diff --git a/CMakeLists.txt b/CMakeLists.txt
index 989ebb1..d70a2e1 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,7 +51,7 @@ target_link_libraries(custom_planner
     robot_time
     data_convert
     robot_costmap_2d
-    nav_core
+    robot_nav_core
     robot_protocol_msgs
 )
 
diff --git a/include/custom_planner/custom_planner.h b/include/custom_planner/custom_planner.h
index 9f1d50c..6f619eb 100755
--- a/include/custom_planner/custom_planner.h
+++ b/include/custom_planner/custom_planner.h
@@ -16,7 +16,7 @@ using namespace std;
 #include <robot_costmap_2d/costmap_2d_robot.h>
 
 // global representation
-#include <nav_core/base_global_planner.h>
+#include <robot_nav_core/base_global_planner.h>
 
 // tf
 #include <tf3/convert.h>
@@ -56,7 +56,7 @@ struct OrderNode{
   double theta;
 };
 
-class CustomPlanner : public nav_core::BaseGlobalPlanner{
+class CustomPlanner : public robot_nav_core::BaseGlobalPlanner{
 public:
   
   /**
diff --git a/src/custom_planner.cpp b/src/custom_planner.cpp
index ab1ab3f..041ec6e 100755
--- a/src/custom_planner.cpp
+++ b/src/custom_planner.cpp
@@ -1177,7 +1177,7 @@ namespace custom_planner
   }
 
 // Export factory function
-static boost::shared_ptr<nav_core::BaseGlobalPlanner> custom_planner_plugin() {
+static boost::shared_ptr<robot_nav_core::BaseGlobalPlanner> custom_planner_plugin() {
     return boost::make_shared<custom_planner::CustomPlanner>();
 }