diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch b/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch
index 37001bb..1899147 100644
--- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch
+++ b/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch
@@ -1,3 +1,9 @@
+<!-- 
+    File Name   : UPBot Bringup.launch
+    Review      : zhanli.2024.02.28
+    Description : 机器人下位机的启动配置文件，非常重要的基础包，这个包出现配置问
+                  题会导致机器人无法工作
+ -->
 <launch>
     <arg name="driver_baudrate" default="$(env PIBOT_DRIVER_BAUDRATE)"  doc="pibot driver baudrate"/>
     <arg name="use_mag" default="false"  doc="use mag in pibot imu"/>
@@ -19,7 +25,13 @@
         <param name="freq" value="100" />
     </node>
 
-	<!-- PIBOT IMU -->
+
+    <!-- 
+        pibot_imu      : pibot自带的包
+        Review         : zhanli.2024.02.28
+        Descripiton    : 从源码来看，应该只是负责初始的静态IMU校准工作，会持续订阅原始
+                         imu数据并进行imu的零偏校准并发布
+    -->
     <node pkg="pibot_imu" type="pibot_imu" name="pibot_imu" output="screen" respawn="false">
         <rosparam>
             imu/accelerometer_bias: {x: 0.005436, y: 0.014684, z: -0.395418}
@@ -61,16 +73,22 @@
         <remap from="imu/data" to="imu" />
     </node>
 
+    <!-- 
+        robot_pose_ekf : ROS提供的一个位姿估计包
+        Review         : zhanli.2024.02.08
+        Descripiton    : 这个包不在Pibot的中，也不确定当前系统是否有安装? 
+    -->
     <group ns="/" if="$(arg use_odom)" >
         <!-- robot pose ekf -->
         <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf" output="screen">
             <!-- <param name="output_frame" value="odom" /> -->
-              <param name="output_frame" value="odom" />
+            <param name="output_frame" value="odom" />
             <param name="base_footprint_frame" value="base_link"/>
             <param name="freq" value="200.0"/>
             <param name="sensor_timeout" value="1.0"/>  
             <param name="odom_used" value="true"/>
             <param name="imu_used" value="true"/>
+            <!-- 不使用VSLAM设置为false -->
             <param name="vo_used" value="false"/>
             <param name="debug" value="false"/>
             <remap from="odom" to="wheel_odom" />
diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/scripts/odom_ekf.py b/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/scripts/odom_ekf.py
index 9db038d..938dafd 100644
--- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/scripts/odom_ekf.py
+++ b/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/scripts/odom_ekf.py
@@ -8,19 +8,6 @@
 
     Created for the Pi Robot Project: http://www.pirobot.org
     Copyright (c) 2012 Patrick Goebel.  All rights reserved.
-
-    This program is free software; you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation; either version 2 of the License, or
-    (at your option) any later version.5
-    
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details at:
-    
-    http://www.gnu.org/licenses/gpl.html
-      
 """
 
 import rospy
diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver.cpp b/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver.cpp
index 4bbce0a..8366987 100644
--- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver.cpp
+++ b/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver.cpp
@@ -114,6 +114,14 @@ void BaseDriver::init_pid_debug()
     }
 }
 
+/**----------------------------------------------------------------------
+* Function    : init_imu
+* Description : 初始化IMU,创建话题raw_imu，设置50个缓存的队列大小, raw_imu
+                会在pibot_imu里面做校准处理然后发布为imu/data_raw提供给ROS
+                中的其他节点使用
+* Author      : pibot
+* Review      : 2023/04/22 zhanli，Add Description.
+*---------------------------------------------------------------------**/ 
 void BaseDriver::init_imu()
 {
     raw_imu_pub = nh.advertise<pibot_msgs::RawImu>("raw_imu", 50);
diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu.cpp b/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu.cpp
index 7c706b8..109af78 100644
--- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu.cpp
+++ b/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu.cpp
@@ -1,5 +1,8 @@
 #include "pibot_imu/pibot_imu.h"
 
+
+
+// 订阅节点: raw_imu 这个话题是
 PibotIMU::PibotIMU(ros::NodeHandle nh, ros::NodeHandle pnh):
 									//  Members default values
 									nh_(nh),
@@ -16,9 +19,12 @@ PibotIMU::PibotIMU(ros::NodeHandle nh, ros::NodeHandle pnh):
 	pnh_.param<bool>("imu/use_magnetometer", use_magnetometer_, use_magnetometer_);
 	pnh_.param<bool>("imu/perform_calibration", perform_calibration_, perform_calibration_);
 
+	// 功能2 ：原始IMU的减零偏操作
 	// 订阅pibot_driver串口读取原始imu数据
+	// 当raw_imu有数据时会调用rawCallback
 	raw_sub_ = nh_.subscribe("raw_imu", 5, &PibotIMU::rawCallback, this);
 
+	// 功能3 ：接收IMU校准服务的校准请求     
 	// 创建一个服务,用于接收运行中的校准请求, 可以rosservice命令查看
 	imu_cal_srv_ = nh_.advertiseService("imu/calibrate_imu", &PibotIMU::calibrateCallback, this);
 
@@ -95,6 +101,7 @@ void PibotIMU::rawCallback(const pibot_msgs::RawImuConstPtr& raw_msg)
 
 		static int taken_samples;
 
+		// 功能1： 静态零偏校准
 		if (taken_samples < calibration_samples_) {
 			acceleration_bias_["x"] += raw_msg->raw_linear_acceleration.x;
 			acceleration_bias_["y"] += raw_msg->raw_linear_acceleration.y;
diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp b/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp
index 27e564d..e1594ac 100644
--- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp
+++ b/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp
@@ -1,3 +1,9 @@
+/*--------------------------------------------------------------
+* Node Desc ： 1.IMU的初始静态零偏校准
+               2.原始IMU的减零偏操作
+               3.接收IMU校准服务的校准请求     
+* Review    :  zhanli.2024.02.28
+---------------------------------------------------------------*/
 #include "pibot_imu/pibot_imu.h"
 
 int main(int argc, char **argv)
diff --git a/Docs/4. 割草机器人运行指导.md b/Docs/4. 割草机器人运行指导.md
new file mode 100644
index 0000000..740dc34
--- /dev/null
+++ b/Docs/4. 割草机器人运行指导.md	
@@ -0,0 +1,15 @@
+# 割草机器人运行指导：
+
+### 一、全覆盖
+
+```shell
+# 进入home目录
+cd ~
+# 运行全覆盖server,Server负责路径的规划和小车命令控制
+./runRoomExplorationServer.sh
+# 运行全覆盖Client, Client主要负责地图的生成
+./runRoomExplorationClient.sh
+# 运行双目摄像头检测节点
+./runStereo.sh
+```
+