diff --git a/.oebuild/manifest.yaml b/.oebuild/manifest.yaml
index 2ee91de041267505951db2904dc05a2b443a9864..4dbfd31155ece66d81f29b3ef6eaa97344cdeeb0 100644
--- a/.oebuild/manifest.yaml
+++ b/.oebuild/manifest.yaml
@@ -467,7 +467,7 @@ manifest_list:
     version: 83df54a4166622709820cb95411a3aa88c0fe5aa
   hieuler_component_chassis:
     remote_url: https://gitee.com/HiEuler/hieuler_component_chassis.git
-    version: 45a5ac928ba73d79bfc9682f6179fd7877d86f33
+    version: 54fadb7854aa45f8a392c769ab11e91218fd7e4c
   hieuler_dsp_sample:
     remote_url: https://gitee.com/HiEuler/hieuler_dsp_sample.git
     version: 0fd71598436075e6c20392b30c4977fff1cf9a6c
diff --git a/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/hieuler-teleop_0.0.0.bb b/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/hieuler-teleop_0.0.0.bb
new file mode 100755
index 0000000000000000000000000000000000000000..4aaa6d7de24112ed5b9dc94e553a8890067d5bd4
--- /dev/null
+++ b/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/hieuler-teleop_0.0.0.bb
@@ -0,0 +1,62 @@
+#
+# Generated by ros2recipe.py
+#
+# Copyright openeuler
+
+inherit ros_distro_humble
+inherit ros_superflore_generated
+
+DESCRIPTION = "ROS2 hieuler_teleop"
+AUTHOR = "hieuler"
+SECTION = "devel"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=3dce4ba60d7e51ec64f3c3dc18672dd3"
+
+ROS_CN = ""
+PV = "0.0.0"
+ROS_BPN = "hieuler_teleop"
+
+ROS_BUILD_DEPENDS = " \
+    ros2-hieuler-robot \
+"
+
+ROS_BUILDTOOL_DEPENDS = " \
+    ament-cmake-native \
+"
+
+ROS_EXPORT_DEPENDS = " \
+    ros2-hieuler-robot \
+"
+
+ROS_BUILDTOOL_EXPORT_DEPENDS = ""
+
+ROS_EXEC_DEPENDS = " \
+    ros2-hieuler-robot \
+"
+
+# Currently informational only -- see http://www.ros.org/reps/rep-0149.html#dependency-tags.
+ROS_TEST_DEPENDS = " \
+    ament-lint-auto \
+    ament-lint-common \
+    boost \
+"
+
+DEPENDS = "${ROS_BUILD_DEPENDS} ${ROS_BUILDTOOL_DEPENDS}"
+# Bitbake doesn't support the "export" concept, so build them as if we needed them to build this package (even though we actually
+# don't) so that they're guaranteed to have been staged should this package appear in another's DEPENDS.
+DEPENDS += "${ROS_EXPORT_DEPENDS} ${ROS_BUILDTOOL_EXPORT_DEPENDS}"
+
+RDEPENDS:${PN} += "${ROS_EXEC_DEPENDS}"
+
+OPENEULER_LOCAL_NAME = "hieuler_component_chassis"
+SRC_URI = " \
+    file://${OPENEULER_LOCAL_NAME}/uart/keyboard \
+"
+
+S = "${WORKDIR}/hieuler_component_chassis/uart/keyboard"
+FILES:${PN} += "${datadir}"
+DISABLE_OPENEULER_SOURCE_MAP = "1"
+ROS_BUILD_TYPE = "ament_python"
+
+inherit ros_${ROS_BUILD_TYPE}
+
diff --git a/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/robot-bringup_0.0.0.bb b/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/robot-bringup_0.0.0.bb
index 98366d5b352ef1b6eadf5ba25d16e9660a2a34dd..147499e592a0bb31500aa40900790d194e24e21a 100644
--- a/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/robot-bringup_0.0.0.bb
+++ b/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/robot-bringup_0.0.0.bb
@@ -7,7 +7,7 @@ inherit ros_distro_humble
 inherit ros_superflore_generated
 
 DESCRIPTION = "ROS2 robot_bringup for robot_control"
-AUTHOR = "wheeltec"
+AUTHOR = "hieuler"
 SECTION = "devel"
 LICENSE = "None"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=782925c2d55d09052e1842a0b4886802"
@@ -17,7 +17,7 @@ PV = "0.0.0"
 ROS_BPN = "robot-bringup"
 
 ROS_BUILD_DEPENDS = " \
-    ros2-wheeltec-robot \
+    ros2-hieuler-robot \
 "
 
 ROS_BUILDTOOL_DEPENDS = " \
@@ -25,13 +25,13 @@ ROS_BUILDTOOL_DEPENDS = " \
 "
 
 ROS_EXPORT_DEPENDS = " \
-    ros2-wheeltec-robot \
+    ros2-hieuler-robot \
 "
 
 ROS_BUILDTOOL_EXPORT_DEPENDS = ""
 
 ROS_EXEC_DEPENDS = " \
-    ros2-wheeltec-robot \
+    ros2-hieuler-robot \
 "
 
 # Currently informational only -- see http://www.ros.org/reps/rep-0149.html#dependency-tags.
diff --git a/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/ros2-wheeltec-robot_0.0.0.bb b/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/ros2-hieuler-robot_0.0.0.bb
old mode 100644
new mode 100755
similarity index 91%
rename from bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/ros2-wheeltec-robot_0.0.0.bb
rename to bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/ros2-hieuler-robot_0.0.0.bb
index c4208a09d8ccb89de1441f7fb9aa8dd07e9210dd..e58276560eae85aa7be80682f392f924693ae60e
--- a/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/ros2-wheeltec-robot_0.0.0.bb
+++ b/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/ros2-hieuler-robot_0.0.0.bb
@@ -14,7 +14,7 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=782925c2d55d090
 
 ROS_CN = ""
 PV = "0.0.0"
-ROS_BPN = "ros2-wheeltec-robot"
+ROS_BPN = "ros2-hieuler-robot"
 
 ROS_BUILD_DEPENDS = " \
     ament-index-cpp \
@@ -95,11 +95,11 @@ RDEPENDS:${PN} += "${ROS_EXEC_DEPENDS}"
 
 OPENEULER_LOCAL_NAME = "hieuler_component_chassis"
 SRC_URI = " \
-    file://${OPENEULER_LOCAL_NAME}/uart/wheeltec \
+    file://${OPENEULER_LOCAL_NAME}/uart/hieuler \
 "
 
-S = "${WORKDIR}/hieuler_component_chassis/uart/wheeltec"
-FILES:${PN} += "${datadir} ${libdir}/ros2_wheeltec_robot/*"
+S = "${WORKDIR}/hieuler_component_chassis/uart/hieuler"
+FILES:${PN} += "${datadir} ${libdir}/ros2_hieuler_robot/*"
 DISABLE_OPENEULER_SOURCE_MAP = "1"
 ROS_BUILD_TYPE = "ament_cmake"
 
diff --git a/bsp/meta-hisilicon/recipes-core/images/image-sd3403.inc b/bsp/meta-hisilicon/recipes-core/images/image-sd3403.inc
index dff11c7605a1ade22b6cd95136714690007f393d..96db32acb2842bdaec5a059a6a3e85a48e1d87ed 100644
--- a/bsp/meta-hisilicon/recipes-core/images/image-sd3403.inc
+++ b/bsp/meta-hisilicon/recipes-core/images/image-sd3403.inc
@@ -57,7 +57,8 @@ person-position-ack \
 robot-charge-control \
 robot-init-pose \
 robot-bringup \
-ros2-wheeltec-robot \
+ros2-hieuler-robot \
+hieuler_teleop \
 serial \
 device-sample \
 depth-image-proc \