diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index 2d93f59..da5e925 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -26,6 +26,9 @@
 #include <tf/tf.h>
 #include <tf2_ros/static_transform_broadcaster.h>
 
+#include "tf/transform_datatypes.h"//转换函数头文件
+#include <nav_msgs/Odometry.h>//里程计信息格式
+
 #include <opencv2/calib3d/calib3d.hpp>
 
 #include <mynt_eye_ros_wrapper/GetInfo.h>
@@ -1222,11 +1225,15 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     mesh_msg_.header.frame_id = base_frame_id_;
     mesh_msg_.header.stamp = ros::Time::now();
     mesh_msg_.type = visualization_msgs::Marker::MESH_RESOURCE;
+    geometry_msgs::Quaternion q;
+    double Pie = 3.1416;
+    q = tf::createQuaternionMsgFromRollPitchYaw(Pie/2, 0.0, Pie/2);
+
     // fill orientation
-    mesh_msg_.pose.orientation.x = 1;
-    mesh_msg_.pose.orientation.y = 1;
-    mesh_msg_.pose.orientation.z = 1;
-    mesh_msg_.pose.orientation.w = 1;
+    mesh_msg_.pose.orientation.x = q.x;
+    mesh_msg_.pose.orientation.y = q.y;
+    mesh_msg_.pose.orientation.z = q.z;
+    mesh_msg_.pose.orientation.w = q.w;
 
     // fill position
     mesh_msg_.pose.position.x = 0;
@@ -1239,7 +1246,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
     mesh_msg_.scale.z = 0.003;
 
     mesh_msg_.action = visualization_msgs::Marker::ADD;
-    mesh_msg_.color.a = 1.0;  // Don't forget to set the alpha!
+    mesh_msg_.color.a = 0.5;  // Don't forget to set the alpha!
     mesh_msg_.color.r = 1.0;
     mesh_msg_.color.g = 1.0;
     mesh_msg_.color.b = 1.0;