diff --git a/config/cabin_robot.xml b/config/cabin_robot.xml
index 22de6619..999536e0 100644
--- a/config/cabin_robot.xml
+++ b/config/cabin_robot.xml
@@ -70,7 +70,7 @@
                     </CanManger>
 
                 </Humanoid>
-                <AuboRobot id="hc02" ip="127.0.0.1" username="aubo" password="123456">
+                <AuboRobot id="hc02" ip="127.0.0.1" port="30004" username="aubo" password="123456">
 
                 </AuboRobot>
             </Robot>
diff --git a/src/devices/robot/aubo_robot/include/aubo_robot.h b/src/devices/robot/aubo_robot/include/aubo_robot.h
index 83d4dc9f..777ba1cc 100644
--- a/src/devices/robot/aubo_robot/include/aubo_robot.h
+++ b/src/devices/robot/aubo_robot/include/aubo_robot.h
@@ -33,6 +33,7 @@ namespace cmvr::device
     private:
         static void waitForRobotMode(const RobotInterfacePtr& robot_interface,
                       const RobotModeType& target_mode);
+        static int waitArrival(const RobotInterfacePtr& impl);
     private:
         std::string ip_;
         int port_;
diff --git a/src/devices/robot/aubo_robot/src/aubo_robot.cpp b/src/devices/robot/aubo_robot/src/aubo_robot.cpp
index 79c3a52b..797f0183 100644
--- a/src/devices/robot/aubo_robot/src/aubo_robot.cpp
+++ b/src/devices/robot/aubo_robot/src/aubo_robot.cpp
@@ -163,14 +163,6 @@ void AuboRobot<DOF>::moveJ(std::vector<JointPoint>& cmd, double vel, double acc)
 
         // 接口调用: 设置机械臂的速度比率
         robot_interface->getMotionControl()->setSpeedFraction(0.3);
-
-        /*
-         * 1、严格遵守公司安全规章制度，严格遵守相关的国家安全规章制度，发现隐患及时上报
-         * 2、工作前按规定佩戴安全保护工具
-         * 3、定期检查存在安全隐患的设备
-         * 4、积极参与公司组织的安全培训
-         * 5、在进行危险工作过程中相互监查，安全作业
-        */
         // 接口调用: 关节运动
         // 关节角，单位: 弧度 (此处为6关节)
         std::vector<double> joint_angle;
@@ -210,8 +202,8 @@ std::vector<double> AuboRobot<DOF>::ik(const std::string &base_link, const std::
 
     return ik;
 }
-// 实现阻塞功能: 当机械臂运动到目标路点时，程序再往下执行
-int waitArrival(RobotInterfacePtr impl) {
+template<int DOF>
+int AuboRobot<DOF>::waitArrival(const RobotInterfacePtr& impl) {
     const int max_retry_count = 5;
     int cnt = 0;