diff --git a/tf3_geometry_msgs/CMakeLists.txt b/tf3_geometry_msgs/CMakeLists.txt
index 124fe8c..8f14893 100755
--- a/tf3_geometry_msgs/CMakeLists.txt
+++ b/tf3_geometry_msgs/CMakeLists.txt
@@ -43,6 +43,7 @@ target_include_directories(tf3_geometry_msgs INTERFACE
 # Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/
 target_link_libraries(tf3_geometry_msgs INTERFACE 
                       geometry_msgs
+                      data_convert
                       )
   
 #   # Test: tomsg_frommsg
@@ -52,6 +53,7 @@ target_link_libraries(tf3_geometry_msgs INTERFACE
     tf3_geometry_msgs
     Threads::Threads
     tf3
+    data_convert
   )
 #   # Test: tf2_geometry_msgs
   add_executable(test_geometry_msgs test/test_tf2_geometry_msgs.cpp)
@@ -60,4 +62,5 @@ target_link_libraries(tf3_geometry_msgs INTERFACE
     Threads::Threads
     tf3
     tf3_geometry_msgs
+    data_convert
   )
diff --git a/tf3_geometry_msgs/include/tf3_geometry_msgs/data_convert.h b/tf3_geometry_msgs/include/tf3_geometry_msgs/data_convert.h
deleted file mode 100644
index e30cf55..0000000
--- a/tf3_geometry_msgs/include/tf3_geometry_msgs/data_convert.h
+++ /dev/null
@@ -1,119 +0,0 @@
-#ifndef DATA_CONVERT_TF3_GEOMETRY_MSGS_H
-#define DATA_CONVERT_TF3_GEOMETRY_MSGS_H
-
-#include <tf3/time.h>
-#include <tf3/compat.h>
-#include <tf3/LinearMath/Transform.h>
-#include <geometry_msgs/TransformStamped.h>
-#include <robot/time.h>
-#include <cmath>
-
-namespace tf3
-{
-
-    inline robot::Time convertTime(const tf3::Time& time)
-    {
-        robot::Time time_tmp;
-        time_tmp.sec = time.sec;
-        time_tmp.nsec = time.nsec;
-        return time_tmp;
-    }
-
-    inline tf3::Time convertTime(const robot::Time& time)
-    {
-        tf3::Time time_tmp;
-        time_tmp.sec = time.sec;
-        time_tmp.nsec = time.nsec;
-        return time_tmp;
-    }
-
-    inline tf3::Quaternion convertQuaternion(const geometry_msgs::Quaternion& q)
-    {
-        tf3::Quaternion out(q.x,q.y,q.z,q.w);
-        return out;
-    }
-    
-    inline geometry_msgs::Quaternion convertQuaternion(const tf3::Quaternion& q)
-    {
-        return geometry_msgs::Quaternion(q.x(),q.y(),q.z(),q.w());
-    }
-
-    inline tf3::Transform convertToTransform(const tf3::TransformStampedMsg& msg)
-    {
-        tf3::Transform out;
-
-        out.setOrigin(tf3::Vector3(
-            msg.transform.translation.x,
-            msg.transform.translation.y,
-            msg.transform.translation.z
-        ));
-
-        tf3::Quaternion q(
-            msg.transform.rotation.x,
-            msg.transform.rotation.y,
-            msg.transform.rotation.z,
-            msg.transform.rotation.w
-        );
-        out.setBasis(tf3::Matrix3x3(q));
-
-        return out;
-    }
-
-    inline tf3::Transform convertToTransform(const geometry_msgs::TransformStamped& msg)
-    {
-        tf3::Transform out;
-
-        out.setOrigin(tf3::Vector3(
-            msg.transform.translation.x,
-            msg.transform.translation.y,
-            msg.transform.translation.z
-        ));
-
-        tf3::Quaternion q(
-            msg.transform.rotation.x,
-            msg.transform.rotation.y,
-            msg.transform.rotation.z,
-            msg.transform.rotation.w
-        );
-        out.setBasis(tf3::Matrix3x3(q));
-
-        return out;
-    }
-
-
-    inline tf3::TransformStampedMsg convertToTransformStampedMsg(const geometry_msgs::TransformStamped& msg)
-    {
-        tf3::TransformStampedMsg out;
-        out.header.seq = msg.header.seq;
-        out.header.stamp = convertTime(msg.header.stamp);
-        out.header.frame_id = msg.header.frame_id;
-        out.child_frame_id = msg.child_frame_id;
-        out.transform.translation.x = msg.transform.translation.x;
-        out.transform.translation.y = msg.transform.translation.y;
-        out.transform.translation.z = msg.transform.translation.z;
-        out.transform.rotation.x = msg.transform.rotation.x; 
-        out.transform.rotation.y = msg.transform.rotation.y; 
-        out.transform.rotation.z = msg.transform.rotation.z; 
-        out.transform.rotation.w = msg.transform.rotation.w; 
-        
-        return out;
-    }
-    inline geometry_msgs::TransformStamped convertToTransformStamped(const tf3::TransformStampedMsg& msg)
-    {
-        geometry_msgs::TransformStamped out;
-        out.header.seq = msg.header.seq;
-        out.header.stamp = convertTime(msg.header.stamp);
-        out.header.frame_id = msg.header.frame_id;
-        out.child_frame_id = msg.child_frame_id;
-        out.transform.translation.x = msg.transform.translation.x;
-        out.transform.translation.y = msg.transform.translation.y;
-        out.transform.translation.z = msg.transform.translation.z;
-        out.transform.rotation.x = msg.transform.rotation.x; 
-        out.transform.rotation.y = msg.transform.rotation.y; 
-        out.transform.rotation.z = msg.transform.rotation.z; 
-        out.transform.rotation.w = msg.transform.rotation.w; 
-        return out;
-    }
-}
-
-#endif // DATA_CONVERT_TF3_GEOMETRY_MSGS_H
\ No newline at end of file
diff --git a/tf3_geometry_msgs/include/tf3_geometry_msgs/tf3_geometry_msgs.h b/tf3_geometry_msgs/include/tf3_geometry_msgs/tf3_geometry_msgs.h
index e896b51..54eca5d 100755
--- a/tf3_geometry_msgs/include/tf3_geometry_msgs/tf3_geometry_msgs.h
+++ b/tf3_geometry_msgs/include/tf3_geometry_msgs/tf3_geometry_msgs.h
@@ -35,7 +35,7 @@
 #include <tf3/convert.h>
 #include <tf3/LinearMath/Quaternion.h>
 #include <tf3/LinearMath/Transform.h>
-#include <tf3_geometry_msgs/data_convert.h>
+#include <data_convert/data_convert.h>
 #include <geometry_msgs/PointStamped.h>
 #include <geometry_msgs/QuaternionStamped.h>
 #include <geometry_msgs/TransformStamped.h>
@@ -111,7 +111,7 @@ void fromMsg(const geometry_msgs::Vector3& in, tf3::Vector3& out)
  */
 template <>
 inline
-  const tf3::Time& getTimestamp(const geometry_msgs::Vector3Stamped& t) {return tf3::convertTime(t.header.stamp);}
+  const tf3::Time& getTimestamp(const geometry_msgs::Vector3Stamped& t) {return data_convert::convertTime(t.header.stamp);}
 
 /** \brief Extract a frame ID from the header of a Vector message.
  * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -155,7 +155,7 @@ inline
 geometry_msgs::Vector3Stamped toMsg(const tf3::Stamped<tf3::Vector3>& in)
 {
   geometry_msgs::Vector3Stamped out;
-  out.header.stamp = tf3::convertTime(in.stamp_);
+  out.header.stamp = data_convert::convertTime(in.stamp_);
   out.header.frame_id = in.frame_id_;
   out.vector.x = in.getX();
   out.vector.y = in.getY();
@@ -171,7 +171,7 @@ geometry_msgs::Vector3Stamped toMsg(const tf3::Stamped<tf3::Vector3>& in)
 inline
 void fromMsg(const geometry_msgs::Vector3Stamped& msg, tf3::Stamped<tf3::Vector3>& out)
 {
-  out.stamp_ = tf3::convertTime(msg.header.stamp);
+  out.stamp_ = data_convert::convertTime(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   out.setData(tf3::Vector3(msg.vector.x, msg.vector.y, msg.vector.z));
 }
@@ -219,7 +219,7 @@ void fromMsg(const geometry_msgs::Point& in, tf3::Vector3& out)
  */
 template <>
 inline
-  const tf3::Time& getTimestamp(const geometry_msgs::PointStamped& t)  {return tf3::convertTime(t.header.stamp);}
+  const tf3::Time& getTimestamp(const geometry_msgs::PointStamped& t)  {return data_convert::convertTime(t.header.stamp);}
 
 /** \brief Extract a frame ID from the header of a Point message.
  * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -261,7 +261,7 @@ void fromMsg(const geometry_msgs::PointStamped& msg, geometry_msgs::PointStamped
 inline
 geometry_msgs::PointStamped toMsg(const tf3::Stamped<tf3::Vector3>& in, geometry_msgs::PointStamped & out)
 {
-  out.header.stamp = tf3::convertTime(in.stamp_);
+  out.header.stamp = data_convert::convertTime(in.stamp_);
   out.header.frame_id = in.frame_id_;
   out.point.x = in.getX();
   out.point.y = in.getY();
@@ -277,7 +277,7 @@ geometry_msgs::PointStamped toMsg(const tf3::Stamped<tf3::Vector3>& in, geometry
 inline
 void fromMsg(const geometry_msgs::PointStamped& msg, tf3::Stamped<tf3::Vector3>& out)
 {
-  out.stamp_ = tf3::convertTime(msg.header.stamp);
+  out.stamp_ = data_convert::convertTime(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   out.setData(tf3::Vector3(msg.point.x, msg.point.y, msg.point.z));
 }
@@ -328,7 +328,7 @@ void fromMsg(const geometry_msgs::Quaternion& in, tf3::Quaternion& out)
  */
 template <>
 inline
-const tf3::Time& getTimestamp(const geometry_msgs::QuaternionStamped& t)  {return tf3::convertTime(t.header.stamp);}
+const tf3::Time& getTimestamp(const geometry_msgs::QuaternionStamped& t)  {return data_convert::convertTime(t.header.stamp);}
 
 /** \brief Extract a frame ID from the header of a Quaternion message.
  * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -371,7 +371,7 @@ inline
 geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in)
 {
   geometry_msgs::QuaternionStamped out;
-  out.header.stamp = tf3::convertTime(in.stamp_);
+  out.header.stamp = data_convert::convertTime(in.stamp_);
   out.header.frame_id = in.frame_id_;
   out.quaternion.w = in.getW();
   out.quaternion.x = in.getX();
@@ -401,7 +401,7 @@ geometry_msgs::QuaternionStamped toMsg(const tf3::Stamped<tf3::Quaternion>& in)
 inline
 void fromMsg(const geometry_msgs::QuaternionStamped& in, tf3::Stamped<tf3::Quaternion>& out)
 {
-  out.stamp_ = tf3::convertTime(in.header.stamp);
+  out.stamp_ = data_convert::convertTime(in.header.stamp);
   out.frame_id_ = in.header.frame_id;
   tf3::Quaternion tmp;
   fromMsg(in.quaternion, tmp);
@@ -461,7 +461,7 @@ void fromMsg(const geometry_msgs::Pose& in, tf3::Transform& out)
  */
 template <>
 inline
-  const tf3::Time& getTimestamp(const geometry_msgs::PoseStamped& t)  {return tf3::convertTime(t.header.stamp);}
+  const tf3::Time& getTimestamp(const geometry_msgs::PoseStamped& t)  {return data_convert::convertTime(t.header.stamp);}
 
 /** \brief Extract a frame ID from the header of a Pose message.
  * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -502,7 +502,7 @@ void fromMsg(const geometry_msgs::PoseStamped& msg, geometry_msgs::PoseStamped&
 inline
 geometry_msgs::PoseStamped toMsg(const tf3::Stamped<tf3::Transform>& in, geometry_msgs::PoseStamped & out)
 {
-  out.header.stamp = tf3::convertTime(in.stamp_);
+  out.header.stamp = data_convert::convertTime(in.stamp_);
   out.header.frame_id = in.frame_id_;
   toMsg(in.getOrigin(), out.pose.position);
   out.pose.orientation = toMsg(in.getRotation());
@@ -517,7 +517,7 @@ geometry_msgs::PoseStamped toMsg(const tf3::Stamped<tf3::Transform>& in, geometr
 inline
 void fromMsg(const geometry_msgs::PoseStamped& msg, tf3::Stamped<tf3::Transform>& out)
 {
-  out.stamp_ = tf3::convertTime(msg.header.stamp);
+  out.stamp_ = data_convert::convertTime(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   tf3::Transform tmp;
   fromMsg(msg.pose, tmp);
@@ -535,7 +535,7 @@ void fromMsg(const geometry_msgs::PoseStamped& msg, tf3::Stamped<tf3::Transform>
  */
 template <>
 inline
-  const tf3::Time& getTimestamp(const geometry_msgs::PoseWithCovarianceStamped& t)  {return tf3::convertTime(t.header.stamp);}
+  const tf3::Time& getTimestamp(const geometry_msgs::PoseWithCovarianceStamped& t)  {return data_convert::convertTime(t.header.stamp);}
 
 /** \brief Extract a frame ID from the header of a PoseWithCovarianceStamped message.
  * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -576,7 +576,7 @@ void fromMsg(const geometry_msgs::PoseWithCovarianceStamped& msg, geometry_msgs:
 inline
 geometry_msgs::PoseWithCovarianceStamped toMsg(const tf3::Stamped<tf3::Transform>& in, geometry_msgs::PoseWithCovarianceStamped & out)
 {
-  out.header.stamp = tf3::convertTime(in.stamp_);
+  out.header.stamp = data_convert::convertTime(in.stamp_);
   out.header.frame_id = in.frame_id_;
   toMsg(in.getOrigin(), out.pose.pose.position);
   out.pose.pose.orientation = toMsg(in.getRotation());
@@ -591,7 +591,7 @@ geometry_msgs::PoseWithCovarianceStamped toMsg(const tf3::Stamped<tf3::Transform
 inline
 void fromMsg(const geometry_msgs::PoseWithCovarianceStamped& msg, tf3::Stamped<tf3::Transform>& out)
 {
-  out.stamp_ = tf3::convertTime(msg.header.stamp);
+  out.stamp_ = data_convert::convertTime(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   tf3::Transform tmp;
   fromMsg(msg.pose, tmp);
@@ -659,7 +659,7 @@ void fromMsg(const tf3::TransformMsg& in, tf3::Transform& out)
  */
 template <>
 inline
-const tf3::Time& getTimestamp(const geometry_msgs::TransformStamped& t)  {return tf3::convertTime(t.header.stamp);}
+const tf3::Time& getTimestamp(const geometry_msgs::TransformStamped& t)  {return data_convert::convertTime(t.header.stamp);}
 
 /** \brief Extract a frame ID from the header of a Transform message.
  * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -700,7 +700,7 @@ inline
 geometry_msgs::TransformStamped toMsg(const tf3::Stamped<tf3::Transform>& in)
 {
   geometry_msgs::TransformStamped out;
-  out.header.stamp = tf3::convertTime(in.stamp_);
+  out.header.stamp = data_convert::convertTime(in.stamp_);
   out.header.frame_id = in.frame_id_;
   out.transform.translation = toMsg(in.getOrigin());
   out.transform.rotation = toMsg(in.getRotation());
@@ -716,7 +716,7 @@ geometry_msgs::TransformStamped toMsg(const tf3::Stamped<tf3::Transform>& in)
 inline
 void fromMsg(const geometry_msgs::TransformStamped& msg, tf3::Stamped<tf3::Transform>& out)
 {
-  out.stamp_ = tf3::convertTime(msg.header.stamp);
+  out.stamp_ = data_convert::convertTime(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   tf3::Transform tmp;
   fromMsg(msg.transform, tmp);
@@ -734,7 +734,7 @@ inline
   void doTransform(const geometry_msgs::Point& t_in, geometry_msgs::Point& t_out, const tf3::TransformStampedMsg& transform)
   {
 
-    tf3::Transform t = convertToTransform(transform);
+    tf3::Transform t = data_convert::convertTotf3Transform(transform);
     tf3::Vector3 v_in;
     fromMsg(t_in, v_in);
     tf3::Vector3 v_out = t * v_in;
@@ -752,7 +752,7 @@ inline
   void doTransform(const geometry_msgs::PointStamped& t_in, geometry_msgs::PointStamped& t_out, const tf3::TransformStampedMsg& transform)
   {
     doTransform(t_in.point, t_out.point, transform);
-    t_out.header.stamp = tf3::convertTime(transform.header.stamp);
+    t_out.header.stamp = data_convert::convertTime(transform.header.stamp);
     t_out.header.frame_id = transform.header.frame_id;
   }
 
@@ -785,7 +785,7 @@ inline
 void doTransform(const geometry_msgs::QuaternionStamped& t_in, geometry_msgs::QuaternionStamped& t_out, const tf3::TransformStampedMsg& transform)
 {
   doTransform(t_in.quaternion, t_out.quaternion, transform);
-  t_out.header.stamp = tf3::convertTime(transform.header.stamp);
+  t_out.header.stamp = data_convert::convertTime(transform.header.stamp);
   t_out.header.frame_id = transform.header.frame_id;
 }
 
@@ -837,7 +837,7 @@ inline
 void doTransform(const geometry_msgs::PoseStamped& t_in, geometry_msgs::PoseStamped& t_out, const tf3::TransformStampedMsg& transform)
 {
   doTransform(t_in.pose, t_out.pose, transform);
-  t_out.header.stamp = tf3::convertTime(transform.header.stamp);
+  t_out.header.stamp = data_convert::convertTime(transform.header.stamp);
   t_out.header.frame_id = transform.header.frame_id;
 }
 
@@ -949,7 +949,7 @@ void doTransform(const geometry_msgs::PoseWithCovarianceStamped& t_in, geometry_
   fromMsg(transform.transform, t);
   tf3::Transform v_out = t * tf3::Transform(r, v);
   toMsg(v_out, t_out.pose.pose);
-  t_out.header.stamp = tf3::convertTime(transform.header.stamp);
+  t_out.header.stamp = data_convert::convertTime(transform.header.stamp);
   t_out.header.frame_id = transform.header.frame_id;
 
   t_out.pose.covariance = transformCovariance(t_in.pose.covariance, t);
@@ -965,14 +965,14 @@ template <>
 inline
 void doTransform(const geometry_msgs::TransformStamped& t_in, geometry_msgs::TransformStamped& t_out, const tf3::TransformStampedMsg& transform)
   {
-    tf3::Transform input = convertToTransform(t_in);
+    tf3::Transform input = data_convert::convertTotf3Transform(t_in);
 
-    tf3::Transform t = convertToTransform(transform);
+    tf3::Transform t = data_convert::convertTotf3Transform(transform);
 
     tf3::Transform v_out = t * input;
 
     t_out.transform = toMsg(v_out);
-    t_out.header.stamp = tf3::convertTime(transform.header.stamp);
+    t_out.header.stamp = data_convert::convertTime(transform.header.stamp);
     t_out.header.frame_id = transform.header.frame_id;
   }
 
@@ -986,7 +986,7 @@ template <>
 inline
   void doTransform(const geometry_msgs::Vector3& t_in, geometry_msgs::Vector3& t_out, const tf3::TransformStampedMsg& transform)
   {
-    tf3::Transform t = convertToTransform(transform);
+    tf3::Transform t = data_convert::convertTotf3Transform(transform);
     tf3::Vector3 v_out = t.getBasis() * tf3::Vector3(t_in.x, t_in.y, t_in.z);
     t_out.x = v_out[0];
     t_out.y = v_out[1];
@@ -1004,7 +1004,7 @@ inline
   void doTransform(const geometry_msgs::Vector3Stamped& t_in, geometry_msgs::Vector3Stamped& t_out, const tf3::TransformStampedMsg& transform)
   {
     doTransform(t_in.vector, t_out.vector, transform);
-    t_out.header.stamp = tf3::convertTime(transform.header.stamp);
+    t_out.header.stamp = data_convert::convertTime(transform.header.stamp);
     t_out.header.frame_id = transform.header.frame_id;
   }
 
@@ -1014,7 +1014,7 @@ inline
 /**********************/
 template <>
 inline
-const tf3::Time& getTimestamp(const geometry_msgs::WrenchStamped& t) {return tf3::convertTime(t.header.stamp);}
+const tf3::Time& getTimestamp(const geometry_msgs::WrenchStamped& t) {return data_convert::convertTime(t.header.stamp);}
 
 
 template <>
@@ -1038,7 +1038,7 @@ void fromMsg(const geometry_msgs::WrenchStamped& msg, geometry_msgs::WrenchStamp
 inline
 geometry_msgs::WrenchStamped toMsg(const tf3::Stamped<std::array<tf3::Vector3, 2>>& in, geometry_msgs::WrenchStamped & out)
 {
-  out.header.stamp = tf3::convertTime(in.stamp_);
+  out.header.stamp = data_convert::convertTime(in.stamp_);
   out.header.frame_id = in.frame_id_;
   out.wrench.force = toMsg(in[0]);
   out.wrench.torque = toMsg(in[1]);
@@ -1049,7 +1049,7 @@ geometry_msgs::WrenchStamped toMsg(const tf3::Stamped<std::array<tf3::Vector3, 2
 inline
 void fromMsg(const geometry_msgs::WrenchStamped& msg, tf3::Stamped<std::array<tf3::Vector3, 2>>& out)
 {
-  out.stamp_ = tf3::convertTime(msg.header.stamp);
+  out.stamp_ = data_convert::convertTime(msg.header.stamp);
   out.frame_id_ = msg.header.frame_id;
   tf3::Vector3 tmp;
   fromMsg(msg.wrench.force, tmp);
@@ -1082,7 +1082,7 @@ inline
 void doTransform(const geometry_msgs::WrenchStamped& t_in, geometry_msgs::WrenchStamped& t_out, const tf3::TransformStampedMsg& transform)
 {
   doTransform(t_in.wrench, t_out.wrench, transform);
-  t_out.header.stamp = tf3::convertTime(transform.header.stamp);
+  t_out.header.stamp = data_convert::convertTime(transform.header.stamp);
   t_out.header.frame_id = transform.header.frame_id;
 }
 
diff --git a/tf3_geometry_msgs/test/test_tf2_geometry_msgs.cpp b/tf3_geometry_msgs/test/test_tf2_geometry_msgs.cpp
index 7bf0911..78be67b 100755
--- a/tf3_geometry_msgs/test/test_tf2_geometry_msgs.cpp
+++ b/tf3_geometry_msgs/test/test_tf2_geometry_msgs.cpp
@@ -34,7 +34,7 @@
 #include <gtest/gtest.h>
 #include <tf3/buffer_core.h>
 #include <tf3_geometry_msgs/tf3_geometry_msgs.h>
-#include <tf3_geometry_msgs/data_convert.h>
+#include <data_convert/data_convert.h>
 
 tf3::BufferCore* tf_buffer;
 tf3::TransformStampedMsg t;
@@ -63,7 +63,7 @@ TEST(TfGeometry, Frame)
   tf3::TransformStampedMsg tfm = tf_buffer->lookupTransform(
                 "B",                        // frame đích
                 v1.header.frame_id,         // frame nguồn
-                // tf3::convertTime(v1.header.stamp)
+                // data_convert::convertTime(v1.header.stamp)
                 tf3::Time()
               );
 // std::cout << "STEP 3" << std::endl;
@@ -92,7 +92,7 @@ TEST(TfGeometry, Frame)
     tf3::TransformStampedMsg tfm1 = tf_buffer->lookupTransform(
                         "B",                      // frame đích
                         "A",                      // frame nguồn
-                        tf3::convertTime(robot::Time(2.0))
+                        data_convert::convertTime(robot::Time(2.0))
                     );
 
     geometry_msgs::PoseStamped v_advanced = v1;   // hoặc v1
@@ -142,7 +142,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
   tf3::TransformStampedMsg tfm1 = tf_buffer->lookupTransform(
                         "B",                      // frame đích
                         "A",                      // frame nguồn
-                        tf3::convertTime(robot::Time(2.0))
+                        data_convert::convertTime(robot::Time(2.0))
                     );
   tf3::doTransform(v1, v_simple, tfm1);
   std::cout << v_simple.pose.pose.position.x << " , "
@@ -174,7 +174,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
   tf3::TransformStampedMsg tfm2 = tf_buffer->lookupTransform(
                         "B",                      // frame đích
                         "A",                      // frame nguồn
-                        tf3::convertTime(robot::Time(2.0))
+                        data_convert::convertTime(robot::Time(2.0))
                     );
 
     tf3::doTransform(v1, v_advanced, tfm2);
@@ -215,7 +215,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
   t_rot.header.stamp = robot::Time(2.0);
   t_rot.header.frame_id = "A";
   t_rot.child_frame_id = "rotated";
-  tf3::TransformStampedMsg t_rot_msg = tf3::convertToTransformStampedMsg(t_rot);
+  tf3::TransformStampedMsg t_rot_msg = data_convert::convertToTransformStampedMsg(t_rot);
   tf_buffer->setTransform(t_rot_msg, "rotation_test");
   
   // need to put some covariance in the matrix
@@ -228,7 +228,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
   tf3::TransformStampedMsg tfm3 = tf_buffer->lookupTransform(
                         "rotated",                      // frame đích
                         "A",                      // frame nguồn
-                        tf3::convertTime(robot::Time(2.0))
+                        data_convert::convertTime(robot::Time(2.0))
                     );
 
     tf3::doTransform(v1, v_rotated, tfm3);
@@ -270,7 +270,7 @@ int main(int argc, char **argv){
   t.transform.rotation.z = 0;
   t.transform.rotation.w = 0;
 
-  t.header.stamp = tf3::convertTime(robot::Time(2.0));
+  t.header.stamp = data_convert::convertTime(robot::Time(2.0));
   t.header.frame_id = "A";
   t.child_frame_id = "B";
   tf_buffer->setTransform(t, "test");
diff --git a/tf3_sensor_msgs/CMakeLists.txt b/tf3_sensor_msgs/CMakeLists.txt
index 9f0587c..789afc8 100755
--- a/tf3_sensor_msgs/CMakeLists.txt
+++ b/tf3_sensor_msgs/CMakeLists.txt
@@ -41,6 +41,7 @@ target_include_directories(tf3_sensor_msgs INTERFACE
 
 target_link_libraries(tf3_sensor_msgs INTERFACE 
                       sensor_msgs
+                      data_convert
                       )
 
   
@@ -58,4 +59,5 @@ target_link_libraries(test_tf2_sensor_msgs
   tf3_sensor_msgs
   geometry_msgs
   tf3
+  data_convert
 )
diff --git a/tf3_sensor_msgs/include/tf3_sensor_msgs/tf3_sensor_msgs.h b/tf3_sensor_msgs/include/tf3_sensor_msgs/tf3_sensor_msgs.h
index 43f2b8f..051c8e7 100755
--- a/tf3_sensor_msgs/include/tf3_sensor_msgs/tf3_sensor_msgs.h
+++ b/tf3_sensor_msgs/include/tf3_sensor_msgs/tf3_sensor_msgs.h
@@ -35,7 +35,7 @@
 #include <sensor_msgs/point_cloud2_iterator.h>
 #include <Eigen/Eigen>
 #include <Eigen/Geometry>
-#include <tf3_sensor_msgs/data_convert.h>
+#include <data_convert/data_convert.h>
 
 namespace tf3
 {
@@ -52,7 +52,7 @@ namespace tf3
  */
 template <>
 inline
-const tf3::Time& getTimestamp(const sensor_msgs::PointCloud2& p) {return convertTime(p.header.stamp);}
+const tf3::Time& getTimestamp(const sensor_msgs::PointCloud2& p) {return data_convert::convertTime(p.header.stamp);}
 
 /** \brief Extract a frame ID from the header of a PointCloud2 message.
  * This function is a specialization of the getFrameId template defined in tf3/convert.h.
@@ -71,7 +71,7 @@ void doTransform(const sensor_msgs::PointCloud2 &p_in, sensor_msgs::PointCloud2
 {
   p_out = p_in;
   p_out.header.seq = p_in.header.seq;
-  p_out.header.stamp = tf3::convertTime(t_in.header.stamp);
+  p_out.header.stamp = data_convert::convertTime(t_in.header.stamp);
   p_out.header.frame_id = t_in.header.frame_id;
   Eigen::Transform<float,3,Eigen::Isometry> t = Eigen::Translation3f(t_in.transform.translation.x, t_in.transform.translation.y,
                                                                      t_in.transform.translation.z) * Eigen::Quaternion<float>(
diff --git a/tf3_sensor_msgs/test/test_tf2_sensor_msgs.cpp b/tf3_sensor_msgs/test/test_tf2_sensor_msgs.cpp
index a539c3b..a948ebe 100755
--- a/tf3_sensor_msgs/test/test_tf2_sensor_msgs.cpp
+++ b/tf3_sensor_msgs/test/test_tf2_sensor_msgs.cpp
@@ -59,7 +59,7 @@ TEST(Tf2Sensor, PointCloud2)
   tf3::TransformStampedMsg tfm1 = tf_buffer->lookupTransform(
                         "B",                      // frame đích
                         cloud.header.frame_id,                      // frame nguồn
-                        tf3::convertTime(robot::Time(2.0))
+                        data_convert::convertTime(robot::Time(2.0))
                     );
 
   sensor_msgs::PointCloud2 cloud_simple;   // hoặc v1
@@ -76,7 +76,7 @@ TEST(Tf2Sensor, PointCloud2)
   tf3::TransformStampedMsg tfm2 = tf_buffer->lookupTransform(
                         "B",                      // frame đích
                         "A",                      // frame nguồn
-                        tf3::convertTime(robot::Time(2.0))
+                        data_convert::convertTime(robot::Time(2.0))
                     );
 
   sensor_msgs::PointCloud2 cloud_advanced;   // hoặc v1
@@ -108,7 +108,7 @@ int main(int argc, char **argv){
   t.header.stamp = robot::Time(2.0);
   t.header.frame_id = "A";
   t.child_frame_id = "B";
-  tf3::TransformStampedMsg t_msg = tf3::convertToTransformStampedMsg(t);
+  tf3::TransformStampedMsg t_msg = data_convert::convertToTransformStampedMsg(t);
   tf_buffer->setTransform(t_msg, "test");
 
   int ret = RUN_ALL_TESTS();