diff --git a/README.md b/README.md
index 408970b..ac979aa 100644
--- a/README.md
+++ b/README.md
@@ -43,7 +43,7 @@ $ catkin_make
 
 ```bash
 cd ~/catkin_ws/src/myCobotROS
-python3 scripts/test.py
+python scripts/test.py
 ```
 
 ## 2. Package Modules
diff --git a/READMEcn.md b/READMEcn.md
index bee04aa..68d0382 100644
--- a/READMEcn.md
+++ b/READMEcn.md
@@ -42,7 +42,7 @@ $ catkin_make
 
 ```bash
 cd ~/catkin_ws/src/myCobotROS
-python3 scripts/test.py
+python scripts/test.py
 ```
 
 ## 2. 模块
diff --git a/launch/control_slider.launch b/launch/control_slider.launch
new file mode 100644
index 0000000..6aadc66
--- /dev/null
+++ b/launch/control_slider.launch
@@ -0,0 +1,14 @@
+<launch>
+	<arg name="model" default="$(find myCobotROS)/urdf/mycobot_urdf.urdf"/>
+	<arg name="rvizconfig" default="$(find myCobotROS)/config/mycobot.rviz" />
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> 
+		<param name="use_gui" value="true"/>	
+	</node>
+
+	<node name="control_slider" pkg="myCobotROS" type="control_slider.py"/> 
+	
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>
diff --git a/package.xml b/package.xml
index 8ea547e..78fff1c 100644
--- a/package.xml
+++ b/package.xml
@@ -14,10 +14,12 @@
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>serial</build_depend>
 
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>serial</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/scripts/test.py b/scripts/test.py
index fe83ae5..ed36c4d 100644
--- a/scripts/test.py
+++ b/scripts/test.py
@@ -1,11 +1,11 @@
 import time, random, subprocess
 from pymycobot.mycobot import MyCobot
 # from pythonAPI.mycobot3 import MyCobot as MyCobot3
-from pymycobot.common import Angle, Coord
+from pymycobot.genre import Angle, Coord
 
 if __name__ == '__main__': 
     port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
-                                    shell=True)
+                                    shell=True).decode()
     mycobot = MyCobot(port)
 
     # port = subprocess.run(['echo -n /dev/ttyUSB*'], 
@@ -17,9 +17,9 @@ if __name__ == '__main__':
 
     color_name = ['red', 'green', 'blue']
     color_code = ['ff0000', '00ff00', '0000ff']
-    print('::ser_color()')
+    print('::ser_led_color()')
     i = random.randint(0, len(color_code) - 1)
-    mycobot.set_color(color_code[i])
+    mycobot.set_led_color(color_code[i])
     print('==>set color {}\n'.format(color_name[i]))
     time.sleep(0.5)
 
@@ -27,18 +27,18 @@ if __name__ == '__main__':
     print('==> degrees: {}\n'.format(mycobot.get_angles()))
     time.sleep(0.5)
 
-    print('::get_angles_of_radian()')
-    print('==> radians: {}\n'.format(mycobot.get_angles_of_radian()))
+    print('::get_radians()')
+    print('==> radians: {}\n'.format(mycobot.get_radians()))
     time.sleep(0.5)
-    
+
     print('::send_angles()')
     mycobot.send_angles([0,0,0,0,0,0], 80)
     print('==> set angles [0,0,0,0,0,0], speed 80\n')
     print('Is moving: {}'.format(mycobot.is_moving()))
     time.sleep(3)
 
-    print('::send_angles_by_radian')
-    mycobot.send_angles_by_radian([1,1,1,1,1,1], 70)
+    print('::send_radians')
+    mycobot.send_radians([1,1,1,1,1,1], 70)
     print('==> set raidans [1,1,1,1,1,1], speed 70\n')
     time.sleep(1.5)
 
@@ -57,7 +57,7 @@ if __name__ == '__main__':
     print('==> send coords [160,160,160,0,0,0], speed 70, mode 0\n')
     time.sleep(3.0)
 
-    print(mycobot.is_in_position(coord_list))
+    print(mycobot.is_in_position(coord_list, 1))
     time.sleep(1)
 
     print('::send_coord()')