diff --git a/README.md b/README.md
index 91db062..a0b6f71 100644
--- a/README.md
+++ b/README.md
@@ -30,10 +30,10 @@ unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
 echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc
 ```
 
-Install `teleop-twist-keyboard`
+Install dependency packages
 
 ```bash
-sudo apt install ros-noetic-teleop-twist-keyboard
+sudo apt install ros-noetic-teleop-twist-keyboard ros-noetic-controller-interface  ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-joint-trajectory-controller
 ```
 
 Install yaml-cpp
@@ -46,6 +46,16 @@ sudo make install
 sudo ldconfig
 ```
 
+Install lcm
+
+```bash
+git clone https://github.com/lcm-proj/lcm.git 
+cd lcm && mkdir build && cd build
+cmake .. && make
+sudo make install
+sudo ldconfig
+```
+
 ## Compilation
 
 Customize the following two functions in your code to adapt to different models:
diff --git a/README_CN.md b/README_CN.md
index 7991af3..b214cc2 100644
--- a/README_CN.md
+++ b/README_CN.md
@@ -30,10 +30,10 @@ unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
 echo 'export Torch_DIR=/path/to/your/torchlib' >> ~/.bashrc
 ```
 
-安装 `teleop-twist-keyboard` 
+安装依赖库
 
 ```bash
-sudo apt install ros-noetic-teleop-twist-keyboard
+sudo apt install ros-noetic-teleop-twist-keyboard ros-noetic-controller-interface  ros-noetic-gazebo-ros-control ros-noetic-joint-state-controller ros-noetic-effort-controllers ros-noetic-joint-trajectory-controller
 ```
 
 安装yaml-cpp
@@ -46,6 +46,16 @@ sudo make install
 sudo ldconfig
 ```
 
+安装lcm
+
+```bash
+git clone https://github.com/lcm-proj/lcm.git 
+cd lcm && mkdir build && cd build
+cmake .. && make
+sudo make install
+sudo ldconfig
+```
+
 ## 编译
 
 自定义代码中的以下两个函数，以适配不同的模型：
@@ -133,8 +143,6 @@ rosrun rl_sar rl_real_a1
 
     由于使用Type-C连接时调试碰撞易损坏接口，而且通信延迟较高，故推荐使用网线进行连接。需要将机器人拆开，断开断开主控和运动控制板的网线，将电脑和运动控制板使用网线直接连接，并设置电脑的有线连接IPv4为手动`192.168.55.100`。推荐拆掉头部并将网线从头部的开口引出。拆装时候注意不要损坏排线。
 
-    
-
     初始化机器人的连接(每次重新连接机器人都要执行此步骤)
 
     ```bash
diff --git a/src/rl_sar/CMakeLists.txt b/src/rl_sar/CMakeLists.txt
index e43b4a8..ee38d39 100644
--- a/src/rl_sar/CMakeLists.txt
+++ b/src/rl_sar/CMakeLists.txt
@@ -27,7 +27,8 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
 
-find_package(yaml-cpp REQUIRED)
+# find_package(yaml-cpp REQUIRED)
+link_directories(/usr/local/lib)
 include_directories(${YAML_CPP_INCLUDE_DIR})
 
 catkin_package(