diff --git a/.oebuild/manifest.yaml b/.oebuild/manifest.yaml
index 82876ea4bde1f1d399fbe922ba7a06a208c86be9..4e786e754382ee18cf7b6789b3f7ebd48a4f0e38 100644
--- a/.oebuild/manifest.yaml
+++ b/.oebuild/manifest.yaml
@@ -26,7 +26,7 @@ manifest_list:
     version: 54d35b3952d5811592370b7ee9fcb8ed0f46526e
   HiEuler-driver:
     remote_url: https://gitee.com/HiEuler/hardware_driver.git
-    version: c7700ad53e840676021da322036db4feb74e8826
+    version: 9dfc61b440f38ae3616704c33650e51d509cbe98
   Jailhouse:
     remote_url: https://gitee.com/src-openeuler/Jailhouse.git
     version: 81638383c6a7c4fb4e654d9def19b257e80a3036
@@ -462,6 +462,9 @@ manifest_list:
   hieuler_component_chassis:
     remote_url: https://gitee.com/HiEuler/hieuler_component_chassis.git
     version: 45a5ac928ba73d79bfc9682f6179fd7877d86f33
+  eulercar:
+    remote_url: https://gitee.com/HiEuler/eulercar.git
+    version: 921e302cbe5da8f1dbaf5e0f6a5ecee4ba39ffef 
   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/eulercar/ros2-nearlink-robot_0.0.0.bb b/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/eulercar/ros2-nearlink-robot_0.0.0.bb
new file mode 100755
index 0000000000000000000000000000000000000000..e2a483ceb2408f41f938e34f842cb2e58e1caae8
--- /dev/null
+++ b/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/eulercar/ros2-nearlink-robot_0.0.0.bb
@@ -0,0 +1,74 @@
+#
+# Generated by ros2recipe.py
+#
+# Copyright openeuler
+
+inherit ros_distro_humble
+inherit ros_superflore_generated
+
+DESCRIPTION = "ROS2 ros2_nearlink_robot for control_robot"
+AUTHOR = "eulercar"
+SECTION = "devel"
+LICENSE = "None"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=782925c2d55d09052e1842a0b4886802"
+
+ROS_CN = ""
+PV = "0.0.0"
+ROS_BPN = "ros2-nearlink-robot"
+
+ROS_BUILD_DEPENDS = " \
+    rclcpp \
+    std-msgs \
+    tf2-geometry-msgs \
+    hieulerpi1-user-driver \
+"
+
+ROS_BUILDTOOL_DEPENDS = " \
+    ament-cmake-native \
+    rosidl-default-generators-native \
+    rosidl-typesupport-fastrtps-cpp-native \
+    rosidl-typesupport-fastrtps-c-native \
+"
+
+ROS_EXPORT_DEPENDS = " \
+    ament-index-cpp \
+    rclcpp \
+    std-msgs \
+    tf2-geometry-msgs \
+"
+
+ROS_BUILDTOOL_EXPORT_DEPENDS = ""
+
+ROS_EXEC_DEPENDS = " \
+    rclcpp \
+    std-msgs \
+    tf2-geometry-msgs \
+    hieulerpi1-user-driver \
+"
+
+# 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} += "${ROS_EXEC_DEPENDS}"
+
+OPENEULER_LOCAL_NAME = "eulercar"
+SRC_URI = " \
+    file://${OPENEULER_LOCAL_NAME}/sle_control \
+"
+
+S = "${WORKDIR}/eulercar/sle_control"
+FILES:${PN} += "${datadir} ${libdir}/ros2_nearlink_robot/*"
+DISABLE_OPENEULER_SOURCE_MAP = "1"
+ROS_BUILD_TYPE = "ament_cmake"
+
+inherit ros_${ROS_BUILD_TYPE}
+
diff --git a/bsp/meta-hisilicon/recipes-core/images/image-hieulerpi1.inc b/bsp/meta-hisilicon/recipes-core/images/image-hieulerpi1.inc
index 9c3687dcb6da2eee47b4b3fef2083827c91aa6d6..a8eaeb82e6aa276cc6cb3f5fe720d3453f1de23c 100644
--- a/bsp/meta-hisilicon/recipes-core/images/image-hieulerpi1.inc
+++ b/bsp/meta-hisilicon/recipes-core/images/image-hieulerpi1.inc
@@ -64,6 +64,7 @@ robot-init-pose \
 robot-bringup \
 ros2-wheeltec-robot \
 serial \
+ros2-nearlink-robot \
 depth-image-proc \
 depthimage-to-laserscan \
 dtof-client-node \