diff --git a/Controllers/Packages/amr_control/src/amr_control.cpp b/Controllers/Packages/amr_control/src/amr_control.cpp
index 5d51dfb..1481eaf 100644
--- a/Controllers/Packages/amr_control/src/amr_control.cpp
+++ b/Controllers/Packages/amr_control/src/amr_control.cpp
@@ -355,12 +355,12 @@ namespace amr_control
     catch (const std::exception &e)
     {
       robot::log_error("[%s:%d]\n Exception: %s", __FILE__, __LINE__, e.what());
-      exit(1);
+      // exit(1);
     }
     catch (...)
     {
       robot::log_error("[%s:%d]\n Unknown exception occurred", __FILE__, __LINE__);
-      exit(1);
+      // exit(1);
     }
   }
 
diff --git a/Controllers/Packages/robot_gazebo_plugins/steer_drive_controller/CMakeLists.txt b/Controllers/Packages/robot_gazebo_plugins/steer_drive_controller/CMakeLists.txt
index 2552955..791afcc 100755
--- a/Controllers/Packages/robot_gazebo_plugins/steer_drive_controller/CMakeLists.txt
+++ b/Controllers/Packages/robot_gazebo_plugins/steer_drive_controller/CMakeLists.txt
@@ -34,7 +34,10 @@ include_directories(
 )
 
 link_directories(${GAZEBO_LIBRARY_DIRS})
-list(APPEND CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
+# NOTE: CMAKE_CXX_FLAGS must remain a plain string. Using list(APPEND) turns it
+# into a semicolon-separated CMake list, which can break generated make rules
+# (e.g., shell treats `;` as a command separator).
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
 add_library(${PROJECT_NAME} src/steer_drive_controller.cpp src/odometry.cpp src/speed_limiter.cpp)
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
diff --git a/pnkx_nav_core b/pnkx_nav_core
index 01e278b..1a19e38 160000
--- a/pnkx_nav_core
+++ b/pnkx_nav_core
@@ -1 +1 @@
-Subproject commit 01e278befbf8be2556b6280b547c990834ebdb4f
+Subproject commit 1a19e38b2dba22d02f1b4c26aabdccf37aaa1e48