diff --git a/.conda/recipe.yaml b/.conda/recipe.yaml
new file mode 100644
index 0000000..7bc17da
--- /dev/null
+++ b/.conda/recipe.yaml
@@ -0,0 +1,69 @@
+package:
+  name: unilabos
+  version: 0.10.1
+
+build:
+  noarch: python
+  number: 0
+  script:
+    - python -m pip install paho-mqtt opentrons_shared_data
+    - python -m pip install  git+https://github.com/Xuwznln/pylabrobot.git
+
+requirements:
+  host:
+    - python >=3.11
+    - pip
+    - setuptools
+  run:
+    - conda-forge::python =3.11.11
+    - compilers
+    - cmake
+    - make
+    - ninja
+    - sphinx
+    - sphinx_rtd_theme
+    - numpy
+    - scipy
+    - pandas
+    - networkx
+    - matplotlib
+    - pint
+    - pyserial
+    - pyusb
+    - pylibftdi
+    - pymodbus
+    - python-can
+    - pyvisa
+    - opencv
+    - pydantic
+    - fastapi
+    - uvicorn
+    - gradio
+    - flask
+    - websocket
+    - ipython
+    - jupyter
+    - jupyros
+    - colcon-common-extensions
+    - robostack-staging::ros-humble-desktop-full
+    - robostack-staging::ros-humble-control-msgs
+    - robostack-staging::ros-humble-sensor-msgs
+    - robostack-staging::ros-humble-trajectory-msgs
+    - ros-humble-navigation2
+    - ros-humble-ros2-control
+    - ros-humble-robot-state-publisher
+    - ros-humble-joint-state-publisher
+    - ros-humble-rosbridge-server
+    - ros-humble-cv-bridge
+    - ros-humble-tf2
+    - ros-humble-moveit
+    - ros-humble-moveit-servo
+    - ros-humble-simulation
+    - ros-humble-tf-transformations
+    - transforms3d
+    - uni-lab::ros-humble-unilabos-msgs
+
+about:
+  repository: https://github.com/dptech-corp/Uni-Lab-OS
+  license: GPL-3.0
+  description: "Uni-Lab-OS"
diff --git a/.gitignore b/.gitignore
index 41a46f9..519ab3e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,6 @@
 configs/
 temp/
+output/
 ## Python
 
 # Byte-compiled / optimized / DLL files
diff --git a/README.md b/README.md
index f58cf3e..374632b 100644
--- a/README.md
+++ b/README.md
@@ -40,21 +40,11 @@ Uni-Lab-OS recommends using `mamba` for environment management. Choose the appro
 
 ```bash
 # Create new environment
-mamba env create -f unilabos-[YOUR_OS].yaml
-mamba activate unilab
+mamba create -n unilab unilab -c unilab -c robostack -c robostack-staging -c conda-forge
 
 # Or update existing environment
 # Where `[YOUR_OS]` can be `win64`, `linux-64`, `osx-64`, or `osx-arm64`.
 conda env update --file unilabos-[YOUR_OS].yml -n environment_name
-
-# Currently, you need to install the `unilabos_msgs` package
-# You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.10.0-xxxxx.tar.bz2
-
-# Install PyLabRobot and other prerequisites
-git clone https://github.com/PyLabRobot/pylabrobot plr_repo
-cd plr_repo
-pip install .[opentrons]
 ```
 
 2. Install Uni-Lab-OS:
diff --git a/README_zh.md b/README_zh.md
index ef555e7..833c2d8 100644
--- a/README_zh.md
+++ b/README_zh.md
@@ -40,21 +40,11 @@ Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适
 
 ```bash
 # 创建新环境
-mamba env create -f unilabos-[YOUR_OS].yaml
-mamba activate unilab
+mamba create -n unilab unilab -c unilab -c robostack -c robostack-staging -c conda-forge
 
 # 或更新现有环境
 # 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
 conda env update --file unilabos-[YOUR_OS].yml -n 环境名
-
-# 现阶段，需要安装 `unilabos_msgs` 包
-# 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.10.0-xxxxx.tar.bz2
-
-# 安装PyLabRobot等前置
-git clone https://github.com/PyLabRobot/pylabrobot plr_repo
-cd plr_repo
-pip install .[opentrons]
 ```
 
 2. 安装 Uni-Lab-OS:
diff --git a/recipes/ros-humble-unilabos-msgs/recipe.yaml b/recipes/ros-humble-unilabos-msgs/recipe.yaml
index 81c390b..6d8eb9d 100644
--- a/recipes/ros-humble-unilabos-msgs/recipe.yaml
+++ b/recipes/ros-humble-unilabos-msgs/recipe.yaml
@@ -1,46 +1,58 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.0
+  version: 0.10.1
+
 source:
   path: ../../unilabos_msgs
-  folder: ros-humble-unilabos-msgs/src/work
+  target_directory: ros-humble-unilabos-msgs/src/work
 
 build:
   script:
-    sel(win): bld_ament_cmake.bat
-    sel(unix): build_ament_cmake.sh
+    - if: win
+      then:
+        - call %RECIPE_DIR%/bld_ament_cmake.bat
+    - if: unix
+      then:
+        - bash $RECIPE_DIR/build_ament_cmake.sh
   number: 5
 about:
-  home: https://www.ros.org/
+  repository: https://github.com/dptech-corp/Uni-Lab-OS
   license: BSD-3-Clause
-  summary: |
-    Robot Operating System
-
-extra:
-  recipe-maintainers:
-    - ros-forge
+  description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
 
 requirements:
   build:
-    - "{{ compiler('cxx') }}"
-    - "{{ compiler('c') }}"
-    - sel(linux64): sysroot_linux-64 2.17
+    - ${{ compiler('cxx') }}
+    - ${{ compiler('c') }}
+    - if: linux and x86_64
+      then:
+        - sysroot_linux-64 2.17
     - ninja
     - setuptools
-    - sel(unix): make
-    - sel(unix): coreutils
-    - sel(osx): tapi
-    - sel(build_platform != target_platform): pkg-config
-    - cmake
     - cython
-    - sel(win): vs2022_win-64
-    - sel(build_platform != target_platform): python
-    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
-    - sel(build_platform != target_platform): numpy
+    - cmake
+    - if: unix
+      then:
+        - make
+        - coreutils
+    - if: osx
+      then:
+        - tapi
+    - if: win
+      then:
+        - vs2022_win-64
+    - if: build_platform != target_platform
+      then:
+        - pkg-config
+        - python
+        - cross-python_${{ target_platform }}
+        - numpy
   host:
     - numpy
     - pip
-    - sel(build_platform == target_platform): pkg-config
+    - if: build_platform == target_platform
+      then:
+        - pkg-config
     - robostack-staging::ros-humble-action-msgs
     - robostack-staging::ros-humble-ament-cmake
     - robostack-staging::ros-humble-ament-lint-auto
@@ -50,12 +62,14 @@ requirements:
     - robostack-staging::ros-humble-rosidl-default-generators
     - robostack-staging::ros-humble-std-msgs
     - robostack-staging::ros-humble-geometry-msgs
-    - robostack-staging::ros2-distro-mutex=0.5.*
+    - robostack-staging::ros2-distro-mutex=0.6
   run:
     - robostack-staging::ros-humble-action-msgs
     - robostack-staging::ros-humble-ros-workspace
     - robostack-staging::ros-humble-rosidl-default-runtime
     - robostack-staging::ros-humble-std-msgs
     - robostack-staging::ros-humble-geometry-msgs
-#    - robostack-staging::ros2-distro-mutex=0.6.*
-    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
+    - robostack-staging::ros2-distro-mutex=0.6
+    - if: osx and x86_64
+      then:
+        - __osx >= {{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
\ No newline at end of file
diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml
index 3b97b9a..0a2c778 100644
--- a/recipes/unilabos/recipe.yaml
+++ b/recipes/unilabos/recipe.yaml
@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.0"
+  version: "0.10.1"
 
 source:
   path: ../..
diff --git a/setup.py b/setup.py
index f256bd6..740b378 100644
--- a/setup.py
+++ b/setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.0',
+    version='0.10.1',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],
diff --git a/unilabos-linux-64.yaml b/unilabos-linux-64.yaml
index 5a94764..c84e045 100644
--- a/unilabos-linux-64.yaml
+++ b/unilabos-linux-64.yaml
@@ -1,5 +1,6 @@
 name: unilab
 channels:
+  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -61,7 +62,8 @@ dependencies:
   - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-#  - ros-humble-unilabos-msgs
+  - uni-lab::ros-humble-unilabos-msgs
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
\ No newline at end of file
+      - opentrons_shared_data
+      - git+https://github.com/Xuwznln/pylabrobot
\ No newline at end of file
diff --git a/unilabos-osx-64.yaml b/unilabos-osx-64.yaml
index 1c6db8d..ca9a96f 100644
--- a/unilabos-osx-64.yaml
+++ b/unilabos-osx-64.yaml
@@ -1,5 +1,6 @@
 name: unilab
 channels:
+  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -60,7 +61,8 @@ dependencies:
   - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-#  - ros-humble-unilabos-msgs
+  - uni-lab::ros-humble-unilabos-msgs
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
\ No newline at end of file
+      - opentrons_shared_data
+      - git+https://github.com/Xuwznln/pylabrobot
\ No newline at end of file
diff --git a/unilabos-osx-arm64.yaml b/unilabos-osx-arm64.yaml
index 8f40130..7f9675d 100644
--- a/unilabos-osx-arm64.yaml
+++ b/unilabos-osx-arm64.yaml
@@ -1,5 +1,6 @@
 name: unilab
 channels:
+  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -63,7 +64,8 @@ dependencies:
   - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-#  - ros-humble-unilabos-msgs
+  - uni-lab::ros-humble-unilabos-msgs
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
\ No newline at end of file
+      - opentrons_shared_data
+      - git+https://github.com/Xuwznln/pylabrobot
\ No newline at end of file
diff --git a/unilabos-win64.yaml b/unilabos-win64.yaml
index bb4e832..b2065a0 100644
--- a/unilabos-win64.yaml
+++ b/unilabos-win64.yaml
@@ -1,5 +1,6 @@
 name: unilab
 channels:
+  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -61,12 +62,13 @@ dependencies:
   - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  # ros-humble-unilabos-msgs
+  - uni-lab::ros-humble-unilabos-msgs
   # driver
   #- crcmod
   - pip:
       - paho-mqtt
       - opentrons_shared_data
+      - git+https://github.com/Xuwznln/pylabrobot
       # driver
       #- ur-rtde  # set PYTHONUTF8=1
       #- pyautogui
diff --git a/unilabos/app/register.py b/unilabos/app/register.py
index 7a78cf9..2509e0e 100644
--- a/unilabos/app/register.py
+++ b/unilabos/app/register.py
@@ -34,9 +34,6 @@ def register_devices_and_resources(mqtt_client, lab_registry):
             logger.info(f"[UniLab Register] 成功通过HTTP注册 {len(resources_to_register)} 个资源 {cost_time}ms")
         else:
             logger.error(f"[UniLab Register] HTTP注册资源失败: {response.status_code}, {response.text} {cost_time}ms")
-
-    time.sleep(10)
-
     logger.info("[UniLab Register] 设备和资源注册完成.")
 
 
diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py
index f1b7f88..9b598dd 100644
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -22,6 +22,7 @@ from unilabos_msgs.srv import (
 )  # type: ignore
 from unique_identifier_msgs.msg import UUID
 
+from unilabos.app.register import register_devices_and_resources
 from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
 from unilabos.resources.graphio import initialize_resource
@@ -150,11 +151,7 @@ class HostNode(BaseROS2DeviceNode):
         self.device_status_timestamps = {}  # 用来存储设备状态最后更新时间
         if BasicConfig.upload_registry:
             from unilabos.app.mq import mqtt_client
-
-            for device_info in lab_registry.obtain_registry_device_info():
-                mqtt_client.publish_registry(device_info["id"], device_info)
-            for resource_info in lab_registry.obtain_registry_resource_info():
-                mqtt_client.publish_registry(resource_info["id"], resource_info)
+            register_devices_and_resources(mqtt_client, lab_registry)
         else:
             self.lab_logger().warning("本次启动注册表不报送云端，如果您需要联网调试，请使用unilab-register命令进行单独报送，或者在启动命令增加--upload_registry")
         time.sleep(1) # 等待MQTT连接稳定