diff --git a/.gitignore b/.gitignore
index 53ef6c4..bf650b6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -16,3 +16,10 @@ build
 
 # Version control
 .svn
+
+.vscode/
+
+.idea/
+
+# Compiled files
+mpc_local_planner/cmake-build-debug/
diff --git a/mpc_local_planner/src/mpc_local_planner_ros.cpp b/mpc_local_planner/src/mpc_local_planner_ros.cpp
index a258bb5..fc65870 100644
--- a/mpc_local_planner/src/mpc_local_planner_ros.cpp
+++ b/mpc_local_planner/src/mpc_local_planner_ros.cpp
@@ -143,13 +143,14 @@ void MpcLocalPlannerROS::initialize(std::string name, tf2_ros::Buffer* tf, costm
 
         nh.param("footprint_model/is_footprint_dynamic", _params.is_footprint_dynamic, _params.is_footprint_dynamic);
 
-        nh.param("collision_avoidance/include_costmap_obstacles", _params.include_costmap_obstacles, _params.include_costmap_obstacles);
-        nh.param("collision_avoidance/costmap_obstacles_behind_robot_dist", _params.costmap_obstacles_behind_robot_dist,
+        nh.param("collision/include_costmap_obstacles", _params.include_costmap_obstacles, _params.include_costmap_obstacles);
+        nh.param("collision/costmap_obstacles_behind_robot_dist", _params.costmap_obstacles_behind_robot_dist,
                  _params.costmap_obstacles_behind_robot_dist);
 
-        nh.param("collision_avoidance/collision_check_no_poses", _params.collision_check_no_poses, _params.collision_check_no_poses);
-        nh.param("collision_avoidance/collision_check_min_resolution_angular", _params.collision_check_min_resolution_angular,
+        nh.param("collision/collision_check_no_poses", _params.collision_check_no_poses, _params.collision_check_no_poses);
+        nh.param("collision/collision_check_min_resolution_angular", _params.collision_check_min_resolution_angular,
                  _params.collision_check_min_resolution_angular);
+        ROS_INFO("collision/collision_check_no_poses:%d",_params.collision_check_no_poses);
 
         // 代价地图转换器插件相关参数
         nh.param("costmap_converter_plugin", _costmap_conv_params.costmap_converter_plugin, _costmap_conv_params.costmap_converter_plugin);
@@ -353,7 +354,7 @@ uint32_t MpcLocalPlannerROS::computeVelocityCommands(const geometry_msgs::PoseSt
     // 修剪全局计划，剪掉机器人之前的部分
     pruneGlobalPlan(*_tf, robot_pose, _global_plan, _params.global_plan_prune_distance);
 
-    // 修剪全局计划，剪掉机器人之前的部分
+    // Convert To Local frame
     std::vector<geometry_msgs::PoseStamped> transformed_plan;
     int goal_idx;
     geometry_msgs::TransformStamped tf_plan_to_global;