diff --git a/CHANGELOG.md b/CHANGELOG.md
index 32b7751..bbd3aca 100755
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,8 +1,12 @@
 # Changelog for package hobot_codec
 
+tros_2.1.1 (2023-07-14)
+------------------
+1. 规范X5ultra产品名。
+
 tros_2.1.0 (2023-07-10)
 ------------------
-1. 适配J5版本。
+1. 适配X5ultra版本。
 
 tros_2.0.0rc1 (2023-05-23)
 ------------------
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f9f43ef..ccc5d5f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,17 +48,17 @@ find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(img_msgs REQUIRED)
 
-# x3|j5|x86
+# x3|x5ultra|x86
 set(PREFIX_PATH x3)
 
 if(PLATFORM_X3)
   message("build platform X3")
   add_definitions(-DPLATFORM_X3)
   set(PREFIX_PATH x3)
-elseif(PLATFORM_J5)
-  message("build platform J5")
-  add_definitions(-DPLATFORM_J5)
-  set(PREFIX_PATH j5)
+elseif(PLATFORM_X5ultra)
+  message("build platform X5ultra")
+  add_definitions(-DPLATFORM_X5ultra)
+  set(PREFIX_PATH x5ultra)
 elseif(PLATFORM_X86)
   message("build platform X86")
   add_definitions(-DPLATFORM_X86)
@@ -97,7 +97,7 @@ set(BASE_LIBRARIES pthread dl)
 # 根据平台选择需要链接的库
 if(PLATFORM_X3)
   set(SYS_LIB vio isp_algo z hbmedia isp ion multimedia iar tinyalsa cjson)
-elseif(PLATFORM_J5)
+elseif(PLATFORM_X5ultra)
   set(SYS_LIB multimedia)
 elseif(PLATFORM_X86)
   set(SYS_LIB ${OpenCV_LIBS})
diff --git a/README.md b/README.md
index fc31a70..23d6eda 100755
--- a/README.md
+++ b/README.md
@@ -269,7 +269,7 @@ ros2 run hobot_codec hobot_codec_republish --ros-args -p channel:=1 -p in_mode:=
 
 1、测试方法
 
-- 硬件：X3派4G版本，J5 EVM开发板
+- 硬件：RDK X3 4G版本，RDK X5ultra开发板
 
 - 锁定CPU频率：`echo performance > /sys/devices/system/cpu/cpufreq/policy0/scaling_governor`
 
@@ -303,7 +303,7 @@ X3派：
 | 编码  |  NV12   |  H264   | 5.5  | 11.0%   |  0.8%   |  30.3   |   30.3  |
 | 编码  |  NV12   |  H265   | 5.7  | 11.0%   |  0.8%   |  30.3   |   30.3  |
 
-J5 EVM：
+RDK X5ultra
 
 | 类型  | 输入格式 | 输出格式 | 耗时 | CPU占用 | 内存占用 | 输入帧率 | 输出帧率 |
 | ----  | ------- | ------- | ---- | ------ | -------- | ------- | ------- |
diff --git a/include/decoder/j5/hobot_vdec.h b/include/decoder/x5ultra/hobot_vdec.h
similarity index 100%
rename from include/decoder/j5/hobot_vdec.h
rename to include/decoder/x5ultra/hobot_vdec.h
diff --git a/include/encoder/j5/hobot_venc.h b/include/encoder/x5ultra/hobot_venc.h
similarity index 100%
rename from include/encoder/j5/hobot_venc.h
rename to include/encoder/x5ultra/hobot_venc.h
diff --git a/package.xml b/package.xml
index d841b2b..db78e67 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>hobot_codec</name>
-  <version>2.1.0</version>
+  <version>2.1.1</version>
   <description>TogetheROS hobot codec</description>
   <maintainer email="nuo.wu@horizon.ai">nuo.wu</maintainer>
   <license>Apache License 2.0</license>
@@ -18,7 +18,7 @@
   <depend>img_msgs</depend>
 
   <depend condition="$PLATFORM == X3">hobot-multimedia-dev</depend>
-  <depend condition="$PLATFORM == J5">hobot-multimedia-dev</depend>
+  <depend condition="$PLATFORM == X5ultra">hobot-multimedia-dev</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/src/decoder/j5/hobot_vdec.cpp b/src/decoder/x5ultra/hobot_vdec.cpp
similarity index 99%
rename from src/decoder/j5/hobot_vdec.cpp
rename to src/decoder/x5ultra/hobot_vdec.cpp
index 1ee7da7..4579e7f 100644
--- a/src/decoder/j5/hobot_vdec.cpp
+++ b/src/decoder/x5ultra/hobot_vdec.cpp
@@ -300,7 +300,7 @@ int HobotVdec::CheckParams(const std::shared_ptr<HobotCodecParaBase>& sp_hobot_c
 
   if ("h264" == sp_hobot_codec_para->in_format_ ||
         "h264" == sp_hobot_codec_para->out_format_) {
-    RCLCPP_ERROR(rclcpp::get_logger("HobotVdec"), "H264 is unsupported for J5 platform!");
+    RCLCPP_ERROR(rclcpp::get_logger("HobotVdec"), "H264 is unsupported for X5ultra platform!");
     return -1;
   }
 
diff --git a/src/encoder/j5/hobot_venc.cpp b/src/encoder/x5ultra/hobot_venc.cpp
similarity index 99%
rename from src/encoder/j5/hobot_venc.cpp
rename to src/encoder/x5ultra/hobot_venc.cpp
index d638e89..36ef9aa 100644
--- a/src/encoder/j5/hobot_venc.cpp
+++ b/src/encoder/x5ultra/hobot_venc.cpp
@@ -253,7 +253,7 @@ int HobotVenc::CheckParams(const std::shared_ptr<HobotCodecParaBase>& sp_hobot_c
 
   if ("h264" == sp_hobot_codec_para->in_format_ ||
         "h264" == sp_hobot_codec_para->out_format_) {
-    RCLCPP_ERROR(rclcpp::get_logger("HobotVdec"), "H264 is unsupported for J5 platform!");
+    RCLCPP_ERROR(rclcpp::get_logger("HobotVdec"), "H264 is unsupported for X5ultra platform!");
     return -1;
   }
   
diff --git a/src/hobot_codec_impl.cpp b/src/hobot_codec_impl.cpp
index abb8a4b..f9d3275 100644
--- a/src/hobot_codec_impl.cpp
+++ b/src/hobot_codec_impl.cpp
@@ -29,8 +29,8 @@ HobotCodecImpl::HobotCodecImpl() {
 #ifdef PLATFORM_X3
   platform = "platform x3";
 #else
-  #ifdef PLATFORM_J5
-    platform = "platform j5";
+  #ifdef PLATFORM_X5ultra
+    platform = "platform x5ultra";
   #else
     # ifdef PLATFORM_X86
       platform = "platform x86";