diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0044c04..989ebb1 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,10 +47,10 @@ target_link_libraries(custom_planner
     robot_visualization_msgs
     robot_nav_msgs
     tf3
-    tf3_geometry_msgs
+    robot_tf3_geometry_msgs
     robot_time
     data_convert
-    costmap_2d
+    robot_costmap_2d
     nav_core
     robot_protocol_msgs
 )
@@ -72,8 +72,8 @@ install(TARGETS custom_planner
   INCLUDES DESTINATION include # Cài đặt include
 )
 
-# --- Xuất export set costmap_2dTargets thành file CMake module ---
-# --- Tạo file lib/cmake/custom_planner/costmap_2dTargets.cmake ---
+# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
+# --- Tạo file lib/cmake/custom_planner/robot_costmap_2dTargets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---
 # --- Find_package(custom_planner REQUIRED) ---
 # --- Target_link_libraries(my_app PRIVATE custom_planner::custom_planner) ---
diff --git a/include/custom_planner/custom_planner.h b/include/custom_planner/custom_planner.h
index 3ab1395..9f1d50c 100755
--- a/include/custom_planner/custom_planner.h
+++ b/include/custom_planner/custom_planner.h
@@ -13,7 +13,7 @@ using namespace std;
 #include <robot_visualization_msgs/Marker.h>
 
 // Costmap used for the map representation
-#include <costmap_2d/costmap_2d_robot.h>
+#include <robot_costmap_2d/costmap_2d_robot.h>
 
 // global representation
 #include <nav_core/base_global_planner.h>
@@ -70,7 +70,7 @@ public:
    * @param  name The name of this planner
    * @param  costmap_ros A pointer to the ROS wrapper of the costmap to use
    */
-  CustomPlanner(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot);
+  CustomPlanner(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot);
 
 
   /**
@@ -79,7 +79,7 @@ public:
    * @param  costmap_ros A pointer to the ROS wrapper of the costmap to use
    */
   virtual bool initialize(std::string name, 
-                          costmap_2d::Costmap2DROBOT* costmap_robot);
+                          robot_costmap_2d::Costmap2DROBOT* costmap_robot);
 
   virtual bool makePlan(const robot_protocol_msgs::Order& msg,
                         const robot_geometry_msgs::PoseStamped& start, 
@@ -210,7 +210,7 @@ private:
   bool allow_unknown_;
 
   std::string name_;
-  costmap_2d::Costmap2DROBOT* costmap_robot_; /**< manages the cost map for us */
+  robot_costmap_2d::Costmap2DROBOT* costmap_robot_; /**< manages the cost map for us */
   std::vector<robot_geometry_msgs::Point> footprint_;
   unsigned int current_env_width_;
   unsigned int current_env_height_;
diff --git a/src/custom_planner.cpp b/src/custom_planner.cpp
index 3f6c36b..ab1ab3f 100755
--- a/src/custom_planner.cpp
+++ b/src/custom_planner.cpp
@@ -1,7 +1,7 @@
 #include <custom_planner/custom_planner.h>
 #include <robot_nav_msgs/Path.h>
 #include <robot_geometry_msgs/Point.h>
-#include <costmap_2d/inflation_layer.h>
+#include <robot_costmap_2d/inflation_layer.h>
 #include <tf3/LinearMath/Quaternion.h>
 #include <boost/dll/alias.hpp>
 
@@ -14,13 +14,13 @@ namespace custom_planner
   {
   }
 
-  CustomPlanner::CustomPlanner(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot)
+  CustomPlanner::CustomPlanner(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot)
       : initialized_(false), costmap_robot_(NULL)
   {
     initialize(name, costmap_robot);
   }
 
-  bool CustomPlanner::initialize(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot)
+  bool CustomPlanner::initialize(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot)
   {
     if (!initialized_)
     {