diff --git a/copy start_all.sh b/copy start_all.sh
index 7563816..fee1cc8 100755
--- a/copy start_all.sh	
+++ b/copy start_all.sh	
@@ -1,22 +1,66 @@
+
+
+
+
 #!/bin/bash
 set -e
 
-# ===== 环境 =====
-source /opt/ros/humble/setup.bash
-source /home/nvidia/Downloads/sweeper_200/install/setup.bash
+source install/setup.bash
 
-# ===== 信号处理（这是核心）=====
-terminate() {
-    echo "[start_ros2] Caught SIGTERM/SIGINT, shutting down ROS2..."
-    kill -TERM "$ROS2_PID"
-    wait "$ROS2_PID"
-    exit 0
-}
+# ==============================================
+# 1. 车辆参数节点（你之前漏掉的！必须第一个启动）
+# ==============================================
+taskset -c 0 ros2 run vehicle_params vehicle_params_node &
+sleep 0.2
 
-trap terminate SIGINT SIGTERM
+# ==============================================
+# 2. 控制类节点（低负载，不影响雷达）
+# ==============================================
+taskset -c 0 ros2 run can_radio_ctrl can_radio_ctrl_node &
+sleep 0.2
 
-# ===== 启动 launch（前台语义）=====
-ros2 launch launch_system start_all.launch.py &
-ROS2_PID=$!
+taskset -c 2 ros2 run remote_ctrl remote_ctrl_node &
+sleep 0.2
 
-wait "$ROS2_PID"
+taskset -c 1 ros2 run mc mc_node &
+sleep 0.2
+
+taskset -c 1 ros2 run ctrl_arbiter ctrl_arbiter_node &
+sleep 0.2
+
+taskset -c 2 ros2 run pl pl_node &
+sleep 0.2
+
+taskset -c 6 ros2 run mqtt_report mqtt_report_node &
+sleep 0.3
+
+# ==============================================
+# 3. 雷达驱动 —— 专用核心 3、4（绝不被抢占）
+# ==============================================
+taskset -c 3,4 ros2 launch rslidar_sdk start_double.launch.py &
+sleep 1.5
+
+# ==============================================
+# 4. 点云融合 —— 专用核心 5（完全隔离）
+# ==============================================
+taskset -c 5 ros2 launch rslidar_pointcloud_merger merge_two_lidars.launch.py &
+sleep 0.3
+
+# ==============================================
+# 5. 定位 & 业务节点（不干扰雷达）
+# ==============================================
+taskset -c 6 ros2 run rtk rtk_node &
+sleep 0.3
+
+taskset -c 6 ros2 run route route_node &
+sleep 0.3
+
+taskset -c 6 ros2 run sub sub_node &
+sleep 0.3
+
+taskset -c 7 ros2 run task_manager task_manager_node &
+sleep 0.3
+
+taskset -c 7 ros2 launch fu fu.launch.py &
+
+wait
\ No newline at end of file
diff --git a/gps_load_now.txt b/gps_load_now.txt
index 9d3f2a0..23c271f 100644
--- a/gps_load_now.txt
+++ b/gps_load_now.txt
@@ -1,992 +1,264 @@
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diff --git a/routes/gps_load_1772775503834.txt b/routes/gps_load_1772775503834.txt
new file mode 100644
index 0000000..7ba0505
--- /dev/null
+++ b/routes/gps_load_1772775503834.txt
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diff --git a/routes/gps_load_1776133105337.txt b/routes/gps_load_1776133105337.txt
new file mode 100644
index 0000000..d023f46
--- /dev/null
+++ b/routes/gps_load_1776133105337.txt
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diff --git a/routes/gps_load_1776403621977.txt b/routes/gps_load_1776403621977.txt
new file mode 100644
index 0000000..e69de29
diff --git a/routes/gps_load_1776403666678.txt b/routes/gps_load_1776403666678.txt
new file mode 100644
index 0000000..23c271f
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diff --git a/src/base/mc/include/mc/can_struct.h b/src/base/mc/include/mc/can_struct.h
index ea69c94..6f242fc 100644
--- a/src/base/mc/include/mc/can_struct.h
+++ b/src/base/mc/include/mc/can_struct.h
@@ -16,7 +16,7 @@ struct can_BMS_query_0x100
     // 报文ID与控制标志定义
     static constexpr uint32_t CMD_ID = 0x100;  // 标准帧ID
     static constexpr bool EXT_FLAG = false;    // 11位标准帧
-    static constexpr bool RTR_FLAG = true;     // 普通数据帧（非远程帧）
+    static constexpr bool RTR_FLAG = false;     // 普通数据帧（非远程帧）
     static constexpr uint8_t DLC = 8;          // 数据长度为8字节
 
     // 数据区（主机查询时通常发送全0）
@@ -43,7 +43,7 @@ struct can_BMS_query_0x101
     // 报文ID与控制标志定义
     static constexpr uint32_t CMD_ID = 0x101;  // 标准帧ID
     static constexpr bool EXT_FLAG = false;    // 11位标准帧
-    static constexpr bool RTR_FLAG = true;     // 普通数据帧（非远程帧）
+    static constexpr bool RTR_FLAG = false;     // 普通数据帧（非远程帧）
     static constexpr uint8_t DLC = 8;          // 数据长度为8字节
 
     // 数据区（主机查询时通常发送全0）
diff --git a/src/common/launch_system/launch/start_all.launch.py b/src/common/launch_system/launch/start_all.launch.py
index 802c512..7aafe5f 100644
--- a/src/common/launch_system/launch/start_all.launch.py
+++ b/src/common/launch_system/launch/start_all.launch.py
@@ -1,203 +1,187 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
-from launch.actions import IncludeLaunchDescription, TimerAction
-from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import TimerAction, ExecuteProcess
 from ament_index_python.packages import get_package_share_directory
 import os
 
-
 def generate_launch_description():
-    # 获取各包的路径
-    rslidar_sdk_path = get_package_share_directory("rslidar_sdk")
-    fu_path = get_package_share_directory("fu")
+    rslidar_sdk_dir = get_package_share_directory("rslidar_sdk")
+    pointcloud_merger_dir = get_package_share_directory("rslidar_pointcloud_merger")
+    fu_dir = get_package_share_directory("fu")
 
-    # ===================== 按顺序延时启动所有节点 =====================
-    # 1. 车辆参数节点 (立即启动)
-    vehicle_params_node = Node(
+    vehicle_params = Node(
         package="vehicle_params",
         executable="vehicle_params_node",
-        name="vehicle_params_node",
         output="screen",
-        respawn=True,
-        respawn_delay=2,
+        prefix="taskset -c 0",
     )
 
-    # 2. CAN遥控节点 (延时0.2s)
-    can_radio_ctrl_node = TimerAction(
+    can_radio_ctrl = TimerAction(
         period=0.2,
-        actions=[Node(
-            package="can_radio_ctrl",
-            executable="can_radio_ctrl_node",
-            name="can_radio_ctrl_node",
-            output="screen",
-            respawn=True,
-            respawn_delay=2,
-        )]
-    )
-    # Node(
-    #     package="radio_ctrl",
-    #     executable="radio_ctrl_node",
-    #     name="radio_ctrl_node",
-    #     output="screen",
-    #     respawn=True,
-    #     respawn_delay=2,
-    # ),
-
-    # 3. 远程控制节点 (延时0.4s)
-    remote_ctrl_node = TimerAction(
-        period=0.4,
-        actions=[Node(
-            package="remote_ctrl",
-            executable="remote_ctrl_node",
-            name="remote_ctrl_node",
-            output="screen",
-            respawn=True,
-            respawn_delay=2,
-        )]
-    )
-
-    # 4. MC电机控制节点 (延时0.6s)
-    mc_node = TimerAction(
-        period=0.6,
-        actions=[Node(
-            package="mc",
-            executable="mc_node",
-            name="mc_node",
-            output="screen",
-            respawn=True,
-            respawn_delay=2,
-        )]
-    )
-
-    # 5. 控制仲裁节点 (延时0.8s)
-    ctrl_arbiter_node = TimerAction(
-        period=0.8,
-        actions=[Node(
-            package="ctrl_arbiter",
-            executable="ctrl_arbiter_node",
-            name="ctrl_arbiter_node",
-            output="screen",
-            respawn=True,
-            respawn_delay=2,
-        )]
-    )
-
-    # 6. MQTT上报节点 (延时1.0s) —— 【关键：必须最后启动】
-    mqtt_report_node = TimerAction(
-        period=1.0,
-        actions=[Node(
-            package="mqtt_report",
-            executable="mqtt_report_node",
-            name="mqtt_report_node",
-            output="screen",
-            respawn=True,
-            respawn_delay=2,
-        )]
-    )
-
-    # 7. 雷达启动 (延时1.5s)
-    lidar_launch = TimerAction(
-        period=1.5,
-        actions=[IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(rslidar_sdk_path, "launch", "start_double.launch.py")
+        actions=[
+            Node(
+                package="can_radio_ctrl",
+                executable="can_radio_ctrl_node",
+                output="screen",
+                prefix="taskset -c 0",
             )
-        )]
-    )
-
-    # 8. RTK定位节点 (延时2.0s)
-    rtk_node = TimerAction(
-        period=2.0,
-        actions=[Node(
-            package="rtk",
-            executable="rtk_node",
-            name="rtk_node",
-            parameters=[
-                os.path.join(
-                    get_package_share_directory("rtk"), "config", "rtk_params.yaml"
-                )
-            ],
-            output="screen",
-        )]
-    )
-
-    # 9. 路径节点 (延时2.5s)
-    route_node = TimerAction(
-        period=2.5,
-        actions=[Node(
-            package="route",
-            executable="route_node",
-            name="route_node",
-            output="screen",
-            respawn=True,
-            respawn_delay=2,
-        )]
-    )
-
-    # 10. 订阅节点 (延时3.0s)
-    sub_node = TimerAction(
-        period=3.0,
-        actions=[Node(
-            package="sub",
-            executable="sub_node",
-            name="sub_node",
-            output="screen",
-            respawn=True,
-            respawn_delay=2,
-        )]
-    )
-
-    # 11. 任务管理节点 (延时3.5s)
-    task_manager_node = TimerAction(
-        period=3.5,
-        actions=[Node(
-            package="task_manager",
-            executable="task_manager_node",
-            name="task_manager_node",
-            output="screen",
-            respawn=True,
-            respawn_delay=2,
-        )]
-    )
-
-    # 12. 规划控制节点 (延时4.0s)
-    pl_node = TimerAction(
-        period=4.0,
-        actions=[Node(
-            package="pl",
-            executable="pl_node",
-            name="pl_node",
-            output="screen",
-            respawn=True,
-            respawn_delay=2,
-        )]
-    )
-
-    # 13. FU功能节点 (延时4.5s)
-    fu_launch = TimerAction(
-        period=4.5,
-        actions=[IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(fu_path, "launch", "fu.launch.py")
-            )
-        )]
-    )
-
-    # ===================== 组装启动列表 =====================
-    return LaunchDescription(
-        [
-            vehicle_params_node,
-            can_radio_ctrl_node,
-            remote_ctrl_node,
-            mc_node,
-            ctrl_arbiter_node,
-            mqtt_report_node,
-            lidar_launch,
-            rtk_node,
-            route_node,
-            sub_node,
-            task_manager_node,
-            pl_node,
-            fu_launch,
         ]
-    )
\ No newline at end of file
+    )
+
+    remote_ctrl = TimerAction(
+        period=0.4,
+        actions=[
+            Node(
+                package="remote_ctrl",
+                executable="remote_ctrl_node",
+                output="screen",
+                prefix="taskset -c 2",
+            )
+        ]
+    )
+
+    mc = TimerAction(
+        period=0.6,
+        actions=[
+            Node(
+                package="mc",
+                executable="mc_node",
+                output="screen",
+                prefix="taskset -c 1",
+            )
+        ]
+    )
+
+    ctrl_arbiter = TimerAction(
+        period=0.8,
+        actions=[
+            Node(
+                package="ctrl_arbiter",
+                executable="ctrl_arbiter_node",
+                output="screen",
+                prefix="taskset -c 1",
+            )
+        ]
+    )
+
+    pl = TimerAction(
+        period=1.0,
+        actions=[
+            Node(
+                package="pl",
+                executable="pl_node",
+                output="screen",
+                prefix="taskset -c 2",
+            )
+        ]
+    )
+
+    mqtt_report = TimerAction(
+        period=1.3,
+        actions=[
+            Node(
+                package="mqtt_report",
+                executable="mqtt_report_node",
+                output="screen",
+                prefix="taskset -c 6",
+            )
+        ]
+    )
+
+    lidar_driver = TimerAction(
+        period=1.6,
+        actions=[
+            ExecuteProcess(
+                cmd=["ros2", "launch", "rslidar_sdk", "start_double.launch.py"],
+                output="screen",
+                prefix="taskset -c 3,4",
+            )
+        ]
+    )
+
+    pointcloud_merger = TimerAction(
+        period=3.1,
+        actions=[
+            ExecuteProcess(
+                cmd=["ros2", "launch", "rslidar_pointcloud_merger", "merge_two_lidars.launch.py"],
+                output="screen",
+                prefix="taskset -c 5",
+            )
+        ]
+    )
+
+    rtk = TimerAction(
+        period=3.4,
+        actions=[
+            Node(
+                package="rtk",
+                executable="rtk_node",
+                output="screen",
+                prefix="taskset -c 6",
+            )
+        ]
+    )
+
+    route = TimerAction(
+        period=3.7,
+        actions=[
+            Node(
+                package="route",
+                executable="route_node",
+                output="screen",
+                prefix="taskset -c 6",
+            )
+        ]
+    )
+
+    sub = TimerAction(
+        period=4.0,
+        actions=[
+            Node(
+                package="sub",
+                executable="sub_node",
+                output="screen",
+                prefix="taskset -c 6",
+            )
+        ]
+    )
+
+    task_manager = TimerAction(
+        period=4.3,
+        actions=[
+            Node(
+                package="task_manager",
+                executable="task_manager_node",
+                output="screen",
+                prefix="taskset -c 7",
+            )
+        ]
+    )
+
+    fu = TimerAction(
+        period=4.6,
+        actions=[
+            ExecuteProcess(
+                cmd=["ros2", "launch", "fu", "fu.launch.py"],
+                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
diff --git a/start_all.sh b/start_all.sh
index 3d680d3..60d50bf 100755
--- a/start_all.sh
+++ b/start_all.sh
@@ -1,62 +1,22 @@
 #!/bin/bash
 set -e
 
-source install/setup.bash
+# ===== 环境 =====
+source /opt/ros/humble/setup.bash
+source /home/nvidia/Downloads/sweeper_200/install/setup.bash
 
-# ==============================================
-# 1. 车辆参数节点（你之前漏掉的！必须第一个启动）
-# ==============================================
-taskset -c 0 ros2 run vehicle_params vehicle_params_node &
-sleep 0.2
+# ===== 信号处理（这是核心）=====
+terminate() {
+    echo "[start_ros2] Caught SIGTERM/SIGINT, shutting down ROS2..."
+    kill -TERM "$ROS2_PID"
+    wait "$ROS2_PID"
+    exit 0
+}
 
-# ==============================================
-# 2. 控制类节点（低负载，不影响雷达）
-# ==============================================
-taskset -c 0 ros2 run can_radio_ctrl can_radio_ctrl_node &
-sleep 0.2
+trap terminate SIGINT SIGTERM
 
-taskset -c 2 ros2 run remote_ctrl remote_ctrl_node &
-sleep 0.2
+# ===== 启动 launch（前台语义）=====
+ros2 launch launch_system start_all.launch.py &
+ROS2_PID=$!
 
-taskset -c 1 ros2 run mc mc_node &
-sleep 0.2
-
-taskset -c 1 ros2 run ctrl_arbiter ctrl_arbiter_node &
-sleep 0.2
-
-taskset -c 2 ros2 run pl pl_node &
-sleep 0.2
-
-taskset -c 6 ros2 run mqtt_report mqtt_report_node &
-sleep 0.3
-
-# ==============================================
-# 3. 雷达驱动 —— 专用核心 3、4（绝不被抢占）
-# ==============================================
-taskset -c 3,4 ros2 launch rslidar_sdk start_double.launch.py &
-sleep 1.5
-
-# ==============================================
-# 4. 点云融合 —— 专用核心 5（完全隔离）
-# ==============================================
-taskset -c 5 ros2 launch rslidar_pointcloud_merger merge_two_lidars.launch.py &
-sleep 0.3
-
-# ==============================================
-# 5. 定位 & 业务节点（不干扰雷达）
-# ==============================================
-taskset -c 6 ros2 run rtk rtk_node &
-sleep 0.3
-
-taskset -c 6 ros2 run route route_node &
-sleep 0.3
-
-taskset -c 6 ros2 run sub sub_node &
-sleep 0.3
-
-taskset -c 7 ros2 run task_manager task_manager_node &
-sleep 0.3
-
-taskset -c 7 ros2 launch fu fu.launch.py &
-
-wait
\ No newline at end of file
+wait "$ROS2_PID"
\ No newline at end of file