diff --git a/rm_referee/include/rm_referee/referee_base.h b/rm_referee/include/rm_referee/referee_base.h
index 6217da4c..f7d54b14 100644
--- a/rm_referee/include/rm_referee/referee_base.h
+++ b/rm_referee/include/rm_referee/referee_base.h
@@ -5,8 +5,10 @@
 #pragma once
 
 #include <rm_common/ros_utilities.h>
-#include <ros/timer.h>
 #include <rm_common/decision/command_sender.h>
+#include <ros/timer.h>
+#include <std_msgs/Int32.h>
+#include <std_msgs/Float32MultiArray.h>
 
 #include "rm_referee/ui/ui_base.h"
 #include "rm_referee/ui/trigger_change_ui.h"
@@ -44,6 +46,7 @@ class RefereeBase
   virtual void jointStateCallback(const sensor_msgs::JointState::ConstPtr& joint_state);
   virtual void actuatorStateCallback(const rm_msgs::ActuatorState::ConstPtr& data);
   virtual void dbusDataCallback(const rm_msgs::DbusData::ConstPtr& data);
+  virtual void heroLegDataCallback(const rm_msgs::ChassisActiveSusCmd::ConstPtr& data);
   virtual void chassisCmdDataCallback(const rm_msgs::ChassisCmd::ConstPtr& data);
   virtual void vel2DCmdDataCallback(const geometry_msgs::Twist::ConstPtr& data);
   virtual void shootStateCallback(const rm_msgs::ShootState::ConstPtr& data);
@@ -54,6 +57,7 @@ class RefereeBase
   virtual void radarDataCallBack(const std_msgs::Int8MultiArrayConstPtr& data);
   virtual void cameraNameCallBack(const std_msgs::StringConstPtr& data);
   virtual void trackCallBack(const rm_msgs::TrackDataConstPtr& data);
+  virtual void deployDistanceCallBack(const geometry_msgs::PointConstPtr& data);
   virtual void balanceStateCallback(const rm_msgs::BalanceStateConstPtr& data);
   virtual void radarReceiveCallback(const rm_msgs::ClientMapReceiveData::ConstPtr& data);
   virtual void mapSentryCallback(const rm_msgs::MapSentryDataConstPtr& data);
@@ -66,6 +70,7 @@ class RefereeBase
   virtual void radarToRefereeCallBack(const rm_msgs::RadarToSentryConstPtr& data);
   virtual void customizeDisplayCmdCallBack(const std_msgs::UInt32ConstPtr& data);
   virtual void visualizeStateDataCallBack(const rm_msgs::VisualizeStateDataConstPtr& data);
+  virtual void relocalizeProgressCallback(const std_msgs::Int32ConstPtr& data);
 
   // send  ui
   void sendSerialDataCallback();
@@ -75,6 +80,7 @@ class RefereeBase
   ros::Subscriber actuator_state_sub_;
   ros::Subscriber dbus_sub_;
   ros::Subscriber chassis_cmd_sub_;
+  ros::Subscriber hero_leg_data_sub_;
   ros::Subscriber vel2D_cmd_sub_;
   ros::Subscriber shoot_state_sub_;
   ros::Subscriber gimbal_cmd_sub_;
@@ -86,6 +92,7 @@ class RefereeBase
   ros::Subscriber manual_data_sub_;
   ros::Subscriber camera_name_sub_;
   ros::Subscriber track_sub_;
+  ros::Subscriber deploy_distance_sub_;
   ros::Subscriber balance_state_sub_;
   ros::Subscriber radar_receive_sub_;
   ros::Subscriber map_sentry_sub_;
@@ -98,6 +105,7 @@ class RefereeBase
   ros::Subscriber shoot_cmd_sub_;
   ros::Subscriber customize_display_cmd_sub_;
   ros::Subscriber visualize_state_data_sub_;
+  ros::Subscriber relocalize_progress_sub_;
 
   ChassisTriggerChangeUi* chassis_trigger_change_ui_{};
   ShooterTriggerChangeUi* shooter_trigger_change_ui_{};
@@ -106,9 +114,11 @@ class RefereeBase
   TargetViewAngleTriggerChangeUi* target_view_angle_trigger_change_ui_{};
   CameraTriggerChangeUi* camera_trigger_change_ui_{};
   FrictionSpeedTriggerChangeUi* friction_speed_trigger_change_ui_{};
+  HeroLegTriggerChangeUi* hero_leg_trigger_change_ui_{};
 
   BulletTimeChangeUi* bullet_time_change_ui_{};
   CapacitorTimeChangeUi* capacitor_time_change_ui_{};
+  RelocalizeProgressTimeChangeUi* relocalize_progress_time_change_ui_{};
   EffortTimeChangeUi* effort_time_change_ui_{};
   ProgressTimeChangeUi* progress_time_change_ui_{};
   DartStatusTimeChangeUi* dart_status_time_change_ui_{};
@@ -120,6 +130,8 @@ class RefereeBase
   JointPositionTimeChangeUi *engineer_joint1_time_change_ui{}, *engineer_joint2_time_change_ui{},
       *engineer_joint3_time_change_ui{};
   TargetDistanceTimeChangeUi* target_distance_time_change_ui_{};
+  DeployDistanceTimeChangeUi* deploy_distance_time_change_ui_{};
+  HeroLegTimeChangeUi* hero_leg_time_change_ui_{};
   FriendBulletsTimeChangeGroupUi* friend_bullets_time_change_group_ui_{};
   TargetHpTimeChangeUi* target_hp_time_change_ui_{};