diff --git a/myArm/myarm/scripts/listen_real.py b/myArm/myarm/scripts/listen_real.py
index a5a5765..7ac6b97 100755
--- a/myArm/myarm/scripts/listen_real.py
+++ b/myArm/myarm/scripts/listen_real.py
@@ -57,6 +57,7 @@ def talker():
         # publish angles.发布角度
         joint_state_send.header.stamp = rospy.Time.now()
         joint_state_send.position = radians_list
+        pub.publish(joint_state_send)
         rate.sleep()
 
 
diff --git a/myArm/myarm_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/myArm/myarm_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py
old mode 100644
new mode 100755
diff --git a/myArm/myarm_moveit/scripts/sync_plan.py b/myArm/myarm_moveit/scripts/sync_plan.py
old mode 100644
new mode 100755