diff --git a/src/main/mainwindow.cpp b/src/main/mainwindow.cpp
deleted file mode 100644
index 2d32fd7..0000000
--- a/src/main/mainwindow.cpp
+++ /dev/null
@@ -1,273 +0,0 @@
-#include "../ui/mainwindow.hpp"
-
-
-
-MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
-    QMainWindow(parent), qnode(argc, argv),
-    ui(new Ui::MainWindow)
-
-{
-    qnode.init();
-    ui->setupUi(this);
-    initUis();
-    connections();
-}
-
-MainWindow::~MainWindow()
-{
-    delete ui;
-}
-
-
-void MainWindow::initUis(){
-    setBtnStyles();
-
-
-    /*
-     * init
-     */
-
-    rock_widget = new JoyStick(ui->JoyStick_widget);
-    rock_widget->show();
-
-
-}
-
-
-void MainWindow::setBtnStyles(){
-    /*
-     * set PushButton state
-     */
-
-    ui->btn_main->setIcon(QIcon("://images/up.png"));
-    ui->btn_main->setText("mainWidget");
-    ui->btn_main->setStyleSheet(
-                "QPushButton:hover{"
-                "background-color:rgb(186, 189, 182);"
-                "border-bottom:2px solid rgb(67, 154, 246);}"
-                "QPushButton:checked{"
-                "background-color:cyan;"
-                "border-bottom:2px solid white}"
-                "QPushButton:pressed{"
-                "background-color:rgb(67, 154, 246)}"
-                "QPushButton{"
-                "background-color:rgb(238, 238, 236);"
-                "border:none;"
-                "padding:0px 0px 0px 0px;"
-                "margin:0px 0px 0px 0px;}");
-
-    ui->btn_uav->setStyleSheet(
-                "QPushButton:hover{"
-                "background-color:rgb(186, 189, 182);"
-                "border-bottom:2px solid rgb(67, 154, 246);}"
-                "QPushButton:checked{"
-                "background-color:cyan;"
-                "border-bottom:2px solid white}"
-                "QPushButton:pressed{"
-                "background-color:rgb(67, 154, 246)}"
-                "QPushButton{"
-                "background-color:rgb(238, 238, 236);"
-                "border:none;"
-                "padding:0px 0px 0px 0px;"
-                "margin:0px 0px 0px 0px;}");
-
-    ui->btn_ugv->setStyleSheet(
-                "QPushButton:hover{"
-                "background-color:rgb(186, 189, 182);"
-                "border-bottom:2px solid rgb(67, 154, 246);}"
-                "QPushButton:checked{"
-                "background-color:cyan;"
-                "border-bottom:2px solid white}"
-                "QPushButton:pressed{"
-                "background-color:rgb(67, 154, 246)}"
-                "QPushButton{"
-                "background-color:rgb(238, 238, 236);"
-                "border:none;"
-                "padding:0px 0px 0px 0px;"
-                "margin:0px 0px 0px 0px;}");
-
-    // 8 -> Forward: ↑
-    ui->pushButton_Forward->setShortcut(Qt::Key_8);
-    ui->pushButton_Forward->setStyleSheet(
-                "QPushButton{border-image: url(://images/up.png)}"
-                "QPushButton{border:none}"
-                "QPushButton:pressed{border-image: url(://images/up_2.png)}");
-    ui->pushButton_Forward->setFlat(true);
-
-    // 2 -> Back: ↓
-    ui->pushButton_Back->setShortcut(Qt::Key_2);
-    ui->pushButton_Back->setStyleSheet(
-                "QPushButton{border-image: url(://images/down.png)}"
-                "QPushButton{border:none}"
-                "QPushButton:pressed{border-image: url(://images/down_2.png)}");
-    ui->pushButton_Back->setFlat(true);
-
-    // 4 -> Left: ←
-    ui->pushButton_Left->setShortcut(Qt::Key_4);
-    ui->pushButton_Left->setStyleSheet(
-                "QPushButton{border-image: url(://images/left.png)}"
-                "QPushButton{border:none}"
-                "QPushButton:pressed{border-image: url(://images/left_2.png)}");
-    ui->pushButton_Left->setFlat(true);
-
-    // 6 -> Right: →
-    ui->pushButton_Right->setShortcut(Qt::Key_6);
-    ui->pushButton_Right->setStyleSheet(
-                "QPushButton{border-image: url(://images/right.png)}"
-                "QPushButton{border:none}"
-                "QPushButton:pressed{border-image: url(://images/right_2.png)}");
-    ui->pushButton_Right->setFlat(true);
-
-    // 7 -> Left_Forward: ↖
-    ui->pushButton_Left_Forward->setShortcut(Qt::Key_7);
-    ui->pushButton_Left_Forward->setStyleSheet(
-                "QPushButton{border-image: url(://images/up_left.png)}"
-                "QPushButton{border:none}"
-                "QPushButton:pressed{border-image: url(://images/up_left_2.png)}");
-    ui->pushButton_Left_Forward->setFlat(true);
-
-    // 9 -> Right_Forward: ↗
-    ui->pushButton_Right_Forward->setShortcut(Qt::Key_9);
-    ui->pushButton_Right_Forward->setStyleSheet(
-                "QPushButton{border-image: url(://images/up_right.png)}"
-                "QPushButton{border:none}"
-                "QPushButton:pressed{border-image: url(://images/up_right_2.png)}");
-    ui->pushButton_Right_Forward->setFlat(true);
-
-    // 1 -> Left_Back: ↙
-    ui->pushButton_Left_Back->setShortcut(Qt::Key_1);
-    ui->pushButton_Left_Back->setStyleSheet(
-                "QPushButton{border-image: url(://images/down_left.png)}"
-                "QPushButton{border:none}"
-                "QPushButton:pressed{border-image: url(://images/down_left_2.png)}");
-    ui->pushButton_Left_Back->setFlat(true);
-
-    // 3 -> Right_Back: ↘
-    ui->pushButton_Right_Back->setShortcut(Qt::Key_3);
-    ui->pushButton_Right_Back->setStyleSheet(
-                "QPushButton{border-image: url(://images/down_right.png)}"
-                "QPushButton{border:none}"
-                "QPushButton:pressed{border-image: url(://images/down_right_2.png)}");
-    ui->pushButton_Right_Back->setFlat(true);
-
-}
-
-
-void MainWindow::slot_keyboard_control(){
-    QPushButton *btn = qobject_cast<QPushButton *>(sender());
-    std::string btn_name = btn->text().toStdString();
-    char key = ' ';
-
-    if (btn_name == "↙")
-        key = '1';
-    else if (btn_name == "↓")
-        key = '2';
-    else if (btn_name == "↘")
-        key = '3';
-    else if (btn_name == "←")
-        key = '4';
-    //else if (btn_name == "")
-      //  key = '5';
-    else if (btn_name == "→")
-        key = '6';
-    else if (btn_name == "↖")
-        key = '7';
-    else if (btn_name == "↑")
-        key = '8';
-    else if (btn_name == "↗")
-        key = '9';
-
-    //速度
-    float liner = ui->horizontalSlider_linear->value() * 0.01;
-    float turn = ui->horizontalSlider_raw->value() * 0.01;
-    //bool is_rage_mode = ui->checkBox_rage_mode->isChecked();
-    //std::cout<<liner<<" "<<turn<<std::endl;
-    qnode.KeyboardMove(key, liner, turn);
-
-}
-
-
-void MainWindow::slot_rockKeyChange(int key){
-    //速度
-    float liner = ui->horizontalSlider_linear->value() * 0.01;
-    float turn = ui->horizontalSlider_raw->value() * 0.01;
-    switch (key) {
-    case upleft:
-        qnode.KeyboardMove('7', liner, turn);
-        break;
-    case up:
-        qnode.KeyboardMove('8', liner, turn);
-        break;
-    case upright:
-        qnode.KeyboardMove('9', liner, turn);
-        break;
-    case left:
-        qnode.KeyboardMove('4', liner, turn);
-        break;
-    case right:
-        qnode.KeyboardMove('6', liner, turn);
-        break;
-    case downleft:
-        qnode.KeyboardMove('1', liner, turn);
-        break;
-    case down:
-        qnode.KeyboardMove('2', liner, turn);
-        break;
-    case downright:
-        qnode.KeyboardMove('3', liner, turn);
-        break;
-    }
-
-}
-
-void MainWindow::connections(){
-    QObject::connect(ui->btn_main, &QPushButton::clicked, this, [=](){
-        ui->stackedWidget_main->setCurrentIndex(0);
-    });
-    QObject::connect(ui->btn_uav, &QPushButton::clicked, this, [=](){
-        ui->stackedWidget_main->setCurrentIndex(1);
-    });
-    QObject::connect(ui->btn_ugv, &QPushButton::clicked, this, [=](){
-        ui->stackedWidget_main->setCurrentIndex(2);
-    });
-    /*
-     * 绑定速度控制按钮
-     */
-
-    // 8 -> Forward: ↑
-    connect(ui->pushButton_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-    // 2 -> Back: ↓
-    connect(ui->pushButton_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-    // 4 -> Left: ←
-    connect(ui->pushButton_Left, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-    // 6 -> Right: →
-    connect(ui->pushButton_Right, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-    // 7 -> Left_Forward: ↖
-    connect(ui->pushButton_Left_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-    // 9 -> Right_Forward: ↗
-    connect(ui->pushButton_Right_Forward, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-    // 1 -> Left_Back: ↙
-    connect(ui->pushButton_Left_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-    // 3 -> Right_Back: ↘
-    connect(ui->pushButton_Right_Back, SIGNAL(clicked()), this, SLOT(slot_keyboard_control()));
-
-    connect(rock_widget, SIGNAL(keyNumchanged(int)), this,
-            SLOT(slot_rockKeyChange(int)));
-
-    //绑定slider的函数
-    connect(ui->horizontalSlider_raw, SIGNAL(valueChanged(int)), this,
-            SLOT(Slider_raw_valueChanged(int)));
-    connect(ui->horizontalSlider_linear, SIGNAL(valueChanged(int)), this,
-            SLOT(Slider_linear_valueChanged(int)));
-}
-
-//滑动条处理槽函数
-void MainWindow::Slider_raw_valueChanged(int v) {
-  ui->label_raw->setText(QString::number(v));
-}
-//滑动条处理槽函数
-void MainWindow::Slider_linear_valueChanged(int v) {
-  ui->label_linear->setText(QString::number(v));
-}
-
-
diff --git a/src/ui/mainwindow.ui b/src/ui/mainwindow.ui
deleted file mode 100644
index 7cc172a..0000000
--- a/src/ui/mainwindow.ui
+++ /dev/null
@@ -1,803 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>MainWindow</class>
- <widget class="QMainWindow" name="MainWindow">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>1440</width>
-    <height>810</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>MainWindow</string>
-  </property>
-  <property name="styleSheet">
-   <string notr="true"/>
-  </property>
-  <widget class="QWidget" name="centralwidget">
-   <layout class="QVBoxLayout" name="verticalLayout">
-    <item>
-     <widget class="QStackedWidget" name="stackedWidget_main">
-      <property name="currentIndex">
-       <number>2</number>
-      </property>
-      <widget class="QWidget" name="mainWidget">
-       <widget class="QLabel" name="label_2">
-        <property name="geometry">
-         <rect>
-          <x>780</x>
-          <y>200</y>
-          <width>311</width>
-          <height>151</height>
-         </rect>
-        </property>
-        <property name="text">
-         <string>Main Widget</string>
-        </property>
-       </widget>
-      </widget>
-      <widget class="QWidget" name="UAVWidget">
-       <widget class="QLabel" name="label">
-        <property name="geometry">
-         <rect>
-          <x>830</x>
-          <y>280</y>
-          <width>271</width>
-          <height>121</height>
-         </rect>
-        </property>
-        <property name="text">
-         <string>UAV Widget</string>
-        </property>
-       </widget>
-      </widget>
-      <widget class="QWidget" name="UGVWidget">
-       <widget class="QWidget" name="">
-        <property name="geometry">
-         <rect>
-          <x>1000</x>
-          <y>30</y>
-          <width>407</width>
-          <height>680</height>
-         </rect>
-        </property>
-        <layout class="QVBoxLayout" name="verticalLayout_2">
-         <item>
-          <widget class="QStackedWidget" name="stackedWidget_ros_control">
-           <widget class="QWidget" name="keyboard_control">
-            <layout class="QHBoxLayout" name="horizontalLayout_3">
-             <item>
-              <layout class="QVBoxLayout" name="verticalLayout_3">
-               <item>
-                <spacer name="verticalSpacer_3">
-                 <property name="orientation">
-                  <enum>Qt::Vertical</enum>
-                 </property>
-                 <property name="sizeType">
-                  <enum>QSizePolicy::Preferred</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>20</width>
-                   <height>20</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-               <item>
-                <layout class="QHBoxLayout" name="horizontalLayout_2">
-                 <item>
-                  <widget class="QPushButton" name="pushButton_Left_Forward">
-                   <property name="minimumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="font">
-                    <font>
-                     <pointsize>15</pointsize>
-                    </font>
-                   </property>
-                   <property name="text">
-                    <string>↖</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QPushButton" name="pushButton_Forward">
-                   <property name="minimumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="font">
-                    <font>
-                     <pointsize>15</pointsize>
-                    </font>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true">QPushButton{border-image: url(://images/up.png);}</string>
-                   </property>
-                   <property name="text">
-                    <string>↑</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QPushButton" name="pushButton_Right_Forward">
-                   <property name="minimumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="font">
-                    <font>
-                     <pointsize>15</pointsize>
-                    </font>
-                   </property>
-                   <property name="text">
-                    <string>↗</string>
-                   </property>
-                  </widget>
-                 </item>
-                </layout>
-               </item>
-               <item>
-                <layout class="QHBoxLayout" name="horizontalLayout_18">
-                 <item>
-                  <widget class="QPushButton" name="pushButton_Left">
-                   <property name="minimumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="font">
-                    <font>
-                     <pointsize>15</pointsize>
-                    </font>
-                   </property>
-                   <property name="text">
-                    <string>←</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QCheckBox" name="checkBox_use_all">
-                   <property name="minimumSize">
-                    <size>
-                     <width>90</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>90</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="text">
-                    <string>全向模式（k）</string>
-                   </property>
-                   <property name="shortcut">
-                    <string>K</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QPushButton" name="pushButton_Right">
-                   <property name="minimumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="font">
-                    <font>
-                     <pointsize>15</pointsize>
-                    </font>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true"/>
-                   </property>
-                   <property name="text">
-                    <string>→</string>
-                   </property>
-                  </widget>
-                 </item>
-                </layout>
-               </item>
-               <item>
-                <layout class="QHBoxLayout" name="horizontalLayout_19">
-                 <item>
-                  <widget class="QPushButton" name="pushButton_Left_Back">
-                   <property name="minimumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="font">
-                    <font>
-                     <pointsize>15</pointsize>
-                    </font>
-                   </property>
-                   <property name="text">
-                    <string>↙</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QPushButton" name="pushButton_Back">
-                   <property name="minimumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="font">
-                    <font>
-                     <pointsize>15</pointsize>
-                    </font>
-                   </property>
-                   <property name="styleSheet">
-                    <string notr="true">QPushButton{border-image: url(://images/down.png);}
-QPushButton{border:none;}
-QPushButton:pressed{border-image: url(://images/down_2.png);}</string>
-                   </property>
-                   <property name="text">
-                    <string>↓</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QPushButton" name="pushButton_Right_Back">
-                   <property name="minimumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>64</width>
-                     <height>64</height>
-                    </size>
-                   </property>
-                   <property name="font">
-                    <font>
-                     <pointsize>15</pointsize>
-                    </font>
-                   </property>
-                   <property name="text">
-                    <string>↘</string>
-                   </property>
-                  </widget>
-                 </item>
-                </layout>
-               </item>
-               <item>
-                <spacer name="verticalSpacer">
-                 <property name="orientation">
-                  <enum>Qt::Vertical</enum>
-                 </property>
-                 <property name="sizeType">
-                  <enum>QSizePolicy::Fixed</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>20</width>
-                   <height>30</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-               <item>
-                <layout class="QHBoxLayout" name="horizontalLayout">
-                 <item>
-                  <spacer name="horizontalSpacer">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>10</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item>
-                  <layout class="QHBoxLayout" name="horizontalLayout_21">
-                   <item>
-                    <widget class="QLabel" name="label_linear_">
-                     <property name="text">
-                      <string>线速度(cm/s)：</string>
-                     </property>
-                    </widget>
-                   </item>
-                   <item>
-                    <widget class="QSlider" name="horizontalSlider_linear">
-                     <property name="maximum">
-                      <number>100</number>
-                     </property>
-                     <property name="singleStep">
-                      <number>1</number>
-                     </property>
-                     <property name="value">
-                      <number>50</number>
-                     </property>
-                     <property name="orientation">
-                      <enum>Qt::Horizontal</enum>
-                     </property>
-                    </widget>
-                   </item>
-                   <item>
-                    <widget class="QLabel" name="label_linear">
-                     <property name="text">
-                      <string>50</string>
-                     </property>
-                    </widget>
-                   </item>
-                  </layout>
-                 </item>
-                 <item>
-                  <spacer name="horizontalSpacer_2">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>20</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                </layout>
-               </item>
-               <item>
-                <layout class="QHBoxLayout" name="horizontalLayout_20">
-                 <item>
-                  <spacer name="horizontalSpacer_3">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>10</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item>
-                  <widget class="QLabel" name="label_raw_">
-                   <property name="text">
-                    <string>角速度(cm/s)：</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QSlider" name="horizontalSlider_raw">
-                   <property name="maximum">
-                    <number>100</number>
-                   </property>
-                   <property name="value">
-                    <number>100</number>
-                   </property>
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <widget class="QLabel" name="label_raw">
-                   <property name="text">
-                    <string>100</string>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <spacer name="horizontalSpacer_4">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Fixed</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>20</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                </layout>
-               </item>
-               <item>
-                <spacer name="verticalSpacer_2">
-                 <property name="orientation">
-                  <enum>Qt::Vertical</enum>
-                 </property>
-                 <property name="sizeType">
-                  <enum>QSizePolicy::Fixed</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>20</width>
-                   <height>30</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-               <item>
-                <layout class="QHBoxLayout" name="horizontalLayout_24">
-                 <item>
-                  <spacer name="horizontalSpacer_5">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Expanding</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                 <item>
-                  <widget class="QWidget" name="JoyStick_widget" native="true">
-                   <property name="minimumSize">
-                    <size>
-                     <width>200</width>
-                     <height>200</height>
-                    </size>
-                   </property>
-                   <layout class="QHBoxLayout" name="horizontalLayout_25"/>
-                  </widget>
-                 </item>
-                 <item>
-                  <spacer name="horizontalSpacer_6">
-                   <property name="orientation">
-                    <enum>Qt::Horizontal</enum>
-                   </property>
-                   <property name="sizeType">
-                    <enum>QSizePolicy::Expanding</enum>
-                   </property>
-                   <property name="sizeHint" stdset="0">
-                    <size>
-                     <width>40</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                  </spacer>
-                 </item>
-                </layout>
-               </item>
-               <item>
-                <spacer name="verticalSpacer_4">
-                 <property name="orientation">
-                  <enum>Qt::Vertical</enum>
-                 </property>
-                 <property name="sizeHint" stdset="0">
-                  <size>
-                   <width>385</width>
-                   <height>21</height>
-                  </size>
-                 </property>
-                </spacer>
-               </item>
-              </layout>
-             </item>
-            </layout>
-           </widget>
-           <widget class="QWidget" name="system_control"/>
-          </widget>
-         </item>
-         <item>
-          <layout class="QHBoxLayout" name="horizontalLayout_menu_2">
-           <property name="spacing">
-            <number>0</number>
-           </property>
-           <item>
-            <spacer name="horizontalSpacer_7">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Fixed</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>10</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-           <item>
-            <widget class="QPushButton" name="pushButton">
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>45</height>
-              </size>
-             </property>
-             <property name="text">
-              <string>system</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <widget class="QPushButton" name="pushButton_2">
-             <property name="minimumSize">
-              <size>
-               <width>0</width>
-               <height>45</height>
-              </size>
-             </property>
-             <property name="text">
-              <string>keyboard</string>
-             </property>
-            </widget>
-           </item>
-           <item>
-            <spacer name="horizontalSpacer_8">
-             <property name="orientation">
-              <enum>Qt::Horizontal</enum>
-             </property>
-             <property name="sizeType">
-              <enum>QSizePolicy::Fixed</enum>
-             </property>
-             <property name="sizeHint" stdset="0">
-              <size>
-               <width>20</width>
-               <height>20</height>
-              </size>
-             </property>
-            </spacer>
-           </item>
-          </layout>
-         </item>
-        </layout>
-       </widget>
-      </widget>
-     </widget>
-    </item>
-    <item>
-     <layout class="QHBoxLayout" name="horizontalLayout_menu">
-      <property name="spacing">
-       <number>0</number>
-      </property>
-      <item>
-       <widget class="QPushButton" name="btn_main">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>60</height>
-         </size>
-        </property>
-        <property name="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="iconSize">
-         <size>
-          <width>32</width>
-          <height>32</height>
-         </size>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="btn_uav">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>60</height>
-         </size>
-        </property>
-        <property name="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="iconSize">
-         <size>
-          <width>32</width>
-          <height>32</height>
-         </size>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="btn_ugv">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>60</height>
-         </size>
-        </property>
-        <property name="cursor">
-         <cursorShape>ArrowCursor</cursorShape>
-        </property>
-        <property name="styleSheet">
-         <string notr="true"/>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="icon">
-         <iconset theme="://images/toolbar_dash.png">
-          <normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</iconset>
-        </property>
-        <property name="iconSize">
-         <size>
-          <width>32</width>
-          <height>32</height>
-         </size>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="btn_map">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>60</height>
-         </size>
-        </property>
-        <property name="cursor">
-         <cursorShape>PointingHandCursor</cursorShape>
-        </property>
-        <property name="styleSheet">
-         <string notr="true">QPushButton:hover{
-background-color:rgb(186, 189, 182);
-border-bottom:2px solid rgb(67, 154, 246);
-}
-QPushButton:checked{
-background-color:cyan;
-border-bottom:2px solid white 
-}
-QPushButton:pressed{
-background-color:rgb(67, 154, 246)
-}
-QPushButton{
-background-color:rgb(238, 238, 236);
-border:none; 
-padding:0px 0px 0px 0px;
-margin:0px 0px 0px 0px;
-}</string>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="icon">
-         <iconset theme="://images/toolbar_map.png">
-          <normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</iconset>
-        </property>
-        <property name="iconSize">
-         <size>
-          <width>32</width>
-          <height>32</height>
-         </size>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <widget class="QPushButton" name="btn_other">
-        <property name="minimumSize">
-         <size>
-          <width>0</width>
-          <height>60</height>
-         </size>
-        </property>
-        <property name="cursor">
-         <cursorShape>PointingHandCursor</cursorShape>
-        </property>
-        <property name="styleSheet">
-         <string notr="true">QPushButton:hover{
-background-color:rgb(186, 189, 182);
-border-bottom:2px solid rgb(67, 154, 246);
-}
-QPushButton:checked{
-background-color:cyan;
-border-bottom:2px solid white 
-}
-QPushButton:pressed{
-background-color:rgb(67, 154, 246)
-}
-QPushButton{
-background-color:rgb(238, 238, 236);
-border:none; 
-padding:0px 0px 0px 0px;
-margin:0px 0px 0px 0px;
-}</string>
-        </property>
-        <property name="text">
-         <string/>
-        </property>
-        <property name="icon">
-         <iconset theme="://images/toolbar_other.png">
-          <normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</normaloff>../../../../../catkin_ws/src/Ros_Qt5_Gui_App/ui</iconset>
-        </property>
-        <property name="iconSize">
-         <size>
-          <width>32</width>
-          <height>32</height>
-         </size>
-        </property>
-       </widget>
-      </item>
-     </layout>
-    </item>
-   </layout>
-  </widget>
- </widget>
- <resources/>
- <connections/>
-</ui>