diff --git a/src/boundary_handler/launch/boundary_handler.launch b/src/boundary_handler/launch/boundary_handler.launch
index 8580bc2..4b3edc3 100644
--- a/src/boundary_handler/launch/boundary_handler.launch
+++ b/src/boundary_handler/launch/boundary_handler.launch
@@ -36,7 +36,7 @@ def generate_launch_description():
             package='rviz2',
             executable='rviz2',
             name='boundary_rviz',
-            arguments=['-d', get_package_share_directory('boundary_handler') + '/rviz/default.rviz'],
+            arguments=['-d', get_package_share_directory('boundary_handler') + '/rviz/far_planner.rviz'],
             respawn=False,
         ),
     ])
diff --git a/src/far_planner/config/default.yaml b/src/far_planner/config/default.yaml
index 3179dbc..af50a74 100644
--- a/src/far_planner/config/default.yaml
+++ b/src/far_planner/config/default.yaml
@@ -14,7 +14,7 @@ far_planner:
     is_opencv_visual: false # Obstacle Image Display
     is_static_env: true
     is_pub_boundary: false
-    is_debug_output: false
+    is_debug_output: true
     is_attempt_autoswitch: true  # Auto switch to attemptable navigation
     world_frame: map
 
@@ -48,7 +48,7 @@ far_planner:
     c_detector/resize_ratio: 3.0
     c_detector/filter_count_value: 3
     c_detector/is_save_img: false
-    c_detector/img_folder_path: /path
+    c_detector/img_folder_path: /local_path
 
     # Graph Planner Params
     g_planner/converge_distance: 0.5  # Unit: meter
diff --git a/src/far_planner/config/matterport.yaml b/src/far_planner/config/matterport.yaml
index a401d65..f01c732 100644
--- a/src/far_planner/config/matterport.yaml
+++ b/src/far_planner/config/matterport.yaml
@@ -48,7 +48,7 @@ far_planner:
     c_detector/resize_ratio: 3.0
     c_detector/filter_count_value: 3
     c_detector/is_save_img: false
-    c_detector/img_folder_path: /path
+    c_detector/img_folder_path: /local_path
 
     # Graph Planner Params
     g_planner/converge_distance: 0.25  # Unit: meter
diff --git a/src/far_planner/include/far_planner/dynamic_graph.h b/src/far_planner/include/far_planner/dynamic_graph.h
index 62fc7db..ebe46b9 100644
--- a/src/far_planner/include/far_planner/dynamic_graph.h
+++ b/src/far_planner/include/far_planner/dynamic_graph.h
@@ -608,6 +608,7 @@ class DynamicGraph {
 
     /* Add new navigation node to global graph */
     static inline void AddNodeToGraph(const NavNodePtr& node_ptr) {
+        std::cout<<"AddNodeToGraph"<<std::endl;
         if (node_ptr != NULL) {
             globalGraphNodes_.push_back(node_ptr);
         } else if (FARUtil::IsDebug) {
diff --git a/src/far_planner/include/far_planner/far_planner.h b/src/far_planner/include/far_planner/far_planner.h
index 135a96c..853b6ef 100644
--- a/src/far_planner/include/far_planner/far_planner.h
+++ b/src/far_planner/include/far_planner/far_planner.h
@@ -162,6 +162,7 @@ class FARMaster
     } 
 
     inline void UpdateCommandCallBack(const std_msgs::msg::Bool::SharedPtr msg) {
+        RCLCPP_INFO(nh_->get_logger(),"UpdateCommandCallBack");
         if (is_stop_update_ && msg->data) {
             if (FARUtil::IsDebug) RCLCPP_WARN(nh_->get_logger(), "FARMaster: Resume visibility graph update.");
             is_stop_update_ = !msg->data;
diff --git a/src/far_planner/include/far_planner/graph_planner.h b/src/far_planner/include/far_planner/graph_planner.h
index 614fca6..28d53f1 100644
--- a/src/far_planner/include/far_planner/graph_planner.h
+++ b/src/far_planner/include/far_planner/graph_planner.h
@@ -159,6 +159,7 @@ inline void UpdaetVGraph(const NodePtrStack& vgraph) {current_graph_ = vgraph;};
 */
 void UpdateGraphTraverability(const NavNodePtr& odom_node_ptr, const NavNodePtr& goal_ptr);
 
+
 /**
  * Generate path to goal based on traversibility result
  * @param goal_ptr current goal node
diff --git a/src/far_planner/launch/far_planner.launch b/src/far_planner/launch/far_planner.launch.py
similarity index 91%
rename from src/far_planner/launch/far_planner.launch
rename to src/far_planner/launch/far_planner.launch.py
index e22573c..4a2eb7c 100644
--- a/src/far_planner/launch/far_planner.launch
+++ b/src/far_planner/launch/far_planner.launch.py
@@ -27,7 +27,7 @@ def generate_launch_description():
                 '.yaml"'])
             ],
             remappings=[
-                ('/odom_world', '/state_estimation'),
+                ('/odom_world', '/odom'),
                 ('/terrain_cloud', '/terrain_map_ext'),
                 ('/scan_cloud', '/terrain_map'),
                 ('/terrain_local_cloud', '/registered_scan')
@@ -42,9 +42,7 @@ def generate_launch_description():
                 PythonExpression([
                 '"', 
                 get_package_share_directory('far_planner'), 
-                '/rviz/', 
-                LaunchConfiguration('config'), 
-                '.rviz"'])
+                '/rviz/far_planner.rviz"'])  # 直接指定文件名
             ],
             respawn=False,
         ),
diff --git a/src/far_planner/rviz/far_planner.rviz b/src/far_planner/rviz/far_planner.rviz
new file mode 100644
index 0000000..09d0bb5
--- /dev/null
+++ b/src/far_planner/rviz/far_planner.rviz
@@ -0,0 +1,316 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /PointStamped1
+      Splitter Ratio: 0.5
+    Tree Height: 1239
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+      - /Waypoint1
+      - /Goalpoint1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 1
+      Min Color: 0; 0; 0
+      Min Intensity: 1
+      Name: freePath
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /free_paths
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 1.2180126905441284
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: overallMap
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /overall_map
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: GlobalPath
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /viz_path_topic
+      Value: true
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 25; 255; 0
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /local_path
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: VGraph
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /graph_decoder_viz
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/PointStamped
+      Color: 204; 41; 204
+      Enabled: true
+      History Length: 1
+      Name: PointStamped
+      Radius: 0.20000000298023224
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_point
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+    - Class: waypoint_rviz_plugin/WaypointTool
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: waypoint
+    - Class: goalpoint_rviz_plugin/GoalpointTool
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: goalpoint
+    - Class: rviz_visual_tools/KeyTool
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 6.114332675933838
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.1638071984052658
+        Y: 0.564764142036438
+        Z: 1.0331170558929443
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.5697963237762451
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.9622554779052734
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1536
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000020c00000562fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000562000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000562fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000562000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009ba0000003efc0100000002fb0000000800540069006d00650100000000000009ba000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000006930000056200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2490
+  X: 1990
+  Y: 27
diff --git a/src/far_planner/src/far_planner.cpp b/src/far_planner/src/far_planner.cpp
index c838646..0ed11bd 100644
--- a/src/far_planner/src/far_planner.cpp
+++ b/src/far_planner/src/far_planner.cpp
@@ -225,12 +225,14 @@ void FARMaster::MainLoopCallBack() {
   runtime_pub_->publish(runtimer_);
 
   /* Update v-graph in other modules */
+  // NOTE这里填充了
   nav_graph_ = graph_manager_.GetNavGraph();
   if (is_graph_init_) {
     if (!FARUtil::IsDebug) printf("\033[2K");
     std::cout<<"    "<<"Global V-Graph Updated. Number of global vertices: "<<nav_graph_.size()<<std::endl;
   }
   contour_graph_.ExtractGlobalContours();      // Global Polygon Update
+  // 这里也填充了
   graph_planner_.UpdaetVGraph(nav_graph_);     // Graph Planner Update
   graph_msger_.UpdateGlobalGraph(nav_graph_);  // Graph Messager Update
 
@@ -245,6 +247,7 @@ void FARMaster::MainLoopCallBack() {
   planner_viz_.VizNodes(clear_nodes_, "clear_nodes", VizColor::ORANGE);
   planner_viz_.VizNodes(graph_manager_.GetOutContourNodes(), "out_contour", VizColor::YELLOW);
   planner_viz_.VizPoint3D(FARUtil::free_odom_p, "free_odom_position", VizColor::ORANGE, 1.0);
+  // 
   planner_viz_.VizGraph(nav_graph_);
   planner_viz_.VizContourGraph(ContourGraph::contour_graph_);
   planner_viz_.VizGlobalPolygons(ContourGraph::global_contour_, ContourGraph::unmatched_contour_);
@@ -263,6 +266,7 @@ void FARMaster::MainLoopCallBack() {
   }
 
   if (!is_graph_init_ && !nav_graph_.empty()) {
+    // 第一次检测到 nav_graph_ 为非空时 就将 is_graph_init_ 设置为 true
     is_graph_init_ = true;
     printf("\033[A"), printf("\033[A"), printf("\033[2K");
     std::cout<< "\033[1;32m V-Graph Initialized \033[0m\n" << std::endl;
@@ -271,7 +275,11 @@ void FARMaster::MainLoopCallBack() {
 }
 
 void FARMaster::PlanningCallBack() {
-  if (!is_init_completed_ || !is_graph_init_) return;
+  if (!is_init_completed_ || !is_graph_init_) 
+  {
+
+    return;
+  }
   const NavNodePtr goal_ptr = graph_planner_.GetGoalNodePtr();
   if (goal_ptr == NULL) {
     /* Graph Traversablity Update */
@@ -806,6 +814,7 @@ void FARMaster::WaypointCallBack(const geometry_msgs::msg::PointStamped& route_g
     if (FARUtil::IsDebug) RCLCPP_WARN(nh_->get_logger(),"FARMaster: wait for v-graph to init before sending any goals");
     return;
   }
+  // RCLCPP_INFO(nh_->get_logger(),"WaypointCallBack");
   Point3D goal_p(route_goal.point.x, route_goal.point.y, route_goal.point.z);
   const std::string goal_frame = route_goal.header.frame_id;
   if (!FARUtil::IsSameFrameID(goal_frame, master_params_.world_frame)) {
diff --git a/src/far_planner/src/planner_visualizer.cpp b/src/far_planner/src/planner_visualizer.cpp
index c8e7ca0..dbc3c66 100644
--- a/src/far_planner/src/planner_visualizer.cpp
+++ b/src/far_planner/src/planner_visualizer.cpp
@@ -419,6 +419,7 @@ void DPVisualizer::SetMarker(const rclcpp::Node::SharedPtr nh,
                              const float& scale_ratio) 
 {
     scan_marker.header.frame_id = FARUtil::worldFrameId;
+    RCLCPP_INFO(nh->get_logger(),"marker frame_id");
     scan_marker.header.stamp = nh->now();
     scan_marker.id = 0;
     scan_marker.ns = ns;
diff --git a/src/goalpoint_rviz_plugin/src/goalpoint_tool.cpp b/src/goalpoint_rviz_plugin/src/goalpoint_tool.cpp
index 7717469..690ce6a 100755
--- a/src/goalpoint_rviz_plugin/src/goalpoint_tool.cpp
+++ b/src/goalpoint_rviz_plugin/src/goalpoint_tool.cpp
@@ -37,7 +37,8 @@ void GoalpointTool::updateTopic()
 {
   rclcpp::Node::SharedPtr raw_node =
     context_->getRosNodeAbstraction().lock()->get_raw_node();
-  sub_ = raw_node->template create_subscription<nav_msgs::msg::Odometry>("/state_estimation", 5 ,std::bind(&GoalpointTool::odomHandler,this,std::placeholders::_1));
+  // sub_ = raw_node->template create_subscription<nav_msgs::msg::Odometry>("/state_estimation", 5 ,std::bind(&GoalpointTool::odomHandler,this,std::placeholders::_1));
+  sub_ = raw_node->template create_subscription<nav_msgs::msg::Odometry>("/odom", 5 ,std::bind(&GoalpointTool::odomHandler,this,std::placeholders::_1));
   
   pub_ = raw_node->template create_publisher<geometry_msgs::msg::PointStamped>("/goal_point", qos_profile_);
   pub_joy_ = raw_node->template create_publisher<sensor_msgs::msg::Joy>("/joy", qos_profile_);
diff --git a/src/graph_decoder/launch/decoder.launch b/src/graph_decoder/launch/decoder.launch.py
similarity index 100%
rename from src/graph_decoder/launch/decoder.launch
rename to src/graph_decoder/launch/decoder.launch.py