diff --git a/docs/.pages b/docs/.pages
index 0279c79..e61c7c9 100644
--- a/docs/.pages
+++ b/docs/.pages
@@ -1,8 +1,8 @@
 nav:
   - 介绍: index.md
-  - 硬件安装
-  - pix底盘使用手册
-  - 传感器标定
+  - 硬件检查
   - 地图
   - Autoware上手
+  - pix底盘使用手册
+  - 传感器标定
   - 支持
\ No newline at end of file
diff --git "a/docs/Autoware\344\270\212\346\211\213/images/self_driving.jpg" "b/docs/Autoware\344\270\212\346\211\213/images/self_driving.jpg"
new file mode 100644
index 0000000..0356ef0
Binary files /dev/null and "b/docs/Autoware\344\270\212\346\211\213/images/self_driving.jpg" differ
diff --git "a/docs/Autoware\344\270\212\346\211\213/\345\220\257\345\212\250autoware.md" "b/docs/Autoware\344\270\212\346\211\213/\345\220\257\345\212\250autoware.md"
index f35ef10..72a6724 100644
--- "a/docs/Autoware\344\270\212\346\211\213/\345\220\257\345\212\250autoware.md"
+++ "b/docs/Autoware\344\270\212\346\211\213/\345\220\257\345\212\250autoware.md"
@@ -5,22 +5,22 @@ Autoware分为模拟与实车运行两个部分，模拟运行请参考[Autoware
 可以使用以下命令来启动Autoware
 ``` shell
 ros2 launch autoware_launch autoware.launch.xml \
-map_path:=$HOME/autoware_map/factory_20230325 \
+map_path:=$HOME/autoware_map/factory_20230325 \ #切换成你的地图文件
 vehicle_model:=pixkit \
 sensor_model:=pixkit_sensor_kit
 ```
 以上命令可分为以下5个部分
 
-- `autoware_launch` launch文件所在的package
-- `autoware.launch.xml` launch文件
-- `map_path` 地图的地址参数，包含点云地图与矢量地图，地图制作方式参考[地图](../%E5%9C%B0%E5%9B%BE/index.md)
-- `vehicle_model` 车辆模型参数，会根据参数来选取相应的车辆[urdf模型](https://docs.ros.org/en/humble/Tutorials/Intermediate/URDF/URDF-Main.html)与[autoware的接口](https://github.com/pixmoving-moveit/pix_driver)，参考[pixkit_launch](https://github.com/pixmoving-moveit/pixkit_launch)
-- `sensor_model` 传感器模型参数，会根据参数来选取相应的传感器[urdf模型](https://docs.ros.org/en/humble/Tutorials/Intermediate/URDF/URDF-Main.html)与传感器驱动，参考[pixkit_sensor_kit_launch](https://github.com/pixmoving-moveit/pixkit_sensor_kit_launch)
+- `autoware_launch`： launch文件所在的package
+- `autoware.launch.xml`： launch文件
+- `map_path`： 包含点云地图（pointcloud_map.pcd）与矢量地图（lanelet2_map.osm）、地图的地址参数。地图制作方式参考[地图](../%E5%9C%B0%E5%9B%BE/index.md)
+- `vehicle_model`： 车辆模型参数，会根据参数来选取相应的车辆[urdf模型](https://docs.ros.org/en/humble/Tutorials/Intermediate/URDF/URDF-Main.html)与[autoware的接口](https://github.com/pixmoving-moveit/pix_driver)，参考[pixkit_launch](https://github.com/pixmoving-moveit/pixkit_launch)
+- `sensor_model`： 传感器模型参数，会根据参数来选取相应的传感器[urdf模型](https://docs.ros.org/en/humble/Tutorials/Intermediate/URDF/URDF-Main.html)与传感器驱动，参考[pixkit_sensor_kit_launch](https://github.com/pixmoving-moveit/pixkit_sensor_kit_launch)
 
 ## 启动界面
 以上命令正常运行后，会出现[rviz2](https://github.com/ros2/rviz)窗口
 ![pix](./images/launch.png)
-在可视化窗口内能够看到导入的底盘模型及点云地图与矢量地图
+在可视化窗口内能够看到导入的底盘模型及您的点云地图与矢量地图
 ## 启动成功验证
 - [验证地图是否导入](#验证地图是否导入)
 - [验证车辆模型是否启动](#验证车辆模型是否导入)
@@ -30,7 +30,7 @@ sensor_model:=pixkit_sensor_kit
 - 可直接观察rviz中是否有点云地图与矢量地图
 - 通过[ros2 cli](https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools.html)查看是否有地图数据发布，如有数据输出则表明明地图导入正常，命令如下
 ``` bash
-ros2 top echo [topic name]
+ros2 topic echo [topic name]
 ```
 
 | **Topic** | **类型** | **描述** |
@@ -41,9 +41,9 @@ ros2 top echo [topic name]
 ### 验证车辆模型是否导入
 1. 观察rviz可视化窗口中是否有车辆模型，如下图所示
 ![vehicle_model](./images/vehicle_model.png)
-2. 查看底盘反馈是否正常，底盘反馈的topic见下表，通过[ros2 cli](https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools.html)查看底盘是否通信正常，命令如下
+2. 查看底盘反馈是否正常，底盘反馈的topic见下表，也通过遥控器转向查看rviz2上的deg是否变化，有变化表示已连接，若不能关闭窗口等待30s重新启动auotware观察，命令如下
 ``` bash
-ros2 top echo [topic name]
+ros2 topic echo [topic name]
 ```
 
 | **Topic** | **类型** | **描述** |
@@ -56,17 +56,27 @@ ros2 top echo [topic name]
 | /vehicle/status/hazard_lights_status | autoware_auto_vehicle_msgs::msg::HazardLightsReport | 底盘应急灯状态反馈 |
 
 ### 验证传感器是否正常启动
-1. 通过[ros2 cli](https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools.html)查看是否有传感器数据发布，如果有数据发布则表明传感器启动正常,命令如下
+1. 通过[ros2 cli](https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools.html)查看是否有传感器数据发布，如果有数据发布则表明传感器启动正常,若地图上显示不了点云，需要激活雷达，命令如下：
 ``` bash
-ros2 top echo [topic name]
+ros2 topic echo [topic name]
 ```
-
 | **Topic** | **类型** | **描述** |
 | ------ | ------ | ----------- |
 | /sensing/lidar/top/outlier_filtered/pointcloud | sensor_msgs/msg/PointCloud2 | LiDAR数据 |
 | /sensing/imu/imu_data | sensor_msgs/msg/Imu | IMU数据 |
 
+- 激活雷达脚本：./activte_ouster.sh
+
+### 给定起点和终点
+ - 2D pose Estimate:当前车辆所在地图上的位置，需要匹配上
+ - 2D Goal Pose：终点
+ - Send Velocity Limit:填写初始速度3～5（单位KM/h）,点击Send Velocity Limit发送生效 
+ ![pix](./images/lane_driving_select_init_goal_pose.gif)
+### 点击AUTO按键
+ 遥控器切换self_driving（此状态下遥控器只有紧急驻车可用），车辆进行自动驾驶时，请注意周围车辆及路，紧急停车（遥控器中心红色按钮或切回遥控模式时踩刹车）。
+  ![pix](./images/self_driving.jpg)
+
 
 ## 注意事项
 
-- 启动前需要确保地图文件存在，如map_path指定的文件夹不存在或文件不存在会导致启动失败
\ No newline at end of file
+- 启动前需要确保地图文件存在，如map_path指定的文件夹不存在或文件不存在会导致启动失败。
\ No newline at end of file
diff --git a/docs/images/pix_chassis.jpg b/docs/images/pix_chassis.jpg
new file mode 100644
index 0000000..6f9dda1
Binary files /dev/null and b/docs/images/pix_chassis.jpg differ
diff --git a/docs/images/pix_hooke.jpg b/docs/images/pix_hooke.jpg
new file mode 100644
index 0000000..e07a05e
Binary files /dev/null and b/docs/images/pix_hooke.jpg differ
diff --git a/docs/index.md b/docs/index.md
index 7bccc13..099b16a 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -34,9 +34,9 @@
 ### 硬件构成
 
 #### 1.[纯电开源Pix Ultra-Skateboard线控底盘](http://www.pixmoving.city/?page_id=673)
-![pix-chassis](./images/pix-chassis.jpg)
+![pix-chassis](./images/pix_chassis.jpg)
 #### 2.传感器套件及模块化支架
-![pixkit-sensors](./images/pixkit-sensors.jpg)
+![pixkit-sensors](./images/pix_hooke.jpg)
 #### 3.底盘工业遥控器
 ![remote-controller](./images/remote-controller.jpg)
 
@@ -121,7 +121,7 @@ Acc:
 ![lanelet2-map](./images/lanelet2-map.jpg)
 
 ### 自动驾驶软硬件文档支持
-- [硬件集成](./%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85/index.md)
+- [硬件检查](./硬件检查/index.md)
 - [pix底盘使用手册](./pix%E5%BA%95%E7%9B%98%E4%BD%BF%E7%94%A8%E6%89%8B%E5%86%8C/index.md)
 - [传感器标定](./%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/camera%E5%86%85%E5%8F%82%E6%A0%87%E5%AE%9A.md)
 - [地图制作](./%E5%9C%B0%E5%9B%BE/index.md)
diff --git "a/docs/\344\274\240\346\204\237\345\231\250\346\240\207\345\256\232/LiDAR-camera\346\240\207\345\256\232.md" "b/docs/\344\274\240\346\204\237\345\231\250\346\240\207\345\256\232/LiDAR-camera\346\240\207\345\256\232.md"
index a11d2eb..2732bc1 100644
--- "a/docs/\344\274\240\346\204\237\345\231\250\346\240\207\345\256\232/LiDAR-camera\346\240\207\345\256\232.md"
+++ "b/docs/\344\274\240\346\204\237\345\231\250\346\240\207\345\256\232/LiDAR-camera\346\240\207\345\256\232.md"
@@ -12,8 +12,8 @@
 
 ## 标定车辆
 - hook 
-    - 顶部激光雷达[RS-Helios-16P]
-    - 车头相机[SG2-OX03CC-5200-GMSL2F-H120]
+    - 顶部激光雷达
+    - 车头相机
 
 ## 前提条件
 
@@ -29,6 +29,11 @@
 
 ### step-1: 采集标定数据
 #### 开始采集
+- 启动传感器
+```shell
+source pix/pit-kit/Autoware/install/setup.bash
+ros2 launch pixkit_sensor_kit_launch sensing.launch.xml
+```
 ```shell
 # 工作路径是标定工具根目录<sensor_calibration_tool>
 ./collect_script/data_collect_script/pcd_png_extractor.sh
diff --git "a/docs/\345\234\260\345\233\276/lanelet2\345\234\260\345\233\276.md" "b/docs/\345\234\260\345\233\276/lanelet2\345\234\260\345\233\276.md"
index 722b290..9e98de6 100644
--- "a/docs/\345\234\260\345\233\276/lanelet2\345\234\260\345\233\276.md"
+++ "b/docs/\345\234\260\345\233\276/lanelet2\345\234\260\345\233\276.md"
@@ -1,5 +1,6 @@
 # Lanelet2地图
 ## Overview
+目的：通过网页导入地图（pcd格式）画图，最后导出矢量地图（lanelet2_map.osm）
 
 [Lanelet2](https://github.com/fzi-forschungszentrum-informatik/Lanelet2)是一个处理自动驾驶地图数据的C++库，在设计Lanelet2之初，其就被用于高效地处理面向复杂交通场景的高精度地图数据。灵活性与可拓展性作为Lanelet2的核心原则，使其能够处理未来地图的新特性。
 
diff --git "a/docs/\345\234\260\345\233\276/\347\202\271\344\272\221\345\234\260\345\233\276.md" "b/docs/\345\234\260\345\233\276/\347\202\271\344\272\221\345\234\260\345\233\276.md"
index 00389ed..1a46291 100644
--- "a/docs/\345\234\260\345\233\276/\347\202\271\344\272\221\345\234\260\345\233\276.md"
+++ "b/docs/\345\234\260\345\233\276/\347\202\271\344\272\221\345\234\260\345\233\276.md"
@@ -1,7 +1,96 @@
 # 点云地图制作
+## Overview
+目的：利用建图程序得到地图（GlobalMap.pcd）
 ## LIO-SAM-6AXIS
 ![lio-sam-6axis](./images/lio-sam.jpg)
 
+### step-1 标定传感器 （初始参数已设置，可跳过，若建图效果不佳标定请重新标定）
+- [标定IMU内参](../%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/IMU%E6%A0%87%E5%AE%9A.md)
+- [标定LiDAR与IMU外参](../%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/LiDAR-IMU%E6%A0%87%E5%AE%9A.md)
+
+
+### step-2 录制ros2 bag
+ **注意** 录制前先检查话题输出，录制话题过程中车辆尽量平稳缓速行使，建议回环的您的地图场景。
+
+ - 先启动autoware：执行./autoware.sh [排查问题](../Autoware上手/启动autoware.md)
+```shell
+方式一脚本录制话题： ~/pixkit/pix/ros2_bag目录下
+                  ros2 bag record $(cat rosbag.txt)
+方式二手动录制话题： ~/pixkit/pix/ros2_bag目录下
+                  ros2 bag record  /lidar_topic /gnss_topic /imu_topic 
+                  这里的 /lidar_topic：雷达设备的话题
+                        /gnss_topic ：惯导设备的话题
+                        /imu_topic  : IMU的话题
+```
+
+### step-3 修改配置文件
+launch文件下run.launch：
+```python3
+import os
+from ament_index_python.packages import get_package_share_directory
+XXX
+XXX
+
+def generate_launch_description():
+
+    share_dir = get_package_share_directory('lio_sam')
+    parameter_file = LaunchConfiguration('params_file')
+    xacro_path = os.path.join(share_dir, 'config', 'robot.urdf.xacro')
+    rviz_config_file = os.path.join(share_dir, 'config', 'rviz2.rviz')
+
+    params_declare = DeclareLaunchArgument(
+        'params_file',
+        default_value=os.path.join(
+            share_dir, 'config', 'params_rs16.yaml'),
+        description='FPath to the ROS2 parameters file to use.')
+```
+`params_rs16.yaml`：读取config下的配置文件，如需改动请注意这里
+
+- 需要修改为你的传感器配置的topic
+![lio-sam-topic](./images/lio-sam-topic.jpg)
+
+|**参数**|**msg 类型**|**描述**|
+|--|--|--|
+|pointCloudTopic|sensor_msgs/Pointcloud2|您录制LiDAR点云的topic|
+|imuTopic|sensor_msgs/Imu|您录制IMU的topic|
+|odomTopic|nav_msgs/Odometry|IMU里程计topic，不需要修改|
+|gpsTopic|nav_msgs/NavSatFix|您录制gnss的定位topic|
+
+- 如果使用GNSS进行方位初始化，需要将`useImuHeadingInitialization`设为`true`，
+![gps-params](./images/gps-params.jpg)
+
+
+### step-4: 运行建图程序
+ **注意** 结束autoware
+
+mapping_ws下运行建图launch文件 
+```shell
+source install/setup.bash
+ros2 launch lio_sam run.launch.py
+```
+
+### step-5: 播放rosbag
+```shell
+ros2 bag play  [your_ros2_bag] --clock 
+your_ros2_bag： 您录制的ros2bag，等待您的ros2bag播放结束执行以下操作
+```
+### step-6: 保存地图
+mapping_ws文件下：
+```shell
+source install/setup.bash
+ros2 service call /lio_sam/save_map  lio_sam/srv/SaveMap 
+```
+保存好的地图在Downloads下LOAM，将用于
+
+|**name**|**描述**|
+|--|--|
+|GlobalMap.pcd|点云地图，导入[Vector Map Builder](https://tools.tier4.jp/feature/vector_map_builder_ll2/)可以画图，如果使用GNSS的话方向已经转换至ENU方向|
+
+点云地图的原点WGS84坐标，用于GNSS定位
+> 建议把终端里的信息保存下来，方便用于GNSS定位时使用 
+   ![map-origin](./images/map-origin.jpg)
+
+## 代码git
 ### prerequest
 - Ubuntu 22.04
 - ROS2 Humble
@@ -36,118 +125,10 @@ sudo apt install libgtsam-dev libgtsam-unstable-dev
 cd ~/mapping_ws
 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
-### step-5 标定传感器
-在建图之前，需要准备好你的IMU的内参，还有LiDAR与IMU的外参
-
-- [标定IMU内参](../%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/IMU%E6%A0%87%E5%AE%9A.md)
-- [标定LiDAR与IMU外参](../%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/LiDAR-IMU%E6%A0%87%E5%AE%9A.md)
-
-### step-6 修改配置文件
-launch文件
-```python3
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration, Command
-from launch_ros.actions import Node
-
-
-def generate_launch_description():
-
-    share_dir = get_package_share_directory('lio_sam')
-    parameter_file = LaunchConfiguration('params_file')
-    xacro_path = os.path.join(share_dir, 'config', 'robot.urdf.xacro')
-    rviz_config_file = os.path.join(share_dir, 'config', 'rviz2.rviz')
-
-    params_declare = DeclareLaunchArgument(
-        'params_file',
-        default_value=os.path.join(
-            share_dir, 'config', 'params_rs16.yaml'),
-        description='FPath to the ROS2 parameters file to use.')
-
-    print("urdf_file_name : {}".format(xacro_path))
-
-    return LaunchDescription([
-        params_declare,
-        Node(
-            package='tf2_ros',
-            executable='static_transform_publisher',
-            arguments='0.0 0.0 0.0 0.0 0.0 0.0 map odom'.split(' '),
-            parameters=[parameter_file],
-            output='screen'
-            ),
-        Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            name='robot_state_publisher',
-            output='screen',
-            parameters=[{
-                'robot_description': Command(['xacro', ' ', xacro_path])
-            }]
-        ),
-        Node(
-            package='lio_sam',
-            executable='lio_sam_imuPreintegration',
-            name='lio_sam_imuPreintegration',
-            parameters=[parameter_file],
-            output='screen'
-        ),
-        Node(
-            package='lio_sam',
-            executable='lio_sam_imageProjection',
-            name='lio_sam_imageProjection',
-            parameters=[parameter_file],
-            output='screen'
-        ),
-        Node(
-            package='lio_sam',
-            executable='lio_sam_featureExtraction',
-            name='lio_sam_featureExtraction',
-            parameters=[parameter_file],
-            output='screen'
-        ),
-        Node(
-            package='lio_sam',
-            executable='lio_sam_mapOptimization',
-            name='lio_sam_mapOptimization',
-            parameters=[parameter_file],
-            output='screen'
-        ),
-        Node(
-            package='lio_sam',
-            executable='lio_sam_simpleGpsOdom',
-            name='lio_sam_simpleGpsOdom',
-            parameters=[parameter_file],
-            output='screen'
-        ),
-        Node(
-            package='rviz2',
-            executable='rviz2',
-            name='rviz2',
-            arguments=['-d', rviz_config_file],
-            output='screen'
-        )
-    ])
-
-```
-需要根据launch文件修改对应的参数文件，以上述的launch文件为例，使用的参数文件是`params_rs16.yaml`，所以应该在这个文件中修改相关参数
-
-- 需要修改为你的传感器配置的msg
-![lio-sam-topic](./images/lio-sam-topic.jpg)
-
-|**参数**|**msg 类型**|**描述**|
-|--|--|--|
-|pointCloudTopic|sensor_msgs/Pointcloud2|LiDAR点云的topic|
-|imuTopic|sensor_msgs/Imu|IMU的topic|
-|odomTopic|nav_msgs/Odometry|IMU里程计topic，不需要修改|
-|gpsTopic|nav_msgs/NavSatFix|gnss的定位topic|
 
-- 如果使用GNSS进行方位初始化，需要将`useImuHeadingInitialization`设为`true`
-![gps-params](./images/gps-params.jpg)
+## LiDAR参数说明 
 
-- LiDAR参数
-![lidar-params](./images/lidar-params.jpg)
+  ![lidar-params](./images/lidar-params.jpg)
 
 |**参数**|**描述**|
 |--|--|
@@ -186,30 +167,6 @@ def generate_launch_description():
 |extrinsicTrans|平移矩阵|
 |extrinsicRot|旋转矩阵|
 
-### step-8: 运行建图程序
-运行建图launch文件
-```shell
-ros2 launch lio_sam run.launch.py
-```
-播放rosbag
-```shell
-ros2 bag play --clock -r 3.0 -s sqlite3 [your_ros2_bag]
-```
-
-### step-7: 保存地图
-```shell
-ros2 service call /lio_sam/save_map  lio_sam/srv/SaveMap "{resolution: 0.2, destination: [Absolute path to store your map]}"
-```
-保存好地图之后能够在地图文件夹内看到以下文件
-
-|**name**|**描述**|
-|--|--|
-|GlobalMap.pcd|点云地图，如果使用GNSS的话方向已经转换至ENU方向|
-
-你能够看到点云地图的原点WGS84坐标，用于GNSS定位
-![map-origin](./images/map-origin.jpg)
-> 建议把终端里的信息保存下来，方便用于GNSS定位时使用
-
 ## 引用
 - [LIO_SAM](https://github.com/TixiaoShan/LIO-SAM)
 
diff --git "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/.pages" "b/docs/\347\241\254\344\273\266\345\256\211\350\243\205/.pages"
deleted file mode 100644
index aabc72c..0000000
--- "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/.pages"
+++ /dev/null
@@ -1,7 +0,0 @@
-nav:
-  - Overview: index.md
-  - IPC安装.md
-  - LiDAR安装.md
-  - camera安装.md
-  - GNSS安装.md
-  - 超声波雷达安装.md
\ No newline at end of file
diff --git "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/IPC\345\256\211\350\243\205.md" "b/docs/\347\241\254\344\273\266\345\256\211\350\243\205/IPC\345\256\211\350\243\205.md"
deleted file mode 100644
index 5d756d9..0000000
--- "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/IPC\345\256\211\350\243\205.md"
+++ /dev/null
@@ -1,49 +0,0 @@
-# IPC安装
-## 硬件安装
-## 设备接线
-## 硬件参数检查
-- 接线完成后，点击开机按钮，稍等几秒即可登入界面
-    ![avatar](./image/IPC_picture/Snipaste_2023-04-28_13-59-54.png)
-- Ctrl+Alt+t 启动终端：用户名：pixkit，用户名密码：pixmoving
-- 检查主机静态IP：192.168.1.102，如果不是，请修改静态IP地址，否则传感器数据传输异常
-    ![avatar](./image/IPC_picture/Snipaste_2023-04-28_14-05-45.png)
-- 设置主机静态IP:打开网络设置，选择设置端口，点击IPV4，根据图片修改ip，网关，子网掩码，DNS，完成后点击右上角应用。
-    ![avatar](./image/IPC_picture/Snipaste_2023-05-18_12-28-11.png)
-
-Ctrl+Alt+t 启动终端，ifconfig检测是否修改成功
-    ![avatar](./image/IPC_picture/ifconfig.png)
-
-> 网口位置对应关系
-    ![](./image/IPC_picture/network_port_position.jpg)
-注意：该图片仅供参考，如果收到工控机与图片不符，请忽略此图片。
-
-- 检查底盘can数据
-```shell
-candump can0
-```
-终端输出数据正常
-    ![avatar](./image/IPC_picture/Snipaste_2023-04-28_14-23-43.png)
-
-- 检查激光雷达：RS-Helios-16P ；192.168.1.200
-```shell
-ping 192.168.1.200
-```
-终端输出数据正常
-    ![avatar](./image/IPC_picture/Snipaste_2023-04-28_14-19-14.png)
-
-- 检查组合惯导：CGI-410 ；192.168.1.110
-```shell
-ping  192.168.1.110
-```
-终端输出数据正常
-    ![avatar](./image/IPC_picture/Snipaste_2023-04-28_14-20-42.png)
-
-- 如果适配的有路由器及物联网卡，请检查是否能正常上网
-```shell
-ping baidu.com
-```
-终端输出数据正常
-    ![avatar](./image/IPC_picture/Snipaste_2023-04-28_14-28-24.png)
-**注意1**：需要根据路由器IP地址，设置主机IP，方可正常上网。
-
-**注意2**：如果传感器参数不能正常输出，请点击相应硬件安装文档，根据操作文档检查线束连接。
diff --git "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/LiDAR\345\256\211\350\243\205.md" "b/docs/\347\241\254\344\273\266\345\256\211\350\243\205/LiDAR\345\256\211\350\243\205.md"
deleted file mode 100644
index 983bfd0..0000000
--- "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/LiDAR\345\256\211\350\243\205.md"
+++ /dev/null
@@ -1,51 +0,0 @@
-# LiDAR安装
-## 硬件安装
-## 设备接线
-## 硬件参数配置
-
-### 设备信息检测
-
-- 雷达型号：RS-Helios-16P
-- RSView可视化软件使用
-- 点击下载：[RS-Helios-16p资料](https://www.robosense.ai/resources-81)
-- 根据操作文档设置雷达IP地址，出厂IP：192.168.1.200(切勿修改)
-
-#### rviz2 可视化显示
-- 打开工控机，Ctrl+Alt+t 启动终端，进入该路径
-    ![avatar](./image/lidar_picture/souce.png)
-
-```shell 
-source install/setup.bash 
-
-ros2 run rslidar_sdk rslidar_sdk_node 
-```
-- 启动ros2 驱动
-    ![avatar](./image/lidar_picture/1.png)
-
-- 启动rviz2 查看点云数据，修改Fixed Frame ：rs16，增加点云话题
-    ![avatar](./image/lidar_picture/Snipaste_2023-04-24_14-49-26.png)
-    ![avatar](./image/lidar_picture/topic.png)
-
-- 启动顺序
-    ![avatar](./image/lidar_picture/Snipaste_2023-04-24_14-50-15.png)
-
-#### RSview软件
-
-**注意**：RSview是速腾官方软件，使用方法建议按照RS官方文档操作，此处作为参考，官方软件更新迭代，操作界面或有不同。
-
-- 启动设备：带RJ45网口Window系统笔记本电脑
-- 设置笔记本IPV4IP地址：192.168.1.102
-    ![avatar](./image/lidar_picture/Snipaste_2023-04-24_10-43-45.png)
-- 关闭系统防火墙
-    ![avatar](./image/lidar_picture/Snipaste_2023-04-24_10-44-43.png)
-- 启动RSview软件(根据雷达型号下载相应软件)
-    ![avatar](./image/lidar_picture/Snipaste_2023-04-24_10-42-27.png)
-- 点击雷达标志，查看点云数据是否正常
-    ![avatar](./image/lidar_picture/Snipaste_2023-04-24_10-48-44.png)
-    ![avatar](./image/lidar_picture/Snipaste_2023-04-24_10-49-49.png)
-    ![avatar](./image/lidar_picture/Snipaste_2023-04-24_11-21-33.png)
-- 支持Web查看设备信息，更新固件，修改IP，打开浏览器，输入192.168.1.200即可
-    ![avatar](./image/lidar_picture/Snipaste_2023-04-24_11-01-47.png)
-
-
-
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diff --git "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/image/ultrasonic_picture/Snipaste_2023-04-28_15-10-40.png" "b/docs/\347\241\254\344\273\266\345\256\211\350\243\205/image/ultrasonic_picture/Snipaste_2023-04-28_15-10-40.png"
deleted file mode 100644
index 9deca9f..0000000
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diff --git "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/index.md" "b/docs/\347\241\254\344\273\266\345\256\211\350\243\205/index.md"
deleted file mode 100644
index e36bfc1..0000000
--- "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/index.md"
+++ /dev/null
@@ -1,9 +0,0 @@
-# 硬件安装
-- 硬件安装线路接线图
-    ![avatar](./image/IPC_picture/kit3.0自动驾驶硬件线路.png)
-## 目录
-- [IPC安装](./IPC%E5%AE%89%E8%A3%85.md)
-- [LiDAR安装](./LiDAR%E5%AE%89%E8%A3%85.md)
-- [camera](./camera%E5%AE%89%E8%A3%85.md)
-- [GNSS安装](./GNSS%E5%AE%89%E8%A3%85.md)
-- [超声波雷达安装](./%E8%B6%85%E5%A3%B0%E6%B3%A2%E9%9B%B7%E8%BE%BE%E5%AE%89%E8%A3%85.md)
\ No newline at end of file
diff --git "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/\350\266\205\345\243\260\346\263\242\351\233\267\350\276\276\345\256\211\350\243\205.md" "b/docs/\347\241\254\344\273\266\345\256\211\350\243\205/\350\266\205\345\243\260\346\263\242\351\233\267\350\276\276\345\256\211\350\243\205.md"
deleted file mode 100644
index b61a2f6..0000000
--- "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/\350\266\205\345\243\260\346\263\242\351\233\267\350\276\276\345\256\211\350\243\205.md"
+++ /dev/null
@@ -1,15 +0,0 @@
-# 超声波雷达安装
-## 硬件安装
-## 设备接线
-## 硬件参数检查
-- 已经完成硬件安装
-- 启动终端
-    ![avatar](./image/ultrasonic_picture/Snipaste_2023-04-28_15-10-40.png)
-```shell
-激活超声波：while true; do cansend can0 601#b91fff; sleep 0.5; done
-查看1-4号探头数据：candump can0,611:7ff
-查看5-8号探头数据：candump can0,612:7ff
-查看9-12号探头数据：candump can0,613:7ff
-```
-- 参考文档
-[F40-16TR7B超声波传感器CAN使用文档](./image/F40-16TR7B超声波传感器.pdf)
diff --git "a/docs/\347\241\254\344\273\266\346\243\200\346\237\245/.pages" "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/.pages"
new file mode 100644
index 0000000..6a44e3e
--- /dev/null
+++ "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/.pages"
@@ -0,0 +1,8 @@
+nav:
+  - Overview: index.md
+  - IPC.md
+  - LiDAR.md
+  - CAMERA.md
+  - GNSS—CHC.md
+  - GNSS—FP.md
+  - Ultra_sonic_radar.md
\ No newline at end of file
diff --git "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/camera\345\256\211\350\243\205.md" "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/CAMERA.md"
similarity index 93%
rename from "docs/\347\241\254\344\273\266\345\256\211\350\243\205/camera\345\256\211\350\243\205.md"
rename to "docs/\347\241\254\344\273\266\346\243\200\346\237\245/CAMERA.md"
index 077f4b1..76a1e86 100644
--- "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/camera\345\256\211\350\243\205.md"
+++ "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/CAMERA.md"
@@ -1,6 +1,6 @@
-# camera安装
-## 硬件安装
+# camera
 ## 设备接线
+  ![avatar](./image/camera_picture/camera.jpg)
 ## 硬件启动
 - 打开工控机，Ctrl+Alt+t 启动终端
 ```shell
diff --git "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/GNSS\345\256\211\350\243\205.md" "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/GNSS\342\200\224CHC.md"
similarity index 53%
rename from "docs/\347\241\254\344\273\266\345\256\211\350\243\205/GNSS\345\256\211\350\243\205.md"
rename to "docs/\347\241\254\344\273\266\346\243\200\346\237\245/GNSS\342\200\224CHC.md"
index 029058e..d3bcd75 100644
--- "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/GNSS\345\256\211\350\243\205.md"
+++ "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/GNSS\342\200\224CHC.md"
@@ -1,32 +1,28 @@
-# GNSS安装
-## 硬件安装
+# GNSS—CHC
 ## 设备接线
-
+  ![avatar](./image/gnss_picture/chc.jpg)
 ## 硬件参数配置
-### 设备信息检测
-- 天线和电缆的安装完成后，给接收机上电开机，当接收机启动后，可以使用 WiFi 来访问、配置和监视接收机，不需要连接到接收器的线缆。请遵循以下步骤，通过 WiFi 从网页开始。
-- 打开电脑 WiFi，搜索名为 GNSS-XXXXXXX 的无线网络（其中 XXXXXXX 代表你的接收器的 SN 号，可以在主机设备上查看到），然后建立连接，密码是 12345678；打开浏览器，在地址栏输入 192.168.200.1，弹出登陆界面，账号：admin，密码：password；如果选中“记住我”选项，那么浏览器将会记住您下次登录时输入的登录账户和密码
-**注意**：不要用火狐浏览器打开，否则参数不能修改成功。
-   ![avatar](./image/gnss_picture/1.png)
-- 界面显示为中文，右上角可切换成英文和俄语
-   ![avatar](./image/gnss_picture/Snipaste_2023-04-21_13-59-12.png)
-- 点击“固件升级”，在弹出的对话框中选择本地固件升级包，点击定即可自动升级
-
-> 默认不操作此步骤，当有“固件升级”需求时在操作
-   ![avatar](./image/gnss_picture/Snipaste_2023-04-21_14-25-40.png)
-- 点击“接收机注册”，通过注册软件提供的注册码进行注册后，使接收机在当前的注册期限中才能正常的使用，收到设备后联系PIX同事注册 
+### 设备检测
+- 工控机打开google浏览器：在地址栏输入 192.168.1.110（出厂IP，切勿修改），弹出登陆界面，账号：admin，密码：password
 
-> 默认不操作此步骤，当有“接收机过期提示时”提示时在操作
-   ![avatar](./image/gnss_picture/Snipaste_2023-04-21_14-50-59.png)
+**注意**：不要用火狐浏览器打开，否则参数不能修改成功。
+   ![avatar](./image/gnss_picture/1.jpg)
+### RTK账号登录（需填——您的RTK账号密码）
+- 进入到IO 配置界面，选择“RTK 客户端”，点击“连接”，连接协议可以选择 NTRIP协议，输入您的账号密码以及远程IP、端口，获取源列表，选择RTCM33,最后点击“确定”。
+    ![avatar](./image/gnss_picture/Snipaste_2023-04-21_17-15-11.png)
 
-- 确定有线网络IP地址192.168.1.110（出厂IP，切勿修改）
+**注意1**：获取源列表时，一定要注意右下角弹出源列表获取成功，否则RTK登录失败，检查是否给设备供网。
 
-> 默认不修改IP，当有“修改IP”需求时在操作
-    ![avatar](./image/gnss_picture/Snipaste_2023-04-21_14-52-58.png)
+**注意2**：CGI-410支持国外差分，但必须保证基站播发的是标准的RTCM语句，国内外统一支持卫星：GPS，北斗，伽利略，格洛纳斯，准天顶。
 
+### 参数适配（选填-已配置）
+#### 数据I/O输出
+- 输出格式TCP：进入到IO 配置界面,查看TCP Server 9904端口，组合导航数据分别设置：GPCHC 100HZ，GPGGA 10HZ，其他数据均为关闭，保存数据。
+    ![avatar](./image/gnss_picture/2.jpg)
+- 启动工控机，Ctrl+Alt+t打开终端，nc 192.168.1.110 9904，有数据输出表示TCP通讯成功；
+    ![avatar](./image/gnss_picture/Snipaste_2023-04-23_14-20-52.png)
 
-### 参数适配
-#### 车辆参数设置
+### 车辆参数设置 （选填-已配置）
 
 > 购买PIXKIT套件，不需要`车辆参数设置`，出厂已经设置完毕
 
@@ -49,33 +45,11 @@
 2. `惯导到GNSS定位天线杆臂`: 把`主机单元`看成坐标系原点，`定位天线`看成一个点,`定位天线`这个点在`主机单元`这个坐标系下的x,y,z值,比如(E, -A, F)
 3. `定位天线到后轮中心杆臂`: 把`定位天线`看成坐标系原点，`后轴中心`看成一个点,`后轴中心`这个点在`定位天线`这个坐标系下的x,y,z值。
 
-
-
-
-#### RTK账号登录
-
-- 进入到IO 配置界面，选择“RTK 客户端”，点击“连接”，连接协议可以选择 NTRIP/TCP/APIS协议，输入账号密码等相关信息后，最后点击“确定”。
-    ![avatar](./image/gnss_picture/Snipaste_2023-04-21_17-15-11.png)
-
-**注意1**：获取源列表时，一定要注意右下角弹出源列表获取成功，否则RTK登录失败，检查是否给设备供网。
-
-**注意2**：CGI-410支持国外差分，但必须保证基站播发的是标准的RTCM语句，国内外统一支持卫星：GPS，北斗，伽利略，格洛纳斯，准天顶。
-
-#### 设备校准
-实车操作:INS模式先是卫导，然后初始化，最后组合惯导，车辆一定要开到户外，且周围较为空旷，无高大遮挡建筑物，车辆前后移动，**8**字形移动，前后转圈行驶，大概需要二十分钟左右方可校准成功，如果INS模式一直没变化，请检查RTK账号是否登录成功。
-- 惯导状态1：INS模式为卫导；
-    ![avatar](./image/gnss_picture/Snipaste_2023-04-21_17-36-06.png)
-- 惯导状态2：INS模式为初始化；
-    ![avatar](./image/gnss_picture/Snipaste_2023-04-21_17-36-52.png)
-- 惯导准态3：INS模式为组合惯导状态，组合信息为GNSS | MIU
+### 设备校准
+    实车操作:INS模式先是卫导，然后初始化，最后组合惯导，车辆需开到户外，且周围较为空旷，无高大遮挡建筑物，车辆前后移动，**8**字形移动，前后转圈行驶，大概需要二十分钟左右方可校准成功，如果INS模式一直没变化，请检查RTK账号是否登录成功。
+**惯导融合状态**：INS模式为组合惯导状态，组合信息为GNSS | MIU
     ![avatar](./image/gnss_picture/Snipaste_2023-04-21_17-37-29.png)
 **注意**：标定半小时，INS模式初始化，GNSS模式一直不出现RTK稳定解定位定向，请查设备RTK是否正常，臂杆值是否正确，定位天线（后天线是否接设备GNSS1），定向天线（前天线是否接设备GNSS2）。如果设备是安装在整车项目，不方便检查，请检查惯导状态中的姿态信息中的航向度数，手机打指南针，与车的行驶方向一直，查看度数是是否一直，10度以内偏差正常，如果超过180度偏差，则线束接反，请将GNSS1，与GNSS2接口位置调换。
 
-#### 数据输出
-- 输出格式TCP：通过RJ45输出数据到主机设备，组合导航数据分别输出：GPCHC 50HZ，GPGGA 50HZ，其他数据均为关闭，保存数据；
-    ![avatar](./image/gnss_picture/Snipaste_2023-04-21_18-09-17.png)
-    ![avatar](./image/gnss_picture/input.png)
-- 启动工控机，Ctrl+Alt+t打开终端，nc 192.168.1.110 9904，有数据输出表示TCP通讯成功；
-    ![avatar](./image/gnss_picture/Snipaste_2023-04-23_14-20-52.png)
 - 如需使用其他参数请参考CGI-410使用手册。
-    [CGI-410使用手册](./image/CGI-410.pdf)
+    [CGI-410使用手册](./image/CGI-410.pdf)
\ No newline at end of file
diff --git "a/docs/\347\241\254\344\273\266\346\243\200\346\237\245/GNSS\342\200\224FP.md" "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/GNSS\342\200\224FP.md"
new file mode 100644
index 0000000..4003d6d
--- /dev/null
+++ "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/GNSS\342\200\224FP.md"
@@ -0,0 +1,34 @@
+# GNSS—FP
+## 设备接线
+   ![avatar](./image/gnss_picture/fpline.png)
+## 硬件参数配置
+### 设备检测
+- 工控机打开google浏览器：在地址栏输入 192.168.1.110（出厂IP，切勿修改）
+### RTK账号登录（需填—您的RTK账号密码）
+- 进入fixposition网页后，在Configuration下选择GNSS
+    ![avatar](./image/gnss_picture/fp_rtk.jpg)
+- 进入rtk按如下设置：user：您的账号，password：您的密码，Host：119.3.136.126,Mountpoint:RTCM33
+    ![avatar](./image/gnss_picture/rtk_set.jpg)
+**注意1**：检查网络是否正常，否则RTK登录失败，检查给网设备。
+### 数据检查
+```shell 
+nc 192.168.1.110 21000
+```
+
+### 设备校准
+```shell 
+将车辆需开到户外先静止5分钟左右，车辆移动使，绕**8**字形回环，前后转圈行驶，注意车头蘑菇头连接GNSS1,车尾连接GNSS2，以及连接的rtk账号检查。
+```
+- 返回主页，点击start
+  ![avatar](./image/gnss_picture/start.png)
+- FP设备需要用到轮速反馈，将会更快的融合，执行autoware.sh开启,给个初始位置，使点云显示在地图上。这里需要注意一下底盘是否正常连接到auotware，可通过遥控方向盘左右转向查看rviz2上的steer变化，没有时重启autoware，以及雷达没有显示时需要激活。
+![avatar](./image/gnss_picture/autoware.jpg)
+  网页System下选择info查看Wheelspeed sensors查看，如有数据反馈表示轮速已连接
+  ![avatar](./image/gnss_picture/wheelset.jpg)
+- 融合前状态：车辆移动绕8字,转弯和直行一段距离。大概需要10分钟左右，直到所有状态为绿色。
+  ![avatar](./image/gnss_picture/befor.jpg)
+- 融合后状态：融合后所有状态均为绿色，表示已融合。
+  ![avatar](./image/gnss_picture/after.jpg)
+
+- 参考手册   
+    [VRTK文档](./image/VRTK2%20快速使用手册2.0.pdf)
\ No newline at end of file
diff --git "a/docs/\347\241\254\344\273\266\346\243\200\346\237\245/IPC.md" "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/IPC.md"
new file mode 100644
index 0000000..7382c32
--- /dev/null
+++ "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/IPC.md"
@@ -0,0 +1,59 @@
+# IPC
+用户名：pixkit，用户名密码：pixmoving
+## 设备接线
+**说明** 传感器设备（相机除外）均需要连接车载12V电源以及工控机24V电源，RJ45网线传输数据
+lidar-ouster、robosense、fixposition和华测CHC。 
+ ![avatar](./image/IPC_picture/connect%20_line.png)
+## IPC网络设置
+
+> 将交换机或者路由器的RJ45网线连接到工控机网口（IPC）
+    ![](./image/IPC_picture/ifconfig.jpg)
+注意：图片仅供参考，若工控机型号与图片不符，注意连接网口。
+- 接线完成后，点击开机按钮，稍等几秒即可登入界面。
+    ![avatar](./image/IPC_picture/Snipaste_2023-04-28_13-59-54.png)
+- Ctrl+Alt+t 启动终端terminal   
+  **注意**：Ctrl+Alt+t是开启terminal，Ctrl+c是结束terminal，Ctrl+shift+t是开启侧边terminal之后文档将不再复述。
+### 检查主机静态IP
+打开网络设置，查看当前连接端口，点击IPV4查看，若不同需按图修改，完成后点击Apply。
+    ![avatar](./image/IPC_picture/Snipaste_2023-05-18_12-28-11.png)
+
+- 检查主机静态IP（ifconfig）：如果静态IP地址不是192.168.1.102，需检查网络设置，否则传感器数据传输异常
+    ![avatar](./image/IPC_picture/Snipaste_2023-04-28_14-05-45.png)
+###  检查网络 
+ 本公司提供的物联网卡可以正常使用一年，如不能上网请检查DNS192.168.1.1或更换路由器网口
+```shell
+ping baidu.com
+```
+ ![avatar](./image/IPC_picture/inter.jpg)
+
+**注意1**：路由器IP地址切勿修改，若不能上网先检查网口连接，检查DNS，通过浏览器访问路由器查看  
+**注意2**：物联网卡到期，若需购买可联系公司或自行更换
+
+
+### 检查底盘can数据
+- 底盘的can数据接口需连到can0接口，若不能输出数据请更换can口
+```shell
+candump can0
+```
+终端输出数据正常
+    ![avatar](./image/IPC_picture/candata.jpg)
+
+### 检查激光雷达数据  
+   RS-Helios-16P 静态IP 192.168.1.200     
+   OUSTER-OS    静态IP  192.168.1.125
+                   
+```shell
+ping 192.168.1.200
+ping 192.168.1.125
+```
+终端输出数据正常
+    ![avatar](./image/IPC_picture/rslidar.jpg)
+    ![avatar](./image/IPC_picture/ousteros1.jpg)
+
+### 检查组合惯导
+192.168.1.110
+```shell
+ping  192.168.1.110
+```
+终端输出数据正常
+    ![avatar](./image/IPC_picture/gnssip.jpg)
diff --git "a/docs/\347\241\254\344\273\266\346\243\200\346\237\245/LiDAR.md" "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/LiDAR.md"
new file mode 100644
index 0000000..8b428f5
--- /dev/null
+++ "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/LiDAR.md"
@@ -0,0 +1,32 @@
+# LiDAR
+## 设备接线
+ ![avatar](./image/lidar_picture/ldiar.jpg)
+### 设备
+
+- 雷达型号：RS-Helios-16P或OUSTER-OS
+
+- 雷达静态IP：192.168.1.200(RS-Helios-16P)或192.168.1.125(OUSTER-OS)(切勿修改)
+
+### ROS驱动程序
+在Autoware文件下
+
+#### ouster_driver
+```shell 
+source install/setup.bash
+ros2 launch pixkit_sensor_kit_launch os_sensor_top.launch.xml
+``` 
+ ![avatar](./image/lidar_picture/os_lidar.png)
+ 通过ros topic list 查看 lidar/points的话题
+  ![avatar](./image/lidar_picture/os_lidar1.png)
+#### rs_driver
+```shell 
+source install/setup.bash
+ros2 launch pixkit_sensor_kit_launch lidar.launch.xml
+``` 
+  ![avatar](./image/lidar_picture/rs_lidar.png)
+   通过ros topic list 查看 lidar/points的话题，echo可以打印话题输出
+    ![avatar](./image/lidar_picture/rs_ldiar1.png)
+ 
+ 
+- 驱动下载：[RS-Helios-16p](https://github.com/RoboSense-LiDAR/rslidar_sdk)
+- 驱动下载：[OUSTER-OS](https://github.com/ouster-lidar/ouster-ros)
diff --git "a/docs/\347\241\254\344\273\266\346\243\200\346\237\245/Ultra_sonic_radar.md" "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/Ultra_sonic_radar.md"
new file mode 100644
index 0000000..a92e0dc
--- /dev/null
+++ "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/Ultra_sonic_radar.md"
@@ -0,0 +1,33 @@
+# 超声波雷达
+## 设备
+- 正常连接CAN0
+## 硬件激活检查
+- 已经完成硬件安装
+- 启动终端
+```shell
+激活超声波：while true; do cansend can0 601#b91fff; sleep 0.5; done
+查看1-4号探头数据：candump can0,611:7ff
+查看5-8号探头数据：candump can0,612:7ff
+```
+ ![avatar](./image/ultrasonic_picture/ult.jpg)
+
+## 硬件启动
+- auotware文件下打开Terminal
+```shell
+1. 启动CAN驱动
+    source install/setup.bash 
+    ros2 launch  ros2_socketcan socket_can_bridge.launch.xml
+2. 启动超声波程序
+    source install/setup.bash 
+    ros2 launch ultra_sonic_radar_driver mc_radar_driver.launch.xml
+3. 激活话题——可通过ros2 topic list查看
+    ros2 topic pub -1 /sensing/ultra_sonic_radar/activate_radar std_msgs/msg/Bool "{data: True}"
+```
+ ![avatar](./image/ultrasonic_picture/ultactive.png)
+'ACTIVATING ULTRASONIC RADAR' 则表示启动成功
+
+- 参考文档
+
+    [F40-16TR9BL2超声波传感器CAN使用文档](./image/F40-16TR9B.pdf)
+
+    [F40-16TR9BL2驱动程序](https://github.com/pixmoving-moveit/ultra_sonic_radar_driver/tree/ros2-8-probes-ultra)
diff --git "a/docs/\347\241\254\344\273\266\345\256\211\350\243\205/image/CGI-410.pdf" "b/docs/\347\241\254\344\273\266\346\243\200\346\237\245/image/CGI-410.pdf"
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+# 硬件检查
+- 硬件安装线路接线图
+    ![avatar](./image/IPC_picture/kit3.0自动驾驶硬件线路.png)
+## 目录
+- [IPC](./IPC.md)
+- [LiDAR](./LiDAR.md)
+- [camera](./CAMERA.md)
+- [GNSS—CHC](./GNSS—CHC.md)
+- [GNSS—FP](./GNSS—FP.md)
+- [ultra_sonic_radar](./Ultra_sonic_radar.md)