diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index e479c49..5a23a75 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -10,6 +10,7 @@
     std::thread client_thread([] {
         boost::asio::io_service io;
         TcpClient client;
+        // client.connect("111.198.10.15", 11647);
         client.connect("192.168.123.18", 9001);
         io.run();
     });

diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index e479c49..5a23a75 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -10,6 +10,7 @@
     std::thread client_thread([] {
         boost::asio::io_service io;
         TcpClient client;
+        // client.connect("111.198.10.15", 11647);
         client.connect("192.168.123.18", 9001);
         io.run();
     });
diff --git a/src/tcp_client.cpp b/src/tcp_client.cpp
index a195f30..46e3469 100644
--- a/src/tcp_client.cpp
+++ b/src/tcp_client.cpp
@@ -153,6 +153,10 @@
             std::cout << "TcpClient::connected to " << server_ip << ":" << server_port
                     << ", waiting for command ..." << std::endl;
 
+            //连接成功后把自己的编号发送给Tcp Service
+            // const std::string dog_code = "B42D4000OCAD3N82";
+            // send(_client_socket, dog_code.c_str(), dog_code.size(), 0);
+
             // 启动接收数据的线程
             std::thread receive_thread(&TcpClient::receive_data, this);
 

diff --git a/src/message_handler.cpp b/src/message_handler.cpp
index e479c49..5a23a75 100644
--- a/src/message_handler.cpp
+++ b/src/message_handler.cpp
@@ -10,6 +10,7 @@
     std::thread client_thread([] {
         boost::asio::io_service io;
         TcpClient client;
+        // client.connect("111.198.10.15", 11647);
         client.connect("192.168.123.18", 9001);
         io.run();
     });
diff --git a/src/tcp_client.cpp b/src/tcp_client.cpp
index a195f30..46e3469 100644
--- a/src/tcp_client.cpp
+++ b/src/tcp_client.cpp
@@ -153,6 +153,10 @@
             std::cout << "TcpClient::connected to " << server_ip << ":" << server_port
                     << ", waiting for command ..." << std::endl;
 
+            //连接成功后把自己的编号发送给Tcp Service
+            // const std::string dog_code = "B42D4000OCAD3N82";
+            // send(_client_socket, dog_code.c_str(), dog_code.size(), 0);
+
             // 启动接收数据的线程
             std::thread receive_thread(&TcpClient::receive_data, this);
 
diff --git a/src/tcp_service.cpp b/src/tcp_service.cpp
index 6578f68..3f33706 100644
--- a/src/tcp_service.cpp
+++ b/src/tcp_service.cpp
@@ -14,18 +14,23 @@
 #include <arpa/inet.h>
 #include <unistd.h>
 
+/**
+ * @link SlamWrapper---> @link TcpService
+ * @param command
+ */
 void TcpService::on_message_received(const std::vector<uint8_t> &command) {
     boost::asio::write(_port, boost::asio::buffer(command));
 }
 
+/**
+ * 回消息给已连接的TCP客户端。需要拼接数据包。（机器狗当前位置node，经纬度，浓度）
+ * @param node
+ */
 void TcpService::on_node_arrived(const int &node) {
-    //回消息给已连接的TCP客户端
     const std::string message = std::to_string(node);
     std::cout << "send message to client: " << message << std::endl;
     for (const int client_socket: _client_sockets) {
-        if (send(client_socket, message.c_str(), message.size(), 0) == -1) {
-            std::cerr << "Failed to send message to client: " << strerror(errno) << std::endl;
-        }
+        send(client_socket, message.c_str(), message.size(), 0);
     }
 }
 
@@ -62,22 +67,7 @@
 
     //转为std::vector<uint8_t>并发给机械臂串口
     std::vector command(data.begin(), data.end());
-    const size_t bytes_to_send = command.size();
-    if (bytes_to_send == 0) {
-        std::cout << "Empty command, nothing to send." << std::endl;
-        return;
-    }
-
-    try {
-        const size_t bytes_sent = boost::asio::write(_port, boost::asio::buffer(command));
-        if (bytes_sent == bytes_to_send) {
-            std::cout << "sent successfully" << std::endl;
-        } else {
-            std::cerr << "only " << bytes_sent << " bytes sent out of " << bytes_to_send << std::endl;
-        }
-    } catch (const boost::system::system_error &e) {
-        std::cerr << "error sending data: " << e.what() << std::endl;
-    }
+    boost::asio::write(_port, boost::asio::buffer(command));
 }
 
 void TcpService::handle_client(const int client_socket) {