diff --git a/4.17组会.md b/4.17组会.md
index c34650e..f477452 100644
--- a/4.17组会.md
+++ b/4.17组会.md
@@ -73,4 +73,20 @@ SUBSYSTEM=="usb" ATTRS{idVendor}=="YOUR_VENDOR_ID", ATTRS{idProduct}=="YOUR_PROD
 
 联合调试：用手持标签画的边界执行全覆盖。
 
-超声波、碰撞数据接入
\ No newline at end of file
+超声波、碰撞数据接入
+
+
+
+### 5.28 组会
+
+##### 1. 将超声波和碰撞模块数据接入并转化为ros消息格式，以供避障使用
+
+![5](./image/5.png)
+
+2. ##### app测试
+
+![2](./image/2.png)
+
+![3](./image/3.png)
+
+![4](./image/4.png)
\ No newline at end of file
diff --git a/image/2.png b/image/2.png
new file mode 100644
index 0000000..592cc4a
Binary files /dev/null and b/image/2.png differ
diff --git a/image/3.png b/image/3.png
new file mode 100644
index 0000000..67c6ec6
Binary files /dev/null and b/image/3.png differ
diff --git a/image/4.png b/image/4.png
new file mode 100644
index 0000000..a794396
Binary files /dev/null and b/image/4.png differ
diff --git a/image/5.png b/image/5.png
new file mode 100644
index 0000000..2abd609
Binary files /dev/null and b/image/5.png differ