diff --git a/src/include/qnode.hpp b/src/include/qnode.hpp
index f7e24fd..e325147 100644
--- a/src/include/qnode.hpp
+++ b/src/include/qnode.hpp
@@ -75,7 +75,7 @@ private:
     void powerCallback(const std_msgs::Float32& message_holder);
     //void myCallback(const std_msgs::Float64& message_holder);
     void batteryCallback(const sensor_msgs::BatteryState &message);
-    void imageCallback(const sensor_msgs::CompressedImageConstPtr &msg);//camera callback function
+    void imageCallback(const sensor_msgs::ImageConstPtr &msg);//camera callback function
 
     QImage  Mat2QImage(cv::Mat const &src);
     cv::Mat QImage2Mat(QImage &image);
diff --git a/src/main/mainwindow.cpp b/src/main/mainwindow.cpp
index 8e44df4..f3e3725 100644
--- a/src/main/mainwindow.cpp
+++ b/src/main/mainwindow.cpp
@@ -1,5 +1,5 @@
 #include "../ui/mainwindow.hpp"
-
+#include <QtConcurrent/QtConcurrent>
 
 
 MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
@@ -7,7 +7,11 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
     ui(new Ui::MainWindow)
 
 {
-    qnode.init();
+    QtConcurrent::run([=](){
+        qnode.init();
+    });
+
+
     ui->setupUi(this);
     initUis();
     connections();
@@ -234,13 +238,13 @@ void MainWindow::Slider_linear_valueChanged(int v) {
   ui->label_linear->setText(QString::number(v));
 }
 
-void MainWindow::slot_show_image(QImage image)
+void MainWindow::slot_show_image(const QImage& image)
 {
-    qimage_mutex_.lock();
-    qimage_ = image.copy();
-    ui->label_camera->setPixmap(QPixmap::fromImage(qimage_));
+    //qimage_mutex_.lock();
+    //qimage_ = image.copy();
+    ui->label_camera->setPixmap(QPixmap::fromImage(image));
     ui->label_camera->resize(ui->label_camera->pixmap()->size());
-    qimage_mutex_.unlock();
+    //qimage_mutex_.unlock();
 }
 
 
diff --git a/src/main/qnode.cpp b/src/main/qnode.cpp
index 445cca8..c0bd5f3 100644
--- a/src/main/qnode.cpp
+++ b/src/main/qnode.cpp
@@ -1,11 +1,11 @@
 #include "../include/qnode.hpp"
 
 #include "sensor_msgs/image_encodings.h"
+#include <QtConcurrent/QtConcurrent>
 
 QNode::QNode(int argc, char **argv) : init_argc(argc), init_argv(argv){
 
 
-
 }
 
 
@@ -25,7 +25,10 @@ bool QNode::init() {
     qRegisterMetaType<sensor_msgs::BatteryState>("sensor_msgs::BatteryState");
     ros::init(init_argc,init_argv,"Air_Ground_CEC",
             ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
-    SubAndPubTopic();
+    QtConcurrent::run([=](){
+        SubAndPubTopic();
+    });
+
     //start();
     return true;
 }
@@ -44,12 +47,13 @@ void QNode::SubAndPubTopic(){
                               &QNode::batteryCallback, this);
 
     image_transport::ImageTransport it(n);
-    image_sub0 = n.subscribe("camera/rgb/image_raw",100,&QNode::imageCallback,this);
-
+    image_sub = it.subscribe("camera/rgb/image_raw", 100, &QNode::imageCallback, this);
 
+    //image_sub0 = n.subscribe("camera/rgb/image_raw",100,&QNode::imageCallback,this)
 
     //chatter_publisher = n.advertise<std_msgs::String>("chatter1", 1000);
     //chatter_subscriber = n.subscribe("chatter",1000,&QNode::myCallback,this);
+    ros::spin();
 }
 
 void QNode::batteryCallback(const sensor_msgs::BatteryState& message) {
@@ -161,35 +165,34 @@ void QNode::AutoMove(float speed_linear, float speed_turn,
 
     ros::spinOnce();
 }
-int i =0;
+
+
 //速度回调函数
 void QNode::speedCallback(const nav_msgs::Odometry::ConstPtr& msg)
 {
-
-    std::cout<<i++<<endl;
-    ROS_INFO("i am ok");
     emit speed_x(msg->twist.twist.linear.x);
     emit speed_th(msg->twist.twist.angular.z);
 
 }
 
 
-void QNode::imageCallback(const sensor_msgs::CompressedImageConstPtr &msg)
+void QNode::imageCallback(const sensor_msgs::ImageConstPtr &msg)
 {
-    ROS_INFO("I'm setting picture in mul_t callback function!");
-    cv_bridge::CvImagePtr cv_ptr;
-
-    try {
-      //深拷贝转换为opencv类型
-      cv_bridge::CvImagePtr cv_ptr_compressed =
-          cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
-      QImage im = Mat2QImage(cv_ptr_compressed->image);
-      emit show_image(im);
-    } catch (cv_bridge::Exception& e) {
-      //log(Error, ("video frame0 exception: " + QString(e.what())).toStdString());
-      return;
-    }
-    ros::spin();
+    try
+      {
+        cv_bridge::CvImageConstPtr cv_ptr =
+            cv_bridge::toCvShare(msg, sensor_msgs::image_encodings::RGB8);
+        cv::Mat img = cv_ptr->image;
+        QImage image = QImage(img.data,img.cols,img.rows,img.step[0],QImage::Format_RGB888);//change  to QImage format
+        //ROS_INFO("I'm setting picture in mul_t callback function!");
+        //image.save("/home/jackyma/test.jpg");
+        emit show_image(image);
+      }
+    catch (cv_bridge::Exception& e)
+      {
+        ROS_ERROR("Could not convert from '%s' to 'bgr8'.", msg->encoding.c_str());
+      }
+
 }
 
 
diff --git a/src/ui/mainwindow.hpp b/src/ui/mainwindow.hpp
index 6a9cb94..29dd080 100644
--- a/src/ui/mainwindow.hpp
+++ b/src/ui/mainwindow.hpp
@@ -47,7 +47,7 @@ public slots:
     void Slider_raw_valueChanged(int v);
     void Slider_linear_valueChanged(int v);
     void importFrame();//read video
-    void slot_show_image(QImage image);//added
+    void slot_show_image(const QImage& image);//added
 
 
 private slots:
diff --git a/src/ui/mainwindow.ui b/src/ui/mainwindow.ui
index 219b7fe..91c85f2 100644
--- a/src/ui/mainwindow.ui
+++ b/src/ui/mainwindow.ui
@@ -203,7 +203,7 @@ margin:0px 0px 0px 0px;
     <item row="0" column="0">
      <widget class="QStackedWidget" name="stackedWidget_main">
       <property name="currentIndex">
-       <number>1</number>
+       <number>2</number>
       </property>
       <widget class="QWidget" name="mainWidget">
        <widget class="QLabel" name="label_2">