diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3055c75..09328c3 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -60,7 +60,6 @@ find_package(catkin REQUIRED COMPONENTS
 find_package(Eigen3 REQUIRED)
 find_package(PCL 1.8 REQUIRED)
 
-
 message(Eigen: ${EIGEN3_INCLUDE_DIR})
 
 include_directories(
@@ -75,11 +74,22 @@ link_directories(
 	${PCL_LIBRARY_DIRS}
 )
 
-add_executable(pointlio_mapping src/laserMapping.cpp
+
+generate_messages(
+ DEPENDENCIES
+ geometry_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs message_runtime
+  DEPENDS EIGEN3 PCL
+  INCLUDE_DIRS
+)
+
+add_executable(pointlio_mapping src/laserMapping.cpp 
                 src/li_initialization.cpp src/parameters.cpp src/preprocess.cpp src/Estimator.cpp 
                 src/IMU_Processing.cpp)
 target_link_libraries(pointlio_mapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PYTHON_LIBRARIES})
-
 target_include_directories(pointlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
 
 
diff --git a/include/ivox/eigen_types.h b/include/ivox/eigen_types.h
old mode 100644
new mode 100755
diff --git a/include/ivox/hilbert.hpp b/include/ivox/hilbert.hpp
old mode 100644
new mode 100755
diff --git a/include/ivox/ivox3d.h b/include/ivox/ivox3d.h
old mode 100644
new mode 100755
diff --git a/include/ivox/ivox3d_node.hpp b/include/ivox/ivox3d_node.hpp
old mode 100644
new mode 100755
diff --git a/include/matplotlibcpp.h b/include/matplotlibcpp.h
old mode 100644
new mode 100755
diff --git a/launch/mapping_avia.launch b/launch/mapping_avia.launch
index da647d0..56b4d07 100755
--- a/launch/mapping_avia.launch
+++ b/launch/mapping_avia.launch
@@ -3,7 +3,7 @@
 
 	<arg name="rviz" default="true" />
 
-	<node pkg="point_lio" type="pointlio_mapping" name="laserMapping" output="screen">
+	<node pkg="point_lio" type="pointlio_mapping" name="laserMapping" output="screen" > 
 	<rosparam command="load" file="$(find point_lio)/config/avia.yaml" />
 	<param name="use_imu_as_input" type="bool" value="0"/> <!--change to 1 to use IMU as input of Point-LIO-->
 	<param name="prop_at_freq_of_imu" type="bool" value="1"/>
diff --git a/src/Estimator.cpp b/src/Estimator.cpp
index cda4f19..d650a62 100755
--- a/src/Estimator.cpp
+++ b/src/Estimator.cpp
@@ -204,7 +204,7 @@ void h_model_input(state_input &s, Eigen::Matrix3d cov_p, Eigen::Matrix3d cov_R,
 				M3D point_crossmat = crossmat_list[idx+j+1];
 				V3D C(s.rot.transpose() * norm_vec); // conjugate().normalized()
 				V3D A(point_crossmat * C);
-				ekfom_data.h_x.block<1, 6>(m, 0) << norm_vec(0), norm_vec(1), norm_vec(2), VEC_FROM_ARRAY(A), 0.0, 0.0, 0.0, 0.0, 0.0, 0.0;
+				ekfom_data.h_x.block<1, 12>(m, 0) << norm_vec(0), norm_vec(1), norm_vec(2), VEC_FROM_ARRAY(A), 0.0, 0.0, 0.0, 0.0, 0.0, 0.0;
 			}
 			ekfom_data.z(m) = -norm_vec(0) * feats_down_world->points[idx+j+1].x -norm_vec(1) * feats_down_world->points[idx+j+1].y -norm_vec(2) * feats_down_world->points[idx+j+1].z-normvec->points[j].intensity;
 			
@@ -310,7 +310,7 @@ void h_model_output(state_output &s, Eigen::Matrix3d cov_p, Eigen::Matrix3d cov_
 				M3D point_crossmat = crossmat_list[idx+j+1];
 				V3D C(s.rot.transpose() * norm_vec); // conjugate().normalized()
 				V3D A(point_crossmat * C);
-				ekfom_data.h_x.block<1, 6>(m, 0) << norm_vec(0), norm_vec(1), norm_vec(2), VEC_FROM_ARRAY(A), 0.0, 0.0, 0.0, 0.0, 0.0, 0.0;
+				ekfom_data.h_x.block<1, 12>(m, 0) << norm_vec(0), norm_vec(1), norm_vec(2), VEC_FROM_ARRAY(A), 0.0, 0.0, 0.0, 0.0, 0.0, 0.0;
 			}
 			ekfom_data.z(m) = -norm_vec(0) * feats_down_world->points[idx+j+1].x -norm_vec(1) * feats_down_world->points[idx+j+1].y -norm_vec(2) * feats_down_world->points[idx+j+1].z-normvec->points[j].intensity;