diff --git a/rm_arm_control/src/rm_arm_handler.cpp b/rm_arm_control/src/rm_arm_handler.cpp
index 375ca9d..275951f 100644
--- a/rm_arm_control/src/rm_arm_handler.cpp
+++ b/rm_arm_control/src/rm_arm_handler.cpp
@@ -30,12 +30,15 @@ void PrintData(ArmStatusCallbackData *data)
 {
     RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "==================MYCALLBACK==================");
     RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "errCode: %d", data->errCode);
-    /*RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "current:");
+    //RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "current:");
+    std::string current = "current: ";
     for (size_t i = 0; i < USED_ARM_DOF; i++){
-        RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointCurrent[i]);
+        current += std::to_string(data->jointCurrent[i]) + " ";
+        //RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointCurrent[i]);
     }
+    RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%s", current.c_str());
     
-    RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "enable:");
+    /*RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "enable:");
     for (size_t i = 0; i < USED_ARM_DOF; i++){
         RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%d ", data->jointEnFlag[i]);
     }
@@ -43,8 +46,8 @@ void PrintData(ArmStatusCallbackData *data)
     RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "error code:");
     for (size_t i = 0; i < USED_ARM_DOF; i++){
         RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%d ", data->jointErrCode[i]);
-    }
-    */
+    }*/
+    
     std::string posStr = "joints position: ";
     for (size_t i = 0; i < USED_ARM_DOF; i++){
         posStr += std::to_string(data->jointAngle[i]) + " ";
@@ -54,18 +57,23 @@ void PrintData(ArmStatusCallbackData *data)
     /*RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "speed:");
     for (size_t i = 0; i < USED_ARM_DOF; i++){
         RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointSpeed[i]);
-    }
-    
-    RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "temperature:");
-    for (size_t i = 0; i < USED_ARM_DOF; i++){
-        RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointTemp[i]);
-    }
-    
-    RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "voltage:");
-    for (size_t i = 0; i < USED_ARM_DOF; i++){
-        RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointVoltage[i]);
     }*/
     
+    posStr = "temperature: ";
+    //RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "temperature:");
+    for (size_t i = 0; i < USED_ARM_DOF; i++){
+        posStr += std::to_string(data->jointTemp[i]) + " ";
+        //RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointTemp[i]);
+    }
+    RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%s", posStr.c_str());
+    
+    posStr = "voltage: ";
+    //RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "voltage:");
+    for (size_t i = 0; i < USED_ARM_DOF; i++){
+        //RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%.6f ", data->jointVoltage[i]);
+        posStr += std::to_string(data->jointVoltage[i]) + " ";
+    }
+    RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "%s", posStr.c_str());
 }
 
 void RmArmHandler::ArmDealCallBackInfo(ArmStatusCallbackData *data)
@@ -90,7 +98,8 @@ void RmArmHandler::ArmDealCallBackInfo(ArmStatusCallbackData *data)
         armStatus = ARM_STATUS_WAITING;
     }
     if (temp != ARM_STATUS_READY){
-        PrintData(data);
+        // if (armType_ == 1)
+        //     PrintData(data);
     }
 }
 
diff --git a/rm_arm_control/src/rm_arm_node.cpp b/rm_arm_control/src/rm_arm_node.cpp
index cdbc4e6..2cc860b 100644
--- a/rm_arm_control/src/rm_arm_node.cpp
+++ b/rm_arm_control/src/rm_arm_node.cpp
@@ -279,10 +279,10 @@ void RmArmNode::ArmActionFeedback(int coll)
         feedback->float_length = POSE_DIMENSION;
         feedback->int_data_array = {coll};
         feedback->float_data_array = {pose[0], pose[1], pose[2], pose[3], pose[4], pose[5], pose[6]};
-        RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Publishing feedback for command id: %ld, joints: %f, %f, %f, %f, %f, %f, %f",
-            feedback->command_id, feedback->float_data_array[0], feedback->float_data_array[1],
-            feedback->float_data_array[2], feedback->float_data_array[3],
-            feedback->float_data_array[4], feedback->float_data_array[5], feedback->float_data_array[6]);
+        // RCLCPP_INFO(rclcpp::get_logger(GET_FUNC_LINE_STR()), "Publishing feedback for command id: %ld, joints: %f, %f, %f, %f, %f, %f, %f",
+        //     feedback->command_id, feedback->float_data_array[0], feedback->float_data_array[1],
+        //     feedback->float_data_array[2], feedback->float_data_array[3],
+        //     feedback->float_data_array[4], feedback->float_data_array[5], feedback->float_data_array[6]);
         goal_handle->publish_feedback(feedback);
     }
 }