diff --git a/Controllers/Packages/amr_control/CMakeLists.txt b/Controllers/Packages/amr_control/CMakeLists.txt
index 09c643b..3cbebd6 100644
--- a/Controllers/Packages/amr_control/CMakeLists.txt
+++ b/Controllers/Packages/amr_control/CMakeLists.txt
@@ -11,7 +11,6 @@ find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
   nav_2d_utils
   roscpp
-  rospy
   std_msgs
   angles
   delta_modbus
@@ -20,12 +19,12 @@ find_package(catkin REQUIRED COMPONENTS
   amr_comunication
   vda5050_msgs
   move_base_core
+  robot_cpp
 )
 
 ## System dependencies are found with CMake's conventions
 find_package(Boost REQUIRED COMPONENTS system thread)
 find_package(PkgConfig)
-find_package(robot_cpp REQUIRED)
 
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
@@ -116,7 +115,7 @@ find_package(robot_cpp REQUIRED)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES amr_control 
-  CATKIN_DEPENDS geometry_msgs loc_core nav_2d_utils roscpp rospy std_msgs move_base_core
+  CATKIN_DEPENDS geometry_msgs loc_core nav_2d_utils roscpp std_msgs move_base_core robot_cpp
   DEPENDS Boost 
 )
 
@@ -199,7 +198,6 @@ target_link_libraries(${PROJECT_NAME}
   ${FreeOpcUa_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
-  robot_cpp
 )
 
 # target_link_libraries(${PROJECT_NAME}_node
diff --git a/Controllers/Packages/amr_control/package.xml b/Controllers/Packages/amr_control/package.xml
index 61e7672..3287504 100644
--- a/Controllers/Packages/amr_control/package.xml
+++ b/Controllers/Packages/amr_control/package.xml
@@ -49,10 +49,13 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+
   <build_depend>geometry_msgs</build_depend>
   <build_depend>nav_2d_utils</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>angles</build_depend>
   <build_depend>delta_modbus</build_depend>
@@ -60,12 +63,11 @@
   <build_depend>loc_core</build_depend>
   <build_depend>amr_comunication</build_depend>
   <build_depend>vda5050_msgs</build_depend>
+  <build_depend>robot_cpp</build_depend>
   <build_depend>move_base_core</build_depend>
 
   <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>nav_2d_utils</build_export_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <build_export_depend>angles</build_export_depend>
   <build_export_depend>delta_modbus</build_export_depend>
@@ -73,13 +75,11 @@
   <build_export_depend>loc_core</build_export_depend>
   <build_export_depend>amr_comunication</build_export_depend>
   <build_export_depend>vda5050_msgs</build_export_depend>
+  <build_export_depend>robot_cpp</build_export_depend>
   <build_export_depend>move_base_core</build_export_depend>
 
   <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>move_base_core</exec_depend>
   <exec_depend>nav_2d_utils</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>angles</exec_depend>
   <exec_depend>delta_modbus</exec_depend>
@@ -87,7 +87,8 @@
   <exec_depend>loc_core</exec_depend>
   <exec_depend>amr_comunication</exec_depend>
   <exec_depend>vda5050_msgs</exec_depend>
-
+  <exec_depend>robot_cpp</exec_depend>
+  <exec_depend>move_base_core</exec_depend>
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
diff --git a/Controllers/Packages/amr_control/src/amr_control.cpp b/Controllers/Packages/amr_control/src/amr_control.cpp
index 5b24768..0199ff6 100644
--- a/Controllers/Packages/amr_control/src/amr_control.cpp
+++ b/Controllers/Packages/amr_control/src/amr_control.cpp
@@ -1,5 +1,8 @@
 #include "amr_control/amr_control.h"
 #include <geometry_msgs/Vector3.h>
+#include <robot/plugin_loader_helper.h>
+#include <robot/console.h>  
+#include <robot/node_handle.h>
 
 namespace amr_control
 {
@@ -219,15 +222,15 @@ namespace amr_control
       throw std::runtime_error("tf2_ros::Buffer object is null");
     try
     {
-      // robot::log_info("[%s:%d]\n Loading MoveBase library...", __FILE__, __LINE__);
-      // robot::PluginLoaderHelper loader;
-      // std::string path_file_so = loader.findLibraryPath("MoveBase");
-      // move_base_loader_ = boost::dll::import_alias<robot::move_base_core::BaseNavigation::Ptr()>(
-      //   path_file_so,
-      //   "MoveBase", boost::dll::load_mode::append_decorations);
+      robot::log_info("[%s:%d]\n Loading MoveBase library...", __FILE__, __LINE__);
+      robot::PluginLoaderHelper loader;
+      std::string path_file_so = loader.findLibraryPath("MoveBase");
+      move_base_loader_ = boost::dll::import_alias<robot::move_base_core::BaseNavigation::Ptr()>(
+        path_file_so,
+        "MoveBase", boost::dll::load_mode::append_decorations);
       
-      // robot::log_info("[%s:%d]\n Creating MoveBase instance...", __FILE__, __LINE__);
-      // move_base_ptr_ = create_plugin();
+      robot::log_info("[%s:%d]\n Creating MoveBase instance...", __FILE__, __LINE__);
+      move_base_ptr_ = move_base_loader_();
       // move_base_ptr_->initialize(tf_core_ptr_);
 
       // ros::Rate r(3);
@@ -250,12 +253,12 @@ namespace amr_control
     }
     catch (const std::exception &e)
     {
-      // robot::log_error("[%s:%d]\n Exception: %s", __FILE__, __LINE__, e.what());
+      robot::log_error("[%s:%d]\n Exception: %s", __FILE__, __LINE__, e.what());
       exit(1);
     }
     catch (...)
     {
-      // robot::log_error("[%s:%d]\n Unknown exception occurred", __FILE__, __LINE__);
+      robot::log_error("[%s:%d]\n Unknown exception occurred", __FILE__, __LINE__);
       exit(1);
     }
   }
diff --git a/pnkx_nav_core b/pnkx_nav_core
index 3ee1346..11b7c4a 160000
--- a/pnkx_nav_core
+++ b/pnkx_nav_core
@@ -1 +1 @@
-Subproject commit 3ee134687324c11a49ac488c624082fdfe5fbd2a
+Subproject commit 11b7c4a20de070382728f8151b93528cc903d1c4