diff --git a/.gitignore b/.gitignore
index 8371934..f251cc7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -122,7 +122,7 @@ devel_isolated/
 CMakeLists.txt.user
 
 srv/_*.py
-*.pcd
+# *.pcd
 *.pyc
 qtcreator-*
 *.user
@@ -156,7 +156,7 @@ build/
 CMakeLists.txt.user
 
 srv/_*.py
-*.pcd
+# *.pcd
 *.pyc
 qtcreator-*
 *.user
diff --git a/README.md b/README.md
index 5c62921..7f7f050 100644
--- a/README.md
+++ b/README.md
@@ -3,4 +3,18 @@
 青岛理工大学QUT
 MOVE战队
 RoboMaster比赛
-纯mid360激光雷达导航项目
\ No newline at end of file
+纯mid360激光雷达导航项目
+
+
+ros2 launch rm_nav_bringup bringup_sim.launch.py \
+    world:=RC2027 \
+    mode:=mapping \
+    lio:=fastlio \
+    lio_rviz:=True \
+    nav_rviz:=True
+
+
+
+    sudo mv /opt/MVS/lib/64/libusb-1.0.so.0 /opt/MVS/lib/64/libusb-1.0.so.0.bak
+[sudo] robofish 的密码： 
+robofish@robofish-ASUS-TUF-Gaming-F15-FX507ZM-FX507ZM:~/MOVE_AI$ sudo mv /opt/MVS/lib/32/libusb-1.0.so.0 /opt/MVS/lib/32/libusb-1.0.so.0.bak
\ No newline at end of file
diff --git a/src/rm_nav_bringup/PCD/RMUC.pcd b/src/rm_nav_bringup/PCD/RMUC.pcd
new file mode 100644
index 0000000..256db54
Binary files /dev/null and b/src/rm_nav_bringup/PCD/RMUC.pcd differ
diff --git a/src/rm_nav_bringup/PCD/RMUL.pcd b/src/rm_nav_bringup/PCD/RMUL.pcd
new file mode 100644
index 0000000..055222f
Binary files /dev/null and b/src/rm_nav_bringup/PCD/RMUL.pcd differ