diff --git a/mycobot_280/mycobot_280/config/mycobot.rviz b/mycobot_280/mycobot_280/config/mycobot.rviz
index 25ce3339..b3e80380 100644
--- a/mycobot_280/mycobot_280/config/mycobot.rviz
+++ b/mycobot_280/mycobot_280/config/mycobot.rviz
@@ -65,77 +65,57 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        g_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gripper_left3:
+        camera_flange:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        gripper_right1:
+        g_base:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        gripper_right2:
+        joint1:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        gripper_right3:
+        joint2:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint1:
+        joint3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint2:
+        joint4:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint3:
+        joint5:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint4:
+        joint6:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint5:
+        joint6_flange:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint6:
+        pump_box:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        joint6_flange:
+        pump_head:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -153,21 +133,9 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
-        g_base:
+        camera_flange:
           Value: true
-        gripper_base:
-          Value: true
-        gripper_left1:
-          Value: true
-        gripper_left2:
-          Value: true
-        gripper_left3:
-          Value: true
-        gripper_right1:
-          Value: true
-        gripper_right2:
-          Value: true
-        gripper_right3:
+        g_base:
           Value: true
         joint1:
           Value: true
@@ -183,6 +151,10 @@ Visualization Manager:
           Value: true
         joint6_flange:
           Value: true
+        pump_box:
+          Value: true
+        pump_head:
+          Value: true
       Marker Alpha: 1
       Marker Scale: 0.10000000149011612
       Name: TF
@@ -198,17 +170,11 @@ Visualization Manager:
                   joint5:
                     joint6:
                       joint6_flange:
-                        gripper_base:
-                          gripper_left2:
-                            {}
-                          gripper_left3:
-                            gripper_left1:
-                              {}
-                          gripper_right2:
+                        camera_flange:
+                          pump_head:
                             {}
-                          gripper_right3:
-                            gripper_right1:
-                              {}
+          pump_box:
+            {}
       Update Interval: 0
       Value: true
     - Class: rviz/Marker
@@ -247,7 +213,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.1026314496994019
+      Distance: 1.0996487140655518
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -263,9 +229,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7153984904289246
+      Pitch: 0.5753980875015259
       Target Frame: <Fixed Frame>
-      Yaw: 3.8853836059570312
+      Yaw: 3.950380325317383
     Saved: ~
 Window Geometry:
   Displays:
diff --git a/mycobot_280/mycobot_280/launch/test_camera_flange_pump.launch b/mycobot_280/mycobot_280/launch/test_camera_flange_pump.launch
new file mode 100644
index 00000000..bc220ef0
--- /dev/null
+++ b/mycobot_280/mycobot_280/launch/test_camera_flange_pump.launch
@@ -0,0 +1,25 @@
+<launch>
+	<!-- <arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" /> -->
+	<!-- Load file model ，加载文件模型-->	
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_camera_flange_pump.urdf"/>
+
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF，将值合并到TF -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> 
+		<!-- <param name="use_gui" value="$(arg gui)" />	 -->
+		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
+	</node>
+	<!-- Open control script -->
+	<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py"> 
+		<param name="port" type="string" value="$(arg port)" />
+		<param name="baud" type="int" value="$(arg baud)" />
+	</node> -->
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>
diff --git a/mycobot_description/urdf/mycobot/mycobot_with_camera_flange_pump.urdf b/mycobot_description/urdf/mycobot/mycobot_with_camera_flange_pump.urdf
new file mode 100644
index 00000000..9c5bf699
--- /dev/null
+++ b/mycobot_description/urdf/mycobot/mycobot_with_camera_flange_pump.urdf
@@ -0,0 +1,269 @@
+<?xml version="1.0"?>
+<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
+	
+<xacro:property name="width" value=".2" />
+
+
+  <link name="g_base">
+    <visual>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
+    </collision>
+  </link>
+
+  <link name="pump_box">
+    <visual>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mycobot/pump_box.dae"/>
+      </geometry>
+      <origin xyz = "0.0 -0.15 -0.0" rpy = "1.5708 3.14159 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mycobot/pump_box.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
+    </collision>
+  </link>
+
+  <link name="joint1">
+    <visual>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
+        </geometry>
+        <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
+    </collision>
+  </link>
+
+  <link name="joint2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
+    </visual>
+    <collision>
+     <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
+    </collision>
+  </link>
+
+  <link name="joint3">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
+    </collision>
+  </link>
+
+  <link name="joint4">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
+    </collision>
+  </link>
+
+  <link name="joint5">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
+    </visual>
+    <collision>
+       <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
+    </collision>
+  </link>
+
+  <link name="joint6">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
+      </geometry>
+    <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
+      </geometry>
+    <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="joint6_flange">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="camera_flange">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/camera_flange.dae"/>
+      </geometry>
+    <origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/camera_flange.dae"/>
+      </geometry>
+    <origin xyz = "0.024 -0.008 0.0 " rpy = " 0 3.14159 0"/>
+    </collision>
+  </link>
+
+  <link name="pump_head">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/pump_head.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0.008 0.009 " rpy = " 1.5708 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/pump_head.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0.008 0.009 " rpy = " 1.5708 0 0"/>
+    </collision>
+  </link>
+
+
+  <joint name="g_base_to_joint1" type="fixed">
+    <axis xyz="0 0 0"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="g_base"/>
+    <child link="joint1"/>
+    <origin xyz= "0 0 0" rpy = "0 0 0"/>  
+  </joint>
+
+  <joint name="g_base_to_pump_box" type="fixed">
+    <axis xyz="0 0 0"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="g_base"/>
+    <child link="pump_box"/>
+    <origin xyz= "0 0 0" rpy = "0 0 0"/>  
+  </joint>
+
+  <joint name="joint2_to_joint1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint1"/>
+    <child link="joint2"/>
+    <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>  
+  </joint>
+
+
+  <joint name="joint3_to_joint2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint2"/>
+    <child link="joint3"/>
+    <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
+  </joint>
+
+
+  <joint name="joint4_to_joint3" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint3"/>
+    <child link="joint4"/>
+    <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
+  </joint>
+
+
+  <joint name="joint5_to_joint4" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint4"/>
+    <child link="joint5"/>
+    <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
+  </joint>
+
+  <joint name="joint6_to_joint5" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint5"/>
+    <child link="joint6"/>
+    <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
+  </joint>
+
+  <joint name="joint6output_to_joint6" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
+    <parent link="joint6"/>
+    <child link="joint6_flange"/>
+    <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>  
+  </joint>
+
+  <joint name="joint6output_to_camera_flange" type="fixed">
+    <!-- <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
+    <parent link="joint6_flange"/>
+    <child link="camera_flange"/>
+    <!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/>   -->
+    <origin xyz= "0 0 0.01" rpy = "1.579 0 0"/>  
+  </joint>
+
+  <joint name="joint6output_to_pump_head" type="fixed">
+    <!-- <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
+    <parent link="camera_flange"/>
+    <child link="pump_head"/>
+    <!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/>   -->
+    <origin xyz= "0 0 0.01" rpy = "-1.579 0 0"/>  
+  </joint>
+
+</robot>
+