diff --git a/include/robot_costmap_2d/costmap_2d_robot.h b/include/robot_costmap_2d/costmap_2d_robot.h
index af81ee9..e3a0950 100755
--- a/include/robot_costmap_2d/costmap_2d_robot.h
+++ b/include/robot_costmap_2d/costmap_2d_robot.h
@@ -47,7 +47,7 @@
 #include <robot_geometry_msgs/PoseStamped.h>
 
 #include <tf3/LinearMath/Transform.h>
-#include <robot/rate.h>
+#include <robot/robot.h>
 #include <data_convert/data_convert.h>
 #include <robot_tf3_geometry_msgs/tf3_geometry_msgs.h>
 
diff --git a/include/robot_costmap_2d/footprint.h b/include/robot_costmap_2d/footprint.h
index 51d8e03..0fd6bdc 100755
--- a/include/robot_costmap_2d/footprint.h
+++ b/include/robot_costmap_2d/footprint.h
@@ -43,8 +43,7 @@
 #include <robot_geometry_msgs/Point.h>
 #include <robot_geometry_msgs/Point32.h>
 
-#include <robot/node_handle.h>
-#include <robot/console.h>
+#include <robot/robot.h>
 #include <robot_xmlrpcpp/XmlRpcValue.h> 
 
 namespace robot_costmap_2d
diff --git a/include/robot_costmap_2d/layer.h b/include/robot_costmap_2d/layer.h
index 1a6270f..36da261 100755
--- a/include/robot_costmap_2d/layer.h
+++ b/include/robot_costmap_2d/layer.h
@@ -42,8 +42,7 @@
 #include <robot_costmap_2d/utils.h>
 #include <string>
 #include <tf3/buffer_core.h>
-#include <robot/console.h>
-#include <robot/plugin_loader_helper.h>
+#include <robot/robot.h>
 namespace robot_costmap_2d
 {
 
diff --git a/include/robot_costmap_2d/observation_buffer.h b/include/robot_costmap_2d/observation_buffer.h
index 2d6e7a0..2d1d482 100755
--- a/include/robot_costmap_2d/observation_buffer.h
+++ b/include/robot_costmap_2d/observation_buffer.h
@@ -40,16 +40,13 @@
 #include <vector>
 #include <list>
 #include <string>
-#include <robot/time.h>
+#include <robot/robot.h>
 #include <robot_costmap_2d/observation.h>
 #include <tf3/buffer_core.h>
-
 #include <robot_sensor_msgs/PointCloud2.h>
 
 // Thread support
 #include <boost/thread.hpp>
-#include <robot/console.h>
-#include <robot/plugin_loader_helper.h>
 
 namespace robot_costmap_2d
 {
diff --git a/include/robot_costmap_2d/obstacle_layer.h b/include/robot_costmap_2d/obstacle_layer.h
index d56f3ae..bcafcfb 100755
--- a/include/robot_costmap_2d/obstacle_layer.h
+++ b/include/robot_costmap_2d/obstacle_layer.h
@@ -38,6 +38,7 @@
 #ifndef ROBOT_COSTMAP_2D_OBSTACLE_LAYER_H_
 #define ROBOT_COSTMAP_2D_OBSTACLE_LAYER_H_
 
+#include <robot/robot.h>
 #include <robot_costmap_2d/costmap_layer.h>
 #include <robot_costmap_2d/layered_costmap.h>
 #include <robot_costmap_2d/observation_buffer.h>
@@ -51,7 +52,7 @@
 #include <robot_sensor_msgs/PointCloud2.h>
 #include <robot_sensor_msgs/point_cloud_conversion.h>
 
-#include <robot/console.h>
+
 
 namespace robot_costmap_2d
 {