diff --git a/mycobot_280/mycobot_280jn/config/mycobot.rviz b/mycobot_280/mycobot_280jn/config/mycobot_jn.rviz
similarity index 78%
rename from mycobot_280/mycobot_280jn/config/mycobot.rviz
rename to mycobot_280/mycobot_280jn/config/mycobot_jn.rviz
index 51ba33e..a3590c8 100644
--- a/mycobot_280/mycobot_280jn/config/mycobot.rviz
+++ b/mycobot_280/mycobot_280jn/config/mycobot_jn.rviz
@@ -9,7 +9,7 @@ Panels:
         - /RobotModel1
         - /TF1
       Splitter Ratio: 0.5
-    Tree Height: 775
+    Tree Height: 579
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -18,17 +18,18 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
-    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -40,7 +41,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -122,7 +123,8 @@ Visualization Manager:
           Value: true
         joint6_flange:
           Value: true
-      Marker Scale: 0.300000012
+      Marker Alpha: 1
+      Marker Scale: 0.30000001192092896
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -153,7 +155,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -163,33 +168,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.20289087
+      Distance: 1.2028908729553223
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.0706475973
-        Y: -0.0814988762
-        Z: 0.107583851
+        X: -0.07064759731292725
+        Y: -0.0814988762140274
+        Z: 0.10758385062217712
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.440398335
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.44039833545684814
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 0.430389732
+      Yaw: 0.43038973212242126
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1056
+  Height: 876
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002cefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ce000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f000002cefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ce000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000393000002ce00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -198,6 +203,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1855
-  X: 65
-  Y: 24
+  Width: 1848
+  X: 72
+  Y: 27
diff --git a/mycobot_280/mycobot_280jn/launch/detect_marker.launch b/mycobot_280/mycobot_280jn/launch/detect_marker.launch
index 444638e..c41a96f 100644
--- a/mycobot_280/mycobot_280jn/launch/detect_marker.launch
+++ b/mycobot_280/mycobot_280jn/launch/detect_marker.launch
@@ -1,7 +1,7 @@
 <launch>
 	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
 	<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_with_marker.rviz" />
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
 	<arg name="gui" default="true" />
 
 	<arg name="num" default="0" />
diff --git a/mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch b/mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch
index 2bba726..c4222af 100644
--- a/mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch
+++ b/mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch
@@ -4,7 +4,7 @@
 	<arg name="baud" default="1000000" />
 	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
 	<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_with_marker.rviz" />
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot_with_marker.rviz" />
 	<arg name="gui" default="false" />
 
 	<arg name="num" default="0" />
diff --git a/mycobot_280/mycobot_280jn/launch/mycobot_follow.launch b/mycobot_280/mycobot_280jn/launch/mycobot_follow.launch
index 7511e1f..f5c89e8 100644
--- a/mycobot_280/mycobot_280jn/launch/mycobot_follow.launch
+++ b/mycobot_280/mycobot_280jn/launch/mycobot_follow.launch
@@ -1,7 +1,7 @@
 <launch>
 	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
 	<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot.rviz" />
+	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 	<!-- mycobot-topics，mycobot-话题 -->
diff --git a/mycobot_280/mycobot_280jn/launch/simple_gui.launch b/mycobot_280/mycobot_280jn/launch/simple_gui.launch
index d1b31e0..79c92ee 100644
--- a/mycobot_280/mycobot_280jn/launch/simple_gui.launch
+++ b/mycobot_280/mycobot_280jn/launch/simple_gui.launch
@@ -1,10 +1,10 @@
 <launch>
 	<!-- Select connecting device and serial port ，选择连接设备及串口-->
-	<arg name="ip" default="192.168.125.226" />
-	<arg name="port" default="9000" />
+	<arg name="port" default="/dev/ttyTHS1" />
+	<arg name="baud" default="1000000" />
 	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
 	<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot.rviz" />
+	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
 	<arg name="gui" default="false" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
@@ -14,9 +14,9 @@
 	<!-- Show in Rviz ，显示在Rviz-->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
-    <include file="$(find mycobot_communication)/launch/communication_service.launch">
-		<arg name="ip" value="$(arg ip)" />	
+    <include file="$(find mycobot_communication)/launch/communication_jsnn.launch">
 		<arg name="port" value="$(arg port)" />	
+		<arg name="baud" value="$(arg baud)" />	
     </include>
 	<!-- listen and pub the real angles ，监听并发布真实的角度-->
 	<node name="real_listener" pkg="mycobot_280jn" type="listen_real.py" />
diff --git a/mycobot_280/mycobot_280jn/launch/slider_control.launch b/mycobot_280/mycobot_280jn/launch/slider_control.launch
index ac42e42..63fdaa3 100644
--- a/mycobot_280/mycobot_280jn/launch/slider_control.launch
+++ b/mycobot_280/mycobot_280jn/launch/slider_control.launch
@@ -3,7 +3,7 @@
 	<arg name="baud" default="1000000" /> -->
 	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
 	<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot.rviz" />
+	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
 	<arg name="gui" default="true" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
diff --git a/mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch b/mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch
index f3a84db..d915aae 100644
--- a/mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch
+++ b/mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch
@@ -1,10 +1,10 @@
 <launch>
 	<!-- Select connecting device and serial port ，选择连接设备及串口-->
-	<arg name="ip" default="192.168.125.226" />
-	<arg name="port" default="9000" />
+	<arg name="port" default="/dev/ttyTHS1" />
+	<arg name="baud" default="1000000" />
 	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
 	<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot.rviz" />
+	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
 	<arg name="gui" default="false" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
@@ -14,9 +14,9 @@
 	<!-- Show in Rviz ，显示在Rviz-->
 	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
-    <include file="$(find mycobot_communication)/launch/communication_service.launch">
-		<arg name="ip" value="$(arg ip)" />	
+    <include file="$(find mycobot_communication)/launch/communication_jsnn.launch">
 		<arg name="port" value="$(arg port)" />	
+		<arg name="baud" value="$(arg baud)" />	
     </include>
 	<!-- listen and pub the real angles ，监听并发布真实的角度-->
 	<node name="real_listener" pkg="mycobot_280jn" type="listen_real.py" />
diff --git a/mycobot_280/mycobot_280jn/launch/test.launch b/mycobot_280/mycobot_280jn/launch/test.launch
index dbb1f00..4fa06e4 100644
--- a/mycobot_280/mycobot_280jn/launch/test.launch
+++ b/mycobot_280/mycobot_280jn/launch/test.launch
@@ -1,14 +1,14 @@
 <launch>
 	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
-	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_vision.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/280jn/mycobot_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280jn)/config/mycobot_jn.rviz" />
 	<arg name="gui" default="true" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
 	<!-- Combinejoin values to TF ,将值合并到TF-->
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
 		<param name="use_gui" value="$(arg gui)" />
 		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
 	</node>
diff --git a/mycobot_280/mycobot_280jn/scripts/follow_display.py b/mycobot_280/mycobot_280jn/scripts/follow_display.py
index 52d18b7..68e8095 100755
--- a/mycobot_280/mycobot_280jn/scripts/follow_display.py
+++ b/mycobot_280/mycobot_280jn/scripts/follow_display.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 # encoding:utf8
 import time
 
@@ -15,16 +15,16 @@ def talker():
     rospy.init_node("display", anonymous=True)
 
     print("Try connect real mycobot...")
-    # port = rospy.get_param("~port", "/dev/ttyTHS1")
-    # baud = rospy.get_param("~baud", 1000000)
-    ip=rospy.get_param('~ip','192.168.125.226')
-    netport=rospy.get_param('~netport',9000)
-    # print("port: {}, baud: {}\n".format(port, baud))
-    print('ip:{},port:{}'.format(ip,netport))
+    port = rospy.get_param("~port", "/dev/ttyTHS1")
+    baud = rospy.get_param("~baud", 1000000)
+    # ip=rospy.get_param('~ip','192.168.125.226')
+    # netport=rospy.get_param('~netport',9000)
+    print("port: {}, baud: {}\n".format(port, baud))
+    # print('ip:{},port:{}'.format(ip,netport))
     try:
-        # mycobot = MyCobot(port, baud)
-        mycobot=MyCobotSocket(ip,netport)
-        mycobot.connect()
+        mycobot = MyCobot(port, baud)
+        # mycobot=MyCobotSocket(ip,netport)
+        # mycobot.connect()
     except Exception as e:
         print(e)
         print(
diff --git a/mycobot_280/mycobot_280jn/scripts/listen_real.py b/mycobot_280/mycobot_280jn/scripts/listen_real.py
index 1d38b61..aea0d53 100755
--- a/mycobot_280/mycobot_280jn/scripts/listen_real.py
+++ b/mycobot_280/mycobot_280jn/scripts/listen_real.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 # encoding:utf-8
 # license removed for brevity
 import time
diff --git a/mycobot_280/mycobot_280jn/scripts/listen_real_of_topic.py b/mycobot_280/mycobot_280jn/scripts/listen_real_of_topic.py
index ea3df92..89f9430 100755
--- a/mycobot_280/mycobot_280jn/scripts/listen_real_of_topic.py
+++ b/mycobot_280/mycobot_280jn/scripts/listen_real_of_topic.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import math
 
 import rospy
diff --git a/mycobot_280/mycobot_280jn/scripts/simple_gui.py b/mycobot_280/mycobot_280jn/scripts/simple_gui.py
index 9f4c791..41f9258 100755
--- a/mycobot_280/mycobot_280jn/scripts/simple_gui.py
+++ b/mycobot_280/mycobot_280jn/scripts/simple_gui.py
@@ -1,6 +1,7 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-
-import Tkinter as tk
+# import Tkinter as tk
+import tkinter as tk
 from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
 import rospy
 import time
@@ -33,7 +34,7 @@ class Window:
         # 计算 Tk 根窗口的 x 和 y 坐标
         x = (self.ws / 2) - 190
         y = (self.hs / 2) - 250
-        self.win.geometry("430x370+{}+{}".format(x, y))
+        self.win.geometry("430x400+{}+{}".format(int(x), int(y)))
         # layout,布局
         self.set_layout()
         # input section,输入部分
diff --git a/mycobot_280/mycobot_280jn/scripts/slider_control.py b/mycobot_280/mycobot_280jn/scripts/slider_control.py
index 4bf44b9..bf58aae 100755
--- a/mycobot_280/mycobot_280jn/scripts/slider_control.py
+++ b/mycobot_280/mycobot_280jn/scripts/slider_control.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 # encoding:utf-8
 """[summary]
 This file obtains the joint angle of the manipulator in ROS,
@@ -16,7 +16,7 @@ from pymycobot.mycobot import MyCobot
 from pymycobot.mycobotsocket import MyCobotSocket
 
 
-ms = None
+mc = None
 
 
 def callback(data):
@@ -26,24 +26,24 @@ def callback(data):
     for index, value in enumerate(data.position):
         data_list.append(value)
 
-    ms.send_radians(data_list, 80)
+    mc.send_radians(data_list, 80)
     # time.sleep(0.5)
 
 
 def listener():
-    global ms
+    global mc
     rospy.init_node("control_slider", anonymous=True)
 
     rospy.Subscriber("joint_states", JointState, callback)
-    # port = rospy.get_param("~port", "/dev/ttyTHS1")
-    # baud = rospy.get_param("~baud", 1000000)
-    # print(port, baud)
-    # mc = MyCobot(port, baud)
-    ip=rospy.get_param("~ip",'192.168.125.226')
-    port=rospy.get_param("~port",9000)
-    print(ip,port)
-    ms=MyCobotSocket(ip,port)
-    ms.connect()
+    port = rospy.get_param("~port", "/dev/ttyTHS1")
+    baud = rospy.get_param("~baud", 1000000)
+    print(port, baud)
+    mc = MyCobot(port, baud)
+    # ip=rospy.get_param("~ip",'192.168.125.226')
+    # port=rospy.get_param("~port",9000)
+    # print(ip,port)
+    # ms=MyCobotSocket(ip,port)
+    # ms.connect()
 
     # spin() simply keeps python from exiting until this node is stopped
     # spin()只是阻止python退出，直到该节点停止
diff --git a/mycobot_280/mycobot_280jn/scripts/teleop_keyboard.py b/mycobot_280/mycobot_280jn/scripts/teleop_keyboard.py
index e5ee716..110f8a4 100755
--- a/mycobot_280/mycobot_280jn/scripts/teleop_keyboard.py
+++ b/mycobot_280/mycobot_280jn/scripts/teleop_keyboard.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # encoding=utf-8
 from __future__ import print_function
 from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
diff --git a/mycobot_communication/launch/communication_jsnn.launch b/mycobot_communication/launch/communication_jsnn.launch
index b49eba0..3472501 100644
--- a/mycobot_communication/launch/communication_jsnn.launch
+++ b/mycobot_communication/launch/communication_jsnn.launch
@@ -1,10 +1,10 @@
 <launch>
 	<!-- Select connecting device and serial port ，选择连接设备及串口-->
-	<arg name="port" default="/dev/ttyUSB0" />
-	<arg name="baud" default="115200" />
+	<arg name="port" default="/dev/ttyTHS1" />
+	<arg name="baud" default="1000000" />
 
 	<!-- Open communication service ，开启通讯服务-->
-	<node name="mycobot_services" pkg="mycobot_communication" type="mycobot_topics_jsnn.py" output="screen">
+	<node name="mycobot_services" pkg="mycobot_communication" type="mycobot_services.py" output="screen">
 		<param name="port" type="string" value="$(arg port)" />
 		<param name="baud" type="int" value="$(arg baud)" />
     </node>
diff --git a/mycobot_communication/scripts/mycobot_services.py b/mycobot_communication/scripts/mycobot_services.py
index 0f105a8..1f5c89a 100755
--- a/mycobot_communication/scripts/mycobot_services.py
+++ b/mycobot_communication/scripts/mycobot_services.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*
 import time
 import rospy