diff --git a/Controllers/Packages/amr_control/CMakeLists.txt b/Controllers/Packages/amr_control/CMakeLists.txt
index 73e7b30..3353f49 100644
--- a/Controllers/Packages/amr_control/CMakeLists.txt
+++ b/Controllers/Packages/amr_control/CMakeLists.txt
@@ -26,6 +26,7 @@ find_package(catkin REQUIRED COMPONENTS
   robot_nav_msgs
 )
 
+find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
 ## System dependencies are found with CMake's conventions
 find_package(Boost REQUIRED COMPONENTS system thread)
 find_package(PkgConfig)
@@ -64,12 +65,13 @@ include_directories(
   include
   ${catkin_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
+  ${TF3_INCLUDE_DIR}
 )
 
 ## Declare a C++ library
 add_library(${PROJECT_NAME}_converter src/tf_converter.cpp src/sensor_converter.cpp)
 add_dependencies(${PROJECT_NAME}_converter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME}_converter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}_converter ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${TF3_LIBRARY})
 
 add_library(${PROJECT_NAME}_publisher src/amr_publiser.cpp)
 add_dependencies(${PROJECT_NAME}_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
@@ -137,6 +139,7 @@ target_link_libraries(${PROJECT_NAME}
   ${FreeOpcUa_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
+  ${TF3_LIBRARY}
 )
 
 target_link_libraries(${PROJECT_NAME}_node
diff --git a/Controllers/Packages/amr_control/src/amr_publiser.cpp b/Controllers/Packages/amr_control/src/amr_publiser.cpp
index b7269ab..4ec96d5 100644
--- a/Controllers/Packages/amr_control/src/amr_publiser.cpp
+++ b/Controllers/Packages/amr_control/src/amr_publiser.cpp
@@ -488,6 +488,7 @@ void AmrPublisher::publishLocalPlan()
     return;
   }
   
+  
   robot::Duration age = now - plan_stamp;
   robot::Duration max_age(0.5);
   
diff --git a/Controllers/Packages/robot_description b/Controllers/Packages/robot_description
index 912f16e..2f829cf 160000
--- a/Controllers/Packages/robot_description
+++ b/Controllers/Packages/robot_description
@@ -1 +1 @@
-Subproject commit 912f16eb744a593129d0e5e749580d44f52ff02c
+Subproject commit 2f829cfc460228e251b845cbd54c26a9927055a3
diff --git a/pnkx_nav_core b/pnkx_nav_core
index 6e320bb..3f34252 160000
--- a/pnkx_nav_core
+++ b/pnkx_nav_core
@@ -1 +1 @@
-Subproject commit 6e320bbe5c5cc5f0982987c473616f872d57eb3d
+Subproject commit 3f3425228cc9f48d80a7badbc9250577368bd5a0