diff --git a/Gazebo_Distributed_MPI/gazebo/physics/World.cc b/Gazebo_Distributed_MPI/gazebo/physics/World.cc
index 523af92..0fd780f 100644
--- a/Gazebo_Distributed_MPI/gazebo/physics/World.cc
+++ b/Gazebo_Distributed_MPI/gazebo/physics/World.cc
@@ -965,9 +965,6 @@ void World::Update()
       for (int k = 0; k < tmp_gazebo_id; k++)
         displs[tmp_gazebo_id] = displs[tmp_gazebo_id] + bufferLen[k];
 
-      std::cout << "*************$$$$$$$$$ bufferLen:" << bufferLen[tmp_gazebo_id] << " $$$$$$$$$$***************" << std::endl;
-      std::cout << "*************$$$$$$$$$ displs: " << displs[tmp_gazebo_id] << " $$$$$$$$$$***************" << std::endl;
-
       if (this->gazeboLocalID == tmp_gazebo_id)
       {
         sendBuffer = new char[bufferLen[tmp_gazebo_id] + 1];
@@ -984,8 +981,6 @@ void World::Update()
     receiveBuffer = new char[receiveBufferLen + 1];
     receiveBuffer[receiveBufferLen] = '\0';
 
-    std::cout << "*************$$$$$$$$$ bufferLen:" << receiveBufferLen << " $$$$$$$$$$***************" << std::endl;
-
     // Added by zhangshuai 2019.04.03 for count time ----Begin
 #ifdef USE_COUNT_TIME
     gettimeofday(&tv, NULL);
@@ -1018,12 +1013,12 @@ void World::Update()
     // Added by zhangshuai 2019.04.03 for count time ----End
 
     //receive and get information from other processes
-    for (int tmp_gazebo_id = 0; tmp_gazebo_id < this->distribution->GetGazeboCount(); tmp_gazebo_id++)
+    for (int tmp_gazebo_id = 0; tmp_gazebo_id < tmp_gazebo_count; tmp_gazebo_id++)
     {
       if (this->gazeboLocalID != tmp_gazebo_id)
       {
-        std::string receive_messages;
-        for (int j = displs[tmp_gazebo_id]; j < bufferLen[tmp_gazebo_id]; j++)
+        std::string receive_messages = "";
+        for (int j = displs[tmp_gazebo_id]; j < (displs[tmp_gazebo_id] + bufferLen[tmp_gazebo_id]); j++)
         {
           receive_messages.push_back(receiveBuffer[j]);
         }
@@ -1037,7 +1032,6 @@ void World::Update()
         {
           math::Pose tmp_pose;
           std::string tmp_model_name = modelPoseListReceive.pose(i).name();
-          std::cout << "*************$$$$$$$$$ model_name:" << tmp_model_name << " $$$$$$$$$$***************" << std::endl;
           tmp_pose.pos.x = modelPoseListReceive.pose(i).position().x();
           tmp_pose.pos.y = modelPoseListReceive.pose(i).position().y();
           tmp_pose.pos.z = modelPoseListReceive.pose(i).position().z();
diff --git a/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh b/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh
index 4a0669d..b94a9dd 100755
--- a/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh
+++ b/Gazebo_Distributed_MPI/mpi_run/MPI_Gazebo_launch.sh
@@ -81,7 +81,7 @@ do
     echo "${hosts[$i]}:start_good"
 done
 
-sleep 3m
+sleep 5m
 
 #登入各节点kill相关进程以结束仿真（1.目前方式比较暴力，后续改进；2.cd ~/MPI 还要进行灵活性优化）
 for((i=0;i<host_count;i++))