diff --git a/config.json b/config.json
index 37ae749..cd7d239 100644
--- a/config.json
+++ b/config.json
@@ -9,12 +9,10 @@
         "external_net_port": 19683,
         "mqtt_user": "zxwl",
         "mqtt_password": "zxwl1234@",
-        "pub_gps_topic": "/zxwl/vehicle/V060003/gps",
-        "remote_topic": "/zxwl/vehicle/V060003/ctrl",
-        "mqtt_topic_push_status": "/zxwl/vehicle/V060003/task/status",
-        "mqtt_topic_sub_task": "/zxwl/vehicle/V060003/task",
-        "info_topic": "/zxwl/vehicle/V060003/info",
-        "fault_topic": "/zxwl/vehicle/V060003/fault"
+        "pub_gps_topic": "/zxwl/sweeper/V060003/gps",
+        "remote_topic": "/zxwl/sweeper/V060003/ctrl",
+        "mqtt_topic_push_status": "/zxwl/sweeper/V060003/task/status",
+        "mqtt_topic_sub_task": "/zxwl/sweeper/V060003/task"
     },
     "detect_line_tolerance": 3.06,
     "detect_head_tolerance": 2,
diff --git a/gps_load_now.txt b/gps_load_now.txt
index 01fd512..f886a2f 100644
--- a/gps_load_now.txt
+++ b/gps_load_now.txt
@@ -1,68 +1,308 @@
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diff --git a/routes/gps_load_1767938262858.txt b/routes/gps_load_1767938262858.txt
new file mode 100644
index 0000000..f886a2f
--- /dev/null
+++ b/routes/gps_load_1767938262858.txt
@@ -0,0 +1,308 @@
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diff --git a/src/autonomy/fu/config/fu_params.yaml b/src/autonomy/fu/config/fu_params.yaml
index 95dfd16..bae0448 100644
--- a/src/autonomy/fu/config/fu_params.yaml
+++ b/src/autonomy/fu/config/fu_params.yaml
@@ -1,7 +1,7 @@
 FU:
   ros__parameters:
     # 遇障停车功能 False or True
-    enable_obstacle_stop: False
+    enable_obstacle_stop: True
 
     # 绕障功能 False or True
     enable_obstacle_avoid: False  
diff --git a/src/autonomy/pl/src/pl_node.cpp b/src/autonomy/pl/src/pl_node.cpp
index 954b119..b9a93f4 100644
--- a/src/autonomy/pl/src/pl_node.cpp
+++ b/src/autonomy/pl/src/pl_node.cpp
@@ -144,7 +144,7 @@ private:
         sweeper_interfaces::msg::Pl message;
         message.x = x;
         message.y = y;
-        
+
         // 修改：同时判断RTK信号质量和超时情况
         if (g_rtk.reliability == 0 || time_since_last > rtk_timeout)
         {
diff --git a/src/communication/mqtt_report/config/config.json b/src/communication/mqtt_report/config/config.json
index 531eb75..ea4e9f8 100644
--- a/src/communication/mqtt_report/config/config.json
+++ b/src/communication/mqtt_report/config/config.json
@@ -3,7 +3,7 @@
   "mqtt": {
     "ip": "36.153.162.171",
     "port": 19683,
-    "info_topic": "/zxwl/vehicle/{vid}/info",
-    "fault_topic": "/zxwl/vehicle/{vid}/fault"
+    "info_topic": "/zxwl/sweeper/{vid}/info",
+    "fault_topic": "/zxwl/sweeper/{vid}/fault"
   }
 }
\ No newline at end of file
diff --git a/src/control/remote_ctrl/config/config.ini b/src/control/remote_ctrl/config/config.ini
index e64d9eb..e77061f 100644
--- a/src/control/remote_ctrl/config/config.ini
+++ b/src/control/remote_ctrl/config/config.ini
@@ -3,4 +3,4 @@ host = 36.153.162.171
 port = 19683
 username = zxwl
 password = zxwl1234@
-vehicle_id = V090001
+vehicle_id = V060003