diff --git a/ros-foxy-pcl-conversions_2.2.1-1focal.20230606.034520_arm64.deb b/ros-foxy-pcl-conversions_2.2.1-1focal.20230606.034520_arm64.deb
deleted file mode 100644
index e395b20..0000000
Binary files a/ros-foxy-pcl-conversions_2.2.1-1focal.20230606.034520_arm64.deb and /dev/null differ
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 f875d31..402f86c 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/aiec/sweeper_whu/src/airy/rslidar_sdk-main/src/rs_driver/src;/usr/local/rslidar_sdk/include")
-set(RS_DRIVER_INCLUDE_DIRS "/home/aiec/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/nvidia/Downloads/sweeper_whu/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/CMakeLists.txt b/src/fu/CMakeLists.txt
index 5cad2ad..35c120b 100644
--- a/src/fu/CMakeLists.txt
+++ b/src/fu/CMakeLists.txt
@@ -15,6 +15,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    add_compile_options(-w)  # 禁用所有警告
+endif()
+
 include_directories(
   include/fu 
   ${catkin_INCLUDE_DIRS}
diff --git a/src/mqtt_report/CMakeLists.txt b/src/mqtt_report/CMakeLists.txt
index 89fdcbf..3e7aa4d 100644
--- a/src/mqtt_report/CMakeLists.txt
+++ b/src/mqtt_report/CMakeLists.txt
@@ -15,6 +15,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    add_compile_options(-w)  # 禁用所有警告
+endif()
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
diff --git a/src/pub_gps/CMakeLists.txt b/src/pub_gps/CMakeLists.txt
index a43caad..7751d44 100644
--- a/src/pub_gps/CMakeLists.txt
+++ b/src/pub_gps/CMakeLists.txt
@@ -15,6 +15,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    add_compile_options(-w)  # 禁用所有警告
+endif()
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
diff --git a/src/remote/CMakeLists.txt b/src/remote/CMakeLists.txt
index afec731..d4e264f 100644
--- a/src/remote/CMakeLists.txt
+++ b/src/remote/CMakeLists.txt
@@ -15,6 +15,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    add_compile_options(-w)  # 禁用所有警告
+endif()
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
diff --git a/src/rslidar_pointcloud_merger/CMakeLists.txt b/src/rslidar_pointcloud_merger/CMakeLists.txt
index 811ca18..9dfbfe0 100644
--- a/src/rslidar_pointcloud_merger/CMakeLists.txt
+++ b/src/rslidar_pointcloud_merger/CMakeLists.txt
@@ -7,6 +7,10 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    add_compile_options(-w)  # 禁用所有警告
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
diff --git a/src/sub/CMakeLists.txt b/src/sub/CMakeLists.txt
index c66d819..1062f27 100644
--- a/src/sub/CMakeLists.txt
+++ b/src/sub/CMakeLists.txt
@@ -15,6 +15,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    add_compile_options(-w)  # 禁用所有警告
+endif()
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
diff --git a/src/task_manager/CMakeLists.txt b/src/task_manager/CMakeLists.txt
index 077c2da..f40a727 100644
--- a/src/task_manager/CMakeLists.txt
+++ b/src/task_manager/CMakeLists.txt
@@ -15,6 +15,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+    add_compile_options(-w)  # 禁用所有警告
+endif()
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)