diff --git a/gps_load_now.txt b/gps_load_now.txt
index b308da6..bb46135 100644
--- a/gps_load_now.txt
+++ b/gps_load_now.txt
@@ -1,1544 +1,520 @@
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 0.000000
diff --git a/radio_ctrl.sh b/radio_ctrl.sh
index 28d7fde..3c37e6e 100755
--- a/radio_ctrl.sh
+++ b/radio_ctrl.sh
@@ -5,21 +5,19 @@ set -e
 source install/setup.bash
 
 # 启动节点
-ros2 run vehicle_params vehicle_params_node &
+taskset -c 0 ros2 run vehicle_params vehicle_params_node &
 sleep 0.2
 
-# ros2 run radio_ctrl radio_ctrl_node & 
-# sleep 0.2
-ros2 run can_radio_ctrl can_radio_ctrl_node & 
+taskset -c 1 ros2 run can_radio_ctrl can_radio_ctrl_node &
 sleep 0.2
 
-ros2 run mc mc_node &
+taskset -c 3 ros2 run mc mc_node &
 sleep 0.2
 
-ros2 run ctrl_arbiter ctrl_arbiter_node &
+taskset -c 1 ros2 run ctrl_arbiter ctrl_arbiter_node &
 sleep 0.2
 
-ros2 run mqtt_report mqtt_report_node &
+taskset -c 4 ros2 run mqtt_report mqtt_report_node &
 sleep 0.2
 
-wait
+wait
\ No newline at end of file
diff --git a/routes/gps_load_1773011163644.txt b/routes/gps_load_1773011163644.txt
new file mode 100644
index 0000000..bb46135
--- /dev/null
+++ b/routes/gps_load_1773011163644.txt
@@ -0,0 +1,520 @@
+31.9884034760
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new file mode 100644
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diff --git a/routes/gps_load_1776034966319.txt b/routes/gps_load_1776034966319.txt
new file mode 100644
index 0000000..9d3f2a0
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diff --git a/routes/gps_load_1776035219621.txt b/routes/gps_load_1776035219621.txt
new file mode 100644
index 0000000..e6b575c
--- /dev/null
+++ b/routes/gps_load_1776035219621.txt
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diff --git a/routes/gps_load_1776035482630.txt b/routes/gps_load_1776035482630.txt
new file mode 100644
index 0000000..77872f8
--- /dev/null
+++ b/routes/gps_load_1776035482630.txt
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diff --git a/src/autonomy/route/src/route_node.cpp b/src/autonomy/route/src/route_node.cpp
index d5f33ed..d8ff17e 100644
--- a/src/autonomy/route/src/route_node.cpp
+++ b/src/autonomy/route/src/route_node.cpp
@@ -221,6 +221,7 @@ void* route_thread(void* args)
     while (1)
     {
         double distance = ntzx_GPS_length(last_g_rtk.lon, last_g_rtk.lat, g_rtk.lon, g_rtk.lat);
+        LOG_INFO_THROTTLE(1000, "distance : %f",distance);
         if (distance >= 1.0)  // 每隔1米采样一次
         {
             fprintf(fp_routes, "%.10lf\n%.11lf\n%lf\n%lf\n", g_rtk.lat, g_rtk.lon, g_rtk.head, 0.0);
@@ -229,7 +230,7 @@ void* route_thread(void* args)
             last_g_rtk.lat = g_rtk.lat;
             last_g_rtk.lon = g_rtk.lon;
             last_g_rtk.head = g_rtk.head;
-            LOG_DEBUG("hit!");
+            LOG_INFO("hit!");
         }
     }
 }
diff --git a/src/perception/rslidar_pointcloud_merger/CMakeLists.txt b/src/perception/rslidar_pointcloud_merger/CMakeLists.txt
index ac39714..f966bab 100644
--- a/src/perception/rslidar_pointcloud_merger/CMakeLists.txt
+++ b/src/perception/rslidar_pointcloud_merger/CMakeLists.txt
@@ -23,6 +23,8 @@ find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2_sensor_msgs REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common io segmentation filters)
+find_package(mc REQUIRED)
+find_package(logger REQUIRED)
 
 # GPU加速相关配置
 if(USE_GPU)
@@ -63,7 +65,9 @@ ament_target_dependencies(
   pcl_ros
   tf2
   tf2_ros
-  tf2_sensor_msgs)
+  tf2_sensor_msgs
+  mc
+  logger)
 
 target_link_libraries(merge_two_lidars ${PCL_LIBRARIES})
 
diff --git a/src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp b/src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp
index 3fbfc73..e9bc802 100644
--- a/src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp
+++ b/src/perception/rslidar_pointcloud_merger/src/merge_two_lidars.cpp
@@ -61,6 +61,7 @@
 #include <cstring> /* strerror */
 #endif
 
+#include "logger/logger.h"
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/int32_multi_array.hpp>
@@ -1141,8 +1142,7 @@ class LidarMerger : public rclcpp::Node
         last_stats_time_ = t;
         int f = front_rx_.load(), r = rear_rx_.load(), m = merged_count_.load();
         double merge_rate = (f > 0) ? m * 100.0 / std::min(f, r) : 0.0;
-        RCLCPP_INFO(get_logger(),
-                    "Stats | rx(F=%d,R=%d) merged=%d(%.0f%%) | queue(raw_F=%zu,raw_R=%zu,proc=%zu) | sor_method=%d", f,
+        LOG_INFO("Stats | rx(F=%d,R=%d) merged=%d(%.0f%%) | queue(raw_F=%zu,raw_R=%zu,proc=%zu) | sor_method=%d", f,
                     r, m, merge_rate, raw_queue_front_.size(), raw_queue_rear_.size(), processed_queue_.size(),
                     sor_method_);
     }
@@ -1211,6 +1211,7 @@ class LidarMerger : public rclcpp::Node
 int main(int argc, char** argv)
 {
     rclcpp::init(argc, argv);
+    logger::Logger::Init("merge", "./nodes_log");
 
     /* MultiThreadedExecutor：让订阅回调并发执行（前/后雷达回调互不阻塞） */
     rclcpp::executors::MultiThreadedExecutor executor(rclcpp::ExecutorOptions(), 2 /* 线程数=2，匹配两个订阅 */);
@@ -1220,5 +1221,6 @@ int main(int argc, char** argv)
     executor.spin();
 
     rclcpp::shutdown();
+    logger::Logger::Shutdown();
     return 0;
 }
\ No newline at end of file