diff --git a/src/airy/rslidar_sdk-main/src/rs_driver/cmake/rs_driverConfig.cmake b/src/airy/rslidar_sdk-main/src/rs_driver/cmake/rs_driverConfig.cmake
index 402f86c..11669ac 100644
--- a/src/airy/rslidar_sdk-main/src/rs_driver/cmake/rs_driverConfig.cmake
+++ b/src/airy/rslidar_sdk-main/src/rs_driver/cmake/rs_driverConfig.cmake
@@ -19,8 +19,8 @@ if(${ENABLE_TRANSFORM})
   add_definitions("-DENABLE_TRANSFORM")
 endif(${ENABLE_TRANSFORM})
 
-set(rs_driver_INCLUDE_DIRS "/home/nvidia/Downloads/sweeper_whu/src/airy/rslidar_sdk-main/src/rs_driver/src;/usr/local/rslidar_sdk/include")
-set(RS_DRIVER_INCLUDE_DIRS "/home/nvidia/Downloads/sweeper_whu/src/airy/rslidar_sdk-main/src/rs_driver/src;/usr/local/rslidar_sdk/include")
+set(rs_driver_INCLUDE_DIRS "/home/alvin/project/zxwl/sweeper/200_123/sweeper_200/src/airy/rslidar_sdk-main/src/rs_driver/src;/usr/local/rslidar_sdk/include")
+set(RS_DRIVER_INCLUDE_DIRS "/home/alvin/project/zxwl/sweeper/200_123/sweeper_200/src/airy/rslidar_sdk-main/src/rs_driver/src;/usr/local/rslidar_sdk/include")
 
 set(rs_driver_LIBRARIES "pthread;pcap")
 set(RS_DRIVER_LIBRARIES "pthread;pcap")
diff --git a/src/fu/src/fu_node.cpp b/src/fu/src/fu_node.cpp
index 8d0437d..75d514f 100644
--- a/src/fu/src/fu_node.cpp
+++ b/src/fu/src/fu_node.cpp
@@ -790,15 +790,7 @@ private:
 
             // 发布控制指令
             sweeper_interfaces::msg::McCtrl message;
-            // bool sweep = (avoid_ctx_.state == AVOID_NONE); // 避障状态为无避障 且 任务开始 才开启清扫
-            bool sweep = true; // 任务开始就开启清扫
-            message.edge_brush_lift = sweep;
-            message.sweep_ctrl = sweep;
-            message.spray = false;
-            message.mud_flap = sweep;
-            message.dust_shake = sweep;
-            message.gear = 0;
-            message.brake = (publish_speed == 0) ? 1 : 0;
+            message.sweep = true;
 
             if (reliability == 1)
                 message.rpm = publish_speed;
diff --git a/src/rslidar_pointcloud_merger/launch/merge_two_lidars.launch.py b/src/rslidar_pointcloud_merger/launch/merge_two_lidars.launch.py
index b3f3ff2..1b9bed6 100644
--- a/src/rslidar_pointcloud_merger/launch/merge_two_lidars.launch.py
+++ b/src/rslidar_pointcloud_merger/launch/merge_two_lidars.launch.py
@@ -10,9 +10,9 @@ def generate_launch_description():
     # front_lidar（右前角） -> rslidar（车辆中心）
     # [x, y, z, yaw, pitch, roll]
     tf_front = [
-        1.15,  # x  前方 1.15 m
-        0.66,  # y  右侧 0.66 m
-        0.0,  # z  高度 1.7 m
+        0.9,  # x  前方 0.9 m
+        0.67,  # y  右侧 0.67 m
+        0.0,  # z  高度 1.0 m
         0.7854,  # yaw  π/4  ≈  0.785 rad  (水平右前 45°)
         0.0,  # pitch
         0.0,  # roll
@@ -21,9 +21,9 @@ def generate_launch_description():
     # rear_lidar（左后角） -> rslidar（车辆中心）
     # [x, y, z, yaw, pitch, roll]
     tf_rear = [
-        -1.15,  # x  后方 1.15 m
-        -0.66,  # y  左侧 0.66 m
-        0.0,  # z  高度 1.7 m
+        -0.9,  # x  后方 0.9 m
+        -0.67,  # y  左侧 0.67 m
+        0.0,  # z  高度 1.0 m
         3.9270,  # yaw  +5π/4 ≈ +3.927rad (水平后左 135°)
         0.0,  # pitch
         0.0,  # roll
@@ -71,7 +71,7 @@ def generate_launch_description():
                         "filter_min_y": -5.0,  # Y轴最小坐标（米）
                         "filter_max_y": 5.0,  # Y轴最大坐标（米）
                         "filter_min_z": 0.0,  # Z轴最小坐标（米）
-                        "filter_max_z": 0.50,  # Z轴最大坐标（米）1.65
+                        "filter_max_z": 1.0,  # Z轴最大坐标（米）1.0
                         "voxel_size": 0.1,  # 体素网格大小（米） 0.1~0.3m
                         "stat_mean_k": 30,  # 计算点的平均距离时考虑的邻居数
                         "stat_std_thresh": 1.5,  # 标准差倍数阈值 噪声较多 ：0.5~1.0。 噪声较少 ：1.0~2.0。
@@ -81,8 +81,8 @@ def generate_launch_description():
                         "enable_print": False,  # 是否打印栅格
                         # 车身过滤参数
                         "filter_car": True,  # 是否启用车身过滤
-                        "car_length": 2.4,  # 车长（米）
-                        "car_width": 1.4,  # 车宽（米）
+                        "car_length": 1.8,  # 车长（米）
+                        "car_width": 1.34,  # 车宽（米）
                         "car_lidar_offset_x": 0.0,  # LiDAR在x轴的安装偏移
                         "car_lidar_offset_y": 0.0,  # LiDAR在y轴的安装偏移
                     }