diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index d5895cd..be4bf9d 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -127,6 +127,8 @@
                 << "\033[0m" << std::endl;
     }
 
+    load_command_config();
+
     // pub
     pubQtCommand->InitChannel();
     pubQtNode->InitChannel();
@@ -135,7 +137,10 @@
     // sub
     subQtNotice->InitChannel(std::bind(&SlamWrapper::qt_notice_handler, this, std::placeholders::_1), 10);
     subOdometer->InitChannel(std::bind(&SlamWrapper::odometer_handler, this, std::placeholders::_1), 1);
+}
 
+//casic start
+void SlamWrapper::load_command_config() {
     // 读取本地指令配置
     std::ifstream config_file(Config::ROBOTIC_ARM_COMMAND_CONFIG);
     if (!config_file.is_open()) {
@@ -148,7 +153,9 @@
     CommandAttribute current_command;
     while (std::getline(config_file, line)) {
         line = trim(line);
-        if (line.empty() || line[0] == '#') continue; // 忽略空行和注释
+        if (line.empty()) continue; // 忽略空行
+
+        std::cout << line << std::endl;
 
         if (line[0] == '[') {
             // 处理节名 [section]
@@ -156,7 +163,7 @@
             if (end_bracket != std::string::npos) {
                 if (!current_section.empty()) {
                     // 将上一个节的数据存储到 map 中
-                    _armCommands[current_section + ".command"] = current_command;
+                    _command_map[current_section + ".command"] = current_command;
                 }
                 current_section = line.substr(1, end_bracket - 1);
                 // 初始化新的节数据
@@ -188,16 +195,15 @@
     }
     // 存储最后一个节的数据
     if (!current_section.empty()) {
-        _armCommands[current_section + ".command"] = current_command;
+        _command_map[current_section + ".command"] = current_command;
     }
     config_file.close();
 
     std::cout << "\033[1;92m"
-            << "SlamWrapper init success, has " << _armCommands.size() << " arm commands "
+            << "SlamWrapper init success, has " << _command_map.size() << " arm commands "
             << "\033[0m" << std::endl;
 }
 
-//casic start
 void SlamWrapper::control_robotic_arm() const {
     const std::vector<uint8_t> left_command = {
         0XFE, 0XFE, 0X0F, 0X3C, 0X05, 0XB3, 0X08, 0X19, 0X07, 0X5E, 0X08, 0X73, 0X08, 0X1D, 0X08, 0XA6, 0X14, 0XFA
@@ -253,8 +259,8 @@
     const std::string section = std::to_string(_current_node);
     const std::string full_key = section + ".command";
 
-    const auto it = _armCommands.find(full_key);
-    if (it != _armCommands.end() && it->second.enabled) {
+    const auto it = _command_map.find(full_key);
+    if (it != _command_map.end() && it->second.enabled) {
         return it->second.command;
     }
     return {};

diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index d5895cd..be4bf9d 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -127,6 +127,8 @@
                 << "\033[0m" << std::endl;
     }
 
+    load_command_config();
+
     // pub
     pubQtCommand->InitChannel();
     pubQtNode->InitChannel();
@@ -135,7 +137,10 @@
     // sub
     subQtNotice->InitChannel(std::bind(&SlamWrapper::qt_notice_handler, this, std::placeholders::_1), 10);
     subOdometer->InitChannel(std::bind(&SlamWrapper::odometer_handler, this, std::placeholders::_1), 1);
+}
 
+//casic start
+void SlamWrapper::load_command_config() {
     // 读取本地指令配置
     std::ifstream config_file(Config::ROBOTIC_ARM_COMMAND_CONFIG);
     if (!config_file.is_open()) {
@@ -148,7 +153,9 @@
     CommandAttribute current_command;
     while (std::getline(config_file, line)) {
         line = trim(line);
-        if (line.empty() || line[0] == '#') continue; // 忽略空行和注释
+        if (line.empty()) continue; // 忽略空行
+
+        std::cout << line << std::endl;
 
         if (line[0] == '[') {
             // 处理节名 [section]
@@ -156,7 +163,7 @@
             if (end_bracket != std::string::npos) {
                 if (!current_section.empty()) {
                     // 将上一个节的数据存储到 map 中
-                    _armCommands[current_section + ".command"] = current_command;
+                    _command_map[current_section + ".command"] = current_command;
                 }
                 current_section = line.substr(1, end_bracket - 1);
                 // 初始化新的节数据
@@ -188,16 +195,15 @@
     }
     // 存储最后一个节的数据
     if (!current_section.empty()) {
-        _armCommands[current_section + ".command"] = current_command;
+        _command_map[current_section + ".command"] = current_command;
     }
     config_file.close();
 
     std::cout << "\033[1;92m"
-            << "SlamWrapper init success, has " << _armCommands.size() << " arm commands "
+            << "SlamWrapper init success, has " << _command_map.size() << " arm commands "
             << "\033[0m" << std::endl;
 }
 
-//casic start
 void SlamWrapper::control_robotic_arm() const {
     const std::vector<uint8_t> left_command = {
         0XFE, 0XFE, 0X0F, 0X3C, 0X05, 0XB3, 0X08, 0X19, 0X07, 0X5E, 0X08, 0X73, 0X08, 0X1D, 0X08, 0XA6, 0X14, 0XFA
@@ -253,8 +259,8 @@
     const std::string section = std::to_string(_current_node);
     const std::string full_key = section + ".command";
 
-    const auto it = _armCommands.find(full_key);
-    if (it != _armCommands.end() && it->second.enabled) {
+    const auto it = _command_map.find(full_key);
+    if (it != _command_map.end() && it->second.enabled) {
         return it->second.command;
     }
     return {};
diff --git a/src/slam_wrapper.hpp b/src/slam_wrapper.hpp
index d8d4546..23b27ea 100644
--- a/src/slam_wrapper.hpp
+++ b/src/slam_wrapper.hpp
@@ -58,6 +58,8 @@
     explicit SlamWrapper();
 
     //casic start
+    void load_command_config();
+
     void control_robotic_arm() const;
 
     void move_to_i() const;
@@ -126,29 +128,19 @@
     const std::vector<uint8_t> default_command = {
         0xFE, 0xFE, 0x0F, 0x3C, 0x08, 0x20, 0x09, 0x90, 0x05, 0x96, 0x08, 0x26, 0x0A, 0xFE, 0x08, 0x48, 0x1E, 0xFA
     };
-    std::map<std::string, CommandAttribute> _armCommands;
+    std::map<std::string, CommandAttribute> _command_map;
 
     int _current_node = 0;
     std::map<int, CommandAttribute> _commandCaches;
 
     // pub
-    ChannelPublisherPtr<QtCommand_> pubQtCommand = ChannelPublisherPtr<QtCommand_>(
-        new ChannelPublisher<QtCommand_>(COMMANDTOPIC)
-    );
-    ChannelPublisherPtr<QtNode_> pubQtNode = ChannelPublisherPtr<QtNode_>(
-        new ChannelPublisher<QtNode_>(ADDNODETOPIC)
-    );
-    ChannelPublisherPtr<QtEdge_> pubQtEdge = ChannelPublisherPtr<QtEdge_>(
-        new ChannelPublisher<QtEdge_>(ADDEDGETOPIC)
-    );
+    ChannelPublisherPtr<QtCommand_> pubQtCommand = std::make_shared<ChannelPublisher<QtCommand_> >(COMMANDTOPIC);
+    ChannelPublisherPtr<QtNode_> pubQtNode = std::make_shared<ChannelPublisher<QtNode_> >(ADDNODETOPIC);
+    ChannelPublisherPtr<QtEdge_> pubQtEdge = std::make_shared<ChannelPublisher<QtEdge_> >(ADDEDGETOPIC);
 
     // sub
-    ChannelSubscriberPtr<String_> subQtNotice = ChannelSubscriberPtr<String_>(
-        new ChannelSubscriber<String_>(NOTICETOPIC)
-    );
-    ChannelSubscriberPtr<Odometry_> subOdometer = ChannelSubscriberPtr<Odometry_>(
-        new ChannelSubscriber<Odometry_>(ODOMTOPIC)
-    );
+    ChannelSubscriberPtr<String_> subQtNotice = std::make_shared<ChannelSubscriber<String_> >(NOTICETOPIC);
+    ChannelSubscriberPtr<Odometry_> subOdometer = std::make_shared<ChannelSubscriber<Odometry_> >(ODOMTOPIC);
 };
 
 #endif //SLAM_WRAPPER_HPP

diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index d5895cd..be4bf9d 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -127,6 +127,8 @@
                 << "\033[0m" << std::endl;
     }
 
+    load_command_config();
+
     // pub
     pubQtCommand->InitChannel();
     pubQtNode->InitChannel();
@@ -135,7 +137,10 @@
     // sub
     subQtNotice->InitChannel(std::bind(&SlamWrapper::qt_notice_handler, this, std::placeholders::_1), 10);
     subOdometer->InitChannel(std::bind(&SlamWrapper::odometer_handler, this, std::placeholders::_1), 1);
+}
 
+//casic start
+void SlamWrapper::load_command_config() {
     // 读取本地指令配置
     std::ifstream config_file(Config::ROBOTIC_ARM_COMMAND_CONFIG);
     if (!config_file.is_open()) {
@@ -148,7 +153,9 @@
     CommandAttribute current_command;
     while (std::getline(config_file, line)) {
         line = trim(line);
-        if (line.empty() || line[0] == '#') continue; // 忽略空行和注释
+        if (line.empty()) continue; // 忽略空行
+
+        std::cout << line << std::endl;
 
         if (line[0] == '[') {
             // 处理节名 [section]
@@ -156,7 +163,7 @@
             if (end_bracket != std::string::npos) {
                 if (!current_section.empty()) {
                     // 将上一个节的数据存储到 map 中
-                    _armCommands[current_section + ".command"] = current_command;
+                    _command_map[current_section + ".command"] = current_command;
                 }
                 current_section = line.substr(1, end_bracket - 1);
                 // 初始化新的节数据
@@ -188,16 +195,15 @@
     }
     // 存储最后一个节的数据
     if (!current_section.empty()) {
-        _armCommands[current_section + ".command"] = current_command;
+        _command_map[current_section + ".command"] = current_command;
     }
     config_file.close();
 
     std::cout << "\033[1;92m"
-            << "SlamWrapper init success, has " << _armCommands.size() << " arm commands "
+            << "SlamWrapper init success, has " << _command_map.size() << " arm commands "
             << "\033[0m" << std::endl;
 }
 
-//casic start
 void SlamWrapper::control_robotic_arm() const {
     const std::vector<uint8_t> left_command = {
         0XFE, 0XFE, 0X0F, 0X3C, 0X05, 0XB3, 0X08, 0X19, 0X07, 0X5E, 0X08, 0X73, 0X08, 0X1D, 0X08, 0XA6, 0X14, 0XFA
@@ -253,8 +259,8 @@
     const std::string section = std::to_string(_current_node);
     const std::string full_key = section + ".command";
 
-    const auto it = _armCommands.find(full_key);
-    if (it != _armCommands.end() && it->second.enabled) {
+    const auto it = _command_map.find(full_key);
+    if (it != _command_map.end() && it->second.enabled) {
         return it->second.command;
     }
     return {};
diff --git a/src/slam_wrapper.hpp b/src/slam_wrapper.hpp
index d8d4546..23b27ea 100644
--- a/src/slam_wrapper.hpp
+++ b/src/slam_wrapper.hpp
@@ -58,6 +58,8 @@
     explicit SlamWrapper();
 
     //casic start
+    void load_command_config();
+
     void control_robotic_arm() const;
 
     void move_to_i() const;
@@ -126,29 +128,19 @@
     const std::vector<uint8_t> default_command = {
         0xFE, 0xFE, 0x0F, 0x3C, 0x08, 0x20, 0x09, 0x90, 0x05, 0x96, 0x08, 0x26, 0x0A, 0xFE, 0x08, 0x48, 0x1E, 0xFA
     };
-    std::map<std::string, CommandAttribute> _armCommands;
+    std::map<std::string, CommandAttribute> _command_map;
 
     int _current_node = 0;
     std::map<int, CommandAttribute> _commandCaches;
 
     // pub
-    ChannelPublisherPtr<QtCommand_> pubQtCommand = ChannelPublisherPtr<QtCommand_>(
-        new ChannelPublisher<QtCommand_>(COMMANDTOPIC)
-    );
-    ChannelPublisherPtr<QtNode_> pubQtNode = ChannelPublisherPtr<QtNode_>(
-        new ChannelPublisher<QtNode_>(ADDNODETOPIC)
-    );
-    ChannelPublisherPtr<QtEdge_> pubQtEdge = ChannelPublisherPtr<QtEdge_>(
-        new ChannelPublisher<QtEdge_>(ADDEDGETOPIC)
-    );
+    ChannelPublisherPtr<QtCommand_> pubQtCommand = std::make_shared<ChannelPublisher<QtCommand_> >(COMMANDTOPIC);
+    ChannelPublisherPtr<QtNode_> pubQtNode = std::make_shared<ChannelPublisher<QtNode_> >(ADDNODETOPIC);
+    ChannelPublisherPtr<QtEdge_> pubQtEdge = std::make_shared<ChannelPublisher<QtEdge_> >(ADDEDGETOPIC);
 
     // sub
-    ChannelSubscriberPtr<String_> subQtNotice = ChannelSubscriberPtr<String_>(
-        new ChannelSubscriber<String_>(NOTICETOPIC)
-    );
-    ChannelSubscriberPtr<Odometry_> subOdometer = ChannelSubscriberPtr<Odometry_>(
-        new ChannelSubscriber<Odometry_>(ODOMTOPIC)
-    );
+    ChannelSubscriberPtr<String_> subQtNotice = std::make_shared<ChannelSubscriber<String_> >(NOTICETOPIC);
+    ChannelSubscriberPtr<Odometry_> subOdometer = std::make_shared<ChannelSubscriber<Odometry_> >(ODOMTOPIC);
 };
 
 #endif //SLAM_WRAPPER_HPP
diff --git a/src/tcp_service.cpp b/src/tcp_service.cpp
index 37a4c39..8ca26c3 100644
--- a/src/tcp_service.cpp
+++ b/src/tcp_service.cpp
@@ -114,7 +114,7 @@
     }
 }
 
-void TcpService::update_node(const int node) {
+void TcpService::update_node(const int node) const {
     std::stringstream ss;
     ss << node << "," << gas_value << "," << "116.296975" << "," << "39.990889";
     const std::string message = ss.str();
@@ -124,7 +124,7 @@
     }
 }
 
-void TcpService::send_gas_warning(const int value) {
+void TcpService::send_gas_warning(const int value) const {
     std::stringstream ss;
     ss << "2" << "," << value << "," << "116.296975" << "," << "39.990889";
     const std::string message = ss.str();

diff --git a/src/slam_wrapper.cpp b/src/slam_wrapper.cpp
index d5895cd..be4bf9d 100644
--- a/src/slam_wrapper.cpp
+++ b/src/slam_wrapper.cpp
@@ -127,6 +127,8 @@
                 << "\033[0m" << std::endl;
     }
 
+    load_command_config();
+
     // pub
     pubQtCommand->InitChannel();
     pubQtNode->InitChannel();
@@ -135,7 +137,10 @@
     // sub
     subQtNotice->InitChannel(std::bind(&SlamWrapper::qt_notice_handler, this, std::placeholders::_1), 10);
     subOdometer->InitChannel(std::bind(&SlamWrapper::odometer_handler, this, std::placeholders::_1), 1);
+}
 
+//casic start
+void SlamWrapper::load_command_config() {
     // 读取本地指令配置
     std::ifstream config_file(Config::ROBOTIC_ARM_COMMAND_CONFIG);
     if (!config_file.is_open()) {
@@ -148,7 +153,9 @@
     CommandAttribute current_command;
     while (std::getline(config_file, line)) {
         line = trim(line);
-        if (line.empty() || line[0] == '#') continue; // 忽略空行和注释
+        if (line.empty()) continue; // 忽略空行
+
+        std::cout << line << std::endl;
 
         if (line[0] == '[') {
             // 处理节名 [section]
@@ -156,7 +163,7 @@
             if (end_bracket != std::string::npos) {
                 if (!current_section.empty()) {
                     // 将上一个节的数据存储到 map 中
-                    _armCommands[current_section + ".command"] = current_command;
+                    _command_map[current_section + ".command"] = current_command;
                 }
                 current_section = line.substr(1, end_bracket - 1);
                 // 初始化新的节数据
@@ -188,16 +195,15 @@
     }
     // 存储最后一个节的数据
     if (!current_section.empty()) {
-        _armCommands[current_section + ".command"] = current_command;
+        _command_map[current_section + ".command"] = current_command;
     }
     config_file.close();
 
     std::cout << "\033[1;92m"
-            << "SlamWrapper init success, has " << _armCommands.size() << " arm commands "
+            << "SlamWrapper init success, has " << _command_map.size() << " arm commands "
             << "\033[0m" << std::endl;
 }
 
-//casic start
 void SlamWrapper::control_robotic_arm() const {
     const std::vector<uint8_t> left_command = {
         0XFE, 0XFE, 0X0F, 0X3C, 0X05, 0XB3, 0X08, 0X19, 0X07, 0X5E, 0X08, 0X73, 0X08, 0X1D, 0X08, 0XA6, 0X14, 0XFA
@@ -253,8 +259,8 @@
     const std::string section = std::to_string(_current_node);
     const std::string full_key = section + ".command";
 
-    const auto it = _armCommands.find(full_key);
-    if (it != _armCommands.end() && it->second.enabled) {
+    const auto it = _command_map.find(full_key);
+    if (it != _command_map.end() && it->second.enabled) {
         return it->second.command;
     }
     return {};
diff --git a/src/slam_wrapper.hpp b/src/slam_wrapper.hpp
index d8d4546..23b27ea 100644
--- a/src/slam_wrapper.hpp
+++ b/src/slam_wrapper.hpp
@@ -58,6 +58,8 @@
     explicit SlamWrapper();
 
     //casic start
+    void load_command_config();
+
     void control_robotic_arm() const;
 
     void move_to_i() const;
@@ -126,29 +128,19 @@
     const std::vector<uint8_t> default_command = {
         0xFE, 0xFE, 0x0F, 0x3C, 0x08, 0x20, 0x09, 0x90, 0x05, 0x96, 0x08, 0x26, 0x0A, 0xFE, 0x08, 0x48, 0x1E, 0xFA
     };
-    std::map<std::string, CommandAttribute> _armCommands;
+    std::map<std::string, CommandAttribute> _command_map;
 
     int _current_node = 0;
     std::map<int, CommandAttribute> _commandCaches;
 
     // pub
-    ChannelPublisherPtr<QtCommand_> pubQtCommand = ChannelPublisherPtr<QtCommand_>(
-        new ChannelPublisher<QtCommand_>(COMMANDTOPIC)
-    );
-    ChannelPublisherPtr<QtNode_> pubQtNode = ChannelPublisherPtr<QtNode_>(
-        new ChannelPublisher<QtNode_>(ADDNODETOPIC)
-    );
-    ChannelPublisherPtr<QtEdge_> pubQtEdge = ChannelPublisherPtr<QtEdge_>(
-        new ChannelPublisher<QtEdge_>(ADDEDGETOPIC)
-    );
+    ChannelPublisherPtr<QtCommand_> pubQtCommand = std::make_shared<ChannelPublisher<QtCommand_> >(COMMANDTOPIC);
+    ChannelPublisherPtr<QtNode_> pubQtNode = std::make_shared<ChannelPublisher<QtNode_> >(ADDNODETOPIC);
+    ChannelPublisherPtr<QtEdge_> pubQtEdge = std::make_shared<ChannelPublisher<QtEdge_> >(ADDEDGETOPIC);
 
     // sub
-    ChannelSubscriberPtr<String_> subQtNotice = ChannelSubscriberPtr<String_>(
-        new ChannelSubscriber<String_>(NOTICETOPIC)
-    );
-    ChannelSubscriberPtr<Odometry_> subOdometer = ChannelSubscriberPtr<Odometry_>(
-        new ChannelSubscriber<Odometry_>(ODOMTOPIC)
-    );
+    ChannelSubscriberPtr<String_> subQtNotice = std::make_shared<ChannelSubscriber<String_> >(NOTICETOPIC);
+    ChannelSubscriberPtr<Odometry_> subOdometer = std::make_shared<ChannelSubscriber<Odometry_> >(ODOMTOPIC);
 };
 
 #endif //SLAM_WRAPPER_HPP
diff --git a/src/tcp_service.cpp b/src/tcp_service.cpp
index 37a4c39..8ca26c3 100644
--- a/src/tcp_service.cpp
+++ b/src/tcp_service.cpp
@@ -114,7 +114,7 @@
     }
 }
 
-void TcpService::update_node(const int node) {
+void TcpService::update_node(const int node) const {
     std::stringstream ss;
     ss << node << "," << gas_value << "," << "116.296975" << "," << "39.990889";
     const std::string message = ss.str();
@@ -124,7 +124,7 @@
     }
 }
 
-void TcpService::send_gas_warning(const int value) {
+void TcpService::send_gas_warning(const int value) const {
     std::stringstream ss;
     ss << "2" << "," << value << "," << "116.296975" << "," << "39.990889";
     const std::string message = ss.str();
diff --git a/src/tcp_service.hpp b/src/tcp_service.hpp
index 822612a..e96dcc9 100644
--- a/src/tcp_service.hpp
+++ b/src/tcp_service.hpp
@@ -27,7 +27,7 @@
      * 更新节点信息
      * @param node
      */
-    void update_node(int node);
+    void update_node(int node) const;
 
     /**
      * 更新甲烷浓度数据
@@ -35,7 +35,7 @@
      */
     void update_gas_value(int value);
 
-    void send_gas_warning(int value);
+    void send_gas_warning(int value) const;
 
 private:
     TcpService() = default;