diff --git a/img_dev/CMakeLists.txt b/img_dev/CMakeLists.txt
index 5a25de0..348f8cb 100644
--- a/img_dev/CMakeLists.txt
+++ b/img_dev/CMakeLists.txt
@@ -34,7 +34,7 @@ target_link_libraries(img_dev_node
 
 ament_target_dependencies(img_dev_node rclcpp sensor_msgs realsense2_camera_msgs interfaces)
 install(TARGETS img_dev_node DESTINATION lib/${PROJECT_NAME})
-install(DIRECTORY msg/ DESTINATION share/${PROJECT_NAME}) 
+# install(DIRECTORY msg/ DESTINATION share/${PROJECT_NAME}) 
 install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch}) 
 ament_export_dependencies(rosidl_default_runtime)
 
diff --git a/input_dev/CMakeLists.txt b/input_dev/CMakeLists.txt
index 2f3aeaa..6bc7441 100644
--- a/input_dev/CMakeLists.txt
+++ b/input_dev/CMakeLists.txt
@@ -44,6 +44,6 @@ target_link_libraries(input_dev_node
 
 ament_target_dependencies(input_dev_node rclcpp sensor_msgs interfaces)
 install(TARGETS input_dev_node DESTINATION lib/${PROJECT_NAME})
-install(DIRECTORY msg/ DESTINATION share/${PROJECT_NAME})
+#install(DIRECTORY msg/ DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
 ament_package()
diff --git a/motor_dev/src/main.cpp b/motor_dev/src/main.cpp
index dc652fa..575de29 100644
--- a/motor_dev/src/main.cpp
+++ b/motor_dev/src/main.cpp
@@ -7,6 +7,31 @@
 using namespace motor_dev;
 RS485Driver rs485_driver_;
 
+static auto g_program_start_time = std::chrono::steady_clock::now();
+
+// 带时间戳的 printf 风格日志函数
+void log_printf(const char* format, ...) {
+    auto now = std::chrono::steady_clock::now();
+    auto elapsed = std::chrono::duration_cast<std::chrono::duration<double>>(now - g_program_start_time);
+    double seconds = elapsed.count();
+
+    char buffer[1024];
+    va_list args;
+    va_start(args, format);
+    int n = vsnprintf(buffer, sizeof(buffer), format, args);
+    va_end(args);
+
+    if (n < 0) {
+        std::fprintf(stderr, "[%.3f] (log error)\n", seconds);
+        return;
+    }
+
+    std::fprintf(stdout, "[%.3f] %s\n", seconds, buffer);
+    std::fflush(stdout); // 确保立即输出（对调试很重要）
+}
+
+
+
 int main(int argc,char* argv[]){
     rclcpp::init(argc,argv);
     auto node=rclcpp::Node::make_shared("motor_dev_node");
@@ -24,13 +49,13 @@ int main(int argc,char* argv[]){
     rs485_driver_.bm_set_mode(2,4);
     rs485_driver_.bm_set_enable(2,2);
     
-    //rs485_driver_.bm_set_param(1,77,10);
-    //rs485_driver_.bm_set_param(1,78,2);
-    //rs485_driver_.bm_set_param(1,79,2);
+    rs485_driver_.bm_set_param(1,77,15);
+    rs485_driver_.bm_set_param(1,78,4);
+    rs485_driver_.bm_set_param(1,79,4);
     //rs485_driver_.bm_set_param(1,28,4);
-    rs485_driver_.bm_set_param(2,77,10);
-    rs485_driver_.bm_set_param(2,78,2);
-    rs485_driver_.bm_set_param(2,79,2);
+    rs485_driver_.bm_set_param(2,77,15);
+    rs485_driver_.bm_set_param(2,78,4);
+    rs485_driver_.bm_set_param(2,79,4);
     //rs485_driver_.mt_set_pos(1,-5);
     //init
     /////rs485_driver_.bm_set_mode(1,3);//位置模式
@@ -49,8 +74,8 @@ int main(int argc,char* argv[]){
 
                    // float speed1=msg->motor_speed[0];
                     //float speed2=msg->motor_speed[1];
-                    printf("####vvv##########:%s,speed:%.1f,%.1f\n",msg->type.c_str(),angle1,angle2);
-                    ////rs485_driver_.bm_set_pos(angle1,angle2);
+                    log_printf("recv topic:%s,angle:%.1f,%.1f",msg->type.c_str(),angle1,angle2);
+                    rs485_driver_.bm_set_pos(angle1,angle2);
                    // rs485_driver_.bm_set_speed(speed1,speed2);
                 }else if(msg->type=="mt"){
                     uint8_t id=msg->motor_id[0];
@@ -61,11 +86,12 @@ int main(int argc,char* argv[]){
                 //TODO
             }
         });
-#if 0
+#if 1
     auto motor_pub=node->create_publisher<interfaces::msg::MotorPos>("/motor_pos",10);
     //读取电机位置
     rclcpp::TimerBase::SharedPtr timer_=node->create_wall_timer(std::chrono::milliseconds(2000), [=]() { 
         static int pub_cnt=0;
+	log_printf("query motor pos");
         interfaces::msg::MotorPos motor_pos;
         float angle1=rs485_driver_.bm_get_pos(1);
         float angle2=rs485_driver_.bm_get_pos(2);
@@ -93,7 +119,7 @@ int main(int argc,char* argv[]){
             motor_pub->publish(motor_pos);
             
             //std::cout<<"pub msg["<<pub_cnt<<"]:"<<angle1<<","<<angle2<<std::endl;
-            printf("[%03d]=====%.1f,%.1f\n",pub_cnt,angle1,angle2);
+            log_printf("pub pos:%.1f,%.1f",angle1,angle2);
         }
         pub_cnt+=1;
         #if 0
@@ -112,8 +138,9 @@ int main(int argc,char* argv[]){
     auto motor_param_srv=node->create_service<interfaces::srv::MotorParam>("motor_param",[=](const std::shared_ptr<interfaces::srv::MotorParam::Request> req,std::shared_ptr<interfaces::srv::MotorParam::Response> res){
             uint8_t mid=req->motor_id;
             res->ret=-1;
-            printf("recv sv:%d,%d,%d,%d\n",req->motor_id,req->max_speed,req->add_acc,req->dec_acc);
-            if(mid>-1&&mid<500){
+            log_printf("recv sv:%d,%d,%d,%d",req->motor_id,req->max_speed,req->add_acc,req->dec_acc);
+            //if(mid>-1&&mid<500)
+	    {
                 if(req->max_speed<500&&req->add_acc<500&&req->dec_acc<500){
                     rs485_driver_.bm_set_param(mid,77,req->max_speed);
                     rs485_driver_.bm_set_param(mid,78,req->add_acc);
@@ -123,6 +150,7 @@ int main(int argc,char* argv[]){
                 }     
             }
 		});
+#if 0
 auto motor_info_srv=node->create_service<interfaces::srv::MotorInfo>("motor_info",[=](const std::shared_ptr<interfaces::srv::MotorInfo::Request> req,std::shared_ptr<interfaces::srv::MotorInfo::Response> res){
             printf("recv motor_info:%s,%d\n",req->type.c_str(),req->motor_ids[0]);
 	    res->ret=false;
@@ -137,7 +165,7 @@ auto motor_info_srv=node->create_service<interfaces::srv::MotorInfo>("motor_info
 	    }
      });
 
-
+#endif
 
     rclcpp::spin(node);
     printf("now close rs485 port\n");