diff --git a/robot_geometry_msgs/CMakeLists.txt b/robot_geometry_msgs/CMakeLists.txt
index 87e060a..363a91c 100644
--- a/robot_geometry_msgs/CMakeLists.txt
+++ b/robot_geometry_msgs/CMakeLists.txt
@@ -27,7 +27,6 @@ if (NOT BUILDING_WITH_CATKIN)
 
   set(PACKAGES_DIR  
     robot_std_msgs
-    utils
     robot_time
   )
 
@@ -38,14 +37,13 @@ else()
 # ========================================================
   find_package(catkin REQUIRED COMPONENTS         
     robot_std_msgs
-    utils
     robot_time
   )
 
   catkin_package(
     INCLUDE_DIRS include
     # LIBRARIES không cần vì đây là header-only library
-    CATKIN_DEPENDS robot_std_msgs utils robot_time
+    CATKIN_DEPENDS robot_std_msgs  robot_time
   )
 
   include_directories(
@@ -144,7 +142,7 @@ else()
   foreach(hdr ${HEADERS})
     message(STATUS "  - ${hdr}")
   endforeach()
-  message(STATUS "Dependencies: robot_std_msgs, utils, robot_time")
+  message(STATUS "Dependencies: robot_std_msgs, robot_time")
   message(STATUS "=================================")
 endif()
 
diff --git a/utils/CMakeLists.txt b/utils/CMakeLists.txt
deleted file mode 100644
index ba19126..0000000
--- a/utils/CMakeLists.txt
+++ /dev/null
@@ -1,122 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(utils VERSION 1.0.0 LANGUAGES CXX)
-
-if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
-  set(BUILDING_WITH_CATKIN TRUE)
-  message(STATUS "Building utils with Catkin")
-
-else()
-  set(BUILDING_WITH_CATKIN FALSE)
-  message(STATUS "Building utils with Standalone CMake")
-endif()
-
-# C++ Standard - must be set before find_package
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-
-if (NOT BUILDING_WITH_CATKIN)
-
-  # Enable Position Independent Code
-  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-
-  # Cấu hình RPATH để tránh cycle trong runtime search path
-  set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
-  set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-  set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
-
-else()
-
-# ========================================================
-# Catkin specific configuration
-# ========================================================
-  find_package(catkin REQUIRED)
-
-  catkin_package(
-    INCLUDE_DIRS include
-    # LIBRARIES không cần vì đây là header-only library
-  )
-
-  include_directories(
-    include
-    ${catkin_INCLUDE_DIRS}
-  )
-endif()
-
-# Tìm tất cả header files
-file(GLOB_RECURSE HEADERS "include/*.h")
-
-# Tạo INTERFACE library (header-only)
-add_library(${PROJECT_NAME} INTERFACE)
-
-if(BUILDING_WITH_CATKIN)
-  add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-  # Set include directories
-  target_include_directories(${PROJECT_NAME}
-    INTERFACE 
-      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-      $<INSTALL_INTERFACE:include>
-  )
-
-else()
-
-  # Set include directories
-  target_include_directories(${PROJECT_NAME}
-    INTERFACE 
-      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-      $<INSTALL_INTERFACE:include>
-  )
-
-endif()
-
-if(BUILDING_WITH_CATKIN)
-  ## Mark libraries for installation
-  ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-  install(TARGETS ${PROJECT_NAME}
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-  )
-
-  ## Mark cpp header files for installation
-  install(DIRECTORY include/
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-    FILES_MATCHING PATTERN "*.h"
-    PATTERN ".svn" EXCLUDE
-  )
-
-else()
-
-  install(TARGETS ${PROJECT_NAME}
-    EXPORT ${PROJECT_NAME}-targets
-    ARCHIVE DESTINATION lib
-    LIBRARY DESTINATION lib
-    RUNTIME DESTINATION bin
-  )
-
-  # Export targets
-  install(EXPORT ${PROJECT_NAME}-targets
-    FILE ${PROJECT_NAME}-targets.cmake
-    NAMESPACE ${PROJECT_NAME}::
-    DESTINATION lib/cmake/${PROJECT_NAME}
-  )
-
-  ## Mark cpp header files for installation
-  install(DIRECTORY include/
-    DESTINATION include
-    FILES_MATCHING PATTERN "*.h"
-    PATTERN ".svn" EXCLUDE
-  )
-
-  # Print configuration info
-  message(STATUS "=================================")
-  message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
-  message(STATUS "Version: ${PROJECT_VERSION}")
-  message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
-  message(STATUS "Headers found:")
-  foreach(hdr ${HEADERS})
-    message(STATUS "  - ${hdr}")
-  endforeach()
-  message(STATUS "=================================")
-endif()
diff --git a/utils/include/utils.h b/utils/include/utils.h
deleted file mode 100644
index 524e32d..0000000
--- a/utils/include/utils.h
+++ /dev/null
@@ -1,11 +0,0 @@
-#ifndef UTILIS_MSGS_H
-#define UTILIS_MSGS_H
-#include <cmath>
-
-template <typename T>
-bool isEqual(const T& a, const T& b, double eps = 1e-5)
-{
-    return std::fabs(a - b) < eps;
-}
-
-#endif // UTILIS_MSGS_H
\ No newline at end of file
diff --git a/utils/package.xml b/utils/package.xml
deleted file mode 100644
index 52e44a2..0000000
--- a/utils/package.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<package>
-  <name>utils</name>
-  <version>0.7.10</version>
-  <description>
-    utils is the second generation of the transform library, which lets
-    the user keep track of multiple coordinate frames over time. utils
-    maintains the relationship between coordinate frames in a tree
-    structure buffered in time, and lets the user transform points,
-    vectors, etc between any two coordinate frames at any desired
-    point in time.
-  </description>
-  <author>Tully Foote</author>
-  <author>Eitan Marder-Eppstein</author>
-  <author>Wim Meeussen</author>
-  <maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
-  <license>BSD</license>
-
-  <url type="website">http://www.ros.org/wiki/utils</url>
-    
-  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
-
-</package>
\ No newline at end of file