diff --git a/src/perception/pbox_node_dirve/src/pbox_node/launch/pbox_node.launch.py b/src/perception/pbox_node_dirve/src/pbox_node/launch/pbox_node.launch.py
index d941f38..3d140dd 100644
--- a/src/perception/pbox_node_dirve/src/pbox_node/launch/pbox_node.launch.py
+++ b/src/perception/pbox_node_dirve/src/pbox_node/launch/pbox_node.launch.py
@@ -1,59 +1,52 @@
 """Launch a talker and a listener in a component container."""
- 
+
 import launch
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
- 
- 
+
+
 def generate_launch_description():
     """Generate launch description with multiple components."""
     container = ComposableNodeContainer(
-            package="pbox_node",
-            executable="pbox_pub",
-            namespace='',
-            name="pbox_pub",
-            output="screen",
-  
-            #AG_Pbox 节点运行配置参数
-            parameters=[
-                #输出msg类型：ros2标准msg：0 , Asensing msg：1 
-                #default: 1 Asensing msg 
-                {"MsgType": 1},
-
-                #连接类型：serial port：0 , UDP：1
-                #default: 0 serial port
-                {"ConnectionType": 0},
-                
-				#串口设备串  defaule: /dev/ttyUSB0
-                {"UART_Port": "/dev/ttyTHS1"},
-				#串口波特率  default: 115200
-                {"UART_Baudrate": 115200},
-                #latency_timer :1 ~ 16, default:16 
-                {"USB_LatencyTime": 16},
-
-                #UDP addr  default 192.168.225.2
-                {"UDP_Addr": "192.168.225.2"},
-                #UDP port  default 12300
-                {"UDP_Port": 12300},
-
-                #IMU BDDB0A协议类型 0：V1.0  1：V2.0----072
-                {"ProtocolType":0},
-				#5503协议：陀螺量程
-                {"Grange04": 250.0},
-				#AG041协议：加表量程
-                {"Arange04": 4.0},
-                
-				#570D协议：陀螺量程
-				{"Grange0B": 250.0},
-				#570D协议：加表量程
-				{"Arange0B": 4.0},
-
-                #设置日志文件路径和文件名
-                #default: close
-                {"LogInfo":"./debug.log"},
-                #设置日志打印等级：DEBUG:0 (save imu rawdata),INFO:1,WARNING:2,ERROR:3,FATAL:4
-                #default:INFO
-                {"LogLevel":0}
-            ],
+        package="pbox_node",
+        executable="pbox_pub",
+        namespace="",
+        name="pbox_pub",
+        output="screen",
+        # AG_Pbox 节点运行配置参数
+        parameters=[
+            # 输出msg类型：ros2标准msg：0 , Asensing msg：1
+            # default: 1 Asensing msg
+            {"MsgType": 1},
+            # 连接类型：serial port：0 , UDP：1
+            # default: 0 serial port
+            {"ConnectionType": 0},
+            # 串口设备串  defaule: /dev/ttyUSB0
+            {"UART_Port": "/dev/ttyTHS1"},
+            # 串口波特率  default: 115200
+            {"UART_Baudrate": 115200},
+            # latency_timer :1 ~ 16, default:16
+            {"USB_LatencyTime": 16},
+            # UDP addr  default 192.168.225.2
+            {"UDP_Addr": "192.168.225.2"},
+            # UDP port  default 12300
+            {"UDP_Port": 12300},
+            # IMU BDDB0A协议类型 0：V1.0  1：V2.0----072
+            {"ProtocolType": 0},
+            # 5503协议：陀螺量程
+            {"Grange04": 250.0},
+            # AG041协议：加表量程
+            {"Arange04": 4.0},
+            # 570D协议：陀螺量程
+            {"Grange0B": 250.0},
+            # 570D协议：加表量程
+            {"Arange0B": 4.0},
+            # 设置日志文件路径和文件名
+            # default: close
+            {"LogInfo": "./debug.log"},
+            # 设置日志打印等级：DEBUG:0 (save imu rawdata),INFO:1,WARNING:2,ERROR:3,FATAL:4
+            # default:INFO
+            {"LogLevel": 1},
+        ],
     )
-    return launch.LaunchDescription([container])
\ No newline at end of file
+    return launch.LaunchDescription([container])