L, 0x706af48fL, 0xe963a535L, 0x9e6495a3L,
+ 0x0edb8832L, 0x79dcb8a4L, 0xe0d5e91eL, 0x97d2d988L,
+ 0x09b64c2bL, 0x7eb17cbdL, 0xe7b82d07L, 0x90bf1d91L,
+ 0x1db71064L, 0x6ab020f2L, 0xf3b97148L, 0x84be41deL,
+ 0x1adad47dL, 0x6ddde4ebL, 0xf4d4b551L, 0x83d385c7L,
+ 0x136c9856L, 0x646ba8c0L, 0xfd62f97aL, 0x8a65c9ecL,
+ 0x14015c4fL, 0x63066cd9L, 0xfa0f3d63L, 0x8d080df5L,
+ 0x3b6e20c8L, 0x4c69105eL, 0xd56041e4L, 0xa2677172L,
+ 0x3c03e4d1L, 0x4b04d447L, 0xd20d85fdL, 0xa50ab56bL,
+ 0x35b5a8faL, 0x42b2986cL, 0xdbbbc9d6L, 0xacbcf940L,
+ 0x32d86ce3L, 0x45df5c75L, 0xdcd60dcfL, 0xabd13d59L,
+ 0x26d930acL, 0x51de003aL, 0xc8d75180L, 0xbfd06116L,
+ 0x21b4f4b5L, 0x56b3c423L, 0xcfba9599L, 0xb8bda50fL,
+ 0x2802b89eL, 0x5f058808L, 0xc60cd9b2L, 0xb10be924L,
+ 0x2f6f7c87L, 0x58684c11L, 0xc1611dabL, 0xb6662d3dL,
+ 0x76dc4190L, 0x01db7106L, 0x98d220bcL, 0xefd5102aL,
+ 0x71b18589L, 0x06b6b51fL, 0x9fbfe4a5L, 0xe8b8d433L,
+ 0x7807c9a2L, 0x0f00f934L, 0x9609a88eL, 0xe10e9818L,
+ 0x7f6a0dbbL, 0x086d3d2dL, 0x91646c97L, 0xe6635c01L,
+ 0x6b6b51f4L, 0x1c6c6162L, 0x856530d8L, 0xf262004eL,
+ 0x6c0695edL, 0x1b01a57bL, 0x8208f4c1L, 0xf50fc457L,
+ 0x65b0d9c6L, 0x12b7e950L, 0x8bbeb8eaL, 0xfcb9887cL,
+ 0x62dd1ddfL, 0x15da2d49L, 0x8cd37cf3L, 0xfbd44c65L,
+ 0x4db26158L, 0x3ab551ceL, 0xa3bc0074L, 0xd4bb30e2L,
+ 0x4adfa541L, 0x3dd895d7L, 0xa4d1c46dL, 0xd3d6f4fbL,
+ 0x4369e96aL, 0x346ed9fcL, 0xad678846L, 0xda60b8d0L,
+ 0x44042d73L, 0x33031de5L, 0xaa0a4c5fL, 0xdd0d7cc9L,
+ 0x5005713cL, 0x270241aaL, 0xbe0b1010L, 0xc90c2086L,
+ 0x5768b525L, 0x206f85b3L, 0xb966d409L, 0xce61e49fL,
+ 0x5edef90eL, 0x29d9c998L, 0xb0d09822L, 0xc7d7a8b4L,
+ 0x59b33d17L, 0x2eb40d81L, 0xb7bd5c3bL, 0xc0ba6cadL,
+ 0xedb88320L, 0x9abfb3b6L, 0x03b6e20cL, 0x74b1d29aL,
+ 0xead54739L, 0x9dd277afL, 0x04db2615L, 0x73dc1683L,
+ 0xe3630b12L, 0x94643b84L, 0x0d6d6a3eL, 0x7a6a5aa8L,
+ 0xe40ecf0bL, 0x9309ff9dL, 0x0a00ae27L, 0x7d079eb1L,
+ 0xf00f9344L, 0x8708a3d2L, 0x1e01f268L, 0x6906c2feL,
+ 0xf762575dL, 0x806567cbL, 0x196c3671L, 0x6e6b06e7L,
+ 0xfed41b76L, 0x89d32be0L, 0x10da7a5aL, 0x67dd4accL,
+ 0xf9b9df6fL, 0x8ebeeff9L, 0x17b7be43L, 0x60b08ed5L,
+ 0xd6d6a3e8L, 0xa1d1937eL, 0x38d8c2c4L, 0x4fdff252L,
+ 0xd1bb67f1L, 0xa6bc5767L, 0x3fb506ddL, 0x48b2364bL,
+ 0xd80d2bdaL, 0xaf0a1b4cL, 0x36034af6L, 0x41047a60L,
+ 0xdf60efc3L, 0xa867df55L, 0x316e8eefL, 0x4669be79L,
+ 0xcb61b38cL, 0xbc66831aL, 0x256fd2a0L, 0x5268e236L,
+ 0xcc0c7795L, 0xbb0b4703L, 0x220216b9L, 0x5505262fL,
+ 0xc5ba3bbeL, 0xb2bd0b28L, 0x2bb45a92L, 0x5cb36a04L,
+ 0xc2d7ffa7L, 0xb5d0cf31L, 0x2cd99e8bL, 0x5bdeae1dL,
+ 0x9b64c2b0L, 0xec63f226L, 0x756aa39cL, 0x026d930aL,
+ 0x9c0906a9L, 0xeb0e363fL, 0x72076785L, 0x05005713L,
+ 0x95bf4a82L, 0xe2b87a14L, 0x7bb12baeL, 0x0cb61b38L,
+ 0x92d28e9bL, 0xe5d5be0dL, 0x7cdcefb7L, 0x0bdbdf21L,
+ 0x86d3d2d4L, 0xf1d4e242L, 0x68ddb3f8L, 0x1fda836eL,
+ 0x81be16cdL, 0xf6b9265bL, 0x6fb077e1L, 0x18b74777L,
+ 0x88085ae6L, 0xff0f6a70L, 0x66063bcaL, 0x11010b5cL,
+ 0x8f659effL, 0xf862ae69L, 0x616bffd3L, 0x166ccf45L,
+ 0xa00ae278L, 0xd70dd2eeL, 0x4e048354L, 0x3903b3c2L,
+ 0xa7672661L, 0xd06016f7L, 0x4969474dL, 0x3e6e77dbL,
+ 0xaed16a4aL, 0xd9d65adcL, 0x40df0b66L, 0x37d83bf0L,
+ 0xa9bcae53L, 0xdebb9ec5L, 0x47b2cf7fL, 0x30b5ffe9L,
+ 0xbdbdf21cL, 0xcabac28aL, 0x53b39330L, 0x24b4a3a6L,
+ 0xbad03605L, 0xcdd70693L, 0x54de5729L, 0x23d967bfL,
+ 0xb3667a2eL, 0xc4614ab8L, 0x5d681b02L, 0x2a6f2b94L,
+ 0xb40bbe37L, 0xc30c8ea1L, 0x5a05df1bL, 0x2d02ef8dL 
+};
+
+
+uint8_t CRC8_Table(uint8_t* p, uint8_t counter)
+{
+    uint8_t crc8 = 0;
+    for (int i = 0; i < counter; i++)
+    {
+        uint8_t value = p[i];
+        uint8_t new_index = crc8 ^ value;
+        crc8 = CRC8Table[new_index];
+    }
+    return (crc8);
+}
+
+
+uint16_t CRC16_Table(uint8_t *p, uint8_t counter)
+{
+    uint16_t crc16 = 0;
+    for (int i = 0; i < counter; i++)
+    {
+        uint8_t value = p[i];
+        crc16 = CRC16Table[((crc16 >> 8) ^ value) & 0xff] ^ (crc16 << 8);
+    }
+    return (crc16);
+}
+
+uint32_t CRC32_Table(uint8_t *p, uint8_t counter)
+{
+    uint16_t crc32 = 0;
+    for (int i = 0; i < counter; i++)
+    {
+        uint8_t value = p[i];
+        crc32 = CRC16Table[((crc32 >> 8) ^ value) & 0xff] ^ (crc32 << 8);
+    }
+    return (crc32);
+}
--- a/src/hardware/fdilink_ahrs_ROS2/src/imu_tf.cpp
+++ b/src/hardware/fdilink_ahrs_ROS2/src/imu_tf.cpp
@ -0,0 +1,107 @@
+#include <memory>
+#include <inttypes.h>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/imu.hpp>
+#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2/LinearMath/Transform.h>
+#include <tf2/LinearMath/Quaternion.h>
+#include <string>
+#include <geometry_msgs/msg/transform_stamped.hpp>
+#include <rclcpp/time.hpp>
+using std::placeholders::_1;
+using namespace std;
+
+/* 参考ROS wiki
+ * http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20%28C%2B%2B%29
+ * */
+
+int position_x ;
+int position_y ;
+int position_z ;
+std::string imu_topic;
+std::string imu_frame_id, world_frame_id;
+
+static  std::shared_ptr<tf2_ros::TransformBroadcaster>  br;
+rclcpp::Node::SharedPtr nh_=nullptr;
+class imu_data_to_tf : public rclcpp::Node
+{
+    public:
+        imu_data_to_tf():Node("imu_data_to_tf")
+        {
+
+            // node.param("/imu_tf/imu_topic", imu_topic, std::string("/imu"));
+            // node.param("/imu_tf/position_x", position_x, 0);
+            // node.param("/imu_tf/position_y", position_y, 0);
+            // node.param("/imu_tf/position_z", position_z, 0);
+            
+            this->declare_parameter<std::string>("world_frame_id","/world");
+            this->get_parameter("world_frame_id",  world_frame_id);
+
+            this->declare_parameter<std::string>("imu_frame_id","/imu");
+            this->get_parameter("imu_frame_id",  imu_frame_id);
+            
+            this->declare_parameter<std::string>("imu_topic","/imu");
+            this->get_parameter("imu_topic",  imu_topic);
+
+            this->declare_parameter<std::int16_t>("position_x",1);
+            this->get_parameter("position_x",   position_x);
+
+            this->declare_parameter<std::int16_t>("position_y",1);
+            this->get_parameter("position_y", position_y);
+
+            this->declare_parameter<std::int16_t>("position_z",1);
+            this->get_parameter("position_z", position_z);
+            br =std::make_shared<tf2_ros::TransformBroadcaster>(this);
+            sub_ = this->create_subscription<sensor_msgs::msg::Imu>(imu_topic.c_str(), 10, std::bind(&imu_data_to_tf::ImuCallback,this,_1));
+
+        }
+    private:
+        rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr sub_;
+
+        //rclcpp::Subscriber sub = node.subscribe(imu_topic.c_str(), 10, &ImuCallback);
+
+
+        void ImuCallback(const sensor_msgs::msg::Imu::SharedPtr imu_data) {
+
+            //static tf2_ros::TransformBroadcaster br;//广播器
+
+            // tf2::Transform transform;
+            // transform.setOrigin(tf2::Vector3(position_x, position_y, position_z));//设置平移部分
+
+            // 从IMU消息包中获取四元数数据
+            tf2::Quaternion q;
+            q.setX(imu_data->orientation.x);
+            q.setY(imu_data->orientation.y);
+            q.setZ(imu_data->orientation.z);
+            q.setW(imu_data->orientation.w);
+            q.normalized();//归一化
+
+            // transform.setRotation(q);//设置旋转部分
+            //广播出去
+            //br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "imu"));
+            geometry_msgs::msg::TransformStamped tfs;
+            tfs.header.stamp=rclcpp::Node::now();
+            tfs.header.frame_id ="world";
+            tfs.child_frame_id="imu";
+            tfs.transform.translation.x=position_x;
+            tfs.transform.translation.y=position_y;
+            tfs.transform.translation.z=position_z;
+            tfs.transform.rotation.x=q.getX();
+            tfs.transform.rotation.y=q.getY();
+            tfs.transform.rotation.z=q.getZ();
+            tfs.transform.rotation.w=q.getW();
+            br->sendTransform(tfs);
+            //tf2::(transform, rclcpp::Node::now(), "world", "imu")
+        }
+};
+
+int main (int argc, char ** argv) {
+    rclcpp::init(argc, argv);
+    
+    //ros::NodeHandle node;, "imu_data_to_tf"
+    //auto node =std::make_shared<imu_data_to_tf>();
+    rclcpp::spin(std::make_shared<imu_data_to_tf>());
+    rclcpp::shutdown();
+    return 0;
+}
--- a/src/hardware/fdilink_ahrs_ROS2/wheeltec_udev.sh
+++ b/src/hardware/fdilink_ahrs_ROS2/wheeltec_udev.sh
@ -0,0 +1,14 @@
+#CP2102 串口号0003 设置别名为wheeltec_FDI_IMU_GNSS
+echo  'KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdi_imu_gnss.rules
+#CH9102，同时系统安装了对应驱动 串口号0003 设置别名为wheeltec_FDI_IMU_GNSS
+echo  'KERNEL=="ttyCH343USB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdi_imu_gnss2.rules
+#CH9102，同时系统没有安装对应驱动 串口号0003 设置别名为wheeltec_FDI_IMU_GNSS
+echo  'KERNEL=="ttyACM*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4",ATTRS{serial}=="0003", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdi_imu_gnss3.rules
+#CH340，直接设置别名为wheeltec_FDI_IMU_GNSS
+echo 'KERNEL=="ttyUSB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE:="0777", GROUP:="dialout", SYMLINK+="wheeltec_FDI_IMU_GNSS"' >/etc/udev/rules.d/wheeltec_fdcontroller_340.rules
+
+service udev reload
+sleep 2
+service udev restart
+
+
--- a/src/hardware/mdog_hardware/CMakeLists.txt
+++ b/src/hardware/mdog_hardware/CMakeLists.txt
@ -0,0 +1,93 @@
+cmake_minimum_required(VERSION 3.8)
+project(mdog_hardware)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+add_library(
+  mdog_hardware
+  SHARED
+  src/mdog_hardware_interface.cpp
+)
+target_include_directories(
+  mdog_hardware
+  PUBLIC
+  include
+)
+ament_target_dependencies(
+  mdog_hardware
+  hardware_interface
+  rclcpp
+  rclcpp_lifecycle
+)
+# prevent pluginlib from using boost
+target_compile_definitions(mdog_hardware PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
+pluginlib_export_plugin_description_file(
+  hardware_interface mdog_hardware.xml)
+
+install(
+  TARGETS
+  mdog_hardware
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  ament_add_gmock(test_mdog_hardware_interface test/test_mdog_hardware_interface.cpp)
+  target_include_directories(test_mdog_hardware_interface PRIVATE include)
+  ament_target_dependencies(
+    test_mdog_hardware_interface
+    hardware_interface
+    pluginlib
+    ros2_control_test_assets
+  )
+endif()
+
+ament_export_include_directories(
+  include
+)
+ament_export_libraries(
+  mdog_hardware
+)
+ament_export_dependencies(
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+)
+
+ament_package()
--- a/src/hardware/mdog_hardware/include/mdog_hardware/mdog_hardware_interface.hpp
+++ b/src/hardware/mdog_hardware/include/mdog_hardware/mdog_hardware_interface.hpp
@ -0,0 +1,79 @@
+// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+//
+// 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.
+
+#ifndef MDOG_HARDWARE__MDOG_HARDWARE_INTERFACE_HPP_
+#define MDOG_HARDWARE__MDOG_HARDWARE_INTERFACE_HPP_
+
+#include <string>
+#include <vector>
+
+#include "mdog_hardware/visibility_control.h"
+#include "hardware_interface/system_interface.hpp"
+#include "hardware_interface/handle.hpp"
+#include "hardware_interface/hardware_info.hpp"
+#include "hardware_interface/types/hardware_interface_return_values.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "sensor_msgs/msg/imu.hpp"
+
+namespace mdog_hardware
+{
+class MDogHardwareInterface : public hardware_interface::SystemInterface
+{
+public:
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::CallbackReturn on_init(
+    const hardware_interface::HardwareInfo & info) override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::return_type read(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::return_type write(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+private:
+  std::vector<double> hw_commands_;
+  std::vector<double> hw_states_;
+  std::vector<double> imu_states_;
+
+  rclcpp::Node::SharedPtr node_;
+  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_subscription_;
+
+  void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg);
+};
+
+}  // namespace mdog_hardware
+
+#endif  // MDOG_HARDWARE__MDOG_HARDWARE_INTERFACE_HPP_
--- a/src/hardware/mdog_hardware/include/mdog_hardware/visibility_control.h
+++ b/src/hardware/mdog_hardware/include/mdog_hardware/visibility_control.h
@ -0,0 +1,49 @@
+// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+//
+// 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.
+
+#ifndef MDOG_HARDWARE__VISIBILITY_CONTROL_H_
+#define MDOG_HARDWARE__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+#ifdef __GNUC__
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT __attribute__((dllexport))
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT __attribute__((dllimport))
+#else
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT __declspec(dllexport)
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT __declspec(dllimport)
+#endif
+#ifdef TEMPLATES__ROS2_CONTROL__VISIBILITY_BUILDING_DLL
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT
+#else
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT
+#endif
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC_TYPE TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_LOCAL
+#else
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_EXPORT __attribute__((visibility("default")))
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_IMPORT
+#if __GNUC__ >= 4
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC __attribute__((visibility("default")))
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_LOCAL __attribute__((visibility("hidden")))
+#else
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_LOCAL
+#endif
+#define TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC_TYPE
+#endif
+
+#endif  // MDOG_HARDWARE__VISIBILITY_CONTROL_H_
--- a/src/hardware/mdog_hardware/launch/mdog_hardware.launch.py
+++ b/src/hardware/mdog_hardware/launch/mdog_hardware.launch.py
@ -0,0 +1,43 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import xacro  # 添加 xacro 模块
+
+
+def process_xacro():
+    # 获取 xacro 文件路径
+    pkg_path = os.path.join(get_package_share_directory('mdog_description'))
+    xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
+    # 处理 xacro 文件
+    robot_description_config = xacro.process_file(xacro_file)
+    return robot_description_config.toxml()
+
+
+def generate_launch_description():
+    # 生成机器人描述
+    robot_description = {'robot_description': process_xacro()}
+
+    # 启动机器人状态发布器
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='screen',
+        parameters=[robot_description]
+    )
+
+    # 启动控制器管理器
+    controller_manager_node = Node(
+        package='controller_manager',
+        executable='ros2_control_node',
+        output='screen',
+        parameters=[robot_description],
+        arguments=['--ros-args', '--log-level', 'info']
+    )
+
+    return LaunchDescription([
+        robot_state_publisher_node,
+        controller_manager_node
+    ])
--- a/src/hardware/mdog_hardware/mdog_hardware.xml
+++ b/src/hardware/mdog_hardware/mdog_hardware.xml
@ -0,0 +1,9 @@
+<library path="mdog_hardware">
+  <class name="mdog_hardware/MDogHardwareInterface"
+         type="mdog_hardware::MDogHardwareInterface"
+         base_class_type="hardware_interface::SystemInterface">
+    <description>
+      ros2_control hardware interface.
+    </description>
+  </class>
+</library>
--- a/src/hardware/mdog_hardware/package.xml
+++ b/src/hardware/mdog_hardware/package.xml
@ -0,0 +1,30 @@
+<?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>mdog_hardware</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="1683502971@qq.com">robofish</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>hardware_interface</depend>
+
+  <depend>pluginlib</depend>
+
+  <depend>rclcpp_lifecycle</depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_gmock</test_depend>
+  <test_depend>ros2_control_test_assets</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
--- a/src/hardware/mdog_hardware/src/mdog_hardware_interface.cpp
+++ b/src/hardware/mdog_hardware/src/mdog_hardware_interface.cpp
@ -0,0 +1,165 @@
+// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+//
+// 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.
+
+#include <limits>
+#include <vector>
+
+#include "mdog_hardware/mdog_hardware_interface.hpp"
+#include "hardware_interface/types/hardware_interface_type_values.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "sensor_msgs/msg/imu.hpp"
+
+namespace mdog_hardware
+{
+
+void MDogHardwareInterface::imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg)
+{
+  imu_states_[0] = msg->orientation.w;
+  imu_states_[1] = msg->orientation.x;
+  imu_states_[2] = msg->orientation.y;
+  imu_states_[3] = msg->orientation.z;
+
+  imu_states_[4] = msg->angular_velocity.x;
+  imu_states_[5] = msg->angular_velocity.y;
+  imu_states_[6] = msg->angular_velocity.z;
+
+  imu_states_[7] = msg->linear_acceleration.x;
+  imu_states_[8] = msg->linear_acceleration.y;
+  imu_states_[9] = msg->linear_acceleration.z;
+}
+
+hardware_interface::CallbackReturn MDogHardwareInterface::on_init(
+  const hardware_interface::HardwareInfo & info)
+{
+  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
+  {
+    return CallbackReturn::ERROR;
+  }
+
+  // 初始化硬件状态和命令
+  hw_states_.resize(info_.joints.size() * 3, std::numeric_limits<double>::quiet_NaN());
+  hw_commands_.resize(info_.joints.size() * 5, std::numeric_limits<double>::quiet_NaN());
+  imu_states_.resize(10, std::numeric_limits<double>::quiet_NaN());
+
+  // 创建 ROS 2 节点和订阅器
+  node_ = std::make_shared<rclcpp::Node>("mdog_hardware_interface");
+  imu_subscription_ = node_->create_subscription<sensor_msgs::msg::Imu>(
+    "/imu", 10, std::bind(&MDogHardwareInterface::imu_callback, this, std::placeholders::_1));
+
+  return CallbackReturn::SUCCESS;
+}
+
+hardware_interface::CallbackReturn MDogHardwareInterface::on_configure(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  // TODO(anyone): prepare the robot to be ready for read calls and write calls of some interfaces
+
+  return CallbackReturn::SUCCESS;
+}
+
+std::vector<hardware_interface::StateInterface> MDogHardwareInterface::export_state_interfaces()
+{
+  std::vector<hardware_interface::StateInterface> state_interfaces;
+  for (size_t i = 0; i < info_.joints.size(); ++i)
+  {
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+      info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_[i * 3]));
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+      info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_states_[i * 3 + 1]));
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+      info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &hw_states_[i * 3 + 2]));
+    
+  }
+  
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+    "imu_sensor", "orientation.w", &imu_states_[0]));
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+    "imu_sensor", "orientation.x", &imu_states_[1]));
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+    "imu_sensor", "orientation.y", &imu_states_[2]));
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+    "imu_sensor", "orientation.z", &imu_states_[3]));
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+    "imu_sensor", "angular_velocity.x", &imu_states_[4]));
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+    "imu_sensor", "angular_velocity.y", &imu_states_[5]));
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+    "imu_sensor", "angular_velocity.z", &imu_states_[6]));
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+    "imu_sensor", "linear_acceleration.x", &imu_states_[7]));
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+    "imu_sensor", "linear_acceleration.y", &imu_states_[8]));
+  state_interfaces.emplace_back(hardware_interface::StateInterface(
+    "imu_sensor", "linear_acceleration.z", &imu_states_[9]));
+
+  return state_interfaces;
+}
+
+std::vector<hardware_interface::CommandInterface> MDogHardwareInterface::export_command_interfaces()
+{
+  std::vector<hardware_interface::CommandInterface> command_interfaces;
+  for (size_t i = 0; i < info_.joints.size(); ++i)
+  {
+    command_interfaces.emplace_back(hardware_interface::CommandInterface(
+      info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_commands_[i * 5]));
+    command_interfaces.emplace_back(hardware_interface::CommandInterface(
+      info_.joints[i].name, hardware_interface::HW_IF_VELOCITY, &hw_commands_[i * 5 + 1]));
+    command_interfaces.emplace_back(hardware_interface::CommandInterface(
+      info_.joints[i].name, hardware_interface::HW_IF_EFFORT, &hw_commands_[i * 5 + 2]));
+    command_interfaces.emplace_back(hardware_interface::CommandInterface(
+      info_.joints[i].name, "kp", &hw_commands_[i * 5 + 3]));
+    command_interfaces.emplace_back(hardware_interface::CommandInterface(
+      info_.joints[i].name, "kd", &hw_commands_[i * 5 + 4]));
+  }
+  return command_interfaces;
+}
+
+hardware_interface::CallbackReturn MDogHardwareInterface::on_activate(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  // TODO(anyone): prepare the robot to receive commands
+
+  return CallbackReturn::SUCCESS;
+}
+
+hardware_interface::CallbackReturn MDogHardwareInterface::on_deactivate(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  // TODO(anyone): prepare the robot to stop receiving commands
+
+  return CallbackReturn::SUCCESS;
+}
+
+hardware_interface::return_type MDogHardwareInterface::read(
+  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+{
+  // TODO(anyone): read robot states
+
+  return hardware_interface::return_type::OK;
+}
+
+hardware_interface::return_type MDogHardwareInterface::write(
+  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+{
+  // TODO(anyone): write robot's commands'
+
+  return hardware_interface::return_type::OK;
+}
+
+}  // namespace mdog_hardware
+
+#include "pluginlib/class_list_macros.hpp"
+
+PLUGINLIB_EXPORT_CLASS(
+  mdog_hardware::MDogHardwareInterface, hardware_interface::SystemInterface)
--- a/src/hardware/mdog_hardware/test/test_mdog_hardware_interface.cpp
+++ b/src/hardware/mdog_hardware/test/test_mdog_hardware_interface.cpp
@ -0,0 +1,57 @@
+// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+//
+// 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.
+
+#include <gmock/gmock.h>
+
+#include <string>
+
+#include "hardware_interface/resource_manager.hpp"
+#include "ros2_control_test_assets/components_urdfs.hpp"
+#include "ros2_control_test_assets/descriptions.hpp"
+
+class TestMDogHardwareInterface : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    // TODO(anyone): Extend this description to your robot
+    mdog_hardware_interface_2dof_ =
+      R"(
+        <ros2_control name="MDogHardwareInterface2dof" type="system">
+          <hardware>
+            <plugin>mdog_hardware/MDogHardwareInterface</plugin>
+          </hardware>
+          <joint name="joint1">
+            <command_interface name="position"/>
+            <state_interface name="position"/>
+            <param name="initial_position">1.57</param>
+          </joint>
+          <joint name="joint2">
+            <command_interface name="position"/>
+            <state_interface name="position"/>
+            <param name="initial_position">0.7854</param>
+          </joint>
+        </ros2_control>
+    )";
+  }
+
+  std::string mdog_hardware_interface_2dof_;
+};
+
+TEST_F(TestMDogHardwareInterface, load_mdog_hardware_interface_2dof)
+{
+  auto urdf = ros2_control_test_assets::urdf_head + mdog_hardware_interface_2dof_ +
+              ros2_control_test_assets::urdf_tail;
+  ASSERT_NO_THROW(hardware_interface::ResourceManager rm(urdf));
+}
--- a/src/hardware/unitree_leg_serial_driver/CMakeLists.txt
+++ b/src/hardware/unitree_leg_serial_driver/CMakeLists.txt
@ -0,0 +1,65 @@
+cmake_minimum_required(VERSION 3.8)
+project(unitree_leg_serial_driver)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(serial REQUIRED)
+find_package(rosidl_default_generators REQUIRED) # 添加消息生成依赖
+
+# 添加头文件目录
+include_directories(include)
+
+# 添加消息文件
+set(msg_files
+  msgs/GoMotorFdb.msg
+  msgs/GoMotorCmd.msg
+)
+
+# 生成消息
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES std_msgs
+)
+
+# 添加源文件并生成共享库
+add_library(${PROJECT_NAME}_lib SHARED  # 修改目标名称，避免冲突
+  src/unitree_leg_serial.cpp
+  src/crc_ccitt.cpp
+)
+
+# 链接依赖库
+ament_target_dependencies(${PROJECT_NAME}_lib
+  rclcpp
+  rclcpp_components
+  std_msgs
+  serial
+)
+
+# 注册组件
+rclcpp_components_register_nodes(${PROJECT_NAME}_lib "unitree_leg_serial::UnitreeLegSerial")
+
+# 安装目标文件和头文件
+install(TARGETS ${PROJECT_NAME}_lib
+  EXPORT export_${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(DIRECTORY include/
+  DESTINATION include
+)
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+ament_package()
--- a/src/hardware/unitree_leg_serial_driver/include/unitree_leg_serial_driver/crc_ccitt.hpp
+++ b/src/hardware/unitree_leg_serial_driver/include/unitree_leg_serial_driver/crc_ccitt.hpp
@ -0,0 +1,20 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdlib.h>
+
+
+namespace crc_ccitt {
+
+uint16_t crc_ccitt_byte(uint16_t crc, const uint8_t c);
+
+/**
+ *	crc_ccitt - recompute the CRC (CRC-CCITT variant) for the data
+ *	buffer
+ *	@crc: previous CRC value
+ *	@buffer: data pointer
+ *	@len: number of bytes in the buffer
+ */
+uint16_t crc_ccitt(uint16_t crc, uint8_t const *buffer, size_t len);
+
+} // namespace crc_ccitt
--- a/src/hardware/unitree_leg_serial_driver/include/unitree_leg_serial_driver/gom_protocol.hpp
+++ b/src/hardware/unitree_leg_serial_driver/include/unitree_leg_serial_driver/gom_protocol.hpp
@ -0,0 +1,109 @@
+#pragma once
+
+#include "crc_ccitt.hpp"
+
+#pragma pack(1)
+/**
+ * @brief 电机模式控制信息
+ *
+ */
+typedef struct
+{
+    uint8_t id : 4;      // 电机ID: 0,1...,13,14 15表示向所有电机广播数据(此时无返回)
+    uint8_t status : 3;  // 工作模式: 0.锁定 1.FOC闭环 2.编码器校准 3.保留
+    uint8_t reserve : 1; // 保留位
+} RIS_Mode_t;            // 控制模式 1Byte
+
+/**
+ * @brief 电机状态控制信息
+ *
+ */
+typedef struct
+{
+    int16_t tor_des; // 期望关节输出扭矩 unit: N.m      (q8)
+    int16_t spd_des; // 期望关节输出速度 unit: rad/s    (q8)
+    int32_t pos_des; // 期望关节输出位置 unit: rad      (q15)
+    int16_t k_pos;   // 期望关节刚度系数 unit: -1.0-1.0 (q15)
+    int16_t k_spd;   // 期望关节阻尼系数 unit: -1.0-1.0 (q15)
+
+} RIS_Comd_t; // 控制参数 12Byte
+
+/**
+ * @brief 电机状态反馈信息
+ *
+ */
+typedef struct
+{
+    int16_t torque;      // 实际关节输出扭矩 unit: N.m     (q8)
+    int16_t speed;       // 实际关节输出速度 unit: rad/s   (q8)
+    int32_t pos;         // 实际关节输出位置 unit: rad     (q15)
+    int8_t temp;         // 电机温度: -128~127°C
+    uint8_t MError : 3;  // 电机错误标识: 0.正常 1.过热 2.过流 3.过压 4.编码器故障 5-7.保留
+    uint16_t force : 12; // 足端气压传感器数据 12bit (0-4095)
+    uint8_t none : 1;    // 保留位
+} RIS_Fbk_t;             // 状态数据 11Byte
+
+/**
+ * @brief 控制数据包格式
+ *
+ */
+typedef struct
+{
+    uint8_t head[2]; // 包头         2Byte
+    RIS_Mode_t mode; // 电机控制模式  1Byte
+    RIS_Comd_t comd; // 电机期望数据 12Byte
+    uint16_t CRC16;  // CRC          2Byte
+
+} RIS_ControlData_t; // 主机控制命令     17Byte
+
+/**
+ * @brief 电机反馈数据包格式
+ *
+ */
+typedef struct
+{
+    uint8_t head[2]; // 包头         2Byte
+    RIS_Mode_t mode; // 电机控制模式  1Byte
+    RIS_Fbk_t fbk;   // 电机反馈数据 11Byte
+    uint16_t CRC16;  // CRC          2Byte
+
+} RIS_MotorData_t; // 电机返回数据     16Byte
+
+#pragma pack()
+
+/// @brief 电机指令结构体
+typedef struct
+{
+    unsigned short id;   // 电机ID，15代表广播数据包
+    unsigned short mode; // 0:空闲 1:FOC控制 2:电机标定
+    float T;             // 期望关节的输出力矩(电机本身的力矩)(Nm)
+    float W;             // 期望关节速度(电机本身的速度)(rad/s)
+    float Pos;           // 期望关节位置(rad)
+    float K_P;           // 关节刚度系数(0-25.599)
+    float K_W;           // 关节速度系数(0-25.599)
+
+    RIS_ControlData_t motor_send_data;
+
+} MotorCmd_t;
+
+/// @brief 电机反馈结构体
+typedef struct
+{
+    unsigned char motor_id; // 电机ID
+    unsigned char mode;     // 0:空闲 1:FOC控制 2:电机标定
+    int Temp;               // 温度
+    int MError;             // 错误码
+    float T;                // 当前实际电机输出力矩(电机本身的力矩)(Nm)
+    float W;                // 当前实际电机速度(电机本身的速度)(rad/s)
+    float Pos;              // 当前电机位置(rad)
+    int correct;            // 接收数据是否完整(1完整，0不完整)
+    int footForce;          // 足端力传感器原始数值
+
+    uint16_t calc_crc;
+    uint32_t timeout;       // 通讯超时 数量
+    uint32_t bad_msg;       // CRC校验错误 数量
+    RIS_MotorData_t motor_recv_data; // 电机接收数据结构体
+
+} MotorData_t;
+
+#pragma pack()
--- a/src/hardware/unitree_leg_serial_driver/include/unitree_leg_serial_driver/unitree_leg_serial.hpp
+++ b/src/hardware/unitree_leg_serial_driver/include/unitree_leg_serial_driver/unitree_leg_serial.hpp
@ -0,0 +1,48 @@
+#pragma once
+
+#include <serial/serial.h>
+#include <atomic>
+#include <rclcpp/rclcpp.hpp>
+#include <string>
+#include <thread>
+#include "unitree_leg_serial_driver/crc_ccitt.hpp"
+#include "unitree_leg_serial_driver/gom_protocol.hpp"
+
+namespace unitree_leg_serial
+{
+
+class UnitreeLegSerial : public rclcpp::Node
+{
+public:
+    explicit UnitreeLegSerial(const rclcpp::NodeOptions &options);
+    ~UnitreeLegSerial() override;
+
+private:
+    void receive_data();
+    void reopen_port();
+    void send_motor_data(const MotorCmd_t &cmd);
+    void motor_update();
+    void motor_cmd_reset();
+    bool open_serial_port();
+    void close_serial_port();
+
+    std::unique_ptr<serial::Serial> serial_port_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    std::thread read_thread_;
+    std::atomic<bool> running_{false};
+
+    // 状态管理
+    enum StatusFlag : int8_t { OFFLINE = 0, ERROR = 1, CONTROLED = 2 };
+    std::atomic<StatusFlag> status_flag_{OFFLINE};
+    std::atomic<int8_t> tick_{0};
+
+    // 串口参数
+    std::string serial_port_name_;
+    int baud_rate_;
+
+    // 电机数据
+    MotorCmd_t motor_cmd_;
+    MotorData_t motor_fbk_;
+};
+
+} // namespace unitree_leg_serial
--- a/src/hardware/unitree_leg_serial_driver/launch/unitree_leg_serial.launch.py
+++ b/src/hardware/unitree_leg_serial_driver/launch/unitree_leg_serial.launch.py
@ -0,0 +1,21 @@
+from launch import LaunchDescription
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+def generate_launch_description():
+    return LaunchDescription([
+        ComposableNodeContainer(
+            name="component_container",
+            namespace="",
+            package="rclcpp_components",
+            executable="component_container",
+            composable_node_descriptions=[
+                ComposableNode(
+                    package="unitree_leg_serial_driver",
+                    plugin="unitree_leg_serial::UnitreeLegSerial",
+                    name="unitree_leg_serial"
+                )
+            ],
+            output="screen"
+        )
+    ])
--- a/src/hardware/unitree_leg_serial_driver/msgs/GoMotorCmd.msg
+++ b/src/hardware/unitree_leg_serial_driver/msgs/GoMotorCmd.msg
@ -0,0 +1,5 @@
+float32 torque_des
+float32 speed_des
+float32 pos_des
+float32 kp
+float32 kd
--- a/src/hardware/unitree_leg_serial_driver/msgs/GoMotorFdb.msg
+++ b/src/hardware/unitree_leg_serial_driver/msgs/GoMotorFdb.msg
@ -0,0 +1,3 @@
+float32 torque
+float32 speed
+float32 pos
--- a/src/hardware/unitree_leg_serial_driver/package.xml
+++ b/src/hardware/unitree_leg_serial_driver/package.xml
@ -0,0 +1,34 @@
+<?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>unitree_leg_serial_driver</name>
+  <version>0.0.0</version>
+  <description>Unitree Leg Serial Driver for ROS 2</description>
+  <maintainer email="1683502971@qq.com">robofish</maintainer>
+  <license>Apache-2.0</license>
+
+  <!-- Build dependencies -->
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <build_depend>rclcpp</build_depend>
+  <build_depend>rclcpp_components</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>serial</build_depend>
+
+  <!-- Execution dependencies -->
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>serial</exec_depend>
+
+  <!-- Test dependencies -->
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <!-- Required for packages with interfaces -->
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
--- a/src/hardware/unitree_leg_serial_driver/src/crc_ccitt.cpp
+++ b/src/hardware/unitree_leg_serial_driver/src/crc_ccitt.cpp
@ -0,0 +1,68 @@
+#include "unitree_leg_serial_driver/crc_ccitt.hpp"
+
+namespace crc_ccitt
+{
+
+// CRC-CCITT 预计算表
+const uint16_t crc_ccitt_table[256] = {
+	0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
+	0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
+	0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
+	0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
+	0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
+	0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
+	0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
+	0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
+	0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
+	0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
+	0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
+	0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
+	0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
+	0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
+	0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
+	0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
+	0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
+	0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
+	0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
+	0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
+	0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
+	0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
+	0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
+	0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
+	0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
+	0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
+	0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
+	0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
+	0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
+	0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
+	0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
+	0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
+};
+
+/**
+ * @brief 计算单字节的 CRC-CCITT 值
+ * @param crc 当前的 CRC 值
+ * @param c 输入字节
+ * @return 更新后的 CRC 值
+ */
+ uint16_t crc_ccitt_byte(uint16_t crc, const uint8_t c)
+ {
+	 return (crc >> 8) ^ crc_ccitt_table[(crc ^ c) & 0xff];
+ }
+
+/**
+ * @brief 计算数据缓冲区的 CRC-CCITT 值
+ * @param crc 初始 CRC 值
+ * @param buffer 数据缓冲区指针
+ * @param len 缓冲区长度
+ * @return 计算后的 CRC 值
+ */
+ uint16_t crc_ccitt(uint16_t crc, uint8_t const *buffer, size_t len)
+ {
+	 while (len--)
+		 crc = crc_ccitt_byte(crc, *buffer++);
+	 return crc;
+ }
+ 
+
+} // namespace crc_ccitt
--- a/src/hardware/unitree_leg_serial_driver/src/unitree_leg_serial.cpp
+++ b/src/hardware/unitree_leg_serial_driver/src/unitree_leg_serial.cpp
@ -0,0 +1,185 @@
+#include "unitree_leg_serial_driver/unitree_leg_serial.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
+
+namespace unitree_leg_serial
+{
+
+UnitreeLegSerial::UnitreeLegSerial(const rclcpp::NodeOptions &options)
+    : Node("unitree_leg_serial", options)
+{
+    serial_port_name_ = "/dev/ttyACM3";
+    baud_rate_ = 4000000;
+
+    if (!open_serial_port()) {
+        RCLCPP_ERROR(this->get_logger(), "Failed to open serial port: %s", serial_port_name_.c_str());
+        return;
+    }
+
+    running_ = true;
+    status_flag_ = OFFLINE;
+    tick_ = 0;
+    read_thread_ = std::thread(&UnitreeLegSerial::receive_data, this);
+
+    timer_ = this->create_wall_timer(
+        std::chrono::microseconds(500),
+        [this]() { motor_update(); });
+}
+
+UnitreeLegSerial::~UnitreeLegSerial()
+{
+    running_ = false;
+    if (read_thread_.joinable()) {
+        read_thread_.join();
+    }
+    close_serial_port();
+}
+
+bool UnitreeLegSerial::open_serial_port()
+{
+    try {
+        serial_port_ = std::make_unique<serial::Serial>(serial_port_name_, baud_rate_, serial::Timeout::simpleTimeout(1000));
+        return serial_port_->isOpen();
+    } catch (const std::exception &e) {
+        RCLCPP_ERROR(this->get_logger(), "Serial open exception: %s", e.what());
+        return false;
+    }
+}
+
+void UnitreeLegSerial::close_serial_port()
+{
+    if (serial_port_ && serial_port_->isOpen()) {
+        serial_port_->close();
+    }
+}
+
+void UnitreeLegSerial::motor_update()
+{
+    if (tick_ < 10) {
+        ++tick_;
+    } else {
+        status_flag_ = OFFLINE;
+    }
+
+    if (status_flag_ != CONTROLED) {
+        motor_cmd_reset();
+    }
+    send_motor_data(motor_cmd_);
+}
+
+void UnitreeLegSerial::motor_cmd_reset()
+{
+    motor_cmd_ = MotorCmd_t{};
+    motor_cmd_.id = 2;
+    motor_cmd_.mode = 1;
+}
+
+void UnitreeLegSerial::send_motor_data(const MotorCmd_t &cmd)
+{
+    if (!serial_port_ || !serial_port_->isOpen()) {
+        RCLCPP_ERROR_THROTTLE(this->get_logger(), *this->get_clock(), 2000, "Serial port is not open.");
+        return;
+    }
+
+    auto &out = motor_cmd_.motor_send_data;
+    out.head[0] = 0xFE;
+    out.head[1] = 0xEE;
+
+    auto saturate = [](auto &val, auto min, auto max) {
+        if (val < min) val = min;
+        else if (val > max) val = max;
+    };
+
+    MotorCmd_t cmd_copy = cmd;
+    saturate(cmd_copy.id, 0, 15);
+    saturate(cmd_copy.mode, 0, 7);
+    saturate(cmd_copy.K_P, 0.0f, 25.599f);
+    saturate(cmd_copy.K_W, 0.0f, 25.599f);
+    saturate(cmd_copy.T, -127.99f, 127.99f);
+    saturate(cmd_copy.W, -804.00f, 804.00f);
+    saturate(cmd_copy.Pos, -411774.0f, 411774.0f);
+
+    out.mode.id = cmd_copy.id;
+    out.mode.status = cmd_copy.mode;
+    out.comd.k_pos = cmd_copy.K_P / 25.6f * 32768.0f;
+    out.comd.k_spd = cmd_copy.K_W / 25.6f * 32768.0f;
+    out.comd.pos_des = cmd_copy.Pos / 6.28318f * 32768.0f;
+    out.comd.spd_des = cmd_copy.W / 6.28318f * 256.0f;
+    out.comd.tor_des = cmd_copy.T * 256.0f;
+    out.CRC16 = crc_ccitt::crc_ccitt(
+        0, (uint8_t *)&out, sizeof(RIS_ControlData_t) - sizeof(out.CRC16));
+
+    serial_port_->write(reinterpret_cast<const uint8_t *>(&out), sizeof(RIS_ControlData_t));
+}
+
+void UnitreeLegSerial::receive_data()
+{
+    size_t packet_size = sizeof(RIS_MotorData_t);
+    std::vector<uint8_t> buffer(packet_size * 2);
+    size_t buffer_offset = 0;
+
+    while (running_) {
+        try {
+            size_t bytes_read = serial_port_->read(buffer.data() + buffer_offset, buffer.size() - buffer_offset);
+            if (bytes_read == 0) continue;
+            buffer_offset += bytes_read;
+
+            size_t header_index = 0;
+            while (header_index < buffer_offset - 1) {
+                if (buffer[header_index] == 0xFD && buffer[header_index + 1] == 0xEE) break;
+                ++header_index;
+            }
+            if (header_index >= buffer_offset - 1) {
+                buffer_offset = 0;
+                continue;
+            }
+            if (header_index > 0) {
+                std::memmove(buffer.data(), buffer.data() + header_index, buffer_offset - header_index);
+                buffer_offset -= header_index;
+            }
+            if (buffer_offset < packet_size) continue;
+
+            std::memcpy(&motor_fbk_.motor_recv_data, buffer.data(), packet_size);
+
+            if (motor_fbk_.motor_recv_data.head[0] != 0xFD || motor_fbk_.motor_recv_data.head[1] != 0xEE) {
+                motor_fbk_.correct = 0;
+            } else {
+                motor_fbk_.calc_crc = crc_ccitt::crc_ccitt(
+                    0, (uint8_t *)&motor_fbk_.motor_recv_data, sizeof(RIS_MotorData_t) - sizeof(motor_fbk_.motor_recv_data.CRC16));
+                if (motor_fbk_.motor_recv_data.CRC16 != motor_fbk_.calc_crc) {
+                    memset(&motor_fbk_.motor_recv_data, 0, sizeof(RIS_MotorData_t));
+                    motor_fbk_.correct = 0;
+                    motor_fbk_.bad_msg++;
+                } else {
+                    motor_fbk_.motor_id = motor_fbk_.motor_recv_data.mode.id;
+                    motor_fbk_.mode = motor_fbk_.motor_recv_data.mode.status;
+                    motor_fbk_.Temp = motor_fbk_.motor_recv_data.fbk.temp;
+                    motor_fbk_.MError = motor_fbk_.motor_recv_data.fbk.MError;
+                    motor_fbk_.W = ((float)motor_fbk_.motor_recv_data.fbk.speed / 256.0f) * 6.28318f;
+                    motor_fbk_.T = ((float)motor_fbk_.motor_recv_data.fbk.torque) / 256.0f;
+                    motor_fbk_.Pos = 6.28318f * ((float)motor_fbk_.motor_recv_data.fbk.pos) / 32768.0f;
+                    motor_fbk_.footForce = motor_fbk_.motor_recv_data.fbk.force;
+                    motor_fbk_.correct = 1;
+                }
+            }
+            if (motor_fbk_.correct) {
+                RCLCPP_INFO_THROTTLE(this->get_logger(), *this->get_clock(), 1000, "Motor ID: %d, Position: %f", motor_fbk_.motor_id, motor_fbk_.Pos);
+            }
+            std::memmove(buffer.data(), buffer.data() + packet_size, buffer_offset - packet_size);
+            buffer_offset -= packet_size;
+        } catch (const std::exception &e) {
+            RCLCPP_ERROR(this->get_logger(), "Serial read exception: %s", e.what());
+            reopen_port();
+        }
+    }
+}
+
+void UnitreeLegSerial::reopen_port()
+{
+    close_serial_port();
+    rclcpp::sleep_for(std::chrono::milliseconds(100));
+    open_serial_port();
+}
+
+} // namespace unitree_leg_serial
+
+RCLCPP_COMPONENTS_REGISTER_NODE(unitree_leg_serial::UnitreeLegSerial)
--- a/src/robot_descriptions/qut/mdog_description/CMakeLists.txt
+++ b/src/robot_descriptions/qut/mdog_description/CMakeLists.txt
@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.8)
+project(mdog_description)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+        DIRECTORY meshes xacro launch config urdf
+        DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()
--- a/src/robot_descriptions/qut/mdog_description/config/robot_control.yaml
+++ b/src/robot_descriptions/qut/mdog_description/config/robot_control.yaml
@ -0,0 +1,63 @@
+# Controller Manager configuration
+controller_manager:
+  ros__parameters:
+    update_rate: 1000  # Hz
+
+    # Define the available controllers
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    imu_sensor_broadcaster:
+      type: imu_sensor_broadcaster/IMUSensorBroadcaster
+
+    mdog_simpal_controller:
+      type: mdog_simpal_controller/MGogSimpalController
+
+imu_sensor_broadcaster:
+  ros__parameters:
+    sensor_name: "imu_sensor"
+    frame_id: "imu_link"
+
+mdog_simpal_controller:
+  ros__parameters:
+    update_rate: 500  # Hz
+    joints:
+      - FR_hip_joint
+      - FR_thigh_joint
+      - FR_calf_joint
+      - FL_hip_joint
+      - FL_thigh_joint
+      - FL_calf_joint
+      - RR_hip_joint
+      - RR_thigh_joint
+      - RR_calf_joint
+      - RL_hip_joint
+      - RL_thigh_joint
+      - RL_calf_joint
+
+    command_interfaces:
+      - effort
+      - position
+      - velocity
+      - kp
+      - kd
+
+    state_interfaces:
+      - effort
+      - position
+      - velocity
+
+    imu_name: "imu_sensor"
+    base_name: "base"
+
+    imu_interfaces:
+      - orientation.w
+      - orientation.x
+      - orientation.y
+      - orientation.z
+      - angular_velocity.x
+      - angular_velocity.y
+      - angular_velocity.z
+      - linear_acceleration.x
+      - linear_acceleration.y
+      - linear_acceleration.z
--- a/src/robot_descriptions/qut/mdog_description/config/visualize_urdf.rviz
+++ b/src/robot_descriptions/qut/mdog_description/config/visualize_urdf.rviz
@ -0,0 +1,383 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+      Splitter Ratio: 0.5
+    Tree Height: 303
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        FL_calf:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_calf_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_hip_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FL_thigh_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_calf:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_calf_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_hip_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        FR_thigh_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        Link Tree Style: Links in Alphabetic Order
+        RL_calf:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_calf_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_hip_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RL_thigh_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_calf:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_calf_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_foot:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_hip:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_hip_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_thigh:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        RR_thigh_rotor:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_chin:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_face:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_laserscan_link_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_laserscan_link_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_optical_chin:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_optical_face:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_optical_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_optical_rearDown:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_optical_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_rearDown:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        trunk:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ultraSound_face:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ultraSound_left:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        ultraSound_right:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 0.8687032461166382
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.017344314604997635
+        Y: -0.0033522010780870914
+        Z: -0.09058035165071487
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.49539798498153687
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.8403961062431335
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 630
+  Hide Left Dock: true
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd0000000400000000000001f40000043cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000700000043c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d0000043cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000700000043c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003130000005efc0100000002fb0000000800540069006d0065010000000000000313000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000313000001b800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 787
+  X: 763
+  Y: 351
--- a/src/robot_descriptions/qut/mdog_description/launch/visualize.launch.py
+++ b/src/robot_descriptions/qut/mdog_description/launch/visualize.launch.py
@ -0,0 +1,49 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+import xacro
+
+package_description = "mdog_description"
+
+def process_xacro():
+    pkg_path = os.path.join(get_package_share_directory(package_description))
+    xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
+    robot_description_config = xacro.process_file(xacro_file)
+    return robot_description_config.toxml()
+def generate_launch_description():
+
+    rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
+    robot_description = process_xacro()
+
+    return LaunchDescription([
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz_ocs2',
+            output='screen',
+            arguments=["-d", rviz_config_file]
+        ),
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[
+                {
+                    'publish_frequency': 10.0,
+                    'use_tf_static': True,
+                    'robot_description': robot_description
+                }
+            ],
+        ),
+        Node(
+            package='joint_state_publisher_gui',
+            executable='joint_state_publisher_gui',
+            name='joint_state_publisher',
+            output='screen',
+        )
+    ])
--- a/src/robot_descriptions/qut/mdog_description/package.xml
+++ b/src/robot_descriptions/qut/mdog_description/package.xml
@ -0,0 +1,18 @@
+<?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>mdog_description</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="1683502971@qq.com">robofish</maintainer>
+  <license>TODO: License declaration</license>
+
+    <exec_depend>xacro</exec_depend>
+    <exec_depend>joint_state_publisher</exec_depend>
+    <exec_depend>robot_state_publisher</exec_depend>
+    <exec_depend>imu_sensor_broadcaster</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
--- a/src/robot_descriptions/qut/mdog_description/robot.urdf
+++ b/src/robot_descriptions/qut/mdog_description/robot.urdf
@ -0,0 +1,555 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/robofish/CM_DOG/src/robot_descriptions/qut/mdog_description/xacro/robot.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="mdog">
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="deep-grey">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="light-grey">
+    <color rgba="0.35 0.35 0.35 1.0"/>
+  </material>
+  <material name="silver">
+    <color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <ros2_control name="MdogSystem" type="system">
+    <hardware>
+      <plugin>hardware_mdog/hardware_mdog_real</plugin>
+    </hardware>
+    <joint name="FR_hip_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="FR_thigh_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="FR_calf_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="FL_hip_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="FL_thigh_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="FL_calf_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="RR_hip_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="RR_thigh_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="RR_calf_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="RL_hip_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="RL_thigh_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="RL_calf_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <sensor name="imu_sensor">
+      <state_interface name="orientation.w"/>
+      <state_interface name="orientation.x"/>
+      <state_interface name="orientation.y"/>
+      <state_interface name="orientation.z"/>
+      <state_interface name="angular_velocity.x"/>
+      <state_interface name="angular_velocity.y"/>
+      <state_interface name="angular_velocity.z"/>
+      <state_interface name="linear_acceleration.x"/>
+      <state_interface name="linear_acceleration.y"/>
+      <state_interface name="linear_acceleration.z"/>
+    </sensor>
+  </ros2_control>
+  <link name="base">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="trunk">
+    <visual>
+      <geometry>
+        <box size="0.32 0.3 0.12"/>
+      </geometry>
+      <material name="light-grey"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.3 0.3 0.12"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="5"/>
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+  </link>
+  <joint name="base_to_trunk" type="fixed">
+    <parent link="base"/>
+    <child link="trunk"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="imu_joint" type="fixed">
+    <parent link="trunk"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.05"/>
+  </joint>
+  <link name="imu_link">
+    <visual>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+  </link>
+  <!-- 定义hip_joint -->
+  <joint name="FR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.23 0.15 0"/>
+    <parent link="trunk"/>
+    <child link="FR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="FR_hip">
+    <visual>
+      <origin rpy="1.5708 0 0" xyz="0 -0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.05"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 0 0" xyz="0 -0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.10"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义thigh_joint -->
+  <joint name="FR_thigh_joint" type="revolute">
+    <origin rpy="0 -0.7854 0" xyz="0 0.05 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="FR_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="light-grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义calf_joint -->
+  <joint name="FR_calf_joint" type="revolute">
+    <origin rpy="0 -1.5708 0" xyz="-0.25 0 0"/>
+    <parent link="FR_thigh"/>
+    <child link="FR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="FR_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义hip_joint -->
+  <joint name="FL_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.23 -0.15 0"/>
+    <parent link="trunk"/>
+    <child link="FL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="FL_hip">
+    <visual>
+      <origin rpy="1.5708 0 0" xyz="0 0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.05"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 0 0" xyz="0 0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.10"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义thigh_joint -->
+  <joint name="FL_thigh_joint" type="revolute">
+    <origin rpy="0 -0.7854 0" xyz="0 -0.05 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="FL_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="light-grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义calf_joint -->
+  <joint name="FL_calf_joint" type="revolute">
+    <origin rpy="0 -1.5708 0" xyz="-0.25 0 0"/>
+    <parent link="FL_thigh"/>
+    <child link="FL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="FL_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义hip_joint -->
+  <joint name="RR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.23 0.15 0"/>
+    <parent link="trunk"/>
+    <child link="RR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="RR_hip">
+    <visual>
+      <origin rpy="1.5708 0 0" xyz="0 -0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.05"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 0 0" xyz="0 -0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.10"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义thigh_joint -->
+  <joint name="RR_thigh_joint" type="revolute">
+    <origin rpy="0 -0.7854 0" xyz="0 0.05 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="RR_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="light-grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义calf_joint -->
+  <joint name="RR_calf_joint" type="revolute">
+    <origin rpy="0 -1.5708 0" xyz="-0.25 0 0"/>
+    <parent link="RR_thigh"/>
+    <child link="RR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="RR_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义hip_joint -->
+  <joint name="RL_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.23 -0.15 0"/>
+    <parent link="trunk"/>
+    <child link="RL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="RL_hip">
+    <visual>
+      <origin rpy="1.5708 0 0" xyz="0 0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.05"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 0 0" xyz="0 0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.10"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义thigh_joint -->
+  <joint name="RL_thigh_joint" type="revolute">
+    <origin rpy="0 -0.7854 0" xyz="0 -0.05 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="RL_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="light-grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义calf_joint -->
+  <joint name="RL_calf_joint" type="revolute">
+    <origin rpy="0 -1.5708 0" xyz="-0.25 0 0"/>
+    <parent link="RL_thigh"/>
+    <child link="RL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="RL_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+</robot>
--- a/src/robot_descriptions/qut/mdog_description/urdf/robot.urdf
+++ b/src/robot_descriptions/qut/mdog_description/urdf/robot.urdf
@ -0,0 +1,555 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/robofish/CM_DOG/src/robot_descriptions/qut/mdog_description/xacro/robot.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="mdog">
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="green">
+    <color rgba="0.0 0.8 0.0 1.0"/>
+  </material>
+  <material name="deep-grey">
+    <color rgba="0.1 0.1 0.1 1.0"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="light-grey">
+    <color rgba="0.35 0.35 0.35 1.0"/>
+  </material>
+  <material name="silver">
+    <color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <ros2_control name="MdogSystem" type="system">
+    <hardware>
+      <plugin>hardware_mdog/hardware_mdog_real</plugin>
+    </hardware>
+    <joint name="FR_hip_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="FR_thigh_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="FR_calf_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="FL_hip_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="FL_thigh_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="FL_calf_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="RR_hip_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="RR_thigh_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="RR_calf_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="RL_hip_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="RL_thigh_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <joint name="RL_calf_joint">
+      <command_interface name="position"/>
+      <command_interface name="velocity"/>
+      <command_interface name="effort"/>
+      <command_interface name="kp"/>
+      <command_interface name="kd"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+      <state_interface name="effort"/>
+    </joint>
+    <sensor name="imu_sensor">
+      <state_interface name="orientation.w"/>
+      <state_interface name="orientation.x"/>
+      <state_interface name="orientation.y"/>
+      <state_interface name="orientation.z"/>
+      <state_interface name="angular_velocity.x"/>
+      <state_interface name="angular_velocity.y"/>
+      <state_interface name="angular_velocity.z"/>
+      <state_interface name="linear_acceleration.x"/>
+      <state_interface name="linear_acceleration.y"/>
+      <state_interface name="linear_acceleration.z"/>
+    </sensor>
+  </ros2_control>
+  <link name="base">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="trunk">
+    <visual>
+      <geometry>
+        <box size="0.32 0.3 0.12"/>
+      </geometry>
+      <material name="light-grey"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.3 0.3 0.12"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="5"/>
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+  </link>
+  <joint name="base_to_trunk" type="fixed">
+    <parent link="base"/>
+    <child link="trunk"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="imu_joint" type="fixed">
+    <parent link="trunk"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.05"/>
+  </joint>
+  <link name="imu_link">
+    <visual>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+  </link>
+  <!-- 定义hip_joint -->
+  <joint name="FR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.23 0.15 0"/>
+    <parent link="trunk"/>
+    <child link="FR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="FR_hip">
+    <visual>
+      <origin rpy="1.5708 0 0" xyz="0 -0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.05"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 0 0" xyz="0 -0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.10"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义thigh_joint -->
+  <joint name="FR_thigh_joint" type="revolute">
+    <origin rpy="0 -1.5708 0" xyz="0 0.05 0"/>
+    <parent link="FR_hip"/>
+    <child link="FR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="FR_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="light-grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义calf_joint -->
+  <joint name="FR_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.25 0 0"/>
+    <parent link="FR_thigh"/>
+    <child link="FR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="FR_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义hip_joint -->
+  <joint name="FL_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.23 -0.15 0"/>
+    <parent link="trunk"/>
+    <child link="FL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="FL_hip">
+    <visual>
+      <origin rpy="1.5708 0 0" xyz="0 0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.05"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 0 0" xyz="0 0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.10"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义thigh_joint -->
+  <joint name="FL_thigh_joint" type="revolute">
+    <origin rpy="0 -1.5708 0" xyz="0 -0.05 0"/>
+    <parent link="FL_hip"/>
+    <child link="FL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="FL_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="light-grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义calf_joint -->
+  <joint name="FL_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.25 0 0"/>
+    <parent link="FL_thigh"/>
+    <child link="FL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="FL_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义hip_joint -->
+  <joint name="RR_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.23 0.15 0"/>
+    <parent link="trunk"/>
+    <child link="RR_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="RR_hip">
+    <visual>
+      <origin rpy="1.5708 0 0" xyz="0 -0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.05"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 0 0" xyz="0 -0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.10"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义thigh_joint -->
+  <joint name="RR_thigh_joint" type="revolute">
+    <origin rpy="0 -1.5708 0" xyz="0 0.05 0"/>
+    <parent link="RR_hip"/>
+    <child link="RR_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="RR_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="light-grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义calf_joint -->
+  <joint name="RR_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.25 0 0"/>
+    <parent link="RR_thigh"/>
+    <child link="RR_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="RR_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义hip_joint -->
+  <joint name="RL_hip_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.23 -0.15 0"/>
+    <parent link="trunk"/>
+    <child link="RL_hip"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="RL_hip">
+    <visual>
+      <origin rpy="1.5708 0 0" xyz="0 0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.05"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 0 0" xyz="0 0.03 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.10"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义thigh_joint -->
+  <joint name="RL_thigh_joint" type="revolute">
+    <origin rpy="0 -1.5708 0" xyz="0 -0.05 0"/>
+    <parent link="RL_hip"/>
+    <child link="RL_thigh"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="RL_thigh">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="light-grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+  <!-- 定义calf_joint -->
+  <joint name="RL_calf_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.25 0 0"/>
+    <parent link="RL_thigh"/>
+    <child link="RL_calf"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="0.1" friction="0.1"/>
+    <limit effort="20" lower="-1.57" upper="1.57" velocity="10"/>
+  </joint>
+  <link name="RL_calf">
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+      <material name="grey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+      <geometry>
+        <box size="0.25 0.05 0.05"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+  </link>
+</robot>
--- a/src/robot_descriptions/qut/mdog_description/xacro/const.xacro
+++ b/src/robot_descriptions/qut/mdog_description/xacro/const.xacro
@ -0,0 +1,159 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+	<!-- Constants for robot dimensions -->
+	<xacro:property name="PI" value="3.1415926535897931"/>
+	<xacro:property name="stick_mass" value="0.00001"/>
+
+	<!-- simplified collision value -->
+	<xacro:property name="trunk_width" value="0.0935"/>
+	<xacro:property name="trunk_length" value="0.3762"/>
+	<xacro:property name="trunk_height" value="0.114"/>
+	<xacro:property name="hip_radius" value="0.046"/>
+	<xacro:property name="hip_length" value="0.04"/>
+	<xacro:property name="thigh_shoulder_radius" value="0.041"/>
+	<xacro:property name="thigh_shoulder_length" value="0.032"/>
+	<xacro:property name="thigh_width" value="0.0245"/>
+	<xacro:property name="thigh_height" value="0.034"/>
+	<xacro:property name="calf_width" value="0.016"/>
+	<xacro:property name="calf_height" value="0.016"/>
+	<xacro:property name="foot_radius" value="0.02"/>
+	<xacro:property name="stick_radius" value="0.01"/>
+	<xacro:property name="stick_length" value="0.2"/>
+
+	<!-- kinematic value -->
+	<xacro:property name="thigh_offset" value="0.08"/>
+	<xacro:property name="thigh_length" value="0.213"/>
+	<xacro:property name="calf_length" value="0.213"/>
+
+	<!-- leg offset from trunk center value -->
+	<xacro:property name="leg_offset_x" value="0.1881"/>
+	<xacro:property name="leg_offset_y" value="0.04675"/>
+	<!-- <xacro:property name="trunk_offset_z" value="0.01675"/> -->
+	<xacro:property name="hip_offset" value="0.08"/>
+
+	<!-- offset of link and rotor locations (left front) -->
+	<xacro:property name="hip_offset_x" value="0.1881"/>
+	<xacro:property name="hip_offset_y" value="0.04675"/>
+	<xacro:property name="hip_offset_z" value="0.0"/>
+	<xacro:property name="hip_rotor_offset_x" value="0.11215"/>
+	<xacro:property name="hip_rotor_offset_y" value="0.04675"/>
+	<xacro:property name="hip_rotor_offset_z" value="0.0"/>
+
+	<xacro:property name="thigh_offset_x" value="0"/>
+	<xacro:property name="thigh_offset_y" value="0.08"/>
+	<xacro:property name="thigh_offset_z" value="0.0"/>
+	<xacro:property name="thigh_rotor_offset_x" value="0.0"/>
+	<xacro:property name="thigh_rotor_offset_y" value="-0.00015"/>
+	<xacro:property name="thigh_rotor_offset_z" value="0.0"/>
+
+	<xacro:property name="calf_offset_x" value="0.0"/>
+	<xacro:property name="calf_offset_y" value="0.0"/>
+	<xacro:property name="calf_offset_z" value="-0.213"/>
+	<xacro:property name="calf_rotor_offset_x" value="0.0"/>
+	<xacro:property name="calf_rotor_offset_y" value="-0.03235"/>
+	<xacro:property name="calf_rotor_offset_z" value="0.0"/>
+
+	<!-- joint limits -->
+	<xacro:property name="damping" value="0.1"/>
+	<xacro:property name="friction" value="0.1"/>
+	<xacro:property name="hip_position_max" value="0.863"/>
+	<xacro:property name="hip_position_min" value="-0.863"/>
+	<xacro:property name="hip_velocity_max" value="30.1"/>
+	<xacro:property name="hip_torque_max" value="23.7"/>
+	<xacro:property name="thigh_position_max" value="4.501"/>
+	<xacro:property name="thigh_position_min" value="-0.686"/>
+	<xacro:property name="thigh_velocity_max" value="30.1"/>
+	<xacro:property name="thigh_torque_max" value="23.7"/>
+	<xacro:property name="calf_position_max" value="-0.888"/>
+	<xacro:property name="calf_position_min" value="-2.818"/>
+	<xacro:property name="calf_velocity_max" value="20.06"/>
+	<xacro:property name="calf_torque_max" value="35.55"/>
+
+	<!-- dynamics inertial value        total 12.84kg -->
+	<!-- trunk -->
+	<xacro:property name="trunk_mass" value="5.204"/>
+	<xacro:property name="trunk_com_x" value="0.0223"/>
+	<xacro:property name="trunk_com_y" value="0.002"/>
+	<xacro:property name="trunk_com_z" value="-0.0005"/>
+	<xacro:property name="trunk_ixx" value="0.0168128557"/>
+	<xacro:property name="trunk_ixy" value="-0.0002296769"/>
+	<xacro:property name="trunk_ixz" value="-0.0002945293"/>
+	<xacro:property name="trunk_iyy" value="0.063009565"/>
+	<xacro:property name="trunk_iyz" value="-0.0000418731"/>
+	<xacro:property name="trunk_izz" value="0.0716547275"/>
+
+	<!-- hip (left front) -->
+	<xacro:property name="hip_mass" value="0.591"/>
+	<xacro:property name="hip_com_x" value="-0.005657"/>
+	<xacro:property name="hip_com_y" value="-0.008752"/>
+	<xacro:property name="hip_com_z" value="-0.000102"/>
+	<xacro:property name="hip_ixx" value="0.000334008405"/>
+	<xacro:property name="hip_ixy" value="-0.000010826066"/>
+	<xacro:property name="hip_ixz" value="0.000001290732"/>
+	<xacro:property name="hip_iyy" value="0.000619101213"/>
+	<xacro:property name="hip_iyz" value="0.000001643194"/>
+	<xacro:property name="hip_izz" value="0.00040057614"/>
+
+	<xacro:property name="hip_rotor_mass" value="0.089"/>
+	<xacro:property name="hip_rotor_com_x" value="0.0"/>
+	<xacro:property name="hip_rotor_com_y" value="0.0"/>
+	<xacro:property name="hip_rotor_com_z" value="0.0"/>
+	<xacro:property name="hip_rotor_ixx" value="0.000111842"/>
+	<xacro:property name="hip_rotor_ixy" value="0.0"/>
+	<xacro:property name="hip_rotor_ixz" value="0.0"/>
+	<xacro:property name="hip_rotor_iyy" value="0.000059647"/>
+	<xacro:property name="hip_rotor_iyz" value="0.0"/>
+	<xacro:property name="hip_rotor_izz" value="0.000059647"/>
+
+	<!-- thigh -->
+	<xacro:property name="thigh_mass" value="0.92"/>
+	<xacro:property name="thigh_com_x" value="-0.003342"/>
+	<xacro:property name="thigh_com_y" value="-0.018054"/>
+	<xacro:property name="thigh_com_z" value="-0.033451"/>
+	<xacro:property name="thigh_ixx" value="0.004431760472"/>
+	<xacro:property name="thigh_ixy" value="0.000057496807"/>
+	<xacro:property name="thigh_ixz" value="-0.000218457134"/>
+	<xacro:property name="thigh_iyy" value="0.004485671726"/>
+	<xacro:property name="thigh_iyz" value="0.000572001265"/>
+	<xacro:property name="thigh_izz" value="0.000740309489"/>
+
+	<xacro:property name="thigh_rotor_mass" value="0.089"/>
+	<xacro:property name="thigh_rotor_com_x" value="0.0"/>
+	<xacro:property name="thigh_rotor_com_y" value="0.0"/>
+	<xacro:property name="thigh_rotor_com_z" value="0.0"/>
+	<xacro:property name="thigh_rotor_ixx" value="0.000059647"/>
+	<xacro:property name="thigh_rotor_ixy" value="0.0"/>
+	<xacro:property name="thigh_rotor_ixz" value="0.0"/>
+	<xacro:property name="thigh_rotor_iyy" value="0.000111842"/>
+	<xacro:property name="thigh_rotor_iyz" value="0.0"/>
+	<xacro:property name="thigh_rotor_izz" value="0.000059647"/>
+
+	<!-- calf -->
+	<xacro:property name="calf_mass" value="0.135862"/>
+	<xacro:property name="calf_com_x" value="0.006197"/>
+	<xacro:property name="calf_com_y" value="0.001408"/>
+	<xacro:property name="calf_com_z" value="-0.116695"/>
+	<xacro:property name="calf_ixx" value="0.001088793059"/>
+	<xacro:property name="calf_ixy" value="-0.000000255679"/>
+	<xacro:property name="calf_ixz" value="0.000007117814"/>
+	<xacro:property name="calf_iyy" value="0.001100428748"/>
+	<xacro:property name="calf_iyz" value="0.000002077264"/>
+	<xacro:property name="calf_izz" value="0.000024787446"/>
+
+	<xacro:property name="calf_rotor_mass" value="0.089"/>
+	<xacro:property name="calf_rotor_com_x" value="0.0"/>
+	<xacro:property name="calf_rotor_com_y" value="0.0"/>
+	<xacro:property name="calf_rotor_com_z" value="0.0"/>
+	<xacro:property name="calf_rotor_ixx" value="0.000059647"/>
+	<xacro:property name="calf_rotor_ixy" value="0.0"/>
+	<xacro:property name="calf_rotor_ixz" value="0.0"/>
+	<xacro:property name="calf_rotor_iyy" value="0.000111842"/>
+	<xacro:property name="calf_rotor_iyz" value="0.0"/>
+	<xacro:property name="calf_rotor_izz" value="0.000059647"/>
+
+	<!-- foot -->
+	<xacro:property name="foot_mass" value="0.06"/>
+
+</robot>
--- a/src/robot_descriptions/qut/mdog_description/xacro/leg.xacro
+++ b/src/robot_descriptions/qut/mdog_description/xacro/leg.xacro
@ -0,0 +1,98 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <xacro:macro name="leg" params="name mirror front_hind">
+
+    <!-- 定义hip_joint -->
+    <joint name="${name}_hip_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="${front_hind * 0.23} ${mirror * 0.15} 0"/>
+      <parent link="trunk"/>
+      <child link="${name}_hip"/>
+      <axis xyz="1 0 0"/>
+      <dynamics damping="0.1" friction="0.1"/>
+      <limit effort="20" velocity="10" lower="-1.57" upper="1.57"/>
+    </joint>
+
+    <link name="${name}_hip">
+      <visual>
+        <origin rpy="1.5708 0 0" xyz="0 ${mirror * -0.03} 0"/>
+        <geometry>
+          <cylinder length="0.05" radius="0.05"/>
+        </geometry>
+        <material name="white"/>
+      </visual>
+      <collision>
+        <origin rpy="1.5708 0 0" xyz="0 ${mirror * -0.03} 0"/>
+        <geometry>
+          <cylinder length="0.05" radius="0.10"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.5"/>
+        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+      </inertial>
+    </link>
+
+    <!-- 定义thigh_joint -->
+    <joint name="${name}_thigh_joint" type="revolute">
+      <origin rpy="0 -0.7854 0" xyz="0 ${mirror * 0.05} 0"/>
+      <parent link="${name}_hip"/>
+      <child link="${name}_thigh"/>
+      <axis xyz="0 1 0"/>
+      <dynamics damping="0.1" friction="0.1"/>
+      <limit effort="20" velocity="10" lower="-1.57" upper="1.57"/>
+    </joint>
+
+    <link name="${name}_thigh">
+      <visual>
+        <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+        <geometry>
+          <box size="0.25 0.05 0.05"/>
+        </geometry>
+        <material name="light-grey"/>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+        <geometry>
+          <box size="0.25 0.05 0.05"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.5"/>
+        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+      </inertial>
+    </link>
+
+    <!-- 定义calf_joint -->
+    <joint name="${name}_calf_joint" type="revolute">
+      <origin rpy="0 -1.5708 0" xyz="-0.25 0 0"/>
+      <parent link="${name}_thigh"/>
+      <child link="${name}_calf"/>
+      <axis xyz="0 1 0"/>
+      <dynamics damping="0.1" friction="0.1"/>
+      <limit effort="20" velocity="10" lower="-1.57" upper="1.57"/>
+    </joint>
+
+    <link name="${name}_calf">
+      <visual>
+        <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+        <geometry>
+          <box size="0.25 0.05 0.05"/>
+        </geometry>
+        <material name="grey"/>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="-0.125 0 0"/>
+        <geometry>
+          <box size="0.25 0.05 0.05"/>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.5"/>
+        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+      </inertial>
+    </link>
+
+  </xacro:macro>
+
+</robot>
--- a/src/robot_descriptions/qut/mdog_description/xacro/materials.xacro
+++ b/src/robot_descriptions/qut/mdog_description/xacro/materials.xacro
@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<robot>
+
+	<material name="black">
+		<color rgba="0.0 0.0 0.0 1.0"/>
+	</material>
+
+	<material name="blue">
+		<color rgba="0.0 0.0 0.8 1.0"/>
+	</material>
+
+	<material name="green">
+		<color rgba="0.0 0.8 0.0 1.0"/>
+	</material>
+
+	<material name="deep-grey">
+		<color rgba="0.1 0.1 0.1 1.0"/>
+	</material>
+
+	<material name="grey">
+		<color rgba="0.2 0.2 0.2 1.0"/>
+	</material>
+
+	<material name="light-grey">
+		<color rgba="0.35 0.35 0.35 1.0"/>
+	</material>
+
+	<material name="silver">
+		<color rgba="${233/255} ${233/255} ${216/255} 1.0"/>
+	</material>
+
+	<material name="orange">
+		<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
+	</material>
+
+	<material name="brown">
+		<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
+	</material>
+
+	<material name="red">
+		<color rgba="0.8 0.0 0.0 1.0"/>
+	</material>
+
+	<material name="white">
+		<color rgba="1.0 1.0 1.0 1.0"/>
+	</material>
+
+</robot>
--- a/src/robot_descriptions/qut/mdog_description/xacro/robot.xacro
+++ b/src/robot_descriptions/qut/mdog_description/xacro/robot.xacro
@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+
+<robot name="mdog" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="$(find mdog_description)/xacro/const.xacro"/>
+    <xacro:include filename="$(find mdog_description)/xacro/materials.xacro"/>
+    <xacro:include filename="$(find mdog_description)/xacro/leg.xacro"/>
+    <xacro:include filename="$(find mdog_description)/xacro/ros2_control.xacro"/>
+
+    <link name="base">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size="0.001 0.001 0.001"/>
+            </geometry>
+        </visual>
+    </link>
+    
+    <link name="trunk">
+        <visual>
+            <geometry>
+                <box size="0.32 0.3 0.12"/>
+            </geometry>
+            <material name="light-grey"/>
+        </visual>
+        <collision>
+            <geometry>
+                <box size="0.3 0.3 0.12"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="5"/>
+            <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+        </inertial>
+    </link>
+
+    <joint name="base_to_trunk" type="fixed">
+        <parent link="base"/>
+        <child link="trunk"/>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+    </joint>
+
+    <joint name="imu_joint" type="fixed">
+        <parent link="trunk"/>
+        <child link="imu_link"/>
+        <origin rpy="0 0 0" xyz="0 0 0.05"/>
+    </joint>
+
+    <link name="imu_link">
+        <visual>
+            <geometry>
+                <box size="0.05 0.05 0.05"/>
+            </geometry>
+        </visual>
+    </link>
+
+    <xacro:leg name="FR" mirror="1" front_hind="1"/>
+    <xacro:leg name="FL" mirror="-1" front_hind="1"/>
+    <xacro:leg name="RR" mirror="1" front_hind="-1"/>
+    <xacro:leg name="RL" mirror="-1" front_hind="-1"/>
+
+</robot>
--- a/src/robot_descriptions/qut/mdog_description/xacro/ros2_control.xacro
+++ b/src/robot_descriptions/qut/mdog_description/xacro/ros2_control.xacro
@ -0,0 +1,169 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+	<ros2_control name="MdogSystem" type="system">
+
+		<hardware>
+			<plugin>mdog_hardware/mdog_hardware_interface</plugin>
+		</hardware>
+
+		<joint name="FR_hip_joint">
+			<command_interface name="position"/>
+			<command_interface name="velocity"/>
+			<command_interface name="effort"/>
+			<command_interface name="kp"/>
+			<command_interface name="kd"/>
+
+			<state_interface name="position"/>
+			<state_interface name="velocity"/>
+			<state_interface name="effort"/>
+		</joint>
+
+		<joint name="FR_thigh_joint">
+			<command_interface name="position"/>
+			<command_interface name="velocity"/>
+			<command_interface name="effort"/>
+			<command_interface name="kp"/>
+			<command_interface name="kd"/>
+
+			<state_interface name="position"/>
+			<state_interface name="velocity"/>
+			<state_interface name="effort"/>
+		</joint>
+
+		<joint name="FR_calf_joint">
+			<command_interface name="position"/>
+			<command_interface name="velocity"/>
+			<command_interface name="effort"/>
+			<command_interface name="kp"/>
+			<command_interface name="kd"/>
+
+			<state_interface name="position"/>
+			<state_interface name="velocity"/>
+			<state_interface name="effort"/>
+		</joint>
+
+		<joint name="FL_hip_joint">
+			<command_interface name="position"/>
+			<command_interface name="velocity"/>
+			<command_interface name="effort"/>
+			<command_interface name="kp"/>
+			<command_interface name="kd"/>
+
+			<state_interface name="position"/>
+			<state_interface name="velocity"/>
+			<state_interface name="effort"/>
+		</joint>
+
+		<joint name="FL_thigh_joint">
+			<command_interface name="position"/>
+			<command_interface name="velocity"/>
+			<command_interface name="effort"/>
+			<command_interface name="kp"/>
+			<command_interface name="kd"/>
+
+			<state_interface name="position"/>
+			<state_interface name="velocity"/>
+			<state_interface name="effort"/>
+		</joint>
+
+		<joint name="FL_calf_joint">
+			<command_interface name="position"/>
+			<command_interface name="velocity"/>
+			<command_interface name="effort"/>
+			<command_interface name="kp"/>
+			<command_interface name="kd"/>
+
+			<state_interface name="position"/>
+			<state_interface name="velocity"/>
+			<state_interface name="effort"/>
+		</joint>
+
+		<joint name="RR_hip_joint">
+			<command_interface name="position"/>
+			<command_interface name="velocity"/>
+			<command_interface name="effort"/>
+			<command_interface name="kp"/>
+			<command_interface name="kd"/>
+
+			<state_interface name="position"/>
+			<state_interface name="velocity"/>
+			<state_interface name="effort"/>
+		</joint>
+
+		<joint name="RR_thigh_joint">
+			<command_interface name="position"/>
+			<command_interface name="velocity"/>
+			<command_interface name="effort"/>
+			<command_interface name="kp"/>
+			<command_interface name="kd"/>
+
+			<state_interface name="position"/>
+			<state_interface name="velocity"/>
+			<state_interface name="effort"/>
+		</joint>
+
+		<joint name="RR_calf_joint">
+			<command_interface name="position"/>
+			<command_interface name="velocity"/>
+			<command_interface name="effort"/>
+			<command_interface name="kp"/>
+			<command_interface name="kd"/>
+
+			<state_interface name="position"/>
+			<state_interface name="velocity"/>
+			<state_interface name="effort"/>
+		</joint>
+
+		<joint name="RL_hip_joint">
+			<command_interface name="position"/>
+			<command_interface name="velocity"/>
+			<command_interface name="effort"/>
+			<command_interface name="kp"/>
+			<command_interface name="kd"/>
+
+			<state_interface name="position"/>
+			<state_interface name="velocity"/>
+			<state_interface name="effort"/>
+		</joint>
+
+		<joint name="RL_thigh_joint">
+			<command_interface name="position"/>
+			<command_interface name="velocity"/>
+			<command_interface name="effort"/>
+			<command_interface name="kp"/>
+			<command_interface name="kd"/>
+
+			<state_interface name="position"/>
+			<state_interface name="velocity"/>
+			<state_interface name="effort"/>
+		</joint>
+
+		<joint name="RL_calf_joint">
+			<command_interface name="position"/>
+			<command_interface name="velocity"/>
+			<command_interface name="effort"/>
+			<command_interface name="kp"/>
+			<command_interface name="kd"/>
+
+			<state_interface name="position"/>
+			<state_interface name="velocity"/>
+			<state_interface name="effort"/>
+		</joint>
+
+		<sensor name="imu_sensor">
+			<state_interface name="orientation.w"/>
+			<state_interface name="orientation.x"/>
+			<state_interface name="orientation.y"/>
+			<state_interface name="orientation.z"/>
+			<state_interface name="angular_velocity.x"/>
+			<state_interface name="angular_velocity.y"/>
+			<state_interface name="angular_velocity.z"/>
+			<state_interface name="linear_acceleration.x"/>
+			<state_interface name="linear_acceleration.y"/>
+			<state_interface name="linear_acceleration.z"/>
+		</sensor>
+
+	</ros2_control>
+
+</robot>
Author	SHA1	Message	Date
robofish	bca5ab3a3b	创建了单电机驱动	2025-05-15 20:43:12 +08:00
robofish	30d3d2fb3a	创建go电机发送反馈串口驱动	2025-05-15 20:42:30 +08:00