diff --git a/cmvr-es/config/manager/device_manager.pb.txt b/cmvr-es/config/manager/device_manager.pb.txt
index 134e2a9e..dcb2a5cc 100644
--- a/cmvr-es/config/manager/device_manager.pb.txt
+++ b/cmvr-es/config/manager/device_manager.pb.txt
@@ -93,7 +93,7 @@ device_manager {
     id: "aubo_arm"
     type: DEVICE_TYPE_ROBOT_ARM
     config_file: "devices/arm/aubo_arm.pb.txt"
-    enable: false
+    enable: true
   }
 
   devices {
diff --git a/cmvr-es/config/manager/task_manager.pb.txt b/cmvr-es/config/manager/task_manager.pb.txt
index 223f9873..4d5df7a7 100644
--- a/cmvr-es/config/manager/task_manager.pb.txt
+++ b/cmvr-es/config/manager/task_manager.pb.txt
@@ -28,7 +28,7 @@ task_manager {
     run_mode: TASK_RUN_MODE_BLOCKING_SERVICE
     config_file: "tasks/quic_edge_task/quic_edge_task.pb.txt"
     # Host-development default: no QUIC Gateway or physical media devices.
-    enable: false
+    enable: true
   }
   tasks {
     id: "ume_teleop"
diff --git a/cmvr-es/config/tasks/quic_edge_task/quic_edge_task.pb.txt b/cmvr-es/config/tasks/quic_edge_task/quic_edge_task.pb.txt
index f850dc00..d502fa57 100644
--- a/cmvr-es/config/tasks/quic_edge_task/quic_edge_task.pb.txt
+++ b/cmvr-es/config/tasks/quic_edge_task/quic_edge_task.pb.txt
@@ -3,11 +3,11 @@ quic_edge {
 
   # Task enablement is controlled by manager/task_manager.pb.txt. Configure a
   # reachable QUIC Gateway and TLS policy before enabling the task there.
-  server_host: "quic-gateway.example.com"
+  server_host: "192.168.0.222"
   server_port: 4433
   alpn: "cmvr-quic-edge/1"
   node_id: "cmvr-edge"
-  robot_id: "CN-CMVR-MBLRV1-CHAGAN-20260731-001"
+  robot_id: "CN-CMVR-MBLRV1-AIMA-20260806-001"
   software_version: "0.1"
 
   # The existing cmvr-es gRPC server remains the robot-control endpoint. "auto"
@@ -24,10 +24,8 @@ quic_edge {
   control_response_timeout_ms: 1000
 
   tls {
-    ca_file: "certs/quic_gateway_ca.pem"
-    certificate_file: "certs/cmvr_edge_cert.pem"
-    private_key_file: "certs/cmvr_edge_key.pem"
-    server_name: "quic-gateway.example.com"
+    ca_file: "certs/cmvr-quic-ca.crt"
+    server_name: "192.168.0.222"
     allow_insecure: false
   }
 
diff --git a/cmvr-es/devices/agv/seer_robokit/src/seer_robokit_map.cpp b/cmvr-es/devices/agv/seer_robokit/src/seer_robokit_map.cpp
index d520d462..d4b5ce2f 100644
--- a/cmvr-es/devices/agv/seer_robokit/src/seer_robokit_map.cpp
+++ b/cmvr-es/devices/agv/seer_robokit/src/seer_robokit_map.cpp
@@ -256,17 +256,48 @@ AgvResult SeerRobokitAgv::uploadMap(const std::string& map_name, const std::stri
     return result.ok() ? resultFromResponse_(response) : result;
 }
 
-AgvResult SeerRobokitAgv::downloadMap(const std::string& map_name, std::string& content) const
+// AgvResult SeerRobokitAgv::downloadMap(const std::string& map_name, std::string& content) const
+// {
+//     Json::Value payload(Json::objectValue);
+//     jsonMember(payload, "map_name") = map_name;
+//     Json::Value response;
+//     auto result = sendCommand_(sock_config_, kRobotConfigDownloadMap, payload, &response);
+//     if (!result.ok()) return result;
+//     content = jsonGet(response, "map_content", jsonGet(response, "content", "")).asString();
+//     return resultFromResponse_(response);
+// }
+
+    AgvResult SeerRobokitAgv::downloadMap(
+        const std::string& map_name,
+        std::string& content) const
 {
     Json::Value payload(Json::objectValue);
     jsonMember(payload, "map_name") = map_name;
+
     Json::Value response;
-    auto result = sendCommand_(sock_config_, kRobotConfigDownloadMap, payload, &response);
+    auto result = sendCommand_(
+        sock_config_,
+        kRobotConfigDownloadMap,
+        payload,
+        &response);
     if (!result.ok()) return result;
-    content = jsonGet(response, "map_content", jsonGet(response, "content", "")).asString();
-    return resultFromResponse_(response);
+
+    // 4011 失败响应包含 ret_code；成功响应本身就是完整地图 JSON。
+    if (hasNumericControllerRetCode(response)) {
+        return resultFromResponse_(response);
+    }
+
+    content = toJsonString_(response);
+    if (content.empty()) {
+        return AgvResult::failure(
+            AgvErrorCode::CommandFailed,
+            "SEER Robokit downloaded map content is empty");
+    }
+
+    return AgvResult::success();
 }
 
+
 AgvResult SeerRobokitAgv::startMapping(const AgvMappingOptions& options)
 {
     auto result = ensureOtherSocket_();