diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index dbe9c82..0000000
--- a/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-.vscode/
\ No newline at end of file
diff --git a/README.md b/README.md
index e5157b6..db7c34f 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@ Packages Version: v3.5.0
 # Introduction
 This package can send control command to real robot from ROS. You can do low-level control(namely control all joints on robot) and high-level control(namely control the walking direction and speed of robot).
 
-This version is suitable for unitree_legged_sdk v3.5.1, namely Go1 robot. 
+This version is suitable for unitree_legged_sdk v3.5.1, namely Go1 robot.
 
 ## Packages:
 
@@ -14,11 +14,15 @@ The interface between ROS and real robot: `unitree_legged_real`
 ## Environment
 We recommand users to run this package in Ubuntu 18.04 and ROS melodic environment
 
-# Dependencies
-* [unitree_legged_sdk](https://github.com/unitreerobotics): v3.5.1
+## Dependencies
+* [unitree_legged_sdk](https://github.com/unitreerobotics/unitree_legged_sdk/releases)
+### Notice
+The newest release [v3.8.0](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/3.8.0) only supports for robot: Go1.
+
+Check release [v3.3.4](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/3.3.4) for A1 support.
 
 # Configuration
-Before compiling this package, users have to download unitree_legged-sdk v.3.5.1 to `~/catkin_ws/src` folder, which is the same folder where you put this package into
+Before compiling this package, please download the corresponding unitree_legged_sdk as noted above, and put it to your own workspace's source folder(e.g. `~/catkin_ws/src`). Be careful with the sdk folder name. It should be "unitree_legged_sdk" without version tag.
 
 # Build
 You can use catkin_make to build ROS packages. First copy the package folder to `~/catkin_ws/src`, then:
@@ -86,8 +90,3 @@ roslaunch unitree_legged_real keyboard_control.launch
 
 And before you do the low-level control, please press L2+A to sit the robot down and then press L1+L2+start to make the robot into
 mode in which you can do joint-level control, finally make sure you hang the robot up before you run low-level control.
-
-
-
-
-
diff --git a/unitree_legged_msgs/msg/LowState.msg b/unitree_legged_msgs/msg/LowState.msg
index 40c8590..c5c26a2 100644
--- a/unitree_legged_msgs/msg/LowState.msg
+++ b/unitree_legged_msgs/msg/LowState.msg
@@ -14,5 +14,12 @@ int16[4] footForceEst
 uint32 tick						
 uint8[40] wirelessRemote 
 uint32 reserve
-
 uint32 crc
+
+# Old version Aliengo does not have:
+Cartesian[4] eeForceRaw
+Cartesian[4] eeForce          #it's a 1-DOF force infact, but we use 3-DOF here just for visualization 
+Cartesian position            # will delete
+Cartesian velocity            # will delete
+Cartesian velocity_w            # will delete
+
diff --git a/unitree_legged_real/CMakeLists.txt b/unitree_legged_real/CMakeLists.txt
index d7c24e7..e01901f 100755
--- a/unitree_legged_real/CMakeLists.txt
+++ b/unitree_legged_real/CMakeLists.txt
@@ -29,12 +29,12 @@ set(CMAKE_CXX_FLAGS "-O3 -fPIC")
 include_directories(
     include
     ${catkin_INCLUDE_DIRS}
-    ${CMAKE_SOURCE_DIR}/unitree_legged_sdk-master/include
+    ${CMAKE_SOURCE_DIR}/unitree_legged_sdk/include
 )
 
 
 
-link_directories(${CMAKE_SOURCE_DIR}/unitree_legged_sdk-master/lib)
+link_directories(${CMAKE_SOURCE_DIR}/unitree_legged_sdk/lib)
 
 
 
@@ -62,4 +62,3 @@ add_dependencies(control_via_keyboard ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catk
 add_executable(twist_sub src/exe/twist_sub.cpp)
 target_link_libraries(twist_sub ${EXTRA_LIBS} ${catkin_LIBRARIES})
 add_dependencies(twist_sub ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-