diff --git a/0.2.1.tar.gz b/0.2.1.tar.gz
index 8eaa625c2053f2a75fb3c802bd63683aa2cdeac2..a694ed2c7ad9285df4ac0a2d973d67a770112c35 100644
Binary files a/0.2.1.tar.gz and b/0.2.1.tar.gz differ
diff --git a/openslam_gmapping.spec b/openslam_gmapping.spec
index 636089ba87d92fe4c85ac090a7b7550539911d43..ecb5a1bac02068a30584eff923ae2be85d6fbaaf 100644
--- a/openslam_gmapping.spec
+++ b/openslam_gmapping.spec
@@ -16,6 +16,13 @@ BuildRequires:	boost-devel
 BuildRequires:	uuid-devel
 BuildRequires:	uuid
 BuildRequires:	libuuid-devel
+BuildRequires:	python3-gpgme
+BuildRequires:	gpgme-devel
+BuildRequires:	cpp-gpgme
+BuildRequires:	python3-crypto
+BuildRequires:	bullet-devel
+BuildRequires:  gtest-devel
+BuildRequires:  gmock-devel
 
 %description
 This is ROS noetic openslam_gmapping Package.
@@ -66,43 +73,6 @@ cd rospkg-1.2.8/
 python3 setup.py install --user
 cd ..
 
-cd console_bridge/
-mkdir build/
-cd build/
-cmake ..
-make -j8
-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 -j8
-make install
-cd ..
-cd ..
-
-
-cd eigen-3.3.7/
-mkdir build
-cd build
-cmake ..
-make install
-cd ..
-cd ..
-
 cd ..
 
 ./src/catkin/bin/catkin_make_isolated --install 
@@ -120,7 +90,6 @@ sed -i "s:${SRC_PATH}:${DST_PATH}:g"  `grep -rIln "${SRC_PATH}" install_isolated
 #
 ####
 mkdir -p %{buildroot}/opt/ros/noetic/
-mkdir -p %{buildroot}/usr/local/
 cp -r install_isolated/* %{buildroot}/opt/ros/noetic/
 cp  install_isolated/.rosinstall %{buildroot}/opt/ros/noetic/
 cp  install_isolated/.catkin %{buildroot}/opt/ros/noetic/
@@ -130,7 +99,6 @@ cp  install_isolated/.catkin %{buildroot}/opt/ros/noetic/
 /opt/ros/noetic/*
 /opt/ros/noetic/.rosinstall
 /opt/ros/noetic/.catkin
-#/usr/local/*
 %changelog
 * Thu 12-15-2020 openEuler Buildteam <hanhaomin008@126.com>
 - Package init