diff --git a/config/rm_controllers/sentry.yaml b/config/rm_controllers/sentry.yaml
index 5111304e..fa0a7257 100644
--- a/config/rm_controllers/sentry.yaml
+++ b/config/rm_controllers/sentry.yaml
@@ -182,4 +182,4 @@ controllers:
   barrel_controller:
     type: effort_controllers/JointPositionController
     joint: "barrel_joint"
-    pid: { p: 30.0, i: 15.0, d: 0.3, i_clamp_max: 0.03, i_clamp_min: -0.03, antiwindup: true, publish_state: false }
+    pid: { p: 30.0, i: 15.0, d: 0.3, i_clamp_max: 0.03, i_clamp_min: -0.03, antiwindup: true, publish_state: false }
\ No newline at end of file
diff --git a/config/rm_ecat_hw/device_configurations/dart.yaml b/config/rm_ecat_hw/device_configurations/dart.yaml
index 92daae67..772ff063 100644
--- a/config/rm_ecat_hw/device_configurations/dart.yaml
+++ b/config/rm_ecat_hw/device_configurations/dart.yaml
@@ -37,4 +37,4 @@ gpios:
     mode: 0
   - name: "calibration_right"
     pin: 0
-    mode: 0
+    mode: 0
\ No newline at end of file
diff --git a/config/rm_referee/dart.yaml b/config/rm_referee/dart.yaml
index ef677847..740436b4 100644
--- a/config/rm_referee/dart.yaml
+++ b/config/rm_referee/dart.yaml
@@ -7,4 +7,4 @@ rm_referee:
     trigger_change:
     time_change:
     fixed:
-    flash:
+    flash:
\ No newline at end of file
diff --git a/config/vision/camera.yaml b/config/vision/camera.yaml
index 9faeb368..4327354d 100644
--- a/config/vision/camera.yaml
+++ b/config/vision/camera.yaml
@@ -1,4 +1,4 @@
-camera:
+hk_camera:
   image_width: 1440
   image_height: 1080
   pixel_format: bgr8
@@ -8,8 +8,10 @@ camera:
   camera_sn: 00J90631052
   frame_rate: 1000
   exposure_auto: false
-  exposure_value: 1500
+  exposure_value: 1000
   exposure_value_windmill: 3000
   gamma_selector: 2
   gamma_value: 0.5
-  enable_imu_trigger: true
+  enable_imu_trigger: false
+  is_fps_down: false
+  target_fps: 40.0
diff --git a/config/vision/camera_left.yaml b/config/vision/camera_left.yaml
new file mode 100644
index 00000000..82a9d0ca
--- /dev/null
+++ b/config/vision/camera_left.yaml
@@ -0,0 +1,17 @@
+hk_camera_left:
+#  1280×1024 640×512
+  image_width: 1280
+  image_height: 1024
+  pixel_format: bgr8
+  camera_info_url: 'file:///home/hiling/.ros/camera_info/DA8835803_left.yaml'
+  camera_name: hk_camera_left
+  camera_frame_id: camera_optical_frame_left
+  frame_id: camera_optical_frame_left
+  camera_sn: DA8835805
+  frame_rate: 15
+  exposure_auto: false
+  exposure_value: 1000
+  gamma_selector: 2
+  gamma_value: 0.5
+  enable_imu_trigger: true
+  sleep_time: 2
\ No newline at end of file
diff --git a/config/vision/camera_right.yaml b/config/vision/camera_right.yaml
new file mode 100644
index 00000000..c5cfb23b
--- /dev/null
+++ b/config/vision/camera_right.yaml
@@ -0,0 +1,17 @@
+hk_camera_right:
+#  1280×1024 640×512
+  image_width: 1280
+  image_height: 1024
+  pixel_format: bgr8
+  camera_info_url: 'file:///home/hiling/.ros/camera_info/test_cam_right.yaml'
+  camera_name: hk_camera_right
+  camera_frame_id: camera_optical_frame_right
+  frame_id: camera_optical_frame_right
+  camera_sn: DA8835803
+  frame_rate: 15
+  exposure_auto: false
+  exposure_value: 1000
+  gamma_selector: 2
+  gamma_value: 0.5
+  enable_imu_trigger: true
+  sleep_time: 1
\ No newline at end of file
diff --git a/config/vision/sentry.yaml b/config/vision/sentry.yaml
deleted file mode 100644
index 537dd0cc..00000000
--- a/config/vision/sentry.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-lower_camera:
-  image_width: 1280
-  image_height: 1024
-  pixel_format: bgr8
-  camera_info_url: ''
-  camera_name: lower_camera
-  imu_name: lower_gimbal_imu
-  camera_frame_id: lower_camera_optical_frame
-  camera_sn: KE0220040170
-  enable_imu_trigger: false
-  raising_filter_value: 0
-#upper_camera:
-#  image_width: 1280
-#  image_height: 1024
-#  pixel_format: bgr8
-#  camera_info_url: ''
-#  camera_name: upper_camera
-#  imu_name: upper_gimbal_imu
-#  camera_frame_id: upper_camera_optical_frame
-#  camera_sn: KE0220030076
-#  enable_imu_trigger: false
-#  raising_filter_value: 0
diff --git a/launch/vision/camera.launch b/launch/vision/camera.launch
index b42ca5f2..44bc83af 100644
--- a/launch/vision/camera.launch
+++ b/launch/vision/camera.launch
@@ -1,25 +1,22 @@
 <launch>
     <arg name="imu_trigger" default="false"/>
-    <arg name="camera_type" default="$(env CAMERA_TYPE)" doc="Camera type"/>
-    <arg name="camera_class" default="$(env CAMERA_CLASS)"/>
-    <arg name="camera_name" default="camera"/>
-    <arg name="camera_frame" default="camera_optical_frame"/>
-    <arg name="hw_name" default="$(env HW_NAME)" doc="[rm_ecat_hw, rm_hw]"/>
+    <arg name="manager_name" default="vision_nodelet"/>
+    <arg name="camera_class" default="HKCameraNodelet"/>
+    <arg name="camera_type" default="hk_camera"/>
+    <arg name="suffix" default=""/>
+    <arg name="hw_name" default="rm_ecat_hw" doc="[rm_ecat_hw, rm_hw]"/>
+    <arg name="image_topic"
+         default="$(eval '/' + arg('camera_type') + ('_' + arg('suffix') if arg('suffix') else '') + '/image_raw')"/>
+    <arg name="camera_info_topic"
+         default="$(eval '/' + arg('camera_type') + ('_' + arg('suffix') if arg('suffix') else '') + '/camera_info')"/>
 
-    <rosparam file="$(find rm_config)/config/vision/camera.yaml" command="load"/>
-
-    <node pkg="nodelet" type="nodelet" name="vision_nodelet" args="manager"
-          output="screen" respawn="true">
-        <param name="num_worker_threads" value="8"/>
-    </node>
-
-    <node pkg="nodelet" type="nodelet" name="$(arg camera_name)"
-          args="load $(arg camera_type)/$(arg camera_class) vision_nodelet"
+    <rosparam file="$(eval find('rm_detection_tradition') + '/config/camera' + ('_' + arg('suffix') if arg('suffix') else '') + '.yaml')" command="load"/>
+    <node pkg="nodelet" type="nodelet" name="$(eval arg('camera_type') + ('_' + arg('suffix') if arg('suffix') else ''))"
+          args="load $(arg camera_type)/$(arg camera_class) $(arg manager_name)"
           output="screen" respawn="true">
-        <param name="camera_frame_id" value="$(arg camera_frame)"/>
         <param name="enable_imu_trigger" value="$(arg imu_trigger)"/>
-        <remap from="$(arg camera_name)/image_raw" to="/$(arg camera_type)/$(arg camera_name)/image_raw"/>
-        <remap from="/$(arg camera_name)/imu_trigger" to="/$(arg hw_name)/imu_trigger"/>
+        <remap from="$(arg camera_type)/image_raw" to="$(arg image_topic)"/>
+        <remap from="$(arg camera_type)/camera_info" to="$(arg camera_info_topic)"/>
         <remap from="/rm_hw/gimbal_imu/trigger_time" to="/$(arg hw_name)/gimbal_imu/trigger_time"/>
     </node>
-</launch>
+</launch>
\ No newline at end of file
diff --git a/launch/vision/sentry_camera.launch b/launch/vision/sentry_camera.launch
deleted file mode 100644
index 59ec4731..00000000
--- a/launch/vision/sentry_camera.launch
+++ /dev/null
@@ -1,53 +0,0 @@
-<launch>
-
-    <rosparam file="$(find rm_config)/config/vision/sentry.yaml" command="load"/>
-
-    <node pkg="nodelet" type="nodelet" name="lower_vision_nodelet" args="manager"
-          output="screen">
-        <param name="num_worker_threads" value="8"/>
-    </node>
-    <node pkg="nodelet" type="nodelet" name="lower_camera"
-          args="load galaxy_camera/GalaxyCameraNodelet lower_vision_nodelet"
-          output="screen">
-        <remap from="trigger_time" to="rm_hw/lower_gimbal_imu/trigger_time"/>
-    </node>
-    <node pkg="nodelet" type="nodelet" name="lower_debayer"
-          args="load image_proc/debayer lower_vision_nodelet"
-          output="screen">
-        <remap from="image_raw" to="/galaxy_camera/lower_camera/image_raw"/>
-        <remap from="image_mono" to="/galaxy_camera/lower_camera/image_mono"/>
-        <remap from="image_color" to="/galaxy_camera/lower_camera/image_color"/>
-    </node>
-    <node pkg="nodelet" type="nodelet" name="lower_rectify"
-          args="load image_proc/rectify lower_vision_nodelet"
-          output="screen">
-        <remap from="image_mono" to="/galaxy_camera/lower_camera/image_mono"/>
-        <remap from="camera_info" to="/galaxy_camera/lower_camera/camera_info"/>
-        <remap from="image_rect" to="/galaxy_camera/lower_camera/image_rect"/>
-    </node>
-
-    <!--    <node pkg="nodelet" type="nodelet" name="upper_vision_nodelet" args="manager"-->
-    <!--          output="screen">-->
-    <!--        <param name="num_worker_threads" value="8"/>-->
-    <!--    </node>-->
-    <!--    <node pkg="nodelet" type="nodelet" name="upper_camera"-->
-    <!--          args="load galaxy_camera/GalaxyCameraNodelet upper_vision_nodelet"-->
-    <!--          output="screen">-->
-    <!--        <remap from="trigger_time" to="rm_hw/upper_gimbal_imu/trigger_time"/>-->
-    <!--    </node>-->
-    <!--    <node pkg="nodelet" type="nodelet" name="upper_debayer"-->
-    <!--          args="load image_proc/debayer upper_vision_nodelet"-->
-    <!--          output="screen">-->
-    <!--        <remap from="image_raw" to="/galaxy_camera/upper_camera/image_raw"/>-->
-    <!--        <remap from="image_mono" to="/galaxy_camera/upper_camera/image_mono"/>-->
-    <!--        <remap from="image_color" to="/galaxy_camera/upper_camera/image_color"/>-->
-    <!--    </node>-->
-    <!--    <node pkg="nodelet" type="nodelet" name="upper_rectify"-->
-    <!--          args="load image_proc/rectify upper_vision_nodelet"-->
-    <!--          output="screen">-->
-    <!--        <remap from="image_mono" to="/galaxy_camera/upper_camera/image_mono"/>-->
-    <!--        <remap from="camera_info" to="/galaxy_camera/upper_camera/camera_info"/>-->
-    <!--        <remap from="image_rect" to="/galaxy_camera/upper_camera/image_rect"/>-->
-    <!--    </node>-->
-
-</launch>
diff --git a/launch/vision/sentry_vision_loader.launch b/launch/vision/sentry_vision_loader.launch
deleted file mode 100644
index 0182bbb5..00000000
--- a/launch/vision/sentry_vision_loader.launch
+++ /dev/null
@@ -1,42 +0,0 @@
-<launch>
-    <arg name="robot_type" default="$(env ROBOT_TYPE)" doc="Robot type [standard, hero, engineer]"/>
-    <rosparam file="$(find rm_config)/config/rm_track/$(arg robot_type).yaml" command="load"/>
-
-    <node pkg="nodelet" type="nodelet" name="lower_processor"
-          args="load rm_digtialimg_proc/Processor lower_vision_nodelet">
-        <rosparam file="$(find rm_digtialimg_proc)/config/weibull_coefficient.yaml" command="load"/>
-        <rosparam file="$(find rm_digtialimg_proc)/config/make_dataset.yaml" command="load"/>
-        <rosparam file="$(find rm_digtialimg_proc)/config/armor_coefficient.yaml" command="load"/>
-        <rosparam file="$(find rm_digtialimg_proc)/config/preprocess_coefficient.yaml" command="load"/>
-        <remap from="/processor/result_msg" to="/lower_processor/result_msg"/>
-        <remap from="debug_image" to="lower_debug_image"/>
-        <remap from="/galaxy_camera/image_raw" to="/galaxy_camera/lower_camera/image_raw"/>
-    </node>
-
-    <node pkg="rm_pose_solver" type="pose_solver_node" name="lower_pose_solver_node" output="screen">
-        <rosparam file="$(find rm_pose_solver)/config/pose_solver_config.yaml" command="load"/>
-        <remap from="/processor/result_msg" to="/lower_processor/result_msg"/>
-        <remap from="/galaxy_camera/camera_info" to="/galaxy_camera/lower_camera/camera_info"/>
-        <remap from="/detection" to="/detection"/>
-    </node>
-
-    <!--    <node pkg="nodelet" type="nodelet" name="upper_processor"-->
-    <!--          args="load rm_digtialimg_proc/Processor upper_vision_nodelet">-->
-    <!--        <rosparam file="$(find rm_digtialimg_proc)/config/weibull_coefficient.yaml" command="load"/>-->
-    <!--        <rosparam file="$(find rm_digtialimg_proc)/config/make_dataset.yaml" command="load"/>-->
-    <!--        <rosparam file="$(find rm_digtialimg_proc)/config/armor_coefficient.yaml" command="load"/>-->
-    <!--        <rosparam file="$(find rm_digtialimg_proc)/config/preprocess_coefficient.yaml" command="load"/>-->
-    <!--        <remap from="/processor/result_msg" to="/upper_processor/result_msg"/>-->
-    <!--        <remap from="debug_image" to="upper_debug_image"/>-->
-    <!--        <remap from="/galaxy_camera/image_raw" to="/galaxy_camera/upper_camera/image_raw"/>-->
-    <!--    </node>-->
-
-    <!--    <node pkg="rm_pose_solver" type="pose_solver_node" name="upper_pose_solver_node" output="screen">-->
-    <!--        <rosparam file="$(find rm_pose_solver)/config/pose_solver_config.yaml" command="load"/>-->
-    <!--        <remap from="/processor/result_msg" to="/upper_processor/result_msg"/>-->
-    <!--        <remap from="/galaxy_camera/camera_info" to="/galaxy_camera/upper_camera/camera_info"/>-->
-    <!--        <remap from="/detection" to="/detection"/>-->
-    <!--    </node>-->
-
-    <node name="rm_track" pkg="rm_track" type="rm_track" respawn="false"/>
-</launch>
diff --git a/launch/vision/vision_loader.launch b/launch/vision/vision_loader.launch
deleted file mode 100644
index d02b74b8..00000000
--- a/launch/vision/vision_loader.launch
+++ /dev/null
@@ -1,45 +0,0 @@
-<launch>
-    <arg name="robot_type" default="$(env ROBOT_TYPE)" doc="Robot type [standard, hero, engineer]"/>
-    <arg name="camera_type" default="$(env CAMERA_TYPE)" doc="Camera type"/>
-    <arg name="camera_name" default="camera"/>
-    <rosparam file="$(find armor_processor)/config/processor_config.yaml" command="load"/>
-
-    <node pkg="nodelet" type="nodelet" name="Processor"
-          args="load rm_digtialimg_proc/Processor vision_nodelet" respawn="true">
-        <rosparam file="$(find rm_digtialimg_proc)/config/weibull_coefficient.yaml" command="load"/>
-        <rosparam file="$(find rm_digtialimg_proc)/config/make_dataset.yaml" command="load"/>
-        <rosparam file="$(find rm_digtialimg_proc)/config/armor_coefficient.yaml" command="load"/>
-        <rosparam file="$(find rm_digtialimg_proc)/config/preprocess_coefficient.yaml" command="load"/>
-        <remap from="/processor/result_msg" to="/processor/result_msg"/>
-        <remap from="debug_image" to="debug_image"/>
-        <remap from="/galaxy_camera/image_raw" to="/$(arg camera_type)/$(arg camera_name)/image_raw"/>
-    </node>
-
-    <node pkg="rm_pose_solver" type="pose_solver_node" name="pose_solver_node" output="screen" respawn="true">
-        <rosparam file="$(find rm_pose_solver)/config/pose_solver_config.yaml" command="load"/>
-        <remap from="/processor/result_msg" to="/processor/result_msg"/>
-        <remap from="/galaxy_camera/camera_info" to="/$(arg camera_type)/$(arg camera_name)/camera_info"/>
-        <remap from="/detection" to="/detection"/>
-    </node>
-
-    <node name="armor_processor" pkg="armor_processor" type="armor_processor" respawn="true"/>
-
-<!--    <node pkg="nodelet" type="nodelet" name="forecast"-->
-<!--        args="load rm_forecast/Forecast_Node vision_nodelet" >-->
-<!--        <rosparam file="$(find rm_forecast)/config/forecast.yaml" command="load" />-->
-<!--        <rosparam file="$(find rm_forecast)/config/camera.yaml" command="load" />-->
-<!--       <remap from="/hk_camera/image_raw" to="/$(arg camera_type)/$(arg camera_name)/image_raw"/>-->
-<!--    </node>-->
-
-    <node pkg="nodelet" type="nodelet" name="forecast"
-          args="load fft_forecast/Forecast_Node vision_nodelet" respawn="true">
-        <rosparam file="$(find fft_forecast)/config/forecast.yaml" command="load" />
-        <rosparam file="$(find fft_forecast)/config/camera.yaml" command="load" />
-        <remap from="/hk_camera/image_raw" to="/$(arg camera_type)/$(arg camera_name)/image_raw"/>
-        <remap from="/hk_camera/camera_info" to="/$(arg camera_type)/$(arg camera_name)/camera_info"/>
-    </node>
-
-<!--     <include file="$(find buff_vision)/launch/buff_nodelet.launch"/> -->
-
-    <include file="$(find windmill)/launch/windmill.launch"/>
-</launch>
diff --git a/launch/vision/vision_main_node.launch b/launch/vision/vision_main_node.launch
new file mode 100644
index 00000000..4012de63
--- /dev/null
+++ b/launch/vision/vision_main_node.launch
@@ -0,0 +1,99 @@
+<launch>
+    <arg name="camera_type" default="hk_camera"/>
+    <arg name="manager_name" default="vision_nodelet"/>
+
+    <!-- nodelet manager name -->
+    <arg name="use_back" default="false"/>
+
+    <arg name="use_left" default="false"/>
+    <arg name="use_right" default="false"/>
+
+    <!-- ========== main thread ========== -->
+    <!-- main nodelet manager -->
+    <node pkg="nodelet" type="nodelet" name="$(arg manager_name)" args="manager" output="screen"/>
+
+    <!-- Camera -->
+    <include file="$(find rm_target_tracker)/launch/camera.launch">
+        <arg name="camera_type" value="$(arg camera_type)"/>
+        <arg name="manager_name" value="$(arg manager_name)"/>
+        <arg name="suffix" value=""/>
+    </include>
+
+    <!-- Detection -->
+    <include file="$(find rm_detection_tradition)/launch/detection_tradition.launch">
+        <arg name="manager_name" value="$(arg manager_name)"/>
+        <arg name="camera_type" value="$(arg camera_type)"/>
+        <arg name="suffix" value=""/>
+    </include>
+
+    <!-- Pose solver -->
+    <include file="$(find rm_pose_solver)/launch/pose_solver.launch">
+        <arg name="manager_name" value="$(arg manager_name)"/>
+        <arg name="camera_type" value="$(arg camera_type)"/>
+        <arg name="suffix" value=""/>
+    </include>
+
+    <!-- Target Tracker -->
+    <include file="$(find rm_target_tracker)/launch/target_tracker.launch">
+        <arg name="manager_name" value="$(arg manager_name)"/>
+        <arg name="camera_type" value="$(arg camera_type)"/>
+        <arg name="suffix" value=""/>
+    </include>
+
+    <!-- ========== back thread ========== -->
+    <group if="$(arg use_back)">
+        <arg name="sub_manager_name" default="vision_nodelet_back"/>
+
+        <node pkg="nodelet" type="nodelet" name="$(arg sub_manager_name)" args="manager" output="screen"/>
+
+        <include file="$(find rm_target_tracker)/launch/camera.launch">
+            <arg name="manager_name" value="$(arg sub_manager_name)"/>
+            <arg name="camera_type" value="$(arg camera_type)"/>
+            <arg name="suffix" value="back"/>
+        </include>
+
+        <include file="$(find rm_detection_tradition)/launch/detection_tradition.launch">
+            <arg name="manager_name" value="$(arg sub_manager_name)"/>
+            <arg name="camera_type" value="$(arg camera_type)"/>
+            <arg name="suffix" value="back"/>
+        </include>
+    </group>
+
+    <!-- ========== left thread ========== -->
+    <group if="$(arg use_left)">
+        <arg name="sub_manager_name" default="vision_nodelet_left"/>
+
+        <node pkg="nodelet" type="nodelet" name="$(arg sub_manager_name)" args="manager" output="screen"/>
+
+        <include file="$(find rm_target_tracker)/launch/camera.launch">
+            <arg name="manager_name" value="$(arg sub_manager_name)"/>
+            <arg name="camera_type" value="$(arg camera_type)"/>
+            <arg name="suffix" value="left"/>
+        </include>
+
+        <include file="$(find rm_detection_tradition)/launch/detection_tradition.launch">
+            <arg name="manager_name" value="$(arg sub_manager_name)"/>
+            <arg name="camera_type" value="$(arg camera_type)"/>
+            <arg name="suffix" value="left"/>
+        </include>
+    </group>
+
+    <!-- ========== right thread ========== -->
+    <group if="$(arg use_right)">
+        <arg name="sub_manager_name" default="vision_nodelet_right"/>
+
+        <node pkg="nodelet" type="nodelet" name="$(arg sub_manager_name)" args="manager" output="screen"/>
+
+        <include file="$(find rm_target_tracker)/launch/camera.launch">
+            <arg name="manager_name" value="$(arg sub_manager_name)"/>
+            <arg name="camera_type" value="$(arg camera_type)"/>
+            <arg name="suffix" value="right"/>
+        </include>
+
+        <include file="$(find rm_detection_tradition)/launch/detection_tradition.launch">
+            <arg name="manager_name" value="$(arg sub_manager_name)"/>
+            <arg name="camera_type" value="$(arg camera_type)"/>
+            <arg name="suffix" value="right"/>
+        </include>
+    </group>
+</launch>