diff --git a/unitree_guide/include/interface/IOSDK.h b/unitree_guide/include/interface/IOSDK.h
index 720186e..662b210 100755
--- a/unitree_guide/include/interface/IOSDK.h
+++ b/unitree_guide/include/interface/IOSDK.h
@@ -1,36 +1,40 @@
-/**********************************************************************
- Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
-***********************************************************************/
-#ifndef IOSDK_H
-#define IOSDK_H
-
-#include "interface/IOInterface.h"
-#include "unitree_legged_sdk/unitree_legged_sdk.h"
-
-#ifdef COMPILE_WITH_MOVE_BASE
-    #include <ros/ros.h>
-    #include <ros/time.h>
-    #include <sensor_msgs/JointState.h>
-#endif  // COMPILE_WITH_MOVE_BASE
-
-
-class IOSDK : public IOInterface{
-public:
-IOSDK();
-~IOSDK(){}
-void sendRecv(const LowlevelCmd *cmd, LowlevelState *state);
-
-private:
-UNITREE_LEGGED_SDK::UDP _udp;
-UNITREE_LEGGED_SDK::Safety _safe;
-UNITREE_LEGGED_SDK::LowCmd _lowCmd;
-UNITREE_LEGGED_SDK::LowState _lowState;
-
-#ifdef COMPILE_WITH_MOVE_BASE
-    ros::NodeHandle _nh;
-    ros::Publisher _pub;
-    sensor_msgs::JointState _joint_state;
-#endif  // COMPILE_WITH_MOVE_BASE
-};
-
-#endif  // IOSDK_H
\ No newline at end of file
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+#ifdef COMPILE_WITH_REAL_ROBOT
+
+#ifndef IOSDK_H
+#define IOSDK_H
+
+#include "interface/IOInterface.h"
+#include "unitree_legged_sdk/unitree_legged_sdk.h"
+
+#ifdef COMPILE_WITH_MOVE_BASE
+    #include <ros/ros.h>
+    #include <ros/time.h>
+    #include <sensor_msgs/JointState.h>
+#endif  // COMPILE_WITH_MOVE_BASE
+
+
+class IOSDK : public IOInterface{
+public:
+IOSDK();
+~IOSDK(){}
+void sendRecv(const LowlevelCmd *cmd, LowlevelState *state);
+
+private:
+UNITREE_LEGGED_SDK::UDP _udp;
+UNITREE_LEGGED_SDK::Safety _safe;
+UNITREE_LEGGED_SDK::LowCmd _lowCmd;
+UNITREE_LEGGED_SDK::LowState _lowState;
+
+#ifdef COMPILE_WITH_MOVE_BASE
+    ros::NodeHandle _nh;
+    ros::Publisher _pub;
+    sensor_msgs::JointState _joint_state;
+#endif  // COMPILE_WITH_MOVE_BASE
+};
+
+#endif  // IOSDK_H
+
+#endif  // COMPILE_WITH_REAL_ROBOT
\ No newline at end of file