update @huiyu

.gitmodules

@@ -24,4 +24,7 @@
 	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_interfaces.git
 [submodule "hivecore_robot_ctrlgui"]
 	path = hivecore_robot_ctrlgui
-	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_ctrl_gui.git
+	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_ctrl_gui.git
+[submodule "hivecore_robot_system"]
+	path = hivecore_robot_system
+	url = ssh://git@47.110.133.3:2222/HiveCoreRD/hivecore_robot_system.git

kill_robot.sh

@@ -6,6 +6,9 @@
 #   ./kill_robot.sh -n              # dry run (show PIDs only)
 #   ./kill_robot.sh -y              # no confirmation
 #   ./kill_robot.sh -v              # verbose logs
+#   ./kill_robot.sh -x node1,node2  # exclude nodes (do not kill)
+#   ./kill_robot.sh except node1 node2  # kill all except these nodes
+#   ./kill_robot.sh all -x rm_arm_node,vision_node  # example: kill all except listed nodes
 
 set -Eeuo pipefail
 
@@ -16,6 +19,7 @@ DRY_RUN=false
 ASSUME_YES=false
 VERBOSE=false
 TARGET_NODES=()
+EXCLUDE_NODES=()
 
 log() { echo "[kill_ros2] $*"; }
 vlog() { $VERBOSE && echo "[kill_ros2][debug] $*" || true; }
@@ -40,6 +44,20 @@ while [[ $# -gt 0 ]]; do
       VERBOSE=true
       shift
       ;;
+    -x|--exclude)
+      shift
+      [[ $# -gt 0 ]] || { echo "Error: --exclude requires a value"; exit 1; }
+      IFS=',' read -r -a _excl <<<"$1"
+      EXCLUDE_NODES+=(${_excl[@]})
+      shift
+      ;;
+    except)
+      shift
+      while [[ $# -gt 0 ]]; do
+        EXCLUDE_NODES+=($1)
+        shift
+      done
+      ;;
     -h|--help)
       echo "Usage: $0 [OPTIONS] [NODE_NAMES... | all]"
       echo "  all                  Kill ALL ROS 2 nodes associated with workspace (default behavior if no nodes specified AND 'all' is passed)"
@@ -49,6 +67,8 @@ while [[ $# -gt 0 ]]; do
       echo "  -n, --dry-run        Print PIDs that would be killed, but don't kill them"
       echo "  -y, --yes            Skip confirmation prompt"
       echo "  -v, --verbose        Enable verbose logging"
+      echo "  -x, --exclude LIST   Comma-separated node names/keywords to exclude"
+      echo "  except NODES...      Exclude nodes (kill all except these)"
       exit 0
       ;;
     *)
@@ -59,13 +79,21 @@ while [[ $# -gt 0 ]]; do
 done
 
 if [ ${#TARGET_NODES[@]} -eq 0 ] && [ "$SCOPE_ALL" = false ]; then
-    echo "Error: No target nodes specified. Please provide node names or use 'all'."
-    echo "Usage: $0 [node1 node2 ...] | all"
-    exit 1
+    if [ ${#EXCLUDE_NODES[@]} -gt 0 ]; then
+      TARGET_NODES=("all")
+    else
+      echo "Error: No target nodes specified. Please provide node names or use 'all'."
+      echo "Usage: $0 [node1 node2 ...] | all"
+      exit 1
+    fi
 fi
 
 if [[ "${#TARGET_NODES[@]}" -eq 1 && "${TARGET_NODES[0]}" == "all" ]]; then
-    log "Mode: KILL ALL workspace nodes"
+    if [[ ${#EXCLUDE_NODES[@]} -gt 0 ]]; then
+      log "Mode: KILL ALL workspace nodes except: ${EXCLUDE_NODES[*]}"
+    else
+      log "Mode: KILL ALL workspace nodes"
+    fi
     TARGET_NODES=() # Clear target list to trigger full workspace kill logic
     # Falls through to existing logic
 elif [[ ${#TARGET_NODES[@]} -gt 0 ]]; then
@@ -80,11 +108,15 @@ Options:
   -n, --dry-run     Dry run (list candidate PIDs and commands)
   -y, --yes         Assume yes (no confirmation prompt)
   -v, --verbose     Verbose output
+  -x, --exclude     Comma-separated node names/keywords to exclude
   -h, --help        Show this help and exit
   
 Arguments:
   all               Kill ALL ROS 2 nodes associated with workspace
   NODE_NAMES...     List of node executable names or keywords to kill
+  except NODES...   Exclude nodes (kill all except these)
+Examples:
+  $(basename "$0") all -x rm_arm_node,vision_node
 EOF
 }
 
@@ -122,6 +154,18 @@ list_candidates() {
         $match_found || continue
     fi
 
+    # --- Exclude specific node names if provided ---
+    if [[ ${#EXCLUDE_NODES[@]} -gt 0 ]]; then
+      local exclude_hit=false
+      for excl in "${EXCLUDE_NODES[@]}"; do
+        if grep -q "$excl" <<<"$cmd"; then
+          exclude_hit=true
+          break
+        fi
+      done
+      $exclude_hit && continue
+    fi
+
     # Scope filter
     local in_scope=false
     if $SCOPE_ALL; then

launch.conf

@@ -4,14 +4,15 @@
 
 #DRIVER|launch|ethercat_control|ethercat_node.launch.py|
 #DRIVER|run|led_dev|led_dev_node|
-#MOTOR|run|motor_dev|motor_dev_node|
-#IMU|launch|imu_dev|imu_dev.launch.py|
-ARM|launch|rm_arm_control|rm_arm_control.launch.py|
+MOTOR|run|motor_dev|motor_dev_node|
+IMU|launch|imu_dev|imu_dev.launch.py|
+# ARM|launch|rm_arm_control|rm_arm_control.launch.py|
+ARM|launch|dual_arm_action_server|dual_arm_action_server.launch.py|
 IMG|launch|img_dev|img_dev.launch.py|
-TOOL|run|ctrlgui|ctrlgui_node|
 VISION|launch|vision_detect|medical_sense.launch.py|
 GRIPPER|launch|gripper_dev|gripper_dev.launch.py|
 BRAIN|launch|brain|brain.launch.py|
-#MOTION|launch|robot_control|robot_control.launch.py|
+MOTION|launch|robot_control|robot_control.launch.py|
 VOICE|launch|robot_speaker|voice.launch.py|
 VOICE|run|robot_speaker|skill_bridge_node|
+TOOL|launch|ctrlgui|ctrlgui.launch.py|