diff --git a/src/common/launch_system/launch/start_all.launch.py b/src/common/launch_system/launch/start_all.launch.py
index 0fac479..ba90262 100644
--- a/src/common/launch_system/launch/start_all.launch.py
+++ b/src/common/launch_system/launch/start_all.launch.py
@@ -4,6 +4,7 @@ from launch.actions import TimerAction, ExecuteProcess
 from ament_index_python.packages import get_package_share_directory
 import os
 
+
 def generate_launch_description():
     rslidar_sdk_dir = get_package_share_directory("rslidar_sdk")
     pointcloud_merger_dir = get_package_share_directory("rslidar_pointcloud_merger")
@@ -25,7 +26,7 @@ def generate_launch_description():
                 output="screen",
                 prefix="taskset -c 0",
             )
-        ]
+        ],
     )
 
     remote_ctrl = TimerAction(
@@ -37,7 +38,7 @@ def generate_launch_description():
                 output="screen",
                 prefix="taskset -c 2",
             )
-        ]
+        ],
     )
 
     mc = TimerAction(
@@ -49,7 +50,7 @@ def generate_launch_description():
                 output="screen",
                 prefix="taskset -c 2",
             )
-        ]
+        ],
     )
 
     ctrl_arbiter = TimerAction(
@@ -61,7 +62,7 @@ def generate_launch_description():
                 output="screen",
                 prefix="taskset -c 1",
             )
-        ]
+        ],
     )
 
     pl = TimerAction(
@@ -73,7 +74,7 @@ def generate_launch_description():
                 output="screen",
                 prefix="taskset -c 3",
             )
-        ]
+        ],
     )
 
     mqtt_report = TimerAction(
@@ -85,7 +86,7 @@ def generate_launch_description():
                 output="screen",
                 prefix="taskset -c 7",
             )
-        ]
+        ],
     )
 
     lidar_driver = TimerAction(
@@ -96,18 +97,23 @@ def generate_launch_description():
                 output="screen",
                 prefix="taskset -c 4,5",
             )
-        ]
+        ],
     )
 
     pointcloud_merger = TimerAction(
         period=3.1,
         actions=[
             ExecuteProcess(
-                cmd=["ros2", "launch", "rslidar_pointcloud_merger", "merge_two_lidars.launch.py"],
+                cmd=[
+                    "ros2",
+                    "launch",
+                    "rslidar_pointcloud_merger",
+                    "merge_two_lidars.launch.py",
+                ],
                 output="screen",
-                prefix="taskset -c 6",
+                # prefix="taskset -c 6",
             )
-        ]
+        ],
     )
 
     rtk = TimerAction(
@@ -119,7 +125,7 @@ def generate_launch_description():
                 output="screen",
                 prefix="taskset -c 7",
             )
-        ]
+        ],
     )
 
     route = TimerAction(
@@ -131,7 +137,7 @@ def generate_launch_description():
                 output="screen",
                 prefix="taskset -c 7",
             )
-        ]
+        ],
     )
 
     sub = TimerAction(
@@ -143,7 +149,7 @@ def generate_launch_description():
                 output="screen",
                 prefix="taskset -c 7",
             )
-        ]
+        ],
     )
 
     task_manager = TimerAction(
@@ -155,7 +161,7 @@ def generate_launch_description():
                 output="screen",
                 prefix="taskset -c 7",
             )
-        ]
+        ],
     )
 
     fu = TimerAction(
@@ -166,22 +172,24 @@ def generate_launch_description():
                 output="screen",
                 prefix="taskset -c 7",
             )
-        ]
+        ],
     )
 
-    return LaunchDescription([
-        vehicle_params,
-        can_radio_ctrl,
-        remote_ctrl,
-        mc,
-        ctrl_arbiter,
-        pl,
-        mqtt_report,
-        lidar_driver,
-        pointcloud_merger,
-        rtk,
-        route,
-        sub,
-        task_manager,
-        fu,
-    ])
\ No newline at end of file
+    return LaunchDescription(
+        [
+            vehicle_params,
+            can_radio_ctrl,
+            remote_ctrl,
+            mc,
+            ctrl_arbiter,
+            pl,
+            mqtt_report,
+            lidar_driver,
+            pointcloud_merger,
+            rtk,
+            route,
+            sub,
+            task_manager,
+            fu,
+        ]
+    )
diff --git a/src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp b/src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp
index e9bc802..2692128 100644
--- a/src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp
+++ b/src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp
@@ -61,12 +61,13 @@
 #include <cstring> /* strerror */
 #endif
 
-#include "logger/logger.h"
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/int32_multi_array.hpp>
 #include <std_msgs/msg/multi_array_dimension.hpp>
 
+#include "logger/logger.h"
+
 using sensor_msgs::msg::PointCloud2;
 
 /* ================================================================
@@ -715,9 +716,13 @@ class LidarMerger : public rclcpp::Node
                 if (filter_brush_)
                 {
                     // 右扫刷
-                    if (fx >= brush_r_min_x_ && fx <= brush_r_max_x_ && fy >= brush_r_min_y_ && fy <= brush_r_max_y_ && fz >= brush_r_min_z_ && fz <= brush_r_max_z_) continue;
+                    if (fx >= brush_r_min_x_ && fx <= brush_r_max_x_ && fy >= brush_r_min_y_ && fy <= brush_r_max_y_ &&
+                        fz >= brush_r_min_z_ && fz <= brush_r_max_z_)
+                        continue;
                     // 左扫刷
-                    if (fx >= brush_l_min_x_ && fx <= brush_l_max_x_ && fy >= brush_l_min_y_ && fy <= brush_l_max_y_ && fz >= brush_l_min_z_ && fz <= brush_l_max_z_) continue;
+                    if (fx >= brush_l_min_x_ && fx <= brush_l_max_x_ && fy >= brush_l_min_y_ && fy <= brush_l_max_y_ &&
+                        fz >= brush_l_min_z_ && fz <= brush_l_max_z_)
+                        continue;
                 }
             }
 
@@ -1142,9 +1147,8 @@ class LidarMerger : public rclcpp::Node
         last_stats_time_ = t;
         int f = front_rx_.load(), r = rear_rx_.load(), m = merged_count_.load();
         double merge_rate = (f > 0) ? m * 100.0 / std::min(f, r) : 0.0;
-        LOG_INFO("Stats | rx(F=%d,R=%d) merged=%d(%.0f%%) | queue(raw_F=%zu,raw_R=%zu,proc=%zu) | sor_method=%d", f,
-                    r, m, merge_rate, raw_queue_front_.size(), raw_queue_rear_.size(), processed_queue_.size(),
-                    sor_method_);
+        LOG_INFO("Stats | rx(F=%d,R=%d) merged=%d(%.0f%%) | queue(raw_F=%zu,raw_R=%zu,proc=%zu) | sor_method=%d", f, r,
+                 m, merge_rate, raw_queue_front_.size(), raw_queue_rear_.size(), processed_queue_.size(), sor_method_);
     }
 
     /* ============================================================