diff --git a/src/config.hpp b/src/config.hpp
index 16ac5d2..caa55a2 100644
--- a/src/config.hpp
+++ b/src/config.hpp
@@ -70,7 +70,7 @@
     /**
      * SLAM建图脚本路径
      */
-    constexpr const char *SLAM_SCRIPT_FILE = "/unitree/module/graph_pid_ws/0_unitree_slam.sh";
+    constexpr const char *SLAM_SCRIPT_PATH = "/unitree/module/graph_pid_ws";
 
     /**
      * SLAM建图log路径

diff --git a/src/config.hpp b/src/config.hpp
index 16ac5d2..caa55a2 100644
--- a/src/config.hpp
+++ b/src/config.hpp
@@ -70,7 +70,7 @@
     /**
      * SLAM建图脚本路径
      */
-    constexpr const char *SLAM_SCRIPT_FILE = "/unitree/module/graph_pid_ws/0_unitree_slam.sh";
+    constexpr const char *SLAM_SCRIPT_PATH = "/unitree/module/graph_pid_ws";
 
     /**
      * SLAM建图log路径
diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 122a88c..29f09fe 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -1,4 +1,5 @@
-#include <fstream>
+#include <filesystem>
+#include <fstream>
 #include <iostream>
 #include <thread>
 #include <boost/asio.hpp>
@@ -9,6 +10,8 @@
 #include "methane_serial_port.hpp"
 #include "config.hpp"
 
+namespace fs = std::filesystem;
+
 int main() {
     //启动TCP服务端
     std::thread service_thread([] {
@@ -48,30 +51,23 @@
 
     // 拉起第三方脚本
     std::thread script_thread([] {
-        const auto cmd = (
-            boost::format("setsid sh -c '%1%' > %2% 2>&1 &")
-            % Config::SLAM_SCRIPT_FILE
-            % Config::SLAM_LOG_FILE
-        ).str();
-        std::system(cmd.c_str());
+        fs::current_path(Config::SLAM_SCRIPT_PATH);
+        std::cout << "已切换到目录: " << fs::current_path() << std::endl;
+        for (const auto &entry: fs::directory_iterator(fs::current_path())) {
+            if (entry.is_regular_file() && entry.path().extension() == ".sh") {
+                const auto script_path = entry.path();
+                std::cout << "找到 .sh 文件: " << script_path << std::endl;
 
-        // 等几秒钟，扫一遍日志确认启动成功
-        std::this_thread::sleep_for(std::chrono::seconds(2));
-        std::ifstream log(Config::SLAM_LOG_FILE);
-        std::string line;
-        bool ok = false;
-        while (std::getline(log, line)) {
-            // 确认启动是否成功
-            if (line.find("process started") != std::string::npos) {
-                ok = true;
+                std::ostringstream cmd_ss;
+                cmd_ss << "./" + script_path.filename().string()
+                        << " > "
+                        << Config::SLAM_LOG_FILE
+                        << " 2>&1";
+                const std::string command = cmd_ss.str();
+                std::system(command.c_str());
                 break;
             }
         }
-        if (ok) {
-            std::cout << "Unitree Slam service init success" << std::endl;
-        } else {
-            std::cerr << "[WARN] Unitree Slam service may not be ready yet" << std::endl;
-        }
     });
 
     // 等待所有线程完成