diff --git a/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py b/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py
index e5afd17..271f1a0 100644
--- a/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py
+++ b/src/openarm_camera/openarm_camera/stereo_hand_depth_node.py
@@ -177,7 +177,10 @@ class StereoHandDepthNode(Node):
         )
         msg_out = PoseStamped()
         if ids is not None:
+            detected_ids = ids.flatten().tolist()
             cv2.aruco.drawDetectedMarkers(left_rect, corners, ids)
+            if 0 in detected_ids:
+                self.get_logger().info("Detected ArUco id=0")
             # c = corners[0][0]
             # center = c.mean(axis=0)
             # u, v = int(center[0]), int(center[1])
@@ -188,43 +191,43 @@ class StereoHandDepthNode(Node):
             #     left_gray, f"disp={d:.2f}", (u+5, v-5),
             #     cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0,255,0), 1
             # )
-            for e in corners:
-                ret, rvec, tvec = cv2.solvePnP(
-                    objectPoints=np.array([
-                        [-self.marker_size/2,  self.marker_size/2, 0],
-                        [ self.marker_size/2,  self.marker_size/2, 0],
-                        [ self.marker_size/2, -self.marker_size/2, 0],
-                        [-self.marker_size/2, -self.marker_size/2, 0]
-                    ], dtype=np.float32),
-                    imagePoints=e,
-                    cameraMatrix=self.K1,
-                    distCoeffs=self.D1
-                )
-                if(ret == True):
-                    cv2.drawFrameAxes(left_rect, self.K1, self.D1, rvec, tvec, 0.1, 2)
-                    R_cv, _ = cv2.Rodrigues(rvec)
-                    R_cv_to_ros = np.array([
-                        [ 0,  0,  -1],
-                        [ 1,  0,  0],
-                        [ 0, -1,  0]
-                    ])
-                    R_ros = R_cv_to_ros @ R_cv
-                    t_ros = R_cv_to_ros @ tvec.reshape(3)
-                    # t_ros = tvec.reshape(3)
-                    rot = R.from_matrix(R_ros)
-                    
-                    qx, qy, qz, qw = rot.as_quat()
-                    roll, pitch, yaw = rot.as_euler('xyz')
-                    # self.get_logger().info(f"quat: ({qx}, {qy}, {qz}, {qw})")
-                    self.get_logger().info(f"euler: ({roll*180/3.14:.1f}, {pitch*180/3.14:.1f}, {yaw*180/3.14:.1f})")
+                for e in corners:
+                    ret, rvec, tvec = cv2.solvePnP(
+                        objectPoints=np.array([
+                            [-self.marker_size/2,  self.marker_size/2, 0],
+                            [ self.marker_size/2,  self.marker_size/2, 0],
+                            [ self.marker_size/2, -self.marker_size/2, 0],
+                            [-self.marker_size/2, -self.marker_size/2, 0]
+                        ], dtype=np.float32),
+                        imagePoints=e,
+                        cameraMatrix=self.K1,
+                        distCoeffs=self.D1
+                    )
+                    if(ret == True):
+                        cv2.drawFrameAxes(left_rect, self.K1, self.D1, rvec, tvec, 0.1, 2)
+                        R_cv, _ = cv2.Rodrigues(rvec)
+                        R_cv_to_ros = np.array([
+                            [ 0,  0,  -1],
+                            [ 1,  0,  0],
+                            [ 0, -1,  0]
+                        ])
+                        R_ros = R_cv_to_ros @ R_cv
+                        t_ros = R_cv_to_ros @ tvec.reshape(3)
+                        # t_ros = tvec.reshape(3)
+                        rot = R.from_matrix(R_ros)
+                        
+                        qx, qy, qz, qw = rot.as_quat()
+                        roll, pitch, yaw = rot.as_euler('xyz')
+                        # self.get_logger().info(f"quat: ({qx}, {qy}, {qz}, {qw})")
+                        self.get_logger().info(f"euler: ({roll*180/3.14:.1f}, {pitch*180/3.14:.1f}, {yaw*180/3.14:.1f})")
 
-                    # 记录时间
-                    self.last_marker_time = time.time()
+                        # 记录时间
+                        self.last_marker_time = time.time()
 
-                    # 记录最后一次有效目标
-                    self.last_valid_pos = np.array([t_ros[0] + 0.7, t_ros[1], t_ros[2]])
-                    self.get_logger().info(f"Marker position (ROS frame): ({self.last_valid_pos[0]:.3f}, {self.last_valid_pos[1]:.3f}, {self.last_valid_pos[2]:.3f})")
-                    self.last_valid_quat = np.array([qx, qy, qz, qw])
+                        # 记录最后一次有效目标
+                        self.last_valid_pos = np.array([t_ros[0] + 0.7, t_ros[1], t_ros[2]])
+                        self.get_logger().info(f"Marker position (ROS frame): ({self.last_valid_pos[0]:.3f}, {self.last_valid_pos[1]:.3f}, {self.last_valid_pos[2]:.3f})")
+                        self.last_valid_quat = np.array([qx, qy, qz, qw])
                     
             # u = int(u * (w / 2))  # 注意这里是左图宽度
             # v = int(v * h)