diff --git a/0.2.1.tar.gz b/0.2.1.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..a00d74427ba32c43d458a0f8ce7a33033e1283fb
Binary files /dev/null and b/0.2.1.tar.gz differ
diff --git a/README.en.md b/README.en.md
index 5b38167e007eb60345ff748c52a33944e0ca1b70..09b6c7f468549992d26235005316ad265c538a8a 100644
--- a/README.en.md
+++ b/README.en.md
@@ -1,23 +1,28 @@
 # openslam_gmapping
 
 #### Description
-The catkinized verseion of openslam_gmapping package
+The catkinized verseion of openslam_gmapping package 
+
+GMapping is a highly efficient Rao-Blackwellized particle filer to learn grid maps from laser range data.
 
 #### Software Architecture
 Software architecture description
 
+openslam_gmapping
+
+
 #### Installation
 
-1.  xxxx
-2.  xxxx
-3.  xxxx
+1. Dowload RPM
 
-#### Instructions
+wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/Mainline/standard_aarch64/aarch64/openslam_gmapping-0.2.1-0.oe1.aarch64.rpm    
+
+2. Install RPM
 
-1.  xxxx
-2.  xxxx
-3.  xxxx
+sudo rpm -ivh openslam_gmapping-0.2.1-0.oe1.aarch64.rpm    
+#### Instructions
 
+Exit the openslam_gmapping file under the /opt/ros/melodic/devel_isolated/ directory , Prove that the software installation is successful
 #### Contribution
 
 1.  Fork the repository
diff --git a/README.md b/README.md
index 4d3736eaf0ce2f28708b9e5687ba7207456cdc58..0e3d5bacf2d0e72e241d013f1d727b72c0582ccd 100644
--- a/README.md
+++ b/README.md
@@ -1,23 +1,30 @@
 # openslam_gmapping
 
 #### 介绍
-The catkinized verseion of openslam_gmapping package
+
+基于ros的 openslam_gmapping 包
+
+GMapping是一种高效的Rao粒子滤波器，用于从激光测距数据中构建栅格地图。
 
 #### 软件架构
 软件架构说明
 
+openslam_gmapping
+
 
 #### 安装教程
 
-1.  xxxx
-2.  xxxx
-3.  xxxx
+1.下载rpm包
+
+wget http://121.36.3.168:82/home:/davidhan:/branches:/openEuler:/Mainline/standard_aarch64/aarch64/openslam_gmapping-0.2.1-0.oe1.aarch64.rpm
+
+2.安装rpm包
+
+sudo rpm -ivh openslam_gmapping-0.2.1-0.oe1.aarch64.rpm
 
 #### 使用说明
 
-1.  xxxx
-2.  xxxx
-3.  xxxx
+安装完成以后，在/opt/ros/melodic/devel_isolated/目录下有openslam_gmapping/文件夹证明安装成功
 
 #### 参与贡献
 
diff --git a/openslam_gmapping.spec b/openslam_gmapping.spec
new file mode 100644
index 0000000000000000000000000000000000000000..bd724e52222a56683d4493e6fcc006e20d5b0da0
--- /dev/null
+++ b/openslam_gmapping.spec
@@ -0,0 +1,185 @@
+Name:		openslam_gmapping
+Version:	0.2.1
+Release:	0
+Summary:	This is ROS melodic openslam_gmapping Package
+License:	GPL
+URL:		https://github.com/ros-perception/openslam_gmapping
+Source0:	https://github.com/ros-perception/openslam_gmapping/releases/tag/0.2.1.tar.gz
+BuildRequires:	gcc-c++
+BuildRequires:	cmake
+BuildRequires:	lz4-devel
+BuildRequires:	bzip2-devel
+BuildRequires:	python-devel
+BuildRequires:	python-setuptools
+#Requires:  python-empy
+BuildRequires:	openssl-devel
+#BuildRequires:	gcc-gfortran
+#BuildRequires:	openblas-devel
+#BuildRequires:	sqlite-devel
+#BuildRequires:	fftw-devel
+BuildRequires:	boost-devel
+BuildRequires:	uuid-devel
+BuildRequires:	uuid
+BuildRequires:	libuuid-devel
+#BuildRequires:	uuid-devel
+#BuildRequires:	python3-devel
+#BuildRequires:	boost-python3-devel
+
+%description
+This is ROS melodic ros_comm Package.
+
+%prep
+%setup
+#cd catkin-0.7.26/
+
+
+
+
+#%build
+
+#pwd
+#mkdir build/
+#cd build/ && cmake ..
+
+
+
+%install
+pwd
+ 
+#mkdir -p build/
+#cd build/
+#cmake ..
+#cd ..
+
+cd src/
+cd 3rdparty/ 
+
+cd empy-3.3.4/
+python setup.py install --user
+cd ..
+
+cd six-1.15.0/
+python setup.py install --user
+cd ..
+
+cd setuptools_scm-4.1.2/
+python setup.py install --user
+cd ..
+
+cd python-dateutil-2.8.1/
+python setup.py install --user
+cd ..
+
+cd pyparsing-2.4.7/
+python setup.py install --user
+cd ..
+
+cd docutils-0.16/
+python setup.py install --user
+cd ..
+
+cd catkin_pkg-0.4.22/
+python setup.py install --user
+cd ..
+
+#for std_msgs
+cd PyYAML-5.3.1/
+python setup.py install --user
+cd ..
+
+cd distro-1.5.0/
+python setup.py install --user
+cd ..
+
+cd rospkg-1.2.8/
+python setup.py install --user
+cd ..
+
+
+
+cd console_bridge/
+mkdir build/
+cd build/
+cmake ..
+make 
+make install
+cd ..
+cd ..
+
+cd poco/
+mkdir cmake-build/
+mkdir cmake-release/
+cd cmake-build/
+cmake ..
+make -j8
+make install
+cd ..
+cd ..
+
+
+cd tinyxml2/
+mkdir build
+cd build
+cmake ..
+make -j5
+make install
+cd ..
+cd ..
+
+
+cd urdfdom_headers/
+mkdir build
+cd build
+cmake ..
+make install
+cd ..
+cd ..
+
+cd eigen-3.3.7/
+mkdir build
+cd build
+cmake ..
+make install
+cd ..
+cd ..
+
+cd orocos_kdl/
+mkdir build
+cd build
+cmake ..
+make install
+cd ..
+cd ..
+
+
+
+
+
+
+# 3rdparty
+cd ..
+cd ..
+
+
+
+#compile
+./src/catkin/bin/catkin_make_isolated
+
+
+#install
+mkdir -p %{buildroot}/opt/ros/melodic/
+cp -r devel_isolated/* %{buildroot}/opt/ros/melodic/
+
+echo %{buildroot}
+
+
+%files
+#%defattr(-,root,root)
+#/opt/ros/melodic/*
+/opt/ros/melodic/*
+#/usr/lib/share/catkin/cmake/*
+
+%changelog
+* Thu May 28 2020 openEuler Buildteam <buildteam@openeuler.org> - 19.4-1
+- Package init
+