diff --git a/ros2/src/udp_teleop/config/box_detection_grasp.yaml b/ros2/src/udp_teleop/config/box_detection_grasp.yaml
index be2b61c..6b0eb87 100644
--- a/ros2/src/udp_teleop/config/box_detection_grasp.yaml
+++ b/ros2/src/udp_teleop/config/box_detection_grasp.yaml
@@ -1,7 +1,7 @@
 box_detection_grasp:
   ros__parameters:
-    # ESP32 相机流
-    stream_url: "http://192.168.4.1/stream"
+    # ESP32 相机流（由 camera_ip 拼接 http://<ip>/stream）
+    camera_ip: "192.168.4.1"
 
     # YOLO 模型路径
     model_path: "/home/fallensigh/Dev/craic/ros2/src/udp_teleop/models/box_detection.pt"
diff --git a/ros2/src/udp_teleop/launch/vision_grasp.launch.py b/ros2/src/udp_teleop/launch/vision_grasp.launch.py
index c5b06f4..c07073a 100644
--- a/ros2/src/udp_teleop/launch/vision_grasp.launch.py
+++ b/ros2/src/udp_teleop/launch/vision_grasp.launch.py
@@ -38,7 +38,7 @@ def generate_launch_description():
         DeclareLaunchArgument('auto_grasp', default_value='false',
                               description='检测到方框后自动抓取'),
         DeclareLaunchArgument('udp_ip', default_value='192.168.4.1',
-                              description='ESP32 UDP IP 地址'),
+                              description='ESP32 IP（UDP 控制 + 相机流共用）'),
         DeclareLaunchArgument('show_debug', default_value='false',
                               description='显示 YOLO 检测调试窗口'),
 
@@ -67,6 +67,7 @@ def generate_launch_description():
             name='box_detection_grasp',
             output='screen',
             parameters=[detection_params, {
+                'camera_ip': udp_ip,
                 'auto_grasp': auto_grasp,
                 'show_debug_window': show_debug,
             }],
diff --git a/ros2/src/udp_teleop/udp_teleop/box_detection_grasp.py b/ros2/src/udp_teleop/udp_teleop/box_detection_grasp.py
index 6591b5c..285b36f 100644
--- a/ros2/src/udp_teleop/udp_teleop/box_detection_grasp.py
+++ b/ros2/src/udp_teleop/udp_teleop/box_detection_grasp.py
@@ -123,7 +123,7 @@ class BoxDetectionGraspNode(Node):
             raise RuntimeError("需要 ultralytics。安装: pip install ultralytics")
 
         # 声明参数
-        self.declare_parameter('stream_url', 'http://192.168.4.1/stream')
+        self.declare_parameter('camera_ip', '192.168.4.1')
         self.declare_parameter('model_path', '/home/fallensigh/Dev/craic/tmp/best.pt')
         self.declare_parameter('confidence', 0.35)
         self.declare_parameter('imgsz', 768)
@@ -136,7 +136,7 @@ class BoxDetectionGraspNode(Node):
         self.declare_parameter('auto_grasp', False)  # 是否自动抓取
 
         # 获取参数
-        self.stream_url = self.get_parameter('stream_url').value
+        self.stream_url = f"http://{self.get_parameter('camera_ip').value}/stream"
         self.model_path = self.get_parameter('model_path').value
         self.confidence = float(self.get_parameter('confidence').value)
         self.imgsz = int(self.get_parameter('imgsz').value)