diff --git a/CMakeLists.txt b/CMakeLists.txt
index ec4c611..3bf70e5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -122,12 +122,12 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
 set(SOURCES
     src/include/qnode.hpp
-    src/include/roskeyboardteleopnode.h
+
 
     src/main/main.cpp
     src/main/mainwindow.cpp
     src/main/qnode.cpp
-    src/main/roskeyboardteleopnode.cpp
+
 
     src/ui/mainwindow.hpp
     src/ui/mainwindow.ui
diff --git a/src/main/mainwindow.cpp b/src/main/mainwindow.cpp
index 46c1caa..6f5d2bb 100644
--- a/src/main/mainwindow.cpp
+++ b/src/main/mainwindow.cpp
@@ -1,7 +1,6 @@
 #include "../ui/mainwindow.hpp"
 
 
-
 MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
     QMainWindow(parent), qnode(argc, argv),
     ui(new Ui::MainWindow)
@@ -60,8 +59,20 @@ void MainWindow::connections(){
     //
     //QObject::connect(&qnode, SIGNAL(loggingCamera()), this, SLOT(slot_updateCamera()));
 }
-
-
+void MainWindow::importFrame()
+{
+    capture >> frame;
+    cvtColor(frame, frame, CV_BGR2RGB);
+    QImage srcQImage = QImage((uchar*)(frame.data), frame.cols, frame.rows, QImage::Format_RGB888);
+    ui->StreamReceive->setPixmap(QPixmap::fromImage(srcQImage));
+    ui->StreamReceive->resize(srcQImage.size());
+    ui->StreamReceive->show();
+}
+void MainWindow::on_PLAY_clicked()
+{
+    capture.open("udp://@0.0.0.0:11111");
+    timer->start(30);
+}
 /*
 void MainWindow::slot_dispalyCamera(const QImage &image){
     qimage_mutex.lock();
@@ -78,3 +89,4 @@ void MainWindow::slot_updateCamera()
 */
 
 
+
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+        "/usr/include/x86_64-linux-gnu/c++/9",
+        "-isystem",
+        "/usr/include/c++/9/backward",
+        "-isystem",
+        "/home/hackii/Qt/Tools/QtCreator/libexec/qtcreator/clang/lib/clang/14.0.0/include",
+        "-isystem",
+        "/usr/include/x86_64-linux-gnu",
+        "-isystem",
+        "/usr/include",
+        "-fmessage-length=0",
+        "-fdiagnostics-show-note-include-stack",
+        "-fretain-comments-from-system-headers",
+        "-fmacro-backtrace-limit=0",
+        "-ferror-limit=1000",
+        "-x",
+        "c++",
+        "-Wno-unknown-pragmas",
+        "-Wno-unknown-warning-option",
+        "-Wno-documentation-unknown-command",
+        "/home/hackii/local/Air-ground-CEC/src/ui/Triplet/mainwindow.cpp"
+    ],
+    "directory": "/home/hackii/local/Air-ground-CEC/src/ui/build-Triplet-Desktop_Qt_6_2_4_GCC_64bit-Debug/.qtc_clangd",
+    "file": "/home/hackii/local/Air-ground-CEC/src/ui/Triplet/mainwindow.cpp"
+},
+{
+    "arguments": [
+        "clang",
+        "-I",
+        "/home/hackii/Qt/Tools/QtCreator/share/qtcreator/cplusplus/wrappedQtHeaders",
+        "-I",
+        "/home/hackii/Qt/Tools/QtCreator/share/qtcreator/cplusplus/wrappedQtHeaders/QtCore",
+        "-I",
+        "/tmp/QtCreator-CYkCOg/clang-uiheader-XLZBEi",
+        "-nostdinc",
+        "-nostdinc++",
+        "-pipe",
+        "-g",
+        "-std=gnu++1z",
+        "-Wall",
+        "-Wextra",
+        "-D_REENTRANT",
+        "-fPIC",
+        "-fsyntax-only",
+        "-m64",
+        "--target=x86_64-linux-gnu",
+        "-DQ_CREATOR_RUN",
+        "-DQT_DEPRECATED_WARNINGS",
+        "-DQT_QML_DEBUG",
+        "-DQT_WIDGETS_LIB",
+        "-DQT_GUI_LIB",
+        "-DQT_CORE_LIB",
+        "-I",
+        "/home/hackii/local/Air-ground-CEC/src/ui/Triplet",
+        "-I",
+        "/usr/local/include",
+        "-I",
+        "/usr/local/include/opencv4",
+        "-I",
+        "/home/hackii/Qt/6.2.4/gcc_64/include",
+        "-I",
+        "/home/hackii/Qt/6.2.4/gcc_64/include/QtWidgets",
+        "-I",
+        "/home/hackii/Qt/6.2.4/gcc_64/include/QtGui",
+        "-I",
+        "/home/hackii/Qt/6.2.4/gcc_64/include/QtCore",
+        "-I",
+        "/home/hackii/local/Air-ground-CEC/src/ui/build-Triplet-Desktop_Qt_6_2_4_GCC_64bit-Debug",
+        "-I",
+        "/home/hackii/Qt/6.2.4/gcc_64/mkspecs/linux-g++",
+        "-isystem",
+        "/usr/include/c++/9",
+        "-isystem",
+        "/usr/include/x86_64-linux-gnu/c++/9",
+        "-isystem",
+        "/usr/include/c++/9/backward",
+        "-isystem",
+        "/home/hackii/Qt/Tools/QtCreator/libexec/qtcreator/clang/lib/clang/14.0.0/include",
+        "-isystem",
+        "/usr/include/x86_64-linux-gnu",
+        "-isystem",
+        "/usr/include",
+        "-fmessage-length=0",
+        "-fdiagnostics-show-note-include-stack",
+        "-fretain-comments-from-system-headers",
+        "-fmacro-backtrace-limit=0",
+        "-ferror-limit=1000",
+        "-x",
+        "c++-header",
+        "-Wno-unknown-pragmas",
+        "-Wno-unknown-warning-option",
+        "-Wno-documentation-unknown-command",
+        "/home/hackii/local/Air-ground-CEC/src/ui/Triplet/mainwindow.h"
+    ],
+    "directory": "/home/hackii/local/Air-ground-CEC/src/ui/build-Triplet-Desktop_Qt_6_2_4_GCC_64bit-Debug/.qtc_clangd",
+    "file": "/home/hackii/local/Air-ground-CEC/src/ui/Triplet/mainwindow.h"
+},
+{
+    "arguments": [
+        "clang",
+        "-I",
+        "/home/hackii/Qt/Tools/QtCreator/share/qtcreator/cplusplus/wrappedQtHeaders",
+        "-I",
+        "/home/hackii/Qt/Tools/QtCreator/share/qtcreator/cplusplus/wrappedQtHeaders/QtCore",
+        "-I",
+        "/tmp/QtCreator-CYkCOg/clang-uiheader-XLZBEi",
+        "-nostdinc",
+        "-nostdinc++",
+        "-pipe",
+        "-g",
+        "-std=gnu++1z",
+        "-Wall",
+        "-Wextra",
+        "-D_REENTRANT",
+        "-fPIC",
+        "-fsyntax-only",
+        "-m64",
+        "--target=x86_64-linux-gnu",
+        "-DQ_CREATOR_RUN",
+        "-DQT_DEPRECATED_WARNINGS",
+        "-DQT_QML_DEBUG",
+        "-DQT_WIDGETS_LIB",
+        "-DQT_GUI_LIB",
+        "-DQT_CORE_LIB",
+        "-I",
+        "/home/hackii/local/Air-ground-CEC/src/ui/Triplet",
+        "-I",
+        "/usr/local/include",
+        "-I",
+        "/usr/local/include/opencv4",
+        "-I",
+        "/home/hackii/Qt/6.2.4/gcc_64/include",
+        "-I",
+        "/home/hackii/Qt/6.2.4/gcc_64/include/QtWidgets",
+        "-I",
+        "/home/hackii/Qt/6.2.4/gcc_64/include/QtGui",
+        "-I",
+        "/home/hackii/Qt/6.2.4/gcc_64/include/QtCore",
+        "-I",
+        "/home/hackii/local/Air-ground-CEC/src/ui/build-Triplet-Desktop_Qt_6_2_4_GCC_64bit-Debug",
+        "-I",
+        "/home/hackii/Qt/6.2.4/gcc_64/mkspecs/linux-g++",
+        "-isystem",
+        "/usr/include/c++/9",
+        "-isystem",
+        "/usr/include/x86_64-linux-gnu/c++/9",
+        "-isystem",
+        "/usr/include/c++/9/backward",
+        "-isystem",
+        "/home/hackii/Qt/Tools/QtCreator/libexec/qtcreator/clang/lib/clang/14.0.0/include",
+        "-isystem",
+        "/usr/include/x86_64-linux-gnu",
+        "-isystem",
+        "/usr/include",
+        "-fmessage-length=0",
+        "-fdiagnostics-show-note-include-stack",
+        "-fretain-comments-from-system-headers",
+        "-fmacro-backtrace-limit=0",
+        "-ferror-limit=1000",
+        "-x",
+        "c++-header",
+        "-Wno-unknown-pragmas",
+        "-Wno-unknown-warning-option",
+        "-Wno-documentation-unknown-command",
+        "/home/hackii/local/Air-ground-CEC/src/ui/build-Triplet-Desktop_Qt_6_2_4_GCC_64bit-Debug/ui_mainwindow.h"
+    ],
+    "directory": "/home/hackii/local/Air-ground-CEC/src/ui/build-Triplet-Desktop_Qt_6_2_4_GCC_64bit-Debug/.qtc_clangd",
+    "file": "/home/hackii/local/Air-ground-CEC/src/ui/build-Triplet-Desktop_Qt_6_2_4_GCC_64bit-Debug/ui_mainwindow.h"
+}
+]
\ No newline at end of file
diff --git a/src/ui/mainwindow.hpp b/src/ui/mainwindow.hpp
index 3254020..313d085 100644
--- a/src/ui/mainwindow.hpp
+++ b/src/ui/mainwindow.hpp
@@ -4,10 +4,10 @@
 #include <QMainWindow>
 #include <QImage>
 #include <QMutex>
-
+#include <QTimer>
 #include "ui_mainwindow.h"
 #include "../include/qnode.hpp"
-
+using namespace cv;
 namespace Ui {
 class MainWindow;
 }
@@ -22,6 +22,8 @@ public:
 
 public slots:
     void slot_keyboard_control();
+    void importFrame();//read video
+    void on_PLAY_clicked();//start video
     //void slot_updateCamera();
     //void slot_dispalyCamera(const QImage& image);
 
@@ -31,6 +33,10 @@ private:
     QNode qnode;
     //QImage qimage;
     //mutable QMutex qimage_mutex;
+    VideoCapture capture;
+    QTimer *timer;
+    Mat frame;
+    bool isCamerea = 0;
 
 };
 
diff --git a/src/ui/mainwindow.ui b/src/ui/mainwindow.ui
index a3c59f5..143a854 100644
--- a/src/ui/mainwindow.ui
+++ b/src/ui/mainwindow.ui
@@ -159,7 +159,7 @@
      <string>TextLabel</string>
     </property>
    </widget>
-   <widget class="QWidget" name="">
+   <widget class="QWidget" name="layoutWidget">
     <property name="geometry">
      <rect>
       <x>60</x>
@@ -231,6 +231,32 @@
      </item>
     </layout>
    </widget>
+   <widget class="QLabel" name="StreamReceive">
+    <property name="geometry">
+     <rect>
+      <x>720</x>
+      <y>500</y>
+      <width>431</width>
+      <height>301</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="PLAY">
+    <property name="geometry">
+     <rect>
+      <x>1250</x>
+      <y>570</y>
+      <width>89</width>
+      <height>25</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>PLAY</string>
+    </property>
+   </widget>
   </widget>
   <widget class="QMenuBar" name="menubar">
    <property name="geometry">
@@ -238,7 +264,7 @@
      <x>0</x>
      <y>0</y>
      <width>1600</width>
-     <height>22</height>
+     <height>27</height>
     </rect>
    </property>
   </widget>