diff --git a/Docs/3566配置pibot_ros和全覆盖.md b/Docs/3566配置pibot_ros和全覆盖.md
new file mode 100644
index 0000000..8b80677
--- /dev/null
+++ b/Docs/3566配置pibot_ros和全覆盖.md
@@ -0,0 +1,57 @@
+# 3566配置pibot_ros
+
+# 需要安装的库
+
+将3588上`pibot_ros/ros_ws`文件夹复制后删去 `devel` 和 `build` 目录编译前先安装
+
+全覆盖需要的库如下：
+
+```cpp
+
+sudo apt install ros-noetic-opengm
+
+sudo apt install ros-noetic-libdlib
+
+sudo apt install ros-noetic-cob-map-accessibility-analysis
+
+sudo apt-get install coinor-*
+```
+
+安装完成后在`ros_ws`目录下catkin_make,编译成功后即可运行。
+
+运行：
+
+1. 启动服务端：`roslaunch ipa_room_exploration room_exploration_action_server.launch`
+2. 启动客户端：`roslaunch ipa_room_exploration room_exploration_client.launch`
+
+# 遇到的问题
+
+1. 连接不上主板 `ls /dev/pibot :No such file` 
+- 3566不支持`ch340`串口模块，推荐使用`CH343、FT232、CP2102` 串口模块
+- 改完串口模块后仍然找不到`/dev/pibot`:需要将`ttyUSB0`软链接到`/pibot`上`sudo ln -s /dev/ttyUSB0 /dev/pibot`
+1. 不能键盘控制小车
+- 安装键盘控制包：`sudo apt-get install ros-noetic-teleop-twist-keyboard`
+- 安装python ：`sudo apt install -y python3`
+1. **`/usr/bin/env`: ‘python’: No such file or directory**
+- 为其创建符号链接：`sudo ln -s /usr/bin/python3 /usr/bin/python`
+1. 每次开机都需要重新建立软链接
+- 指定`udev`规则：
+`lsusb`:查看设备的`idV`和`idP后`
+- 在.rules文件（规则文件）添加规则：
+
+```cpp
+SUBSYSTEM=="usb", ATTRS{idVendor}=="your_vendor_id", ATTRS{idProduct}=="your_product_id", SYMLINK+="pibot"
+```
+
+- 重新加载`udev`规则
+
+```cpp
+sudo udevadm control --reload-rules
+sudo service udev restart
+```
+
+3566驱动小车底板发生问题：
+
+![2.png](./image/2.png)
+
+解决：安装 `sudo apt-get install ros-noetic-robot-ekf`
\ No newline at end of file
diff --git a/Docs/image/2.png b/Docs/image/2.png
new file mode 100644
index 0000000..dcba30b
Binary files /dev/null and b/Docs/image/2.png differ