diff --git a/include/costmap_2d/costmap_2d_robot.h b/include/costmap_2d/costmap_2d_robot.h
index 6b2477e..da158b6 100755
--- a/include/costmap_2d/costmap_2d_robot.h
+++ b/include/costmap_2d/costmap_2d_robot.h
@@ -253,7 +253,7 @@ private:
   void readFootprintFromConfig(const std::vector<geometry_msgs::Point> &new_footprint,
                               const std::vector<geometry_msgs::Point> &old_footprint,
                               const double &robot_radius);
-  std::vector<std::function<PluginLayerPtr()>> creators_;
+  std::vector<boost::function<PluginLayerPtr()>> creators_;
   void checkMovement();
   void mapUpdateLoop(double frequency);
   bool map_update_thread_shutdown_;
diff --git a/include/costmap_2d/layer.h b/include/costmap_2d/layer.h
index 0c4313f..4754d52 100755
--- a/include/costmap_2d/layer.h
+++ b/include/costmap_2d/layer.h
@@ -163,7 +163,7 @@ private:
   std::vector<geometry_msgs::Point> footprint_spec_;
 };
 
-using PluginLayerPtr = std::shared_ptr<Layer>;
+using PluginLayerPtr = boost::shared_ptr<Layer>;
 
 }  // namespace costmap_2d
 
diff --git a/include/costmap_2d/layered_costmap.h b/include/costmap_2d/layered_costmap.h
index 59c49b9..72a8bdd 100755
--- a/include/costmap_2d/layered_costmap.h
+++ b/include/costmap_2d/layered_costmap.h
@@ -104,12 +104,12 @@ public:
     return costmap_.getDefaultValue() == costmap_2d::NO_INFORMATION;
   }
 
-  std::vector<std::shared_ptr<Layer> >* getPlugins()
+  std::vector<boost::shared_ptr<Layer> >* getPlugins()
   {
     return &plugins_;
   }
 
-  void addPlugin(std::shared_ptr<Layer> plugin)
+  void addPlugin(boost::shared_ptr<Layer> plugin)
   {
     plugins_.push_back(plugin);
   }
@@ -164,7 +164,7 @@ private:
   double minx_, miny_, maxx_, maxy_;
   unsigned int bx0_, bxn_, by0_, byn_;
 
-  std::vector<std::shared_ptr<Layer> > plugins_;
+  std::vector<boost::shared_ptr<Layer> > plugins_;
 
   bool initialized_;
   bool size_locked_;
diff --git a/plugins/critical_layer.cpp b/plugins/critical_layer.cpp
index aacfddc..5995ae7 100644
--- a/plugins/critical_layer.cpp
+++ b/plugins/critical_layer.cpp
@@ -36,8 +36,8 @@ void CriticalLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, i
 }
 
 // Export factory function
-static std::shared_ptr<Layer> create_critical_plugin() {
-    return std::make_shared<CriticalLayer>();
+static boost::shared_ptr<Layer> create_critical_plugin() {
+    return boost::make_shared<CriticalLayer>();
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
diff --git a/plugins/directional_layer.cpp b/plugins/directional_layer.cpp
index 70a0a82..8fc0dce 100644
--- a/plugins/directional_layer.cpp
+++ b/plugins/directional_layer.cpp
@@ -428,8 +428,8 @@ namespace costmap_2d
   }
 
   // Export factory function
-  static std::shared_ptr<Layer> create_directional_plugin() {
-      return std::make_shared<DirectionalLayer>();
+  static boost::shared_ptr<Layer> create_directional_plugin() {
+      return boost::make_shared<DirectionalLayer>();
   }
 
   // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
diff --git a/plugins/inflation_layer.cpp b/plugins/inflation_layer.cpp
index 28dedd7..d42017e 100755
--- a/plugins/inflation_layer.cpp
+++ b/plugins/inflation_layer.cpp
@@ -397,8 +397,8 @@ void InflationLayer::handleImpl(const void* data,
 
 
 // Export factory function
-static std::shared_ptr<Layer> create_inflation_plugin() {
-    return std::make_shared<InflationLayer>();
+static boost::shared_ptr<Layer> create_inflation_plugin() {
+    return boost::make_shared<InflationLayer>();
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
diff --git a/plugins/obstacle_layer.cpp b/plugins/obstacle_layer.cpp
index 6b95bf6..1b53d48 100755
--- a/plugins/obstacle_layer.cpp
+++ b/plugins/obstacle_layer.cpp
@@ -555,8 +555,8 @@ void ObstacleLayer::reset()
 }
 
 // Export factory function
-static std::shared_ptr<Layer> create_obstacle_plugin() {
-    return std::make_shared<ObstacleLayer>();
+static boost::shared_ptr<Layer> create_obstacle_plugin() {
+    return boost::make_shared<ObstacleLayer>();
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
diff --git a/plugins/preferred_layer.cpp b/plugins/preferred_layer.cpp
index 3592c09..555b36d 100644
--- a/plugins/preferred_layer.cpp
+++ b/plugins/preferred_layer.cpp
@@ -25,8 +25,8 @@ unsigned char PreferredLayer::interpretValue(unsigned char value)
 }
 
 // Export factory function
-static std::shared_ptr<Layer> create_preferred_plugin() {
-    return std::make_shared<PreferredLayer>();
+static boost::shared_ptr<Layer> create_preferred_plugin() {
+    return boost::make_shared<PreferredLayer>();
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
diff --git a/plugins/static_layer.cpp b/plugins/static_layer.cpp
index 02e61f3..d697a06 100755
--- a/plugins/static_layer.cpp
+++ b/plugins/static_layer.cpp
@@ -361,8 +361,8 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int
 }
 
 // Export factory function
-static std::shared_ptr<Layer> create_static_plugin() {
-    return std::make_shared<StaticLayer>();
+static boost::shared_ptr<Layer> create_static_plugin() {
+    return boost::make_shared<StaticLayer>();
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
diff --git a/plugins/unpreferred_layer.cpp b/plugins/unpreferred_layer.cpp
index 327f359..0ba8276 100644
--- a/plugins/unpreferred_layer.cpp
+++ b/plugins/unpreferred_layer.cpp
@@ -23,8 +23,8 @@ unsigned char UnPreferredLayer::interpretValue(unsigned char value)
 }
 
 // Export factory function
-static std::shared_ptr<Layer> create_unpreferred_plugin() {
-    return std::make_shared<UnPreferredLayer>();
+static boost::shared_ptr<Layer> create_unpreferred_plugin() {
+    return boost::make_shared<UnPreferredLayer>();
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
diff --git a/plugins/voxel_layer.cpp b/plugins/voxel_layer.cpp
index d2f1d9f..3a5fbd6 100755
--- a/plugins/voxel_layer.cpp
+++ b/plugins/voxel_layer.cpp
@@ -450,8 +450,8 @@ void VoxelLayer::updateOrigin(double new_origin_x, double new_origin_y)
 }
 
 // Export factory function
-static std::shared_ptr<Layer> create_voxel_plugin() {
-    return std::make_shared<VoxelLayer>();
+static boost::shared_ptr<Layer> create_voxel_plugin() {
+    return boost::make_shared<VoxelLayer>();
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
diff --git a/src/layered_costmap.cpp b/src/layered_costmap.cpp
index 6e26057..6c590cc 100755
--- a/src/layered_costmap.cpp
+++ b/src/layered_costmap.cpp
@@ -85,7 +85,7 @@ namespace costmap_2d
     boost::unique_lock<Costmap2D::mutex_t> lock(*(costmap_.getMutex()));
     size_locked_ = size_locked;
     costmap_.resizeMap(size_x, size_y, resolution, origin_x, origin_y);
-    for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
+    for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
          ++plugin)
     {
       (*plugin)->matchSize();
@@ -112,7 +112,7 @@ namespace costmap_2d
     minx_ = miny_ = 1e30;
     maxx_ = maxy_ = -1e30;
 
-    for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
+    for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
          ++plugin)
     {
       if (!(*plugin)->isEnabled())
@@ -148,7 +148,7 @@ namespace costmap_2d
 
     costmap_.resetMap(x0, y0, xn, yn);
     
-    for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
+    for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
          ++plugin)
     {
       if ((*plugin)->isEnabled())
@@ -166,7 +166,7 @@ namespace costmap_2d
   bool LayeredCostmap::isCurrent()
   {
     current_ = true;
-    for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
+    for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
          ++plugin)
     {
       if ((*plugin)->isEnabled())
@@ -180,7 +180,7 @@ namespace costmap_2d
     footprint_ = footprint_spec;
     costmap_2d::calculateMinAndMaxDistances(footprint_spec, inscribed_radius_, circumscribed_radius_);
 
-    for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
+    for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
          ++plugin)
     {
       (*plugin)->onFootprintChanged();
diff --git a/test/static_layer_test.cpp b/test/static_layer_test.cpp
index 65d6e5b..a27156f 100644
--- a/test/static_layer_test.cpp
+++ b/test/static_layer_test.cpp
@@ -2,6 +2,7 @@
 #include <costmap_2d/cost_values.h>
 #include <gtest/gtest.h>
 #include <tf3/buffer_core.h>
+#include <geometry_msgs/PoseWithCovariance.h>
 
 namespace costmap_2d {