diff --git a/include/dock_planner/dock_planner.h b/include/dock_planner/dock_planner.h
index 45fab50..1dc87be 100644
--- a/include/dock_planner/dock_planner.h
+++ b/include/dock_planner/dock_planner.h
@@ -19,6 +19,8 @@ namespace dock_planner {
                     const robot_geometry_msgs::PoseStamped& goal,
                     std::vector<robot_geometry_msgs::PoseStamped>& plan);
 
+        static robot_nav_core::BaseGlobalPlanner::Ptr create();
+
     private:
         // Core components
         robot_costmap_2d::Costmap2DROBOT* costmap_robot_;
@@ -33,9 +35,6 @@ namespace dock_planner {
         bool check_free_space_;
 
         DockCalc calc_plan_to_dock_;
-        
-
-        void publishPlan(const std::vector<robot_geometry_msgs::PoseStamped>& plan);
     };
 } // namespace dock_planner
 
diff --git a/src/dock_planner.cpp b/src/dock_planner.cpp
index 56131dd..cb441e8 100644
--- a/src/dock_planner.cpp
+++ b/src/dock_planner.cpp
@@ -80,6 +80,7 @@ namespace dock_planner
             initialized_ = true;
             // ROS_WARN("[dock_planner] check_free_space_(%d)", check_free_space_);
         }
+        return true;
     }
     
     bool DockPlanner::makePlan(const robot_geometry_msgs::PoseStamped& start,
@@ -109,7 +110,6 @@ namespace dock_planner
           pose.pose.orientation = planMoveToDock[i].orientation;
           plan.push_back(pose);
         }
-        publishPlan(plan);
         return true;
     }
 
@@ -123,12 +123,12 @@ namespace dock_planner
     // }
 
     // Export factory function
-    static boost::shared_ptr<robot_nav_core::BaseGlobalPlanner> dock_planner_plugin() {
-        return boost::make_shared<dock_planner::DockPlanner>();
+    robot_nav_core::BaseGlobalPlanner::Ptr DockPlanner::create() {
+        return std::make_shared<dock_planner::DockPlanner>();
     }
 
 
 } // namespace dock_planner
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(dock_planner::dock_planner_plugin, DockPlanner) 
+BOOST_DLL_ALIAS(dock_planner::DockPlanner::create, DockPlanner)