diff --git a/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch b/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch
index 28d5215..96c2d6b 100755
--- a/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch
+++ b/src/3rd_app/tensorflow_app/tensorflow_object_detector/launch/object_detect.launch
@@ -7,7 +7,7 @@
 
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="start_base" 		value="true"/>
 	</include>
 
diff --git a/src/spark/spark_bringup/launch/driver_bringup.launch b/src/spark/spark_bringup/launch/driver_bringup.launch
index 4104a29..242d927 100755
--- a/src/spark/spark_bringup/launch/driver_bringup.launch
+++ b/src/spark/spark_bringup/launch/driver_bringup.launch
@@ -26,7 +26,7 @@
 	<!--打开摄像头 -->
 	<group if="$(arg start_camera)">
 		<!-- 启动摄像头 -->
-  		<include file="$(find camera_driver_transfer)/launch/$(arg camera_types).launch">
+  		<include file="$(find camera_driver_transfer)/launch/$(arg camera_type_tel).launch">
 			<arg name="dp_rgist"	value="$(arg dp_rgist)"/>	
 		</include>
 	</group>
diff --git a/src/spark/spark_teleop/launch/teleop.launch b/src/spark/spark_teleop/launch/teleop.launch
index f1b947f..d86f3fe 100755
--- a/src/spark/spark_teleop/launch/teleop.launch
+++ b/src/spark/spark_teleop/launch/teleop.launch
@@ -5,7 +5,7 @@
 	<arg name="lidar_type_tel" default="3iroboticslidar2" doc="lidar type [3iroboticslidar2, ydlidar_g2]"/>
 	<!--spark底盘驱动，机器人描述,底盘,相机-->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
 	</include>
  	<!-- 启动雷达 -->
diff --git a/src/spark/spark_test/launch/all_run_test.launch b/src/spark/spark_test/launch/all_run_test.launch
index ce35425..a097289 100755
--- a/src/spark/spark_test/launch/all_run_test.launch
+++ b/src/spark/spark_test/launch/all_run_test.launch
@@ -16,7 +16,7 @@
 
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="start_base" 		value="true"/>
 	</include>
   	<!--UARM机械臂 -->
diff --git a/src/spark_app/spark_carry/launch/spark_carry_cal_cv3.launch b/src/spark_app/spark_carry/launch/spark_carry_cal_cv3.launch
index 6833b5f..7f23f6e 100755
--- a/src/spark_app/spark_carry/launch/spark_carry_cal_cv3.launch
+++ b/src/spark_app/spark_carry/launch/spark_carry_cal_cv3.launch
@@ -10,7 +10,7 @@
 
   <!--spark驱动，机器人描述，相机，底盘-->
   <include file="$(find spark_bringup)/launch/driver_bringup.launch">
-  	<arg name="camera_types"	value="$(arg camera_type_tel)" />
+  	<arg name="camera_type_tel"	value="$(arg camera_type_tel)" />
   </include>
 
   <!--摄像头订阅与视觉定位-->
diff --git a/src/spark_app/spark_carry/launch/spark_carry_object_only_cv3.launch b/src/spark_app/spark_carry/launch/spark_carry_object_only_cv3.launch
index e83ee3f..4b47062 100755
--- a/src/spark_app/spark_carry/launch/spark_carry_object_only_cv3.launch
+++ b/src/spark_app/spark_carry/launch/spark_carry_object_only_cv3.launch
@@ -6,7 +6,7 @@
 
   	<!--导航 -->
   	<include file="$(find spark_navigation)/launch/amcl_demo_lidar.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="start_camera"	value="true"/>
 		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
 	</include>
diff --git a/src/spark_app/spark_navigation/launch/amcl_demo_rviz.launch b/src/spark_app/spark_navigation/launch/amcl_demo_rviz.launch
index 6457657..857daa7 100755
--- a/src/spark_app/spark_navigation/launch/amcl_demo_rviz.launch
+++ b/src/spark_app/spark_navigation/launch/amcl_demo_rviz.launch
@@ -7,7 +7,7 @@
 	
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 	</include>
 	
 	<!-- Run the depthimage_to_laserscan node -->
diff --git a/src/spark_app/spark_rtabmap/launch/spark_rtabmap_nav.launch b/src/spark_app/spark_rtabmap/launch/spark_rtabmap_nav.launch
index 46f0cda..7aa9af1 100755
--- a/src/spark_app/spark_rtabmap/launch/spark_rtabmap_nav.launch
+++ b/src/spark_app/spark_rtabmap/launch/spark_rtabmap_nav.launch
@@ -7,7 +7,7 @@
 	
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="dp_rgist" 		value="true"/>
 	</include>
 
diff --git a/src/spark_app/spark_rtabmap/launch/spark_rtabmap_teleop.launch b/src/spark_app/spark_rtabmap/launch/spark_rtabmap_teleop.launch
index 285ce51..0e70f67 100755
--- a/src/spark_app/spark_rtabmap/launch/spark_rtabmap_teleop.launch
+++ b/src/spark_app/spark_rtabmap/launch/spark_rtabmap_teleop.launch
@@ -6,7 +6,7 @@
 	<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]" />
 	<!-- spark base driver -->
 	<include file="$(find spark_rtabmap)/launch/rtab_demo.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)" />
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)" />
 
 	</include>
 
diff --git a/src/spark_app/spark_slam/launch/2d_slam.launch b/src/spark_app/spark_slam/launch/2d_slam.launch
index 080e15e..767853d 100755
--- a/src/spark_app/spark_slam/launch/2d_slam.launch
+++ b/src/spark_app/spark_slam/launch/2d_slam.launch
@@ -2,7 +2,7 @@
 <!--SPARK技术讨论与反馈群：8346256-->
 <launch>
   	<!-- Arguments -->
-	<arg name="camera_types"	default="astrapro"/>
+	<arg name="camera_type_tel"	default="astrapro"/>
   	<arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
   	<arg name="configuration_basename" default="spark_lds_2d.lua"/>
   	<arg name="open_rviz" default="true"/>
@@ -10,7 +10,7 @@
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
 		<arg name="start_camera"	value="true"/>
-		<arg name="camera_types"	value="$(arg camera_types)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
 	</include>
 
@@ -28,10 +28,10 @@
   	
   	<!-- rviz -->
   	<group if="$(arg open_rviz)"> 
-		<group if="$(eval arg('camera_types')=='d435')">
+		<group if="$(eval arg('camera_type_tel')=='d435')">
 			<node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find spark_slam)/rviz/spark_$(arg slam_methods)_d435.rviz"/>
 		</group>
-		<group unless="$(eval arg('camera_types')=='d435')">
+		<group unless="$(eval arg('camera_type_tel')=='d435')">
     			<node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find spark_slam)/rviz/spark_$(arg slam_methods).rviz"/>
 		</group>
   	</group>
diff --git a/src/spark_app/spark_slam/launch/2d_slam_teleop.launch b/src/spark_app/spark_slam/launch/2d_slam_teleop.launch
index 05c348c..d2fb66a 100755
--- a/src/spark_app/spark_slam/launch/2d_slam_teleop.launch
+++ b/src/spark_app/spark_slam/launch/2d_slam_teleop.launch
@@ -7,7 +7,7 @@
 	<arg name="camera_type_tel"	default="astrapro"/>
 	<include file="$(find spark_slam)/launch/2d_slam.launch">
 		<arg name="slam_methods"	value="$(arg slam_methods_tel)"/>
-		<arg name="camera_types"	value="$(arg camera_type_tel)"/>
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)"/>
 		<arg name="lidar_type_tel"	value="$(arg lidar_type_tel)"/>
  	</include> 
   	<!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”-->
diff --git a/src/spark_app/spark_slam/launch/depth_slam.launch b/src/spark_app/spark_slam/launch/depth_slam.launch
index 77ec715..34ae05c 100755
--- a/src/spark_app/spark_slam/launch/depth_slam.launch
+++ b/src/spark_app/spark_slam/launch/depth_slam.launch
@@ -3,17 +3,17 @@
 <launch>
   	<!-- Arguments -->
   	<arg name="slam_methods" default="gmapping" doc="slam type [gmapping, cartographer, hector, karto, frontier_exploration]"/>
-  	<arg name="camera_types" default="astrapro" doc="camera type [astrapro, astra, d435]"/>
+  	<arg name="camera_type_tel" default="astrapro" doc="camera type [astrapro, astra, d435]"/>
   	<arg name="configuration_basename" default="spark_lds_2d.lua"/>
   	<arg name="open_rviz" default="true"/>
 
 	<!-- spark底盘驱动，机器人描述,底盘,相机 -->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types" 	value="$(arg camera_types)"/>
+		<arg name="camera_type_tel" 	value="$(arg camera_type_tel)"/>
 	</include>
 	
 	<!-- Run the depthimage_to_laserscan node -->
-	<include file="$(find camera_driver_transfer)/launch/$(arg camera_types)_p2s.launch">
+	<include file="$(find camera_driver_transfer)/launch/$(arg camera_type_tel)_p2s.launch">
 	</include>
 
   	<!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map -->
@@ -24,10 +24,10 @@
 
   	<!-- rviz -->
   	<group if="$(arg open_rviz)"> 
-		<group if="$(eval arg('camera_types')=='d435')">
+		<group if="$(eval arg('camera_type_tel')=='d435')">
 			<node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find spark_slam)/rviz/spark_$(arg slam_methods)_d435.rviz"/>
 		</group>
-		<group unless="$(eval arg('camera_types')=='d435')">
+		<group unless="$(eval arg('camera_type_tel')=='d435')">
     			<node pkg="rviz" type="rviz" name="rviz" required="true" args="-d $(find spark_slam)/rviz/spark_$(arg slam_methods).rviz"/>
 		</group>
   	</group>
diff --git a/src/spark_app/spark_slam/launch/depth_slam_teleop.launch b/src/spark_app/spark_slam/launch/depth_slam_teleop.launch
index 6b8338c..b32aab2 100755
--- a/src/spark_app/spark_slam/launch/depth_slam_teleop.launch
+++ b/src/spark_app/spark_slam/launch/depth_slam_teleop.launch
@@ -5,7 +5,7 @@
 	<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
 	<include file="$(find spark_slam)/launch/depth_slam.launch">
 		<arg name="slam_methods"	value="$(arg slam_methods_tel)"/>
-		<arg name="camera_types"	value="$(arg camera_type_tel)" />
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)" />
  	</include> 
   	<!--创建新的终端，spark键盘控制 “wsad”分别代表“前后左右”-->
   	<node pkg="spark_teleop" type="keyboard_control.sh" name="kc_depth" />
diff --git a/src/spark_app/spark_voice/launch/baidu_nav.launch b/src/spark_app/spark_voice/launch/baidu_nav.launch
index 16cba15..bc9bb14 100755
--- a/src/spark_app/spark_voice/launch/baidu_nav.launch
+++ b/src/spark_app/spark_voice/launch/baidu_nav.launch
@@ -4,7 +4,7 @@
 	<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
 	<!--spark底盘驱动，机器人描述,底盘,相机-->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)" />
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)" />
 	</include>
 	<!--spark控制 ”-->
 	<node pkg="spark_voice" type="baidu_asr.py" name="baidu_bot"  output="screen"/>
diff --git a/src/spark_app/spark_voice/launch/voice_nav.launch b/src/spark_app/spark_voice/launch/voice_nav.launch
index a2ff036..66a7a38 100755
--- a/src/spark_app/spark_voice/launch/voice_nav.launch
+++ b/src/spark_app/spark_voice/launch/voice_nav.launch
@@ -4,7 +4,7 @@
 	<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
 	<!--spark底盘驱动，机器人描述,底盘,相机-->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)" />
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)" />
 	</include>
 	<!--spark键盘控制 “wsad”分别代表“前后左右”-->
 	<node pkg="spark_voice" type="local_asr.py" name="local_asr"  output="screen"/>
diff --git a/src/spark_app/spark_voice/launch/wx_nav.launch b/src/spark_app/spark_voice/launch/wx_nav.launch
index f6fc9f2..622c165 100755
--- a/src/spark_app/spark_voice/launch/wx_nav.launch
+++ b/src/spark_app/spark_voice/launch/wx_nav.launch
@@ -4,7 +4,7 @@
 	<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
 	<!--spark底盘驱动，机器人描述,底盘,相机-->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)" />
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)" />
 	</include>
 	<!--spark控制 ”-->
 	<node pkg="spark_voice" type="wx_bot.py" name="wx_bot" />
diff --git a/src/spark_app/spark_voice/launch/xf_nav.launch b/src/spark_app/spark_voice/launch/xf_nav.launch
index 30799cd..501b3c0 100755
--- a/src/spark_app/spark_voice/launch/xf_nav.launch
+++ b/src/spark_app/spark_voice/launch/xf_nav.launch
@@ -4,7 +4,7 @@
 	<arg name="camera_type_tel" default="" doc="camera type [astrapro, astra]"/>
 	<!--spark底盘驱动，机器人描述,底盘,相机-->
 	<include file="$(find spark_bringup)/launch/driver_bringup.launch">
-		<arg name="camera_types"	value="$(arg camera_type_tel)" />
+		<arg name="camera_type_tel"	value="$(arg camera_type_tel)" />
 	</include>
 	<!--spark控制 ”-->
 	<node pkg="spark_voice" type="kdxf_asr.py" name="kdxf_bot" />