diff --git a/algorithms/src/LocalizationAndMapping/lidar_localization/CMakeLists.txt b/algorithms/src/LocalizationAndMapping/lidar_localization/CMakeLists.txt
index cd4ac228..d2c29819 100644
--- a/algorithms/src/LocalizationAndMapping/lidar_localization/CMakeLists.txt
+++ b/algorithms/src/LocalizationAndMapping/lidar_localization/CMakeLists.txt
@@ -9,7 +9,11 @@ add_compile_options(-std=c++11 -O3)
 ## is used, also find other catkin packages
 #set(CMAKE_BUILD_TYPE DEBUG)
 set(CMAKE_BUILD_TYPE RELEASE)
-find_package(OpenCV 3.4.5 REQUIRED)
+if(${CMAKE_SYSTEM_PROCESSOR}=="x86_64")
+    find_package(OpenCV 3.4.5 REQUIRED)
+else()
+    set (OpenCV_DIR /home/gi/nvme/opencv-3.4.5/build)
+endif()
 find_package(PCL 1.8 REQUIRED)
 #find_package(PCL REQUIRED)
 find_package(Glog REQUIRED)
diff --git a/algorithms/src/LocalizationAndMapping/lidar_localization/package.xml b/algorithms/src/LocalizationAndMapping/lidar_localization/package.xml
index f9400f79..a778bac3 100644
--- a/algorithms/src/LocalizationAndMapping/lidar_localization/package.xml
+++ b/algorithms/src/LocalizationAndMapping/lidar_localization/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="gi@todo.todo">gi</maintainer>
+  <maintainer email="mengzhan2142@163.com">LaurentWang</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
diff --git a/algorithms/src/LocalizationAndMapping/lidar_mapping/package.xml b/algorithms/src/LocalizationAndMapping/lidar_mapping/package.xml
index 2e700546..d1059903 100644
--- a/algorithms/src/LocalizationAndMapping/lidar_mapping/package.xml
+++ b/algorithms/src/LocalizationAndMapping/lidar_mapping/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="gi@todo.todo">gi</maintainer>
+  <maintainer email="mengzhan2142@163.com">LaurentWang</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
diff --git a/algorithms/src/Navigation/global_map_planner/package.xml b/algorithms/src/Navigation/global_map_planner/package.xml
index 80e31639..47f6ce87 100644
--- a/algorithms/src/Navigation/global_map_planner/package.xml
+++ b/algorithms/src/Navigation/global_map_planner/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="gi@todo.todo">gi</maintainer>
+  <maintainer email="mengzhan2142@163.com">LaurentWang</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
diff --git a/algorithms/src/Navigation/obstacle_drivable_block_publisher/package.xml b/algorithms/src/Navigation/obstacle_drivable_block_publisher/package.xml
index a34f9cd4..dcd3d17c 100644
--- a/algorithms/src/Navigation/obstacle_drivable_block_publisher/package.xml
+++ b/algorithms/src/Navigation/obstacle_drivable_block_publisher/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="gi@todo.todo">gi</maintainer>
+  <maintainer email="mengzhan2142@163.com">LaurentWang</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
diff --git a/algorithms/src/Navigation/px4_mavros_controller/CMakeLists.txt b/algorithms/src/Navigation/px4_mavros_controller/CMakeLists.txt
index e6e479d5..f2070575 100644
--- a/algorithms/src/Navigation/px4_mavros_controller/CMakeLists.txt
+++ b/algorithms/src/Navigation/px4_mavros_controller/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(px4_mavros_controller)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
+#add_compile_options(-std=c++11 -O0)
 add_compile_options(-std=c++11 -O3)
 
 ## Find catkin macros and libraries
@@ -9,7 +10,13 @@ add_compile_options(-std=c++11 -O3)
 ## is used, also find other catkin packages
 #set(CMAKE_BUILD_TYPE DEBUG)
 set(CMAKE_BUILD_TYPE RELEASE)
-find_package(OpenCV 3.4.5 REQUIRED)
+
+if(${CMAKE_SYSTEM_PROCESSOR}=="x86_64")
+    find_package(OpenCV 3.4.5 REQUIRED)
+else()
+    set (OpenCV_DIR /home/gi/nvme/opencv-3.4.5/build)
+endif()
+
 find_package(PCL 1.8 REQUIRED)
 #find_package(PCL REQUIRED)
 find_package(Glog REQUIRED)
diff --git a/algorithms/src/Navigation/px4_mavros_controller/package.xml b/algorithms/src/Navigation/px4_mavros_controller/package.xml
index 50749abf..bb8dcc4c 100644
--- a/algorithms/src/Navigation/px4_mavros_controller/package.xml
+++ b/algorithms/src/Navigation/px4_mavros_controller/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="gi@todo.todo">gi</maintainer>
+  <maintainer email="mengzhan2142@163.com">LaurentWang</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
diff --git a/algorithms/src/Navigation/target_point_navigator/package.xml b/algorithms/src/Navigation/target_point_navigator/package.xml
index 186816f6..ff0c23d0 100644
--- a/algorithms/src/Navigation/target_point_navigator/package.xml
+++ b/algorithms/src/Navigation/target_point_navigator/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="gi@todo.todo">gi</maintainer>
+  <maintainer email="mengzhan2142@163.com">LaurentWang</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
diff --git a/algorithms/src/Perception/vision_lidar_fusion/package.xml b/algorithms/src/Perception/vision_lidar_fusion/package.xml
index eeeb420b..f628b0d3 100644
--- a/algorithms/src/Perception/vision_lidar_fusion/package.xml
+++ b/algorithms/src/Perception/vision_lidar_fusion/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="gi@todo.todo">gi</maintainer>
+  <maintainer email="mengzhan2142@163.com">LaurentWang</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
diff --git a/algorithms/src/Preprocessing/downsampling/package.xml b/algorithms/src/Preprocessing/downsampling/package.xml
index 28f4fa56..162e3810 100644
--- a/algorithms/src/Preprocessing/downsampling/package.xml
+++ b/algorithms/src/Preprocessing/downsampling/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="gi@todo.todo">gi</maintainer>
+  <maintainer email="mengzhan2142@163.com">LaurentWang</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
diff --git a/algorithms/src/gaas_msgs/package.xml b/algorithms/src/gaas_msgs/package.xml
index f10cc653..b72db355 100644
--- a/algorithms/src/gaas_msgs/package.xml
+++ b/algorithms/src/gaas_msgs/package.xml
@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="gi@todo.todo">gi</maintainer>
+  <maintainer email="mengzhan2142@163.com">LaurentWang</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->