diff --git a/src/openarm_joint_sensor/config/joint_sensor_zero_offsets.yaml b/src/openarm_joint_sensor/config/joint_sensor_zero_offsets.yaml
index ebfd55f..78b880c 100644
--- a/src/openarm_joint_sensor/config/joint_sensor_zero_offsets.yaml
+++ b/src/openarm_joint_sensor/config/joint_sensor_zero_offsets.yaml
@@ -1,6 +1,6 @@
 joint_sensor_node:
   ros__parameters:
     zero_offsets: [2.7995149378912956, 2.5233983960718795, 0.0, 0.0, 0.0, 0.0, 0.0]
-    sensor_directions: [-1.0, 1.0, -1.0, 1.0, 1.0, 1.0, 1.0]
+    sensor_directions: [-1.0, 1.0, -1.0, -1.0, -1.0, 1.0, -1.0]
     auto_zero_on_first_sample: true
     can_interface: 'can2'
diff --git a/src/openarm_joint_sensor/launch/joint_sensor_can.launch.py b/src/openarm_joint_sensor/launch/joint_sensor_can.launch.py
index 1bb747c..8f06cee 100644
--- a/src/openarm_joint_sensor/launch/joint_sensor_can.launch.py
+++ b/src/openarm_joint_sensor/launch/joint_sensor_can.launch.py
@@ -1,5 +1,5 @@
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, TimerAction
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 from ament_index_python.packages import get_package_share_directory
@@ -28,7 +28,15 @@ def generate_launch_description():
         parameters=[LaunchConfiguration('params_file')],
     )
 
+    joint_control_node = Node(
+        package='openarm_joint_sensor',
+        executable='joint_control',
+        name='joint_control_node',
+        output='screen',
+    )
+    delayed_joint_control_node = TimerAction(period=3.0, actions=[joint_control_node])
     return LaunchDescription([
         params_file_arg,
         joint_sensor_node,
+        delayed_joint_control_node,
     ])
diff --git a/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py b/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py
index 6009f2d..2e0e443 100644
--- a/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py
+++ b/src/openarm_joint_sensor/openarm_joint_sensor/joint_control.py
@@ -109,7 +109,7 @@ class ProgressActionClient(Node):
     def listener_callback(self, msg):
 
         # self.send_goal([count, count1, 0.0, 0.0, 0.0, 0.0, 0.0])
-        self.get_logger().info(f'Received joint states: {list(msg.name)} positions: {list(msg.position)}')
+        # self.get_logger().info(f'Received joint states: {list(msg.name)} positions: {list(msg.position)}')
         # Apply position filtering if enabled
         arm_pos = list(msg.position)
         if self.enable_filter:
@@ -151,7 +151,7 @@ class ProgressActionClient(Node):
         msg = Float64MultiArray()
         msg.data = arm_pos
         self.float64MultiArrayPublisher_.publish(msg)
-        self.get_logger().info(f'Published joint commands: {arm_pos}')
+        self.get_logger().debug(f'Published joint commands: {arm_pos}')
  
     def goal_response_callback(self, future):
         # 3-3.处理目标发送后的反馈；
diff --git a/src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py b/src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py
index e536540..9f2caee 100644
--- a/src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py
+++ b/src/openarm_joint_sensor/openarm_joint_sensor/joint_sensor_can.py
@@ -22,7 +22,7 @@ class CallbackListener(can.Listener):
 class JointSensorNode(Node):
     def __init__(self):
         super().__init__('joint_sensor_node')
-        self.declare_parameter('can_interface', 'can0')
+        self.declare_parameter('can_interface', 'can2')
         self.get_logger().info('正在初始化CAN接口...')
         can_interface = self.get_parameter('can_interface').value
         self.bus = can.interface.Bus(channel=can_interface, bustype='socketcan')