diff --git a/Controllers/Packages/amr_control/CMakeLists.txt b/Controllers/Packages/amr_control/CMakeLists.txt
index daf972a..09c643b 100644
--- a/Controllers/Packages/amr_control/CMakeLists.txt
+++ b/Controllers/Packages/amr_control/CMakeLists.txt
@@ -19,6 +19,7 @@ find_package(catkin REQUIRED COMPONENTS
   loc_core
   amr_comunication
   vda5050_msgs
+  move_base_core
 )
 
 ## System dependencies are found with CMake's conventions
@@ -115,7 +116,7 @@ find_package(robot_cpp REQUIRED)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES amr_control 
-  CATKIN_DEPENDS geometry_msgs move_base_core loc_core nav_2d_utils roscpp rospy std_msgs
+  CATKIN_DEPENDS geometry_msgs loc_core nav_2d_utils roscpp rospy std_msgs move_base_core
   DEPENDS Boost 
 )
 
diff --git a/Controllers/Packages/amr_control/package.xml b/Controllers/Packages/amr_control/package.xml
index ed2d7a2..61e7672 100644
--- a/Controllers/Packages/amr_control/package.xml
+++ b/Controllers/Packages/amr_control/package.xml
@@ -60,6 +60,7 @@
   <build_depend>loc_core</build_depend>
   <build_depend>amr_comunication</build_depend>
   <build_depend>vda5050_msgs</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>
@@ -72,6 +73,7 @@
   <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>move_base_core</build_export_depend>
 
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>move_base_core</exec_depend>
diff --git a/pnkx_nav_core b/pnkx_nav_core
index a471130..3ee1346 160000
--- a/pnkx_nav_core
+++ b/pnkx_nav_core
@@ -1 +1 @@
-Subproject commit a47113027384d5fa869e3580db11c8c286687b0d
+Subproject commit 3ee134687324c11a49ac488c624082fdfe5fbd2a