diff --git a/src/config.hpp b/src/config.hpp
index d1d2f15..16ac5d2 100644
--- a/src/config.hpp
+++ b/src/config.hpp
@@ -66,6 +66,16 @@
      * SLAM建图文件
      */
     constexpr const char *SLAM_PCD_FILE = "/unitree/module/graph_pid_ws/config_files/lio_sam_config/maps/pcd/default/GlobalMap.pcd";
+
+    /**
+     * SLAM建图脚本路径
+     */
+    constexpr const char *SLAM_SCRIPT_FILE = "/unitree/module/graph_pid_ws/0_unitree_slam.sh";
+
+    /**
+     * SLAM建图log路径
+     */
+    constexpr const char *SLAM_LOG_FILE = "/tmp/unitree_slam_service.log";
 }
 
 #endif //CONFIG_HPP

diff --git a/src/config.hpp b/src/config.hpp
index d1d2f15..16ac5d2 100644
--- a/src/config.hpp
+++ b/src/config.hpp
@@ -66,6 +66,16 @@
      * SLAM建图文件
      */
     constexpr const char *SLAM_PCD_FILE = "/unitree/module/graph_pid_ws/config_files/lio_sam_config/maps/pcd/default/GlobalMap.pcd";
+
+    /**
+     * SLAM建图脚本路径
+     */
+    constexpr const char *SLAM_SCRIPT_FILE = "/unitree/module/graph_pid_ws/0_unitree_slam.sh";
+
+    /**
+     * SLAM建图log路径
+     */
+    constexpr const char *SLAM_LOG_FILE = "/tmp/unitree_slam_service.log";
 }
 
 #endif //CONFIG_HPP
diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 21c8099..2e44bd4 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -1,6 +1,8 @@
-#include <iostream>
+#include <fstream>
+#include <iostream>
 #include <thread>
 #include <boost/asio.hpp>
+#include <boost/format.hpp>
 
 #include "tcp_service.hpp"
 #include "tcp_client.hpp"
@@ -10,9 +12,13 @@
 int main() {
     //启动TCP服务端
     std::thread service_thread([] {
-        boost::asio::io_service io;
-        TcpService::getInstance().start(Config::TCP_SERVICE_LOCALE_PORT);
-        io.run();
+        try {
+            boost::asio::io_service io;
+            TcpService::getInstance().start(Config::TCP_SERVICE_LOCALE_PORT);
+            io.run();
+        } catch (const boost::wrapexcept<boost::system::system_error> &e) {
+            std::cerr << "[WARN] Boost exception: " << e.what() << std::endl;
+        }
     });
 
     // 启动TCP客户端
@@ -36,9 +42,38 @@
         }
     });
 
+    // 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());
+
+        // 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;
+                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
     service_thread.join();
     client_thread.join();
     gas_serial_port_thread.join();
+    script_thread.join();
     return 0;
 }

diff --git a/src/config.hpp b/src/config.hpp
index d1d2f15..16ac5d2 100644
--- a/src/config.hpp
+++ b/src/config.hpp
@@ -66,6 +66,16 @@
      * SLAM建图文件
      */
     constexpr const char *SLAM_PCD_FILE = "/unitree/module/graph_pid_ws/config_files/lio_sam_config/maps/pcd/default/GlobalMap.pcd";
+
+    /**
+     * SLAM建图脚本路径
+     */
+    constexpr const char *SLAM_SCRIPT_FILE = "/unitree/module/graph_pid_ws/0_unitree_slam.sh";
+
+    /**
+     * SLAM建图log路径
+     */
+    constexpr const char *SLAM_LOG_FILE = "/tmp/unitree_slam_service.log";
 }
 
 #endif //CONFIG_HPP
diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 21c8099..2e44bd4 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -1,6 +1,8 @@
-#include <iostream>
+#include <fstream>
+#include <iostream>
 #include <thread>
 #include <boost/asio.hpp>
+#include <boost/format.hpp>
 
 #include "tcp_service.hpp"
 #include "tcp_client.hpp"
@@ -10,9 +12,13 @@
 int main() {
     //启动TCP服务端
     std::thread service_thread([] {
-        boost::asio::io_service io;
-        TcpService::getInstance().start(Config::TCP_SERVICE_LOCALE_PORT);
-        io.run();
+        try {
+            boost::asio::io_service io;
+            TcpService::getInstance().start(Config::TCP_SERVICE_LOCALE_PORT);
+            io.run();
+        } catch (const boost::wrapexcept<boost::system::system_error> &e) {
+            std::cerr << "[WARN] Boost exception: " << e.what() << std::endl;
+        }
     });
 
     // 启动TCP客户端
@@ -36,9 +42,38 @@
         }
     });
 
+    // 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());
+
+        // 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;
+                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
     service_thread.join();
     client_thread.join();
     gas_serial_port_thread.join();
+    script_thread.join();
     return 0;
 }
diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index 249e83b..8a2580a 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -113,13 +113,17 @@
 SlamWrapper::SlamWrapper() {
     ChannelFactory::Instance()->Init(0, Config::SLAM_NET_PORT);
 
-    std::thread serial_port_thread([this] {
-        //初始化机械臂串口
-        boost::asio::io_service io;
-        _serialPortPtr = new RoboticArmSerialPort(io, Config::ROBOTIC_ARM_PORT, Config::BAUD_RATE);
-        io.run();
-    });
-    serial_port_thread.detach();
+    try {
+        std::thread serial_port_thread([this] {
+            //初始化机械臂串口
+            boost::asio::io_service io;
+            _serialPortPtr = new RoboticArmSerialPort(io, Config::ROBOTIC_ARM_PORT, Config::BAUD_RATE);
+            io.run();
+        });
+        serial_port_thread.detach();
+    } catch (const boost::wrapexcept<boost::system::system_error> &e) {
+        std::cerr << "Boost exception: " << e.what() << std::endl;
+    }
 
     // pub
     pubQtCommand->InitChannel();

diff --git a/src/config.hpp b/src/config.hpp
index d1d2f15..16ac5d2 100644
--- a/src/config.hpp
+++ b/src/config.hpp
@@ -66,6 +66,16 @@
      * SLAM建图文件
      */
     constexpr const char *SLAM_PCD_FILE = "/unitree/module/graph_pid_ws/config_files/lio_sam_config/maps/pcd/default/GlobalMap.pcd";
+
+    /**
+     * SLAM建图脚本路径
+     */
+    constexpr const char *SLAM_SCRIPT_FILE = "/unitree/module/graph_pid_ws/0_unitree_slam.sh";
+
+    /**
+     * SLAM建图log路径
+     */
+    constexpr const char *SLAM_LOG_FILE = "/tmp/unitree_slam_service.log";
 }
 
 #endif //CONFIG_HPP
diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index 21c8099..2e44bd4 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -1,6 +1,8 @@
-#include <iostream>
+#include <fstream>
+#include <iostream>
 #include <thread>
 #include <boost/asio.hpp>
+#include <boost/format.hpp>
 
 #include "tcp_service.hpp"
 #include "tcp_client.hpp"
@@ -10,9 +12,13 @@
 int main() {
     //启动TCP服务端
     std::thread service_thread([] {
-        boost::asio::io_service io;
-        TcpService::getInstance().start(Config::TCP_SERVICE_LOCALE_PORT);
-        io.run();
+        try {
+            boost::asio::io_service io;
+            TcpService::getInstance().start(Config::TCP_SERVICE_LOCALE_PORT);
+            io.run();
+        } catch (const boost::wrapexcept<boost::system::system_error> &e) {
+            std::cerr << "[WARN] Boost exception: " << e.what() << std::endl;
+        }
     });
 
     // 启动TCP客户端
@@ -36,9 +42,38 @@
         }
     });
 
+    // 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());
+
+        // 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;
+                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
     service_thread.join();
     client_thread.join();
     gas_serial_port_thread.join();
+    script_thread.join();
     return 0;
 }
diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index 249e83b..8a2580a 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -113,13 +113,17 @@
 SlamWrapper::SlamWrapper() {
     ChannelFactory::Instance()->Init(0, Config::SLAM_NET_PORT);
 
-    std::thread serial_port_thread([this] {
-        //初始化机械臂串口
-        boost::asio::io_service io;
-        _serialPortPtr = new RoboticArmSerialPort(io, Config::ROBOTIC_ARM_PORT, Config::BAUD_RATE);
-        io.run();
-    });
-    serial_port_thread.detach();
+    try {
+        std::thread serial_port_thread([this] {
+            //初始化机械臂串口
+            boost::asio::io_service io;
+            _serialPortPtr = new RoboticArmSerialPort(io, Config::ROBOTIC_ARM_PORT, Config::BAUD_RATE);
+            io.run();
+        });
+        serial_port_thread.detach();
+    } catch (const boost::wrapexcept<boost::system::system_error> &e) {
+        std::cerr << "Boost exception: " << e.what() << std::endl;
+    }
 
     // pub
     pubQtCommand->InitChannel();
diff --git a/src/tcp_service.cpp b/src/tcp_service.cpp
index 32304e4..490f703 100644
--- a/src/tcp_service.cpp
+++ b/src/tcp_service.cpp
@@ -107,7 +107,7 @@
             client_thread.join();
         }
     } catch (const std::exception &e) {
-        std::cerr << "exception in tcp_server::start: " << e.what() << std::endl;
+        std::cerr << "[WARN] TcpService start " << e.what() << std::endl;
     }
 }