diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
index 6c3c3bd..5d57391 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -25,7 +25,7 @@
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        log.info("pose_message..........", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
         PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
         event.setRobotId(robotId);

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
index 6c3c3bd..5d57391 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -25,7 +25,7 @@
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        log.info("pose_message..........", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
         PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
         event.setRobotId(robotId);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 40a60a1..5644c2f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -26,6 +26,7 @@
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -164,7 +165,7 @@
             throw new ServiceException(500,"请优先开启导航");
         }
         RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
-        GridPointDTO gridPointDTO = new GridPointDTO();
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(request.getX()),new BigDecimal(request.getY()),robotInfo.getResolution(),robotInfo);
         //获取栅格中心点
         GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
         request.setX(pointDTO.getX().toString());

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
index 6c3c3bd..5d57391 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -25,7 +25,7 @@
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        log.info("pose_message..........", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
         PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
         event.setRobotId(robotId);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 40a60a1..5644c2f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -26,6 +26,7 @@
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -164,7 +165,7 @@
             throw new ServiceException(500,"请优先开启导航");
         }
         RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
-        GridPointDTO gridPointDTO = new GridPointDTO();
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(request.getX()),new BigDecimal(request.getY()),robotInfo.getResolution(),robotInfo);
         //获取栅格中心点
         GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
         request.setX(pointDTO.getX().toString());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index 8319857..8b520cb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -48,11 +48,12 @@
             initDTO.setZNow("0.00");
         }
 
-        log.info(JSON.toJSONString(initDTO));
+
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
         commends.add(path + initPathName);
         commends.addAll(initDTO.toArray());
+        log.info("初始算法调用:{}", commends);
         List<String> res = AlgorithmUtils.invokeJob(commends);
 
         //判断当前任务是否开启
@@ -73,6 +74,7 @@
         List<String> commends = new ArrayList<>();
         commends.add(path + planPathName);
         commends.addAll(planDTO.toArray());
+        log.info("寻源算法调用:{}", commends);
         log.info("寻源算法调用:{}", JSON.toJSONString(planDTO));
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
index 6c3c3bd..5d57391 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -25,7 +25,7 @@
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        log.info("pose_message..........", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
         PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
         event.setRobotId(robotId);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 40a60a1..5644c2f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -26,6 +26,7 @@
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -164,7 +165,7 @@
             throw new ServiceException(500,"请优先开启导航");
         }
         RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
-        GridPointDTO gridPointDTO = new GridPointDTO();
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(request.getX()),new BigDecimal(request.getY()),robotInfo.getResolution(),robotInfo);
         //获取栅格中心点
         GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
         request.setX(pointDTO.getX().toString());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index 8319857..8b520cb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -48,11 +48,12 @@
             initDTO.setZNow("0.00");
         }
 
-        log.info(JSON.toJSONString(initDTO));
+
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
         commends.add(path + initPathName);
         commends.addAll(initDTO.toArray());
+        log.info("初始算法调用:{}", commends);
         List<String> res = AlgorithmUtils.invokeJob(commends);
 
         //判断当前任务是否开启
@@ -73,6 +74,7 @@
         List<String> commends = new ArrayList<>();
         commends.add(path + planPathName);
         commends.addAll(planDTO.toArray());
+        log.info("寻源算法调用:{}", commends);
         log.info("寻源算法调用:{}", JSON.toJSONString(planDTO));
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml
index 83bb076..c67b69c 100644
--- a/casic-web/src/main/resources/config/application-test.yml
+++ b/casic-web/src/main/resources/config/application-test.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://192.168.83.40:3000/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://192.168.1.102:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: root
+    password: 123456
     druid:
       max-active: 50
       min-idle: 20

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
index 6c3c3bd..5d57391 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java
@@ -25,7 +25,7 @@
 
     @Override
     public void process(String robotId, String topic, MqttMessage message) {
-//        log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString());
+        log.info("pose_message..........", robotId, topic, message.toString());
         sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message);
         PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message);
         event.setRobotId(robotId);
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
index 40a60a1..5644c2f 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java
@@ -26,6 +26,7 @@
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.math.BigDecimal;
 import java.util.List;
 
 /**
@@ -164,7 +165,7 @@
             throw new ServiceException(500,"请优先开启导航");
         }
         RobotInfo robotInfo = robotInfoService.getById(request.getRobotId());
-        GridPointDTO gridPointDTO = new GridPointDTO();
+        GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(request.getX()),new BigDecimal(request.getY()),robotInfo.getResolution(),robotInfo);
         //获取栅格中心点
         GridPointDTO pointDTO =  algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo);
         request.setX(pointDTO.getX().toString());
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
index 8319857..8b520cb 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java
@@ -48,11 +48,12 @@
             initDTO.setZNow("0.00");
         }
 
-        log.info(JSON.toJSONString(initDTO));
+
         //算法路径及入参配置
         List<String> commends = new ArrayList<>();
         commends.add(path + initPathName);
         commends.addAll(initDTO.toArray());
+        log.info("初始算法调用:{}", commends);
         List<String> res = AlgorithmUtils.invokeJob(commends);
 
         //判断当前任务是否开启
@@ -73,6 +74,7 @@
         List<String> commends = new ArrayList<>();
         commends.add(path + planPathName);
         commends.addAll(planDTO.toArray());
+        log.info("寻源算法调用:{}", commends);
         log.info("寻源算法调用:{}", JSON.toJSONString(planDTO));
         List<String> res = AlgorithmUtils.invokeJob(commends);
         AlgorithmResponse response = getAlgorithmResponse(planDTO, res);
diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml
index 83bb076..c67b69c 100644
--- a/casic-web/src/main/resources/config/application-test.yml
+++ b/casic-web/src/main/resources/config/application-test.yml
@@ -4,9 +4,9 @@
 spring:
   datasource:
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://192.168.83.40:3000/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
+    url: jdbc:mysql://192.168.1.102:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true
     username: root
-    password: root
+    password: 123456
     druid:
       max-active: 50
       min-idle: 20
diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml
index 85116ac..14112dc 100644
--- a/casic-web/src/main/resources/config/application.yml
+++ b/casic-web/src/main/resources/config/application.yml
@@ -45,7 +45,7 @@
   hikSdk: D:\workspace\server\keti\casic-robot-inspection\doc\hiklib\HCNetSDK.dll
   hikPlay: D:\workspace\server\keti\casic-robot-inspection\doc\hiklib\PlayCtrl.dll
   algorithm:
-    path:  D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\path\
+    path:  D:\robot\path\
     initPathName: init.exe
     planPathName: search.exe
   doc: