diff --git a/.oebuild/manifest.yaml b/.oebuild/manifest.yaml
index e89864be6b36f74387720c5898ab091b52caa74a..0511b2122304c7c7db984cc7147103e22514d9d4 100644
--- a/.oebuild/manifest.yaml
+++ b/.oebuild/manifest.yaml
@@ -467,7 +467,7 @@ manifest_list:
     version: 0fd71598436075e6c20392b30c4977fff1cf9a6c
   hirobot_component_dtof:
     remote_url: https://gitee.com/hipirobot/hirobot_component_dtof.git
-    version: aa04480006ee91d955688594c90a84cc28c10e61
+     version: 54fadb7854aa45f8a392c769ab11e91218fd7e4c
   hirobot_component_navigation:
     remote_url: https://gitee.com/hipirobot/hirobot_component_navigation.git
     version: ef551969466f96572d057588d4be0a85605f045e
diff --git a/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/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/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/hieuler-teleop_0.0.0.bb
new file mode 100644
index 0000000000000000000000000000000000000000..e03ef6ce19a70eefa7dbc26624d97cd30622b609
--- /dev/null
+++ b/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/bsp/meta-hisilicon/dynamic-layers/ros2-layer/recipes-hipirobot/component_chassis/hieuler-teleop_0.0.0.bb
@@ -0,0 +1,61 @@
+#
+# 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/recipes-core/images/image-hieulerpi1.inc b/bsp/meta-hisilicon/recipes-core/images/image-hieulerpi1.inc
index 9c3687dcb6da2eee47b4b3fef2083827c91aa6d6..4583a73f2d3175288f67726bfa5f8c8097117b0b 100644
--- a/bsp/meta-hisilicon/recipes-core/images/image-hieulerpi1.inc
+++ b/bsp/meta-hisilicon/recipes-core/images/image-hieulerpi1.inc
@@ -62,7 +62,7 @@ person-position-ack \
 robot-charge-control \
 robot-init-pose \
 robot-bringup \
-ros2-wheeltec-robot \
+hieuler_teleop \
 serial \
 depth-image-proc \
 depthimage-to-laserscan \
diff --git "a/docs/source/bsp/arm64/\346\265\267\351\270\245\346\264\276\347\274\226\350\257\221\344\275\277\347\224\250\350\257\264\346\230\216\344\270\200\346\214\207\347\246\205.docx" "b/docs/source/bsp/arm64/\346\265\267\351\270\245\346\264\276\347\274\226\350\257\221\344\275\277\347\224\250\350\257\264\346\230\216\344\270\200\346\214\207\347\246\205.docx"
new file mode 100644
index 0000000000000000000000000000000000000000..61daa4ce31569c2eaa81c9a37916e6d31b9942c9
Binary files /dev/null and "b/docs/source/bsp/arm64/\346\265\267\351\270\245\346\264\276\347\274\226\350\257\221\344\275\277\347\224\250\350\257\264\346\230\216\344\270\200\346\214\207\347\246\205.docx" differ