diff --git a/CMakeLists.txt b/CMakeLists.txt
index 329d366..83042bc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -129,6 +129,10 @@ target_link_libraries(plugins
         robot_cpp 
         )
 
+set_target_properties(plugins PROPERTIES
+    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+)
+
 # --- Option để bật/tắt test ---
 option(BUILD_COSTMAP_TESTS "Build costmap_2d test executables" ON)
 
diff --git a/config/costmap_params.yaml b/config/costmap_params.yaml
index 5b60d79..095cc59 100644
--- a/config/costmap_params.yaml
+++ b/config/costmap_params.yaml
@@ -6,18 +6,18 @@ costmap_2d:
 
   plugins:
     - name: static_layer
-      type: create_static_layer
+      type: StaticLayer
 
     - name: inflation_layer
-      type: create_inflation_layer
+      type: InflationLayer
 
     - name: obstacle_layer
-      type: create_obstacle_layer
+      type: ObstacleLayer
 
     - name: voxel_layer
-      type: create_voxel_layer
+      type: VoxelLayer
 
-  path_plugins: ./src/costmap_2d/libplugins.so
+  path_plugins: ./libplugins.so
   footprint:
     - [0.3, 0.3]
     - [0.3, -0.3]