diff --git a/copy start_all.sh b/copy start_all.sh
new file mode 100755
index 0000000..7563816
--- /dev/null
+++ b/copy start_all.sh	
@@ -0,0 +1,22 @@
+#!/bin/bash
+set -e
+
+# ===== 环境 =====
+source /opt/ros/humble/setup.bash
+source /home/nvidia/Downloads/sweeper_200/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
+}
+
+trap terminate SIGINT SIGTERM
+
+# ===== 启动 launch（前台语义）=====
+ros2 launch launch_system start_all.launch.py &
+ROS2_PID=$!
+
+wait "$ROS2_PID"
diff --git a/gps_load_now.txt b/gps_load_now.txt
index e6b575c..9d3f2a0 100644
--- a/gps_load_now.txt
+++ b/gps_load_now.txt
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diff --git a/src/communication/sub/src/mqtt_receiver.cpp b/src/communication/sub/src/mqtt_receiver.cpp
index 1a16c62..9d9d2db 100644
--- a/src/communication/sub/src/mqtt_receiver.cpp
+++ b/src/communication/sub/src/mqtt_receiver.cpp
@@ -91,6 +91,17 @@ int MqttReceiver::onMessageArrived(void* context, char* topicName, int topicLen,
 {
     (void)topicLen;
     auto* self = static_cast<MqttReceiver*>(context);
+
+    // 输出 Topic
+    LOG_INFO("[MQTT] Received message | Topic: %s", topicName);
+
+    // 输出 Message 内容
+    if (message && message->payload) {
+        LOG_INFO("[MQTT] Received message | Payload: %.*s", (int)message->payloadlen, (char*)message->payload);
+    } else {
+        LOG_INFO("[MQTT] Received message | Payload: empty");
+    }
+
     return self->handleMessage(topicName, message);
 }
 
diff --git a/src/perception/airy/rslidar_sdk-main/launch/start_double.launch.py b/src/perception/airy/rslidar_sdk-main/launch/start_double.launch.py
index 4ba045b..6f03627 100755
--- a/src/perception/airy/rslidar_sdk-main/launch/start_double.launch.py
+++ b/src/perception/airy/rslidar_sdk-main/launch/start_double.launch.py
@@ -56,6 +56,6 @@ def generate_launch_description():
 
     # 返回所有节点和 launch 文件
     return LaunchDescription(
-        # [front_lidar_node, rear_lidar_node, merge_launch_action, rviz_node]
-        [front_lidar_node, rear_lidar_node, merge_launch_action]
+        # [front_lidar_node, rear_lidar_node, rviz_node]
+        [front_lidar_node, rear_lidar_node]
     )
diff --git a/start_all.sh b/start_all.sh
index 7563816..3d680d3 100755
--- a/start_all.sh
+++ b/start_all.sh
@@ -1,22 +1,62 @@
 #!/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