diff --git a/mecharm/mecharm_communication/launch/communication_topic_pi.launch b/mecharm/mecharm_communication/launch/communication_topic_pi.launch
index 959557e..d3d255e 100644
--- a/mecharm/mecharm_communication/launch/communication_topic_pi.launch
+++ b/mecharm/mecharm_communication/launch/communication_topic_pi.launch
@@ -1,4 +1,4 @@
-<launch>
+3<launch>
 	<!-- Select connecting device and serial port ，选择连接设备及串口-->
 	<arg name="port" default="/dev/ttyAMA0" />
 	<arg name="baud" default="1000000" />
diff --git a/mecharm/mecharm_communication/scripts/mecharm_topics.py b/mecharm/mecharm_communication/scripts/mecharm_topics.py
index 799fe4b..02c3934 100755
--- a/mecharm/mecharm_communication/scripts/mecharm_topics.py
+++ b/mecharm/mecharm_communication/scripts/mecharm_topics.py
@@ -70,7 +70,7 @@ class MycobotTopics(object):
 
         rospy.init_node("mycobot_topics")
         rospy.loginfo("start ...")
-        port = rospy.get_param("~port", "/dev/ttyUSB0")
+        port = rospy.get_param("~port", os.popen("ls /dev/ttyUSB*").readline()[:-1])
         baud = rospy.get_param("~baud", 115200)
         rospy.loginfo("%s,%s" % (port, baud))
         self.mc = MyCobot(port, baud)
diff --git a/mecharm/mecharm_communication/scripts/mecharm_topics_pi.py b/mecharm/mecharm_communication/scripts/mecharm_topics_pi.py
index 39be565..857650c 100755
--- a/mecharm/mecharm_communication/scripts/mecharm_topics_pi.py
+++ b/mecharm/mecharm_communication/scripts/mecharm_topics_pi.py
@@ -74,7 +74,7 @@ class MycobotTopics(object):
         rospy.init_node("mycobot_topics_pi")
         rospy.loginfo("start ...")
         # problem
-        port = rospy.get_param("~port", "/dev/ttyAMA0")
+        port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1])
         baud = rospy.get_param("~baud", 1000000)
         rospy.loginfo("%s,%s" % (port, baud))
         # self.mc = MyCobotSocket(port, baud) # port
diff --git a/mycobot_ai/myCobot_280/launch/vision_pi.launch b/mycobot_ai/myCobot_280/launch/vision_pi.launch
index a01ed45..5187d9e 100644
--- a/mycobot_ai/myCobot_280/launch/vision_pi.launch
+++ b/mycobot_ai/myCobot_280/launch/vision_pi.launch
@@ -14,13 +14,13 @@
 	</node>
 
 	<!-- mycobot-topics -->
-    <include file="$(find mycobot_communication)/launch/communication_topic.launch">
+    <include file="$(find mycobot_communication)/launch/communication_topic_pi.launch">
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
 
     <!-- listen and pub the real angles -->
-	<node name="real_listener" pkg="mycobot_280" type="listen_real_of_topic.py" />
+	<node name="real_listener" pkg="mycobot_280_pi" type="listen_real_of_topic.py" />
 
 	<!-- Show in Rviz -->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
diff --git a/mycobot_ai/myCobot_280/scripts/combine_detect_obj_color .py b/mycobot_ai/myCobot_280/scripts/combine_detect_obj_color .py
index a2f624c..da902ee 100755
--- a/mycobot_ai/myCobot_280/scripts/combine_detect_obj_color .py	
+++ b/mycobot_ai/myCobot_280/scripts/combine_detect_obj_color .py	
@@ -77,7 +77,7 @@ class Object_detect(Movement):
             "yellow": [np.array([11, 115, 70]), np.array([40, 255, 245])],
             "red": [np.array([0, 43, 46]), np.array([8, 255, 255])],
             "green": [np.array([35, 43, 46]), np.array([77, 255, 255])],
-            "blue": [np.array([100, 43, 46]), np.array([124, 255, 255])],
+            # "blue": [np.array([100, 43, 46]), np.array([124, 255, 255])],
             "cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])],
         }
         # use to calculate coord between cube and mycobot
diff --git a/mycobot_communication/scripts/mycobot_topics.py b/mycobot_communication/scripts/mycobot_topics.py
index 799fe4b..5039b0d 100755
--- a/mycobot_communication/scripts/mycobot_topics.py
+++ b/mycobot_communication/scripts/mycobot_topics.py
@@ -70,7 +70,9 @@ class MycobotTopics(object):
 
         rospy.init_node("mycobot_topics")
         rospy.loginfo("start ...")
-        port = rospy.get_param("~port", "/dev/ttyUSB0")
+        port = rospy.get_param("~port", os.popen("ls /dev/ttyUSB*").readline()[:-1])
+        if not port:
+            port = rospy.get_param("~port", os.popen("ls /dev/ttyACM*").readline()[:-1])
         baud = rospy.get_param("~baud", 115200)
         rospy.loginfo("%s,%s" % (port, baud))
         self.mc = MyCobot(port, baud)
diff --git a/mycobot_communication/scripts/mycobot_topics_pi.py b/mycobot_communication/scripts/mycobot_topics_pi.py
index 1ccf23c..ae09c88 100755
--- a/mycobot_communication/scripts/mycobot_topics_pi.py
+++ b/mycobot_communication/scripts/mycobot_topics_pi.py
@@ -74,7 +74,7 @@ class MycobotTopics(object):
         rospy.init_node("mycobot_topics_pi")
         rospy.loginfo("start ...")
         # problem
-        port = rospy.get_param("~port", "/dev/ttyAMA0")
+        port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1]")
         baud = rospy.get_param("~baud", 1000000)
         rospy.loginfo("%s,%s" % (port, baud))
         self.mc = MyCobotSocket(port, baud) # port
diff --git a/mypalletizer_260/mypalletizer_communication/scripts/mypal_topics_pi.py b/mypalletizer_260/mypalletizer_communication/scripts/mypal_topics_pi.py
index 4af28ee..b0f2ea9 100755
--- a/mypalletizer_260/mypalletizer_communication/scripts/mypal_topics_pi.py
+++ b/mypalletizer_260/mypalletizer_communication/scripts/mypal_topics_pi.py
@@ -69,7 +69,7 @@ class MypalTopics(object):
         rospy.init_node("mypal_topics_pi")
         rospy.loginfo("start ...")
         # problem
-        port = rospy.get_param("~port", "/dev/ttyAMA0")
+        port = rospy.get_param("~port", os.popen("ls /dev/ttyAMA*").readline()[:-1])
         baud = rospy.get_param("~baud", 1000000)
         rospy.loginfo("%s,%s" % (port, baud))
         # self.mc = MyCobotSocket(port, baud) # port