diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..52d251f
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+*/__pycachee__/
\ No newline at end of file
diff --git a/main.py b/main.py
index 74a254c..6d79ce8 100644
--- a/main.py
+++ b/main.py
@@ -32,7 +32,7 @@ def main():
         Ctrl.Send_cmd(msg)
         Ctrl.Wait_finish(12, 0)
 
-        # run_task_1(Ctrl, msg)
+        run_task_1(Ctrl, msg)
 
         time.sleep(100)
 
diff --git a/task_1/__pycache__/task_1.cpython-38.pyc b/task_1/__pycache__/task_1.cpython-38.pyc
index 94e0eb9..95c20ef 100644
Binary files a/task_1/__pycache__/task_1.cpython-38.pyc and b/task_1/__pycache__/task_1.cpython-38.pyc differ
diff --git a/test/plugins/qrcode/binary_qrcode-A1.jpg b/test/plugins/qrcode/binary_qrcode-A1.jpg
new file mode 100644
index 0000000..b19d07d
Binary files /dev/null and b/test/plugins/qrcode/binary_qrcode-A1.jpg differ
diff --git a/test/plugins/qrcode/opencv-test.py b/test/plugins/qrcode/opencv-test.py
new file mode 100644
index 0000000..03c40aa
--- /dev/null
+++ b/test/plugins/qrcode/opencv-test.py
@@ -0,0 +1,15 @@
+import cv2
+
+# Read the image containing a QR code
+img = cv2.imread("image.png")
+
+# Create a QR code detector
+qr_decoder = cv2.QRCodeDetector()
+
+# Detect and decode the QR code
+data, bbox, _ = qr_decoder.detectAndDecode(img)
+
+if data:
+    print("Decoded data:", data)
+else:
+    print("QR code not detected.")
\ No newline at end of file
diff --git a/test/plugins/qrcode/pyzbar-test.py b/test/plugins/qrcode/pyzbar-test.py
new file mode 100644
index 0000000..ee3030b
--- /dev/null
+++ b/test/plugins/qrcode/pyzbar-test.py
@@ -0,0 +1,29 @@
+import cv2
+from pyzbar import pyzbar
+
+def read_qrcode(image_path):
+    # 读取图像
+    img = cv2.imread(image_path)
+
+    if img is None:
+        print("无法加载图像，请检查文件路径是否正确。")
+        return
+
+    # 图像预处理：转换为灰度图并进行二值化处理
+    gray_img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+    _, binary_img = cv2.threshold(gray_img, 128, 255, cv2.THRESH_BINARY)
+
+    # 识别二维码
+    barcodes = pyzbar.decode(binary_img)
+    
+    # 输出结果
+    if not barcodes:
+        print("未检测到二维码。")
+    else:
+        for barcode in barcodes:
+            barcode_data = barcode.data.decode("utf-8")
+            barcode_type = barcode.type
+            print(f"发现 {barcode_type} 二维码: {barcode_data}")
+
+# 使用示例
+read_qrcode("image.png")
\ No newline at end of file
diff --git a/test/plugins/qrcode/qrcode-A1.jpg b/test/plugins/qrcode/qrcode-A1.jpg
new file mode 100644
index 0000000..73476eb
Binary files /dev/null and b/test/plugins/qrcode/qrcode-A1.jpg differ
diff --git a/test/plugins/qrcode/qrcode.png b/test/plugins/qrcode/qrcode.png
new file mode 100644
index 0000000..9924161
Binary files /dev/null and b/test/plugins/qrcode/qrcode.png differ
diff --git a/test/plugins/qrcode/qreader-test.py b/test/plugins/qrcode/qreader-test.py
new file mode 100644
index 0000000..2a87b41
--- /dev/null
+++ b/test/plugins/qrcode/qreader-test.py
@@ -0,0 +1,13 @@
+from qreader import QReader
+import cv2
+
+# 创建QReader实例
+qreader = QReader()
+
+# 读取包含二维码的图像
+image = cv2.cvtColor(cv2.imread("captured_images/qrcode-2/image_20250511_103244.png"), cv2.COLOR_BGR2RGB)
+
+# 检测并解码二维码
+decoded_text = qreader.detect_and_decode(image=image)
+
+print(decoded_text[0])
\ No newline at end of file
diff --git a/test/plugins/qrcode/test-1.py b/test/plugins/qrcode/test-1.py
new file mode 100644
index 0000000..f3c1ad4
--- /dev/null
+++ b/test/plugins/qrcode/test-1.py
@@ -0,0 +1,102 @@
+"""
+author: puhaiyang
+blog: https://blog.csdn.net/puhaiyang
+github: https://github.com/puhaiyang
+"""
+import math
+import cv2
+from pyzbar import pyzbar
+import imutils
+
+
+def azimuthangle(x1, y1, x2, y2):
+    """ 已知两点坐标计算角度 -
+    :param x1: 原点横坐标值
+    :param y1: 原点纵坐标值
+    :param x2: 目标点横坐标值
+    :param y2: 目标纵坐标值
+    """
+    dx = x2 - x1
+    dy = y2 - y1
+    # 求斜率
+    k = dy / dx
+    # 结果是弧度值
+    angle = math.atan(k)
+    # 弧度值转为角度
+    return angle * 180 / math.pi
+
+
+def get_angle(qr_item):
+    """
+    获取出进行矫正所需要的角度
+    """
+    # 将坐标从下到上，从左到右进行排序
+    locs = {qr_item.polygon[0], qr_item.polygon[1], qr_item.polygon[2], qr_item.polygon[3]}
+    locs = sorted(locs, key=lambda x: x.y * 100000 + x.x * 1000)
+    return azimuthangle(locs[2].x, locs[2].y, locs[3].x, locs[3].y)
+
+
+def to_up_angle(qr_item):
+    """
+    获取出使二维码朝上的角度
+    """
+    if qr_item.orientation == 'UP':
+        angle_ext = 0
+    elif qr_item.orientation == 'RIGHT':
+        angle_ext = 270
+    elif qr_item.orientation == 'DOWN':
+        angle_ext = 180
+    else:
+        angle_ext = 90
+    return angle_ext
+
+
+def resize_img(ori_img):
+    """
+    图片压缩
+    """
+    height = ori_img.shape[0]
+    width = ori_img.shape[1]
+    # 执行压缩,按照500的宽度为标准
+    if width > 500:
+        scale_percent = int(500 / width * 100)
+        s_width = int(width * scale_percent / 100)
+        s_height = int(height * scale_percent / 100)
+        # 新的宽度和高度
+        dim = (s_width, s_height)
+        return cv2.resize(ori_img, dim, interpolation=cv2.INTER_AREA)
+    else:
+        return ori_img
+
+
+def adjust_rotae_angle(img):
+    angle = 0
+    # 对图片进行压缩
+    img = resize_img(img)
+    # symbol为64代表二维码
+    qr_result = pyzbar.decode(img, symbols=[64])
+    if len(qr_result) == 1:
+        # 识别到了一个二维码,将二维码朝上旋转
+        first_adjust_angle = to_up_angle(qr_result[0])
+        # 进行旋转
+        img_rotae_to_up = imutils.rotate_bound(img, first_adjust_angle)
+        # 再次识别
+        qr_result2 = pyzbar.decode(img_rotae_to_up, symbols=[64])
+        if len(qr_result2) == 1:
+            last_adjust_angle = -get_angle(qr_result2[0])
+            angle = first_adjust_angle + last_adjust_angle
+            print("first angle:%d last angle:%d angle:%d" % (first_adjust_angle, last_adjust_angle, angle))
+        else:
+            print('last 未识别到二维码')
+    else:
+        print('first 未识别到二维码')
+    return angle
+
+
+if __name__ == '__main__':
+    # 加载图片
+    img = cv2.imread('123.jpg')
+    adjust_angle = adjust_rotae_angle(img.copy())
+    if adjust_angle != 0:
+        img_rotae = imutils.rotate_bound(img, adjust_angle)
+        cv2.imwrite('img_rotae.jpg', img_rotae)
diff --git a/test/plugins/qrcode/threshold.py b/test/plugins/qrcode/threshold.py
new file mode 100644
index 0000000..341d66b
--- /dev/null
+++ b/test/plugins/qrcode/threshold.py
@@ -0,0 +1,13 @@
+import cv2
+
+# 读取图像（灰度）
+image = cv2.imread('qrcode-A1.jpg', 0)
+
+# 设置阈值
+threshold_value = 100
+
+# 进行二值化处理
+_, binary_image = cv2.threshold(image, threshold_value, 255, cv2.THRESH_BINARY)
+
+# 保存结果
+cv2.imwrite('binary_qrcode-A1.jpg', binary_image)
\ No newline at end of file
diff --git a/test/plugins/qrcode/zxing.py b/test/plugins/qrcode/zxing.py
new file mode 100644
index 0000000..24cb4f1
--- /dev/null
+++ b/test/plugins/qrcode/zxing.py
@@ -0,0 +1,10 @@
+from pyzxing import BarCodeReader
+reader = BarCodeReader()
+results = reader.decode('binary_qrcode-A1.jpg')
+print(results[0])
+# # 支持输入文件模式以检测多个文件
+# results = reader.decode('/PATH/TO/FILES/*.png')
+# print(results)
+# 支持传入图片的向量
+# 需要额外安装opencv，pip install opencv-python
+# results = reader.decode_array(img)
\ No newline at end of file
diff --git a/test/ros2/rgb-camera/image-raw-show.py b/test/ros2/rgb-camera/image-raw-show.py
new file mode 100644
index 0000000..5fa6095
--- /dev/null
+++ b/test/ros2/rgb-camera/image-raw-show.py
@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
+
+class ImageSubscriber(Node):
+    def __init__(self):
+        super().__init__('image_subscriber')
+        # 定义 QoS 配置（匹配发布者的可靠性策略）
+        qos_profile = QoSProfile(
+            reliability=QoSReliabilityPolicy.BEST_EFFORT,  # 或 BEST_EFFORT，取决于发布者
+            history=QoSHistoryPolicy.KEEP_LAST,
+            depth=10
+        )
+
+        self.subscription = self.create_subscription(
+            Image,
+            '/rgb_camera/image_raw',
+            self.image_callback,
+            qos_profile=qos_profile
+        )
+        self.subscription  # 防止未使用变量警告
+        self.bridge = CvBridge()
+
+    def image_callback(self, msg):
+        try:
+            # 将ROS图像消息转换为OpenCV格式
+            cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+            
+            # 在这里进行你的图像分析
+            # 例如显示图像
+            cv2.imshow("Camera Feed", cv_image)
+            cv2.waitKey(1)
+            
+            # 可以在这里添加你的图像处理代码
+            # analyze_image(cv_image)
+            
+        except Exception as e:
+            self.get_logger().error('Failed to convert image: %s' % str(e))
+
+def main(args=None):
+    rclpy.init(args=args)
+    image_subscriber = ImageSubscriber()
+    
+    try:
+        rclpy.spin(image_subscriber)
+    except KeyboardInterrupt:
+        pass
+    
+    # 清理
+    image_subscriber.destroy_node()
+    rclpy.shutdown()
+    cv2.destroyAllWindows()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/test/ros2/rgb-camera/img-raw-get.py b/test/ros2/rgb-camera/img-raw-get.py
new file mode 100644
index 0000000..45d90ae
--- /dev/null
+++ b/test/ros2/rgb-camera/img-raw-get.py
@@ -0,0 +1,71 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
+from datetime import datetime
+
+class ImageSubscriber(Node):
+    def __init__(self):
+        super().__init__('image_subscriber')
+        
+        # Define QoS Profile
+        qos_profile = QoSProfile(
+            reliability=QoSReliabilityPolicy.BEST_EFFORT,
+            history=QoSHistoryPolicy.KEEP_LAST,
+            depth=10
+        )
+
+        self.subscription = self.create_subscription(
+            Image,
+            '/rgb_camera/image_raw',
+            self.image_callback,
+            qos_profile=qos_profile
+        )
+        self.subscription  # Prevent unused variable warning
+        self.bridge = CvBridge()
+        self.cv_image = None  # Store latest image
+        self.image_saved = False  # Flag to track if image is saved
+
+    def image_callback(self, msg):
+        if self.image_saved:
+            return  # Skip processing if image already saved
+
+        try:
+            # Convert image message to OpenCV format
+            self.cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
+            self.save_image()
+            self.image_saved = True  # Mark image as saved
+
+            # Shutdown the node after saving the image
+            self.destroy_node()
+            rclpy.shutdown()
+            cv2.destroyAllWindows()
+            exit(0)
+
+        except Exception as e:
+            self.get_logger().error('Failed to convert image: %s' % str(e))
+
+    def save_image(self):
+        if self.cv_image is not None:
+            # Generate a timestamped filename
+            timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+            filename = f"captured_images/arrow-right/image_{timestamp}.png"
+            
+            cv2.imwrite(filename, self.cv_image)
+            self.get_logger().info(f"Saved image as {filename}")
+        else:
+            self.get_logger().warn("No image received yet to save.")
+
+def main(args=None):
+    rclpy.init(args=args)
+    image_subscriber = ImageSubscriber()
+    
+    try:
+        rclpy.spin(image_subscriber)
+    except KeyboardInterrupt:
+        pass
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/utils/__pycache__/image_raw.cpython-38.pyc b/utils/__pycache__/image_raw.cpython-38.pyc
new file mode 100644
index 0000000..8a4d80e
Binary files /dev/null and b/utils/__pycache__/image_raw.cpython-38.pyc differ
diff --git a/utils/__pycache__/robot_control_cmd_lcmt.cpython-38.pyc b/utils/__pycache__/robot_control_cmd_lcmt.cpython-38.pyc
new file mode 100644
index 0000000..7d66c60
Binary files /dev/null and b/utils/__pycache__/robot_control_cmd_lcmt.cpython-38.pyc differ
diff --git a/utils/__pycache__/robot_control_response_lcmt.cpython-38.pyc b/utils/__pycache__/robot_control_response_lcmt.cpython-38.pyc
new file mode 100644
index 0000000..e4f707f
Binary files /dev/null and b/utils/__pycache__/robot_control_response_lcmt.cpython-38.pyc differ
diff --git a/utils/image_raw.py b/utils/image_raw.py
index 7788af5..ccac59f 100644
--- a/utils/image_raw.py
+++ b/utils/image_raw.py
@@ -6,6 +6,8 @@ from sensor_msgs.msg import Image
 from cv_bridge import CvBridge
 import cv2
 from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
+from qreader import QReader
+
 
 class ImageSubscriber(Node):
     def __init__(self):
@@ -35,24 +37,33 @@ class ImageSubscriber(Node):
         except Exception as e:
             self.get_logger().error('Failed to convert image: %s' % str(e))
 
+
 class ImageProcessor:
     def __init__(self):
         rclpy.init()
         self.image_subscriber = ImageSubscriber()
+        self.qreader = QReader()
     
     def run(self):
         try:
             rclpy.spin(self.image_subscriber)
         except KeyboardInterrupt:
             pass
-
-    def get_current_image(self):
-        return self.image_subscriber.cv_image
     
     def destroy(self):
         self.image_subscriber.destroy_node()
         rclpy.shutdown()
 
+    def get_current_image(self):
+        return self.image_subscriber.cv_image
+    
+    def decode_qrcode(self, img = None):
+        if img is None:
+            img = self.get_current_image()
+        decoded_info = self.qreader.detect_and_decode(image=img)
+        return decoded_info[0]
+
+
 """ DEBUG """
 
 def main(args=None):