diff --git a/class_model/src/uavlinkPubMain.py b/class_model/src/uavlinkPubMain.py
index da05d5c..442aa12 100755
--- a/class_model/src/uavlinkPubMain.py
+++ b/class_model/src/uavlinkPubMain.py
@@ -2,7 +2,6 @@
 #coding:utf-8
 import serial
 import time
-import random
 import sys
 import os
 import proto.flight_information_pb2 as flight_information_pb2
diff --git a/class_model/src/uavlinkSubMain.py b/class_model/src/uavlinkSubMain.py
new file mode 100644
index 0000000..09f803a
--- /dev/null
+++ b/class_model/src/uavlinkSubMain.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+#coding:utf-8
+import serial
+import time
+import sys
+import os
+import proto.flight_information_pb2 as flight_information_pb2
+import logging
+from utils.readConfig import Read_SUB_Config
+from utils.proto_uavlink_pub_data_to_ros import Proto_msg_to_ros
+
+import rospy
+from std_msgs.msg import String
+from std_msgs.msg import Float64
+from std_msgs.msg import Header
+from mavros_msgs.srv import ParamGet
+from sensor_msgs.msg import NavSatFix
+from sensor_msgs.msg import Imu
+from sensor_msgs.msg import Range
+from geometry_msgs.msg import Vector3
+
+
+def init_dataFormat(cfg:Read_SUB_Config):
+    ros_namespace="/drone1"
+    f1data = b'\xf1drone550..............\r\n'  
+    
+    sel.write(f1data)
+    readTenByte = sel.read_until(size=5)
+    print(readTenByte)
+
+    Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
+    Proto_msg_to_ros.rate = rospy.Rate(10)
+    Proto_msg_to_ros.publisher_Flight_Information = rospy.Publisher(cfg.ROStopicName_Flight_Information,String,queue_size=10)
+
+    
+if __name__ == '__main__':
+    FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_SUB.yml")
+    cfg = Read_SUB_Config(FilePath)
+    print(cfg)
+    sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
+    # set log
+    log_format = "%(asctime)s - %(levelname)s - %(message)s"
+    formatter = logging.Formatter(log_format)
+
+    stream_handler = logging.StreamHandler()
+    stream_handler.setFormatter(formatter)
+    stream_handler.setLevel(logging.DEBUG)
+
+    file_handler = logging.FileHandler(cfg.logFileName)
+    file_handler.setFormatter(formatter)
+    file_handler.setLevel(logging.INFO)
+
+    logger = logging.getLogger(__name__)
+    logger.setLevel(logging.INFO)
+    logger.addHandler(file_handler)
+    logger.addHandler(stream_handler)
+    logger.info(cfg)    
+
+    while True:
+        try:
+            # test json
+            readTenByte = sel.read_until(expected= b'\x01\x01', size=25)
+
+
+        except KeyboardInterrupt as e:
+            print("End of program")
+
+
+
+
diff --git a/class_model/src/utils/proto_uavlink_pub_data_to_ros.py b/class_model/src/utils/proto_uavlink_pub_data_to_ros.py
new file mode 100644
index 0000000..d943acd
--- /dev/null
+++ b/class_model/src/utils/proto_uavlink_pub_data_to_ros.py
@@ -0,0 +1,32 @@
+import time
+
+import proto.flight_information_pb2 as flight_information_pb2
+import google.protobuf.json_format as json_format
+import logging
+
+# TODO: use native ros type instead of json or str
+logger = logging.getLogger("__SUB__")
+
+class Proto_msg_to_ros:
+    #Protobuf
+    flight_information_msg = None
+    sel = None
+
+    #Ros publisher
+    rate = None
+    publisher_Flight_Information = None
+
+
+    #Proto
+    @classmethod
+    def on_message_Flight_Information(cls, msg):
+        proto = msg[1:23]
+        proto_msg = cls.flight_information_msg.FromString(proto)
+        protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True)
+        logger.info(protoTOJson_msg)
+        cls.publisher_Flight_Information.publish(protoTOJson_msg)
+        cls.rate.sleep()
+
+        
+
+
diff --git a/class_model/src/utils/readConfig.py b/class_model/src/utils/readConfig.py
index ed67b3a..f42a9a8 100644
--- a/class_model/src/utils/readConfig.py
+++ b/class_model/src/utils/readConfig.py
@@ -106,7 +106,12 @@ class Read_SUB_Config(Config):
                             "Dron_ROStopicName_Flight_Information": (str,False),
                             "ROStopicName_Fly_Formation": (str,False)},
             self.sectionNames[2]:{
-                            "logFileName":(str,False)}}
+                            "logFileName":(str,False)},
+            self.sectionNames[3]:{
+                            "uavlink_msg_format": (str,False),
+                            "uav_id": (str,False),
+                            "baudrate": (int,False),
+                            "ttyport": (str,False)}}
         self.setAttribute()
 
     def __str__(self):
diff --git a/class_model/src/utils/uavlinkConfig_SUB.yml b/class_model/src/utils/uavlinkConfig_SUB.yml
new file mode 100644
index 0000000..e5bbf0f
--- /dev/null
+++ b/class_model/src/utils/uavlinkConfig_SUB.yml
@@ -0,0 +1,12 @@
+UAVLINK:
+  uavlink_msg_format: Proto
+  uav_id: \x01\x01
+  baudrate: 250000
+  ttyport: /dev/ttyUSB2
+MQTT: "None"
+ROS:
+  ROSClientNameSub: Drone550UAVLINKSub
+  ROStopicName_Flight_Information: Flight_Information_reciver
+  ROStopicName_Fly_Formation: Fly_Formation_reciver
+LOG:
+  logFileName: UAVLINKsub.log