diff --git a/scripts/lbot_arm_control.sh b/scripts/lbot_arm_control.sh
index a0bb1b9..4c650cd 100755
--- a/scripts/lbot_arm_control.sh
+++ b/scripts/lbot_arm_control.sh
@@ -66,19 +66,19 @@ start_bag_recorder() {
   echo "Rosbag log: ${BAG_LOG_FILE}"
 
   : > "${BAG_LOG_FILE}"
-  setsid bash -lc "
+  setsid env WS_DIR="${WS_DIR}" bash -lc '
     set -euo pipefail
     set +u
-    source '${WS_DIR}/install/setup.bash'
+    source "${WS_DIR}/install/setup.bash"
     set -u
     while true; do
-      start_time=\\\$(date +%Y%m%d_%H%M%S)
-      output=/tmp/lbot_arm_\\${start_time}.mcap
-      echo \"Starting rosbag: \\${output}\"
+      start_time=$(date +%Y%m%d_%H%M%S)
+      output=/tmp/lbot_arm_${start_time}.mcap
+      echo "Starting rosbag: ${output}"
       set +e
       timeout 3600 ros2 bag record \
         --storage mcap \
-        --output \"\\${output}\" \
+        --output "${output}" \
         --polling-interval 2 \
         --include-unpublished-topics \
         --disable-keyboard-controls \
@@ -92,13 +92,13 @@ start_bag_recorder() {
         --services \
           /robot1/left_arm/move_joint \
           /robot1/right_arm/move_joint
-      rc=\\$?
+      rc=$?
       set -e
-      if [[ \\${rc} -ne 124 ]]; then
-        exit \\${rc}
+      if [[ ${rc} -ne 124 ]]; then
+        exit ${rc}
       fi
     done
-  " >> "${BAG_LOG_FILE}" 2>&1 &
+  ' >> "${BAG_LOG_FILE}" 2>&1 &
 
   local pid=$!
   local pgid
diff --git a/src/officer_sdk/lbot_driver/src/lbot_driver.cpp b/src/officer_sdk/lbot_driver/src/lbot_driver.cpp
index 028aef6..edd6bdd 100644
--- a/src/officer_sdk/lbot_driver/src/lbot_driver.cpp
+++ b/src/officer_sdk/lbot_driver/src/lbot_driver.cpp
@@ -144,7 +144,8 @@ bool LBot::connect_robot() {
     g_conn_state.store(GlobalConnState::CONNECTING);  // 更新全局状态
 
     lbot_handle = lbot_api.lbot_init(arm_ip_.c_str());
-    if (lbot_handle->id > 0) {
+    bool success = lbot_handle != nullptr && lbot_handle->id > 0;
+    if (success) {
         RCLCPP_INFO(this->get_logger(), "Connected to LBot at %s", arm_ip_.c_str());
 
         // 获取机械臂信息
@@ -169,11 +170,10 @@ bool LBot::connect_robot() {
         }
 
     } else {
-        RCLCPP_ERROR(this->get_logger(), "Failed to connect to LBot");
-        publish_system_error(-1, "Failed to connect to LBot");
+        RCLCPP_ERROR(this->get_logger(), "Failed to connect to LBot, UDP reconnecting");
+        publish_system_error(-1, "UDP Reconnecting");
     }
 
-    bool success = lbot_handle->id > 0;
     conn_state_ = success ? GlobalConnState::CONNECTED : GlobalConnState::DISCONNECTED;
     g_conn_state.store(conn_state_);  // 更新全局状态
 
@@ -391,6 +391,10 @@ void LBot::reconnect_timer_callback()
     if (reconnect_thread_running_)
         return;  // 线程正在运行，不重复启动
 
+    if (reconnect_thread_.joinable()) {
+        reconnect_thread_.join();
+    }
+
     reconnect_thread_running_ = true;
 
     reconnect_thread_ = std::thread([this]() {