diff --git a/docs/source/index.rst b/docs/source/index.rst
index 42f14f7db762934af9b8b307e7e53a15c277c773..8f76ac55d3a809d1312d3db435b54fa887379c2a 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -50,6 +50,8 @@ openEuler ROS sig成立于2020年6月，主要目标是将ROS1/ROS2移植到open
    
    other-tutorials/qt-ros-dev.md
    other-tutorials/webots.md
+   other-tutorials/usb-cam.md
+   other-tutorials/usb-cam-build.md
    
 .. toctree::
    :maxdepth: 1
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diff --git a/docs/source/installation/vm-install-oe.md b/docs/source/installation/vm-install-oe.md
index b7339aead0e5763296f824e5da11ea1cd7a95657..1b54d40983b04f1158e312717eee51c5f2c541a9 100644
--- a/docs/source/installation/vm-install-oe.md
+++ b/docs/source/installation/vm-install-oe.md
@@ -73,7 +73,7 @@ yum install open-vm-tools-desktop -y
 reboot
 ```
 
-## 3.安装桌面环境
+重启电脑，成功如下
 
 桌面环境这里推荐UKUI,安装简便,与其他UI界面相比，UKUI更加注重易用性和敏捷度，各元件相依性小，可以不依赖其他套件而独自运行
 
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diff --git a/docs/source/other-tutorials/qt-ros-dev.md b/docs/source/other-tutorials/qt-ros-dev.md
index 9821b297951bb9322478b43ec270ba998147cd70..c76cdff1ac00ea644fcbe9bd171f9ab178224e26 100644
--- a/docs/source/other-tutorials/qt-ros-dev.md
+++ b/docs/source/other-tutorials/qt-ros-dev.md
@@ -1,2 +1,155 @@
 # openEuler上搭建QT+ROS开发环境
-TODO
+
+## 一、QT，QT Creator，ROS plugin，下载安装
+
+QT Creator是基于 QT环境的 IDE开发工具，QT Creator可以兼任不同版本的 QT环境，
+
+但是有最低QT版本限制，OpenEuler自带QT5。我下载的是清华源 QT Creator 14 linux版 ，[https://mirrors.tuna.tsinghua.edu.cn/qt/official_releases/qtcreator/14.0/14.0.0/](https://)
+
+![1724837555306](image/qt-ros-dev/1724837555306.png)
+
+下载后双击运行QT Creator 安装程序，点击 直接运行
+
+![1724836017939](image/qt-ros-dev/1724836017939.png)
+
+![1724837744811](image/qt-ros-dev/1724837744811.png)
+
+显示QT Creator安装配置选项，需要先在QT官网上注册账号，请自行注册
+
+![1724837911255](image/qt-ros-dev/1724837911255.png)
+
+选择安装目录，组件建议全部点上，
+
+![1724837992887](image/qt-ros-dev/1724837992887.png)![1724838089226](image/qt-ros-dev/1724838089226.png)![1724838112243](image/qt-ros-dev/1724838112243.png)
+
+安装完成后，进入QT Createor 程序目录，
+
+![1724838291402](image/qt-ros-dev/1724838291402.png)
+
+在github上下载对应的 ROS plugin，我使用的是Creator14，
+
+故选择 ROS Project Manager-14.1-Linux-x86_64-14.0版本，（注意：别下成源码Source code了）
+
+[https://github.com/ros-industrial/ros_qtc_plugin/releases](https://)
+![1724833583029](image/qt-ros-dev/1724833583029.png)
+
+![1724838459894](image/qt-ros-dev/1724838459894.png)
+
+启动程序 qtcreator 在安装目录的bin文件夹下，如图，双击qtcreator，点在终端运行
+
+![1724839393056](image/qt-ros-dev/1724839393056.png)
+
+安装ROS插件，点击 帮助->关于插件，选择ROS插件压缩包，一直点下一步，完成
+
+![1724838963947](image/qt-ros-dev/1724838963947.png)
+
+![1724838880170](image/qt-ros-dev/1724838880170.png)
+
+![1724838864313](image/qt-ros-dev/1724838864313.png)
+
+![1724858125589](image/qt-ros-dev/1724858125589.png)
+
+![1724858180654](image/qt-ros-dev/1724858180654.png)
+
+点击导航栏标签  帮助-> 关于插件，显示如下 ROSProjectManager 安装完成，如下
+
+![1724836388729](image/qt-ros-dev/1724836388729.png)
+
+## 二、环境配置
+
+下载qt开发环境，一般无需手动安装，dnf install  qt5-devel
+
+使用dnf list installed | grep "qt" 查看环境如下,仅供参考，有的包没有并不影响运行：
+
+![1724858811579](image/qt-ros-dev/1724858811579.png)
+
+![1724858830521](image/qt-ros-dev/1724858830521.png)
+
+点击创建项目，选择ROS工作空间，填写项目名称，项目路径
+
+![1724859876187](image/qt-ros-dev/1724859876187.png)
+
+这里注意 build system选择 colcon ， 因为 使用的是ROS2框架
+
+![1724860027812](image/qt-ros-dev/1724860027812.png)![1724861268443](image/qt-ros-dev/1724861268443.png)
+
+![1724860082931](image/qt-ros-dev/1724860082931.png)
+
+项目创建完成后，在工作空间创建src文件夹，执行colcon build命令，完成后如下图：
+
+（右键点击，项目栏，点击 在此打开终端，加载出控制台）
+
+![1724860337639](image/qt-ros-dev/1724860337639.png)
+
+提示找不到QT 环境，这里要手动设置 qmake 路径下，请进行如下配置：
+
+![1724860693534](image/qt-ros-dev/1724860693534.png)
+
+点击 最左侧菜单->项目，点击 管理构建套件，配置QT编译环境如下：
+
+![1724859812804](image/qt-ros-dev/1724859812804.png)
+
+点击 QT版本->添加，将需要的QT编译器 添加进去，/usr/lib64/qt5/bin/qmake
+
+![1724860993311](image/qt-ros-dev/1724860993311.png)
+
+![1724859832643](image/qt-ros-dev/1724859832643.png)
+
+编译 环境变量，需要手动配置，需要如下几个变量 使用比较麻烦，建议 使用控制台进行编译
+
+![1724861419425](image/qt-ros-dev/1724861419425.png)
+
+添加 运行配置，可点击左下角运行按钮 快捷执行命令
+
+![1724991284201](image/qt-ros-dev/1724991284201.png)
+
+点击运行
+
+![1724991373077](image/qt-ros-dev/1724991373077.png)
+
+
+## 三、添加节点，运行测试
+
+使用ROS插件，添加节点，可以快捷创建 初始模板，右键src目录，点击 添加新文件
+
+![1724861744771](image/qt-ros-dev/1724861744771.png)
+
+选择packge，填写 包名，必须 手动点击预览 手动选择 一次路径 ，才能点击一下步
+
+![1724861868430](image/qt-ros-dev/1724861868430.png)
+
+![1724862168892](image/qt-ros-dev/1724862168892.png)
+
+填入参数，可参考如下
+
+![1724991115969](image/qt-ros-dev/1724991115969.png)
+
+完成后，目录结构如下，（如果无法创建出package ，可能是项目创建问题，请参考其他博客）
+
+![1724862530776](image/qt-ros-dev/1724862530776.png)
+
+下图是点击创建 工业机器人支持包，创建出的工程
+
+![1724862472630](image/qt-ros-dev/1724862472630.png)
+
+在工作区路径下（就是install存在的路径下），执行colcon build命令，会编译所有包，
+
+![1724862950356](image/qt-ros-dev/1724862950356.png)
+
+编译成功后，source执行install目录底下的setup.bash文件，将编译后的程序，加到ros2环境里
+
+ros2 run 包名 双击tab  ， 可以显示 当前包下 可执行的节点有哪些
+
+![1724863869287](image/qt-ros-dev/1724863869287.png)
+
+ros2 launch 包名 双击tab   ，  可以显示 当前包下 可行的脚本有哪些
+
+![1724863988409](image/qt-ros-dev/1724863988409.png)
+
+ros2 run 包名 程序名  ， 执行程序
+
+ros2 launch 包名 脚本名， 执行脚本
+
+![1724864155718](image/qt-ros-dev/1724864155718.png)
+
+![1724865605240](image/qt-ros-dev/1724865605240.png)
diff --git a/docs/source/other-tutorials/usb-cam.md b/docs/source/other-tutorials/usb-cam.md
new file mode 100644
index 0000000000000000000000000000000000000000..1d44302cf75699f1d270ea57b8bda084da35d11c
--- /dev/null
+++ b/docs/source/other-tutorials/usb-cam.md
@@ -0,0 +1,295 @@
+# openEuler上开发测试案例教程，ROS2+usb_cam+OpenCV+QT库实验
+
+## 一、usb_cam源码编译，OpenCV库安装
+
+### 1、usb_cam源码编译
+
+usb_cam 源码编译 参考 openEuler24 [编译usb_cam源码](https://openeuler-ros-docs.readthedocs.io/en/latest/other-tutorials/usb-cam-build.html)文章。
+
+### 2、OpenCV库安装
+
+使用` dnf install` 命令安装ros对应的版本的opencv，这里用的是ros-humble，全部装上
+
+![1725005058555](image/usb-cam/1725005058555.png)
+
+如果 dnf searcb opencv 显示没有可安装的包，请配置dnf源 ，
+
+使用 `pluma /etc/yum.repos.d/openEuler.repo `  打开dnf源，可参考，如下配置文件
+W
+```
+#generic-repos is licensed under the Mulan PSL v2.
+#You can use this software according to the terms and conditions of the Mulan PSL v2.
+#You may obtain a copy of Mulan PSL v2 at:
+#    http://license.coscl.org.cn/MulanPSL2
+#THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND, EITHER EXPRESS OR
+#IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT, MERCHANTABILITY OR FIT FOR A PARTICULAR
+#PURPOSE.
+#See the Mulan PSL v2 for more details.
+
+[openEulerROS-humble]
+name=openEulerROS-humble
+baseurl=https://repo.openeuler.org/openEuler-24.03-LTS/EPOL/multi_version/ROS/humble/x86_64/
+enabled=1
+gpgcheck=0
+
+
+[openEulerROS-noetic]
+name=openEulerROS-humble
+baseurl=https://eulermaker.compass-ci.openeuler.openatom.cn/api/ems1/repositories/ROS-SIG-Multi-Version_ros-noetic_openEuler-24.03-LTS-TEST1/openEuler%3A24.03-LTS/x86_64/
+enabled=1
+gpgcheck=1
+gpgkey=https://eulermaker.compass-ci.openeuler.openatom.cn/api/ems1/repositories/ROS-SIG-Multi-Version_ros-noetic_openEuler-24.03-LTS-TEST1/openEuler%3A24.03-LTS/x86_64/RPM-GPG-KEY-openEuler
+
+
+[OS]
+name=OS
+baseurl=http://repo.openeuler.org/openEuler-24.03-LTS/OS/$basearch/
+enabled=1
+gpgcheck=1
+gpgkey=http://repo.openeuler.org/openEuler-24.03-LTS/OS/$basearch/RPM-GPG-KEY-openEuler
+
+[everything]
+name=everything
+baseurl=http://repo.openeuler.org/openEuler-24.03-LTS/everything/$basearch/
+enabled=1
+gpgcheck=1
+gpgkey=http://repo.openeuler.org/openEuler-24.03-LTS/everything/$basearch/RPM-GPG-KEY-openEuler
+
+[EPOL]
+name=EPOL
+baseurl=http://repo.openeuler.org/openEuler-24.03-LTS/EPOL/main/$basearch/
+enabled=1
+gpgcheck=1
+gpgkey=http://repo.openeuler.org/openEuler-24.03-LTS/OS/$basearch/RPM-GPG-KEY-openEuler
+
+[debuginfo]
+name=debuginfo
+baseurl=http://repo.openeuler.org/openEuler-24.03-LTS/debuginfo/$basearch/
+enabled=1
+gpgcheck=1
+gpgkey=http://repo.openeuler.org/openEuler-24.03-LTS/debuginfo/$basearch/RPM-GPG-KEY-openEuler
+
+[source]
+name=source
+baseurl=http://repo.openeuler.org/openEuler-24.03-LTS/source/
+enabled=1
+gpgcheck=1
+gpgkey=http://repo.openeuler.org/openEuler-24.03-LTS/source/RPM-GPG-KEY-openEuler
+
+[update]
+name=update
+baseurl=http://repo.openeuler.org/openEuler-24.03-LTS/update/$basearch/
+enabled=1
+gpgcheck=1
+gpgkey=http://repo.openeuler.org/openEuler-24.03-LTS/OS/$basearch/RPM-GPG-KEY-openEuler
+
+[update-source]
+name=update-source
+baseurl=http://repo.openeuler.org/openEuler-24.03-LTS/update/source/
+enabled=1
+gpgcheck=1
+gpgkey=http://repo.openeuler.org/openEuler-24.03-LTS/source/RPM-GPG-KEY-openEuler
+```
+
+## 二、需求分析，代码编写
+
+题目：test05
+
+![1724992764409](image/usb-cam/1724992764409.png)
+
+完整代码在我的github仓库下 成果02，[https://github.com/jojoandgyc/PLCTandJiaChen](https://)
+
+![1725003129856](image/usb-cam/1725003129856.png)]
+
+题目如上，需求分析如下，分三个节点实现：
+
+![1724992929722](image/usb-cam/1724992929722.png)
+
+`ros2  run usb_cam usb_cam_node_exe `，启动usb_cam节点，
+
+![1725001815548](image/usb-cam/1725001815548.png)
+
+二号节点代码，如下：
+
+通过，opencv节点改成灰度图，不然感觉openCV节点没啥用，继续传给三号节点显示。
+
+```
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/image.hpp>
+#include <cv_bridge/cv_bridge.h>
+#include <opencv2/opencv.hpp>
+
+class OpenCVNode : public rclcpp::Node
+{
+public:
+    OpenCVNode() : Node("opencv_node")
+    {
+        // 订阅来自摄像节点的图像话题
+        image_subscriber_ = this->create_subscription<sensor_msgs::msg::Image>(
+            "/image_raw", 10,
+            std::bind(&OpenCVNode::image_callback, this, std::placeholders::_1));
+
+        // 创建图像发布者
+        image_publisher_ = this->create_publisher<sensor_msgs::msg::Image>(
+            "/my_processed_image", 10);
+    }
+
+private:
+    void image_callback(const sensor_msgs::msg::Image::SharedPtr msg)
+    {
+        // 将ROS图像消息转换为OpenCV图像
+        cv_bridge::CvImagePtr cv_ptr;
+        try
+        {
+            RCLCPP_DEBUG(this->get_logger(), "jr1  excep");
+            cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
+            RCLCPP_DEBUG(this->get_logger(), "cg2  excep");
+        }
+        catch (cv_bridge::Exception& e)
+        {
+            RCLCPP_ERROR(this->get_logger(), "cv_bridge exception: %s", e.what());
+            return;  // 如果转换失败，返回
+        }
+
+        // 图像变量
+        cv::Mat processed_image;
+
+        // 通道数是 3 就是rgb 否则yuv
+        if (cv_ptr->image.channels() == 3) {
+            // 如果是 RGB，直接转换为 BGR
+            cv::cvtColor(cv_ptr->image, processed_image, cv::COLOR_RGB2BGR);
+            // 图像处理示例：将图像转换为灰度图
+            // cv::cvtColor(cv_ptr->image, processed_image, cv::COLOR_BGR2GRAY);
+
+        } else {
+            //  使用 YUV 转换
+            cv::cvtColor(cv_ptr->image, processed_image, cv::COLOR_YUV2BGR_Y422);
+            // 图像处理示例：将图像转换为灰度图
+            // cv::cvtColor(cv_ptr->image, processed_image, cv::COLOR_BGR2GRAY);
+        }
+
+        // 将处理后的OpenCV图像转换回ROS图像消息
+        sensor_msgs::msg::Image::SharedPtr output_msg= cv_bridge::CvImage(std_msgs::msg::Header(), sensor_msgs::image_encodings::RGB8,processed_image).toImageMsg();
+
+        RCLCPP_DEBUG(this->get_logger(), "fb3  excep");
+        // 发布处理后的图像
+        image_publisher_->publish(*output_msg);
+        RCLCPP_DEBUG(this->get_logger(), "fbcg4  excep");
+    }
+
+    // 订阅者和发布者
+    rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_subscriber_;
+    rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr image_publisher_;
+};
+
+int main(int argc, char **argv)
+{
+    rclcpp::init(argc, argv);  // 初始化ROS 2
+    rclcpp::spin(std::make_shared<OpenCVNode>());  // 运行节点
+    rclcpp::shutdown();  // 关闭ROS 2
+    return 0;
+}
+
+```
+
+三号节点 接收二号节点 图像显示， 代码如下：
+
+注意这边代码，直接使用openCV的图像类，直接show，显示图像
+
+```#include
+#include <sensor_msgs/msg/image.hpp>
+#include <cv_bridge/cv_bridge.h>
+#include <opencv2/opencv.hpp>
+
+class OpenCVNode : public rclcpp::Node
+{
+public:
+    OpenCVNode() : Node("opencv_node")
+    {
+        // 订阅来自摄像节点的图像话题
+        image_subscriber_ = this->create_subscription<sensor_msgs::msg::Image>(
+            "/image_raw", 10,
+            std::bind(&OpenCVNode::image_callback, this, std::placeholders::_1));
+
+        // 创建图像发布者
+        image_publisher_ = this->create_publisher<sensor_msgs::msg::Image>(
+            "/my_processed_image", 10);
+    }
+
+private:
+    void image_callback(const sensor_msgs::msg::Image::SharedPtr msg)
+    {
+        // 将ROS图像消息转换为OpenCV图像
+        cv_bridge::CvImagePtr cv_ptr;
+        try
+        {
+            RCLCPP_DEBUG(this->get_logger(), "jr1  excep");
+            cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::BGR8);
+            RCLCPP_DEBUG(this->get_logger(), "cg2  excep");
+        }
+        catch (cv_bridge::Exception& e)
+        {
+            RCLCPP_ERROR(this->get_logger(), "cv_bridge exception: %s", e.what());
+            return;  // 如果转换失败，返回
+        }
+
+        // 图像变量
+        cv::Mat processed_image;
+
+        // 通道数是 3 就是rgb 否则yuv
+        if (cv_ptr->image.channels() == 3) {
+            // 如果是 RGB，直接转换为 BGR
+            cv::cvtColor(cv_ptr->image, processed_image, cv::COLOR_RGB2BGR);
+            // 图像处理示例：将图像转换为灰度图
+             cv::cvtColor(cv_ptr->image, processed_image, cv::COLOR_BGR2GRAY);
+
+        } else {
+            //  使用 YUV 转换
+            cv::cvtColor(cv_ptr->image, processed_image, cv::COLOR_YUV2BGR_Y422);
+            // 图像处理示例：将图像转换为灰度图
+            cv::cvtColor(cv_ptr->image, processed_image, cv::COLOR_BGR2GRAY);
+        }
+
+
+
+        // 将处理后的OpenCV图像转换回ROS图像消息
+        sensor_msgs::msg::Image::SharedPtr output_msg= cv_bridge::CvImage(std_msgs::msg::Header(), sensor_msgs::image_encodings::RGB8,processed_image).toImageMsg();
+
+        RCLCPP_DEBUG(this->get_logger(), "fb3  excep");
+        // 发布处理后的图像
+        image_publisher_->publish(*output_msg);
+        RCLCPP_DEBUG(this->get_logger(), "fbcg4  excep");
+    }
+
+    // 订阅者和发布者
+    rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_subscriber_;
+    rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr image_publisher_;
+};
+
+int main(int argc, char **argv)
+{
+    rclcpp::init(argc, argv);  // 初始化ROS 2
+    rclcpp::spin(std::make_shared<OpenCVNode>());  // 运行节点
+    rclcpp::shutdown();  // 关闭ROS 2
+    return 0;
+}
+```
+
+
+## 三、运行测试
+
+启动一号节点，`ros2  run usb_cam usb_cam_node_exe`，这里可以自己配置，摄像头参数. yaml文件
+
+![1725004212788](image/usb-cam/1725004212788.png)
+
+启动二号节点，`ros2 run opencv_node camera_pack  --ros-args --log-level debug`
+
+![1725004440487](image/usb-cam/1725004440487.png)
+
+启动三号节点，`ros2 run rqt_display_node  camera_pack`
+
+![1725004274907](image/usb-cam/1725004274907.png)
+
+完成，如下 ， 使用 `ros2 topic list  `命令可以看到，节点都已经起来了，显示正常
+
+![1725003988564](image/usb-cam/1725003988564.png)