diff --git a/robot_tf3_geometry_msgs/CMakeLists.txt b/robot_tf3_geometry_msgs/CMakeLists.txt
index 7f8c4f8..33f9430 100755
--- a/robot_tf3_geometry_msgs/CMakeLists.txt
+++ b/robot_tf3_geometry_msgs/CMakeLists.txt
@@ -16,7 +16,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 # Find dependencies
-find_package(Boost REQUIRED COMPONENTS thread)
+find_package(Boost REQUIRED COMPONENTS system thread)
 find_package(Eigen3 REQUIRED)
 find_package(GTest REQUIRED)
 
@@ -36,6 +36,8 @@ if (NOT BUILDING_WITH_CATKIN)
     tf3
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+
 else()
 
 # ========================================================
@@ -44,13 +46,14 @@ else()
   find_package(catkin REQUIRED COMPONENTS         
     robot_geometry_msgs
     data_convert
-    tf3
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+  
   catkin_package(
     INCLUDE_DIRS include
     # LIBRARIES không cần vì đây là header-only library
-    CATKIN_DEPENDS robot_geometry_msgs data_convert tf3
+    CATKIN_DEPENDS robot_geometry_msgs data_convert
     DEPENDS Eigen3 Boost
   )
 
@@ -59,6 +62,7 @@ else()
     ${catkin_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -97,6 +101,7 @@ else()
   target_link_libraries(${PROJECT_NAME}
     INTERFACE
       ${PACKAGES_DIR}
+      ${TF3_LIBRARY}
   )
 
 endif()
@@ -156,26 +161,26 @@ endif()
 # ========================================================
 # Test executables
 # ========================================================
-# if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tomsg_frommsg.cpp)
-#   add_executable(${PROJECT_NAME}_tomsg_frommsg_test test/test_tomsg_frommsg.cpp)
-#   target_link_libraries(${PROJECT_NAME}_tomsg_frommsg_test PRIVATE 
-#     ${PROJECT_NAME}
-#     GTest::GTest
-#     GTest::Main
-#     Threads::Threads
-#     tf3
-#     data_convert
-#   )
-# endif()
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tomsg_frommsg.cpp)
+  add_executable(${PROJECT_NAME}_tomsg_frommsg_test test/test_tomsg_frommsg.cpp)
+  target_link_libraries(${PROJECT_NAME}_tomsg_frommsg_test PRIVATE 
+    ${PROJECT_NAME}
+    GTest::GTest
+    GTest::Main
+    Boost::system Boost::thread
+    ${TF3_LIBRARY}
+    data_convert
+  )
+endif()
 
-# if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_geometry_msgs.cpp)
-#   add_executable(${PROJECT_NAME}_geometry_msgs_test test/test_tf2_geometry_msgs.cpp)
-#   target_link_libraries(${PROJECT_NAME}_geometry_msgs_test PRIVATE 
-#     ${PROJECT_NAME}
-#     GTest::GTest
-#     GTest::Main
-#     Threads::Threads
-#     tf3
-#     data_convert
-#   )
-# endif()
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_geometry_msgs.cpp)
+  add_executable(${PROJECT_NAME}_geometry_msgs_test test/test_tf2_geometry_msgs.cpp)
+  target_link_libraries(${PROJECT_NAME}_geometry_msgs_test PRIVATE 
+    ${PROJECT_NAME}
+    GTest::GTest
+    GTest::Main
+    Boost::system Boost::thread
+    ${TF3_LIBRARY}
+    data_convert
+  )
+endif()
diff --git a/robot_tf3_geometry_msgs/package.xml b/robot_tf3_geometry_msgs/package.xml
index 58e93c0..7eab315 100644
--- a/robot_tf3_geometry_msgs/package.xml
+++ b/robot_tf3_geometry_msgs/package.xml
@@ -21,8 +21,6 @@
 
   <build_depend>robot_geometry_msgs</build_depend>
   <build_depend>data_convert</build_depend>
-  <build_depend>tf3</build_depend>
   <run_depend>robot_geometry_msgs</run_depend>
   <run_depend>data_convert</run_depend>
-  <run_depend>tf3</run_depend>
 </package>
\ No newline at end of file
diff --git a/robot_tf3_sensor_msgs/CMakeLists.txt b/robot_tf3_sensor_msgs/CMakeLists.txt
index 09972c2..10e69c4 100755
--- a/robot_tf3_sensor_msgs/CMakeLists.txt
+++ b/robot_tf3_sensor_msgs/CMakeLists.txt
@@ -16,7 +16,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 # Find dependencies
-find_package(Boost REQUIRED COMPONENTS thread)
+find_package(Boost REQUIRED COMPONENTS system thread)
 find_package(Eigen3 REQUIRED)
 find_package(GTest REQUIRED)
 
@@ -37,6 +37,8 @@ if (NOT BUILDING_WITH_CATKIN)
     robot_geometry_msgs
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+
 else()
 
 # ========================================================
@@ -45,14 +47,15 @@ else()
   find_package(catkin REQUIRED COMPONENTS         
     robot_sensor_msgs
     data_convert
-    tf3
     robot_geometry_msgs
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+  
   catkin_package(
     INCLUDE_DIRS include
     # LIBRARIES không cần vì đây là header-only library
-    CATKIN_DEPENDS robot_sensor_msgs data_convert tf3 robot_geometry_msgs
+    CATKIN_DEPENDS robot_sensor_msgs data_convert robot_geometry_msgs
     DEPENDS Eigen3 Boost
   )
 
@@ -61,6 +64,7 @@ else()
     ${catkin_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -99,6 +103,7 @@ else()
   target_link_libraries(${PROJECT_NAME}
     INTERFACE
       ${PACKAGES_DIR}
+      ${TF3_LIBRARY}
   )
 
 endif()
@@ -158,19 +163,19 @@ endif()
 # # ========================================================
 # # Test executables
 # # ========================================================
-# if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_sensor_msgs.cpp)
-#   add_executable(${PROJECT_NAME}_test test/test_tf2_sensor_msgs.cpp)
-#   target_include_directories(${PROJECT_NAME}_test PUBLIC 
-#     ${EIGEN3_INCLUDE_DIRS}
-#     ${GTEST_INCLUDE_DIRS}
-#   )
-#   target_link_libraries(${PROJECT_NAME}_test PRIVATE 
-#     ${PROJECT_NAME}
-#     GTest::GTest
-#     GTest::Main
-#     Threads::Threads
-#     robot_geometry_msgs
-#     tf3
-#     data_convert
-#   )
-# endif()
+if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_sensor_msgs.cpp)
+  add_executable(${PROJECT_NAME}_test test/test_tf2_sensor_msgs.cpp)
+  target_include_directories(${PROJECT_NAME}_test PUBLIC 
+    ${EIGEN3_INCLUDE_DIRS}
+    ${GTEST_INCLUDE_DIRS}
+  )
+  target_link_libraries(${PROJECT_NAME}_test PRIVATE 
+    ${PROJECT_NAME}
+    GTest::GTest
+    GTest::Main
+    Boost::system Boost::thread
+    robot_geometry_msgs
+    ${TF3_LIBRARY}
+    data_convert
+  )
+endif()
diff --git a/robot_tf3_sensor_msgs/package.xml b/robot_tf3_sensor_msgs/package.xml
index 8b5b267..683d744 100644
--- a/robot_tf3_sensor_msgs/package.xml
+++ b/robot_tf3_sensor_msgs/package.xml
@@ -20,12 +20,10 @@
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
   <build_depend>robot_sensor_msgs</build_depend>
-  <build_depend>tf3</build_depend>
   <build_depend>robot_geometry_msgs</build_depend>
   <build_depend>data_convert</build_depend>
   
   <run_depend>robot_sensor_msgs</run_depend>
   <run_depend>robot_geometry_msgs</run_depend>
   <run_depend>data_convert</run_depend>
-  <run_depend>tf3</run_depend>
 </package>
\ No newline at end of file