diff --git a/mycobot_280/mycobot_280/CMakeLists.txt b/mycobot_280/mycobot_280/CMakeLists.txt
index c6ea4f94..1d247587 100644
--- a/mycobot_280/mycobot_280/CMakeLists.txt
+++ b/mycobot_280/mycobot_280/CMakeLists.txt
@@ -32,6 +32,7 @@ catkin_install_python(PROGRAMS
   scripts/simple_gui.py
   scripts/follow_display_gripper.py
   scripts/slider_control_gripper.py
+  scripts/listen_real_gripper.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
diff --git a/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch
index 32fa28a3..b85a1383 100644
--- a/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch
+++ b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch
@@ -20,6 +20,6 @@
 		<arg name="port" value="$(arg port)" />	
 		<arg name="baud" value="$(arg baud)" />	
     </include>
-	<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
+	<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" />
 	<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
 </launch>
diff --git a/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch
index 322b7a5a..7c8b72b1 100644
--- a/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch
+++ b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch
@@ -21,5 +21,5 @@
 		<arg name="baud" value="$(arg baud)" />	
     </include>
 	<!-- listen and pub the real angles ，监听并发布真实角度-->
-	<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
+	<node name="real_listener_gripper" pkg="mycobot_280" type="listen_real_gripper.py" />
 </launch>
diff --git a/mycobot_280/mycobot_280/scripts/listen_real_gripper.py b/mycobot_280/mycobot_280/scripts/listen_real_gripper.py
new file mode 100755
index 00000000..1d6ed867
--- /dev/null
+++ b/mycobot_280/mycobot_280/scripts/listen_real_gripper.py
@@ -0,0 +1,132 @@
+#!/usr/bin/env python3
+# encoding:utf-8
+# license removed for brevity
+from distutils.log import error
+import time
+import math
+import os
+import fcntl
+
+import rospy
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Header
+from mycobot_communication.srv import GetAngles
+from pymycobot.mycobot import MyCobot
+from rospy import ServiceException
+
+mc = None
+
+# Avoid serial port conflicts and need to be locked
+def acquire(lock_file):
+    open_mode = os.O_RDWR | os.O_CREAT | os.O_TRUNC
+    fd = os.open(lock_file, open_mode)
+
+    pid = os.getpid()
+    lock_file_fd = None
+    
+    timeout = 50.0
+    start_time = current_time = time.time()
+    while current_time < start_time + timeout:
+        try:
+            # The LOCK_EX means that only one process can hold the lock
+            # The LOCK_NB means that the fcntl.flock() is not blocking
+            # and we are able to implement termination of while loop,
+            # when timeout is reached.
+            fcntl.flock(fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
+        except (IOError, OSError):
+            pass
+        else:
+            lock_file_fd = fd
+            break
+
+        # print('pid waiting for lock:%d'% pid)
+
+
+        time.sleep(1.0)
+        current_time = time.time()
+    if lock_file_fd is None:
+        os.close(fd)
+    return lock_file_fd
+
+
+def release(lock_file_fd):
+    # Do not remove the lockfile:
+    fcntl.flock(lock_file_fd, fcntl.LOCK_UN)
+    os.close(lock_file_fd)
+    return None
+
+def talker():
+    rospy.loginfo("start ...")
+    
+    rospy.init_node("real_listener_gripper", anonymous=True)
+    pub = rospy.Publisher("joint_states", JointState, queue_size=10)
+    port = rospy.get_param("~port", "/dev/ttyUSB0")
+    baud = rospy.get_param("~baud", 115200)
+    mc = MyCobot(port, baud)
+    rate = rospy.Rate(30)  # 30hz
+
+    # pub joint state，发布关节状态
+    joint_state_send = JointState()
+    joint_state_send.header = Header()
+
+    joint_state_send.name = [
+        "joint2_to_joint1",
+        "joint3_to_joint2",
+        "joint4_to_joint3",
+        "joint5_to_joint4",
+        "joint6_to_joint5",
+        "joint6output_to_joint6",
+        "gripper_controller",
+    ]
+    joint_state_send.velocity = [0]
+    joint_state_send.effort = []
+
+    # waiting util server `get_joint_angles` enable.等待'get_joint_angles'服务启用
+    rospy.loginfo("wait service")
+    rospy.wait_for_service("get_joint_angles")
+    
+    while True:
+        try:
+            func = rospy.ServiceProxy("get_joint_angles", GetAngles)
+            break
+        except ServiceException as e:
+            # pass
+            # print(f'error:{e}')
+            print("--------------error",e)
+    
+    rospy.loginfo("start loop ...")
+    while not rospy.is_shutdown():
+        # get real angles from server.从服务器获得真实的角度。
+        res = func()
+        if res.joint_1 == res.joint_2 == res.joint_3 == 0.0:
+            continue
+        if mc:
+            lock = acquire("/tmp/mycobot_lock")
+            gripper_value = mc.get_gripper_value()
+            release(lock)
+        if gripper_value != -1:
+            gripper_value = -0.78 + round(gripper_value / 117.0, 2)
+            # print(gripper_value)            
+            radians_list = [
+                res.joint_1 * (math.pi / 180),
+                res.joint_2 * (math.pi / 180),
+                res.joint_3 * (math.pi / 180),
+                res.joint_4 * (math.pi / 180),
+                res.joint_5 * (math.pi / 180),
+                res.joint_6 * (math.pi / 180),
+            ]
+            radians_list.append(gripper_value)
+            rospy.loginfo("res: {}".format(radians_list))
+
+            # publish angles.发布角度
+            joint_state_send.header.stamp = rospy.Time.now()
+            joint_state_send.position = radians_list
+            pub.publish(joint_state_send)
+            rate.sleep()
+
+
+if __name__ == "__main__":
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass
\ No newline at end of file