diff --git a/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch
index b85a1383..3f491844 100644
--- a/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch
+++ b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch
@@ -20,6 +20,10 @@
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
-	<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" />
+	<!-- <node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" /> -->
+	<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" output="screen">
+        <param name="port" value="$(arg port)" />
+        <param name="baud" value="$(arg baud)" />
+    </node>
 	<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
 </launch>
diff --git a/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch
index 7c8b72b1..6ca57bff 100644
--- a/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch
+++ b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch
@@ -21,5 +21,9 @@
 		<arg name="baud" value="$(arg baud)" />	
     </include>
 	<!-- listen and pub the real angles ，监听并发布真实角度-->
-	<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" />
+	<!-- <node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" /> -->
+	<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" output="screen">
+        <param name="port" value="$(arg port)" />
+        <param name="baud" value="$(arg baud)" />
+    </node>
 </launch>
diff --git a/mycobot_280/mycobot_280/scripts/detect_marker.py b/mycobot_280/mycobot_280/scripts/detect_marker.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/follow_and_pump.py b/mycobot_280/mycobot_280/scripts/follow_and_pump.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/follow_display.py b/mycobot_280/mycobot_280/scripts/follow_display.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/follow_display_gripper.py b/mycobot_280/mycobot_280/scripts/follow_display_gripper.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/following_marker.py b/mycobot_280/mycobot_280/scripts/following_marker.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/listen_real_gripper.py b/mycobot_280/mycobot_280/scripts/listen_real_gripper.py
index 1d6ed867..f3ac6376 100755
--- a/mycobot_280/mycobot_280/scripts/listen_real_gripper.py
+++ b/mycobot_280/mycobot_280/scripts/listen_real_gripper.py
@@ -94,7 +94,7 @@ def talker():
             # print(f'error:{e}')
             print("--------------error",e)
     
-    rospy.loginfo("start loop ...")
+    # rospy.loginfo("start loop ...")
     while not rospy.is_shutdown():
         # get real angles from server.从服务器获得真实的角度。
         res = func()
@@ -116,7 +116,7 @@ def talker():
                 res.joint_6 * (math.pi / 180),
             ]
             radians_list.append(gripper_value)
-            rospy.loginfo("res: {}".format(radians_list))
+            # rospy.loginfo("res: {}".format(radians_list))
 
             # publish angles.发布角度
             joint_state_send.header.stamp = rospy.Time.now()
diff --git a/mycobot_280/mycobot_280/scripts/simple_gui.py b/mycobot_280/mycobot_280/scripts/simple_gui.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/slider_control.py b/mycobot_280/mycobot_280/scripts/slider_control.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/slider_control_gripper.py b/mycobot_280/mycobot_280/scripts/slider_control_gripper.py
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280/scripts/teleop_keyboard.py b/mycobot_280/mycobot_280/scripts/teleop_keyboard.py
old mode 100644
new mode 100755