diff --git a/mycobot_280/mycobot_280pi/launch/test_camera_flange_pump.launch b/mycobot_280/mycobot_280pi/launch/test_camera_flange_pump.launch
new file mode 100644
index 00000000..0e0ce3b0
--- /dev/null
+++ b/mycobot_280/mycobot_280pi/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="$(find mycobot_description)/urdf/mycobot_pi/mycobot_with_camera_flange_pump.urdf"/>
+
+	<arg name="rvizconfig" default="$(find mycobot_280pi)/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_pi/mycobot_with_camera_flange_pump.urdf b/mycobot_description/urdf/mycobot_pi/mycobot_with_camera_flange_pump.urdf
new file mode 100644
index 00000000..497a31ef
--- /dev/null
+++ b/mycobot_description/urdf/mycobot_pi/mycobot_with_camera_flange_pump.urdf
@@ -0,0 +1,278 @@
+<?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_pi/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_pi/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_pi/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_pi/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_pi/joint1_pi.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pi/joint1_pi.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="joint2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pi/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_pi/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_pi/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_pi/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_pi/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_pi/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_pi/joint5.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
+    </visual>
+      <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pi/joint5.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
+    </collision>
+  </link>
+
+
+  <link name="joint6">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pi/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_pi/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_pi/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_pi/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_pi/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_pi/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_pi/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_pi/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 = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="joint1"/>
+    <child link="joint2"/>
+    <origin xyz= "0 0 0.13956" rpy = "0 0 0"/>  
+  </joint>
+
+
+  <joint name="joint3_to_joint2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="joint2"/>
+    <child link="joint3"/>
+    <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>  
+  </joint>
+
+
+  <joint name="joint4_to_joint3" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" 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 = "-3.14" upper = "3.14159" 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 = "-3.14" upper = "3.14159" 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 = "-3.14" upper = "3.14159" 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>
+