diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index d7e86b2..ba616c1 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -38,10 +38,11 @@
         begin_ = seq->data().find("feedback:", 0);
         end_ = seq->data().find(";", begin_);
         str_ = seq->data().substr(begin_ + 9, end_ - begin_ - 9);
-        if (const int feedback_ = atoi(str_.c_str()); feedback_ == 0 || feedback_ == -1)
+        if (const int feedback_ = atoi(str_.c_str()); feedback_ == 0 || feedback_ == -1) {
             std::cout << "\033[1;31m"
                     << "Command execution failed with index = " << index_ << "."
                     << "\033[0m";
+        }
         std::cout << notice_ << std::endl;
     } else if (index_ == 10001) {
         // Navigation feedback
@@ -49,7 +50,7 @@
         end_ = seq->data().find(";", begin_);
         str_ = seq->data().substr(begin_ + 7, end_ - begin_ - 7);
         const int arrive_ = atoi(str_.c_str());
-        std::cout << " I arrived node " << arrive_ << ". " << notice_ << std::endl;
+        std::cout << "I arrived node " << arrive_ << ". " << notice_ << std::endl;
         if (arrive_ == 1) {
             //发送暂停指令
             pause_navigation();
@@ -66,19 +67,22 @@
 
             //倒计时结束后恢复巡检
             std::thread countdown_thread([this] {
-                std::this_thread::sleep_for(std::chrono::seconds(10));
-                std::cout << "倒计时结束，恢复机械臂初始位置，恢复巡检";
-                //水平朝前方向
-                _tcp_service->send_command({
-                    0xFE, 0xFE, 0x0F, 0x3C,
-                    0x08, 0x00, 0x08, 0x00, 0x08, 0x00,
-                    0x08, 0x00, 0x08, 0x00, 0x08, 0x00,
-                    0x14, 0xFA
-                });
-
-                recover_navigation();
+                try {
+                    std::this_thread::sleep_for(std::chrono::seconds(10));
+                    recover_navigation();
+                    std::cout << "倒计时结束，恢复机械臂初始位置，恢复巡检";
+                    //水平朝前方向
+                    _tcp_service->send_command({
+                        0xFE, 0xFE, 0x0F, 0x3C,
+                        0x08, 0x00, 0x08, 0x00, 0x08, 0x00,
+                        0x08, 0x00, 0x08, 0x00, 0x08, 0x00,
+                        0x14, 0xFA
+                    });
+                } catch (const std::exception &e) {
+                    std::cerr << "线程执行过程中发生异常: " << e.what() << std::endl;
+                }
             });
-            countdown_thread.detach();
+            countdown_thread.join();
         }
     }
 }