diff --git a/CMakeLists.txt b/CMakeLists.txt
index 478930f..2a0f509 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,10 +30,6 @@ message(STATUS "========================================")
 # Build các packages theo thứ tự phụ thuộc
 # 1. Core libraries (header-only hoặc base libraries)
 
-# if (NOT TARGET tf3)
-#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/tf3)
-# endif()
-
 if (NOT TARGET robot_time)
     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/robot_time)
 endif()
diff --git a/src/Algorithms/Packages/global_planners/custom_planner b/src/Algorithms/Packages/global_planners/custom_planner
index e0f6738..43810ce 160000
--- a/src/Algorithms/Packages/global_planners/custom_planner
+++ b/src/Algorithms/Packages/global_planners/custom_planner
@@ -1 +1 @@
-Subproject commit e0f6738c3161b7a4a9418d960d7e419a43f7d521
+Subproject commit 43810ce14095c3aabc4b351b9dbb025f03419a52
diff --git a/src/Algorithms/Packages/global_planners/dock_planner b/src/Algorithms/Packages/global_planners/dock_planner
index 8f0cd33..da82431 160000
--- a/src/Algorithms/Packages/global_planners/dock_planner
+++ b/src/Algorithms/Packages/global_planners/dock_planner
@@ -1 +1 @@
-Subproject commit 8f0cd33ec717d4c65cc71bb6a9bf1a756fca3a2e
+Subproject commit da82431cd9fdee1aef407579357af9e573460389
diff --git a/src/Algorithms/Packages/global_planners/two_points_planner/CMakeLists.txt b/src/Algorithms/Packages/global_planners/two_points_planner/CMakeLists.txt
index f125f39..54e76f5 100755
--- a/src/Algorithms/Packages/global_planners/two_points_planner/CMakeLists.txt
+++ b/src/Algorithms/Packages/global_planners/two_points_planner/CMakeLists.txt
@@ -41,6 +41,8 @@ if (NOT BUILDING_WITH_CATKIN)
     robot_cpp
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+
 else()
 
 # ========================================================
@@ -53,16 +55,18 @@ else()
     robot_nav_msgs
     robot_nav_2d_msgs
     robot_nav_2d_utils
-    tf3
     robot_tf3_geometry_msgs
     robot_time
     robot_cpp
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+  find_package(Boost REQUIRED COMPONENTS system)
+  
   catkin_package(
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME}
-    CATKIN_DEPENDS robot_costmap_2d robot_nav_core robot_geometry_msgs robot_nav_msgs tf3 robot_tf3_geometry_msgs robot_time robot_cpp
+    CATKIN_DEPENDS robot_costmap_2d robot_nav_core robot_geometry_msgs robot_nav_msgs robot_tf3_geometry_msgs robot_time robot_cpp
     DEPENDS Boost
   )
 
@@ -70,6 +74,7 @@ else()
     include
     ${catkin_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -92,6 +97,7 @@ if(BUILDING_WITH_CATKIN)
   target_link_libraries(${PROJECT_NAME}
     PUBLIC ${catkin_LIBRARIES}
     PRIVATE Boost::filesystem Boost::system
+    ${TF3_LIBRARY}
   )
 
 else()
@@ -107,6 +113,7 @@ else()
       ${PACKAGES_DIR}
     PRIVATE
       Boost::filesystem Boost::system
+      ${TF3_LIBRARY}
   )
 
   set_target_properties(${PROJECT_NAME} PROPERTIES
diff --git a/src/Algorithms/Packages/global_planners/two_points_planner/package.xml b/src/Algorithms/Packages/global_planners/two_points_planner/package.xml
index 215561d..1384fa4 100644
--- a/src/Algorithms/Packages/global_planners/two_points_planner/package.xml
+++ b/src/Algorithms/Packages/global_planners/two_points_planner/package.xml
@@ -37,8 +37,8 @@
   <build_depend>robot_nav_2d_utils</build_depend>
   <run_depend>robot_nav_2d_utils</run_depend>
 
-  <build_depend>tf3</build_depend>
-  <run_depend>tf3</run_depend>
+  
+  
 
   <build_depend>robot_tf3_geometry_msgs</build_depend>
   <run_depend>robot_tf3_geometry_msgs</run_depend>
diff --git a/src/Algorithms/Packages/local_planners/pnkx_local_planner/CMakeLists.txt b/src/Algorithms/Packages/local_planners/pnkx_local_planner/CMakeLists.txt
index 8748544..ae810da 100644
--- a/src/Algorithms/Packages/local_planners/pnkx_local_planner/CMakeLists.txt
+++ b/src/Algorithms/Packages/local_planners/pnkx_local_planner/CMakeLists.txt
@@ -46,6 +46,8 @@ if (NOT BUILDING_WITH_CATKIN)
     angles
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+
 else()
 
 # ========================================================
@@ -62,17 +64,19 @@ else()
     mkt_msgs
     score_algorithm
     robot_costmap_2d
-    tf3
     robot_tf3_geometry_msgs
     data_convert
     robot_cpp
     angles
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+  find_package(Boost REQUIRED COMPONENTS system)
+  
   catkin_package(
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_utils
-    CATKIN_DEPENDS robot_geometry_msgs robot_nav_msgs robot_std_msgs robot_visualization_msgs robot_nav_2d_msgs robot_nav_2d_utils robot_nav_core2 mkt_msgs score_algorithm robot_costmap_2d tf3 robot_tf3_geometry_msgs data_convert robot_cpp angles
+    CATKIN_DEPENDS robot_geometry_msgs robot_nav_msgs robot_std_msgs robot_visualization_msgs robot_nav_2d_msgs robot_nav_2d_utils robot_nav_core2 mkt_msgs score_algorithm robot_costmap_2d robot_tf3_geometry_msgs data_convert robot_cpp angles
     DEPENDS Boost
   )
 
@@ -80,6 +84,7 @@ else()
     include
     ${catkin_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -117,12 +122,14 @@ if(BUILDING_WITH_CATKIN)
   target_link_libraries(${PROJECT_NAME}_utils
     PUBLIC ${catkin_LIBRARIES}
     PRIVATE Boost::system
+    ${TF3_LIBRARY}
   )
 
   target_link_libraries(${PROJECT_NAME}
     PUBLIC ${PROJECT_NAME}_utils
     PUBLIC ${catkin_LIBRARIES}
     PRIVATE Boost::system
+    ${TF3_LIBRARY}
   )
 
 else()
@@ -152,6 +159,7 @@ else()
       ${PACKAGES_DIR}
     PRIVATE
       Boost::system
+      ${TF3_LIBRARY}
   )
 
   set_target_properties(${PROJECT_NAME}_utils PROPERTIES
diff --git a/src/Algorithms/Packages/local_planners/pnkx_local_planner/package.xml b/src/Algorithms/Packages/local_planners/pnkx_local_planner/package.xml
index 176dae9..f2495cd 100644
--- a/src/Algorithms/Packages/local_planners/pnkx_local_planner/package.xml
+++ b/src/Algorithms/Packages/local_planners/pnkx_local_planner/package.xml
@@ -49,8 +49,8 @@
   <build_depend>robot_costmap_2d</build_depend>
   <run_depend>robot_costmap_2d</run_depend>
 
-  <build_depend>tf3</build_depend>
-  <run_depend>tf3</run_depend>
+  
+  
 
   <build_depend>robot_tf3_geometry_msgs</build_depend>
   <run_depend>robot_tf3_geometry_msgs</run_depend>
diff --git a/src/Libraries/costmap_2d b/src/Libraries/costmap_2d
index ed43912..eb52edc 160000
--- a/src/Libraries/costmap_2d
+++ b/src/Libraries/costmap_2d
@@ -1 +1 @@
-Subproject commit ed43912c33795256a4b9fc9664e536baf06fd4f1
+Subproject commit eb52edc6e81537f408c4e343887cd4cbb0ed13a2
diff --git a/src/Libraries/geometry2 b/src/Libraries/geometry2
index c8d8d3d..8241714 160000
--- a/src/Libraries/geometry2
+++ b/src/Libraries/geometry2
@@ -1 +1 @@
-Subproject commit c8d8d3d4a97515b34ef87dc53a7a66f2f226de01
+Subproject commit 82417149e868dc7c322bcff7109df8725da2eed5
diff --git a/src/Libraries/laser_geometry b/src/Libraries/laser_geometry
index 4fb3fdc..50062ef 160000
--- a/src/Libraries/laser_geometry
+++ b/src/Libraries/laser_geometry
@@ -1 +1 @@
-Subproject commit 4fb3fdc28cc8fdd58fa3ab2d60857feb228948be
+Subproject commit 50062ef54970ffb6a88f550cfd7dac7a6d587041
diff --git a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
index d03a1c3..b6eb228 100755
--- a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
+++ b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
@@ -39,6 +39,8 @@ if (NOT BUILDING_WITH_CATKIN)
     data_convert
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+
 else()
 
 # ========================================================
@@ -50,13 +52,13 @@ else()
     robot_nav_msgs
     nav_grid
     robot_nav_core2
-    tf3
     robot_tf3_geometry_msgs
     robot_cpp 
   )
 
 # Find dependencies
   find_package(Boost REQUIRED COMPONENTS system thread)
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
 
   catkin_package(
     INCLUDE_DIRS include
@@ -69,6 +71,7 @@ else()
     include
     ${catkin_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -101,31 +104,37 @@ else()
       PUBLIC
         ${PACKAGES_DIR}
         ${Boost_LIBRARIES}
+        ${TF3_LIBRARY}
   )
   target_link_libraries(${PROJECT_NAME}_path_ops
       PUBLIC
         ${PACKAGES_DIR}
         ${Boost_LIBRARIES}
+        ${TF3_LIBRARY}
   )
   target_link_libraries(${PROJECT_NAME}_polygons
       PUBLIC
         ${PACKAGES_DIR}
         ${Boost_LIBRARIES}
+        ${TF3_LIBRARY}
   )
   target_link_libraries(${PROJECT_NAME}_bounds
       PUBLIC
         ${PACKAGES_DIR}
         ${Boost_LIBRARIES}
+        ${TF3_LIBRARY}
   )
   target_link_libraries(${PROJECT_NAME}_tf_help
       PUBLIC
         ${PACKAGES_DIR}
         ${Boost_LIBRARIES}
+        ${TF3_LIBRARY}
   )
   target_link_libraries(${PROJECT_NAME}
       INTERFACE
         ${PACKAGES_DIR}
         ${Boost_LIBRARIES}
+        ${TF3_LIBRARY}
   )
 
   set_target_properties(${PROJECT_NAME}_conversions PROPERTIES
@@ -159,31 +168,37 @@ else()
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include>
+        ${TF3_INCLUDE_DIR}
   )
   target_include_directories(${PROJECT_NAME}_path_ops
       PUBLIC
           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
           $<INSTALL_INTERFACE:include>
+          ${TF3_INCLUDE_DIR}
   )
   target_include_directories(${PROJECT_NAME}_polygons
       PUBLIC
           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
           $<INSTALL_INTERFACE:include>
+          ${TF3_INCLUDE_DIR}
   )
   target_include_directories(${PROJECT_NAME}_bounds
       PUBLIC
           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
           $<INSTALL_INTERFACE:include>
+          ${TF3_INCLUDE_DIR}
   )
   target_include_directories(${PROJECT_NAME}_tf_help
       PUBLIC
           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
           $<INSTALL_INTERFACE:include>
+          ${TF3_INCLUDE_DIR}
   )
   target_include_directories(${PROJECT_NAME}
       INTERFACE
           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
           $<INSTALL_INTERFACE:include>
+          ${TF3_INCLUDE_DIR}
   )
 
 endif()
@@ -231,7 +246,7 @@ else()
   message(STATUS "Version: ${PROJECT_VERSION}")
   message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
   message(STATUS "Libraries: ${PROJECT_NAME}_conversions, ${PROJECT_NAME}_path_ops, ${PROJECT_NAME}_polygons, ${PROJECT_NAME}_bounds, ${PROJECT_NAME}_tf_help")
-  message(STATUS "Dependencies: robot_nav_2d_msgs, robot_geometry_msgs, robot_nav_msgs, nav_grid, robot_nav_core2, tf3, Boost")
+  message(STATUS "Dependencies: robot_nav_2d_msgs, robot_geometry_msgs, robot_nav_msgs, nav_grid, robot_nav_core2, Boost")
   message(STATUS "=================================")
 endif()
 
diff --git a/src/Libraries/voxel_grid b/src/Libraries/voxel_grid
index 3daeae6..64983bc 160000
--- a/src/Libraries/voxel_grid
+++ b/src/Libraries/voxel_grid
@@ -1 +1 @@
-Subproject commit 3daeae614788ff326feb04bfd6ad9d76ffc7a105
+Subproject commit 64983bc6f748ba8a809cfa439882be73b93552e6
diff --git a/src/Libraries/xmlrpcpp b/src/Libraries/xmlrpcpp
index 7272336..948405b 160000
--- a/src/Libraries/xmlrpcpp
+++ b/src/Libraries/xmlrpcpp
@@ -1 +1 @@
-Subproject commit 727233624ef6cd584e1265382297e6181bcf4d64
+Subproject commit 948405bba436a164cb27f1b24cbb2bcf8ca053b2
diff --git a/src/Navigations/Cores/move_base_core/package.xml b/src/Navigations/Cores/move_base_core/package.xml
index 3df053e..cc70819 100644
--- a/src/Navigations/Cores/move_base_core/package.xml
+++ b/src/Navigations/Cores/move_base_core/package.xml
@@ -24,7 +24,6 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>tf3</build_depend>
   <build_depend>robot_time</build_depend>
   <build_depend>robot_geometry_msgs</build_depend>
   <build_depend>robot_protocol_msgs</build_depend>
@@ -34,7 +33,7 @@
   <build_depend>robot_sensor_msgs</build_depend>
   <build_depend>robot_map_msgs</build_depend>
 
-  <run_depend>tf3</run_depend>
+
   <run_depend>robot_time</run_depend>
   <run_depend>robot_geometry_msgs</run_depend>
   <run_depend>robot_protocol_msgs</run_depend>
diff --git a/src/Navigations/Cores/robot_nav_core/CMakeLists.txt b/src/Navigations/Cores/robot_nav_core/CMakeLists.txt
index d56828c..ee72fc3 100644
--- a/src/Navigations/Cores/robot_nav_core/CMakeLists.txt
+++ b/src/Navigations/Cores/robot_nav_core/CMakeLists.txt
@@ -30,7 +30,7 @@ if (NOT BUILDING_WITH_CATKIN)
     tf3
     robot_protocol_msgs
   )
-
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
 else()
 
 # ========================================================
@@ -38,19 +38,19 @@ else()
 # ========================================================
   find_package(catkin REQUIRED COMPONENTS         
     robot_costmap_2d
-    tf3
     robot_protocol_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_costmap_2d tf3 robot_protocol_msgs
+    CATKIN_DEPENDS robot_costmap_2d robot_protocol_msgs
   )
 
   include_directories(
     include
     ${catkin_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -89,6 +89,7 @@ else()
   target_link_libraries(${PROJECT_NAME}
     INTERFACE
       ${PACKAGES_DIR}
+      ${TF3_LIBRARY}
   )
 
 endif()
diff --git a/src/Navigations/Cores/robot_nav_core/package.xml b/src/Navigations/Cores/robot_nav_core/package.xml
index 55c2805..bce7b7f 100644
--- a/src/Navigations/Cores/robot_nav_core/package.xml
+++ b/src/Navigations/Cores/robot_nav_core/package.xml
@@ -22,8 +22,8 @@
   <build_depend>robot_costmap_2d</build_depend>
   <run_depend>robot_costmap_2d</run_depend>
 
-  <build_depend>tf3</build_depend>
-  <run_depend>tf3</run_depend>
+  
+  
 
   <build_depend>robot_protocol_msgs</build_depend>
   <run_depend>robot_protocol_msgs</run_depend>
diff --git a/src/Navigations/Cores/robot_nav_core2/CMakeLists.txt b/src/Navigations/Cores/robot_nav_core2/CMakeLists.txt
index e4f86a3..9e613df 100755
--- a/src/Navigations/Cores/robot_nav_core2/CMakeLists.txt
+++ b/src/Navigations/Cores/robot_nav_core2/CMakeLists.txt
@@ -33,7 +33,7 @@ if (NOT BUILDING_WITH_CATKIN)
     robot_cpp
     robot_geometry_msgs
   )
-
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
 else()
 
 # ========================================================
@@ -41,22 +41,22 @@ else()
 # ========================================================
   find_package(catkin REQUIRED COMPONENTS         
     robot_costmap_2d
-    tf3
     nav_grid
     robot_nav_2d_msgs
     robot_cpp
     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_costmap_2d tf3 nav_grid robot_nav_2d_msgs robot_cpp robot_geometry_msgs
+    CATKIN_DEPENDS robot_costmap_2d nav_grid robot_nav_2d_msgs robot_cpp robot_geometry_msgs
   )
 
   include_directories(
     include
     ${catkin_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -80,6 +80,7 @@ if(BUILDING_WITH_CATKIN)
   target_link_libraries(${PROJECT_NAME}
     INTERFACE
       ${catkin_LIBRARIES}
+      ${TF3_LIBRARY}
   )
 
 else()
@@ -95,6 +96,7 @@ else()
   target_link_libraries(${PROJECT_NAME}
     INTERFACE
       ${PACKAGES_DIR}
+      ${TF3_LIBRARY}
   )
 
 endif()
@@ -147,6 +149,6 @@ else()
   foreach(hdr ${HEADERS})
     message(STATUS "  - ${hdr}")
   endforeach()
-  message(STATUS "Dependencies: robot_costmap_2d, tf3, nav_grid, robot_nav_2d_msgs, robot_cpp, robot_geometry_msgs")
+  message(STATUS "Dependencies: robot_costmap_2d, nav_grid, robot_nav_2d_msgs, robot_cpp, robot_geometry_msgs")
   message(STATUS "=================================")
 endif()
diff --git a/src/Navigations/Cores/robot_nav_core2/package.xml b/src/Navigations/Cores/robot_nav_core2/package.xml
index b82cebc..fd29a4e 100644
--- a/src/Navigations/Cores/robot_nav_core2/package.xml
+++ b/src/Navigations/Cores/robot_nav_core2/package.xml
@@ -22,8 +22,8 @@
   <build_depend>robot_costmap_2d</build_depend>
   <run_depend>robot_costmap_2d</run_depend>
 
-  <build_depend>tf3</build_depend>
-  <run_depend>tf3</run_depend>
+  
+  
 
   <build_depend>nav_grid</build_depend>
   <run_depend>nav_grid</run_depend>
diff --git a/src/Navigations/Libraries/robot_clear_costmap_recovery/CMakeLists.txt b/src/Navigations/Libraries/robot_clear_costmap_recovery/CMakeLists.txt
index 13e5848..c672ac7 100644
--- a/src/Navigations/Libraries/robot_clear_costmap_recovery/CMakeLists.txt
+++ b/src/Navigations/Libraries/robot_clear_costmap_recovery/CMakeLists.txt
@@ -34,6 +34,7 @@ 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()
 
 # ========================================================
@@ -43,16 +44,15 @@ else()
     robot_nav_core
     robot_costmap_2d
     robot_cpp
-    tf3
   )
 
-# Find dependencies
   find_package(Boost REQUIRED COMPONENTS system thread)
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
 
   catkin_package(
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME}
-    CATKIN_DEPENDS robot_cpp robot_nav_core robot_costmap_2d tf3
+    CATKIN_DEPENDS robot_cpp robot_nav_core robot_costmap_2d 
     DEPENDS Boost
   )
 
@@ -60,6 +60,7 @@ else()
     include
     ${catkin_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -77,6 +78,7 @@ else()
       PUBLIC
         ${PACKAGES_DIR}
         ${Boost_LIBRARIES}
+        ${TF3_LIBRARY}
   )
 
   set_target_properties(${PROJECT_NAME} PROPERTIES
@@ -89,6 +91,7 @@ else()
     PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include>
+        ${TF3_INCLUDE_DIR}
   )
 
 endif()
@@ -136,6 +139,6 @@ else()
   message(STATUS "Version: ${PROJECT_VERSION}")
   message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
   message(STATUS "Libraries: ${PROJECT_NAME}")
-  message(STATUS "Dependencies: robot_nav_core, robot_costmap_2d, robot_cpp, tf3, Boost")
+  message(STATUS "Dependencies: robot_nav_core, robot_costmap_2d, robot_cpp, Boost")
   message(STATUS "=================================")
 endif()
diff --git a/src/Navigations/Libraries/robot_clear_costmap_recovery/package.xml b/src/Navigations/Libraries/robot_clear_costmap_recovery/package.xml
index 7f896d0..ec95bc1 100644
--- a/src/Navigations/Libraries/robot_clear_costmap_recovery/package.xml
+++ b/src/Navigations/Libraries/robot_clear_costmap_recovery/package.xml
@@ -22,6 +22,6 @@
   <build_depend>robot_cpp</build_depend>
   <run_depend>robot_cpp</run_depend>
 
-  <build_depend>tf3</build_depend>
-  <run_depend>tf3</run_depend>
+  
+  
 </package>
\ No newline at end of file
diff --git a/src/Navigations/Packages/move_base/CMakeLists.txt b/src/Navigations/Packages/move_base/CMakeLists.txt
index 8961854..77b0c07 100644
--- a/src/Navigations/Packages/move_base/CMakeLists.txt
+++ b/src/Navigations/Packages/move_base/CMakeLists.txt
@@ -37,6 +37,7 @@ if (NOT BUILDING_WITH_CATKIN)
     robot_nav_core
     robot_costmap_2d
     plugins
+    tf3
     robot_tf3_sensor_msgs
     robot_tf3_geometry_msgs
     data_convert
@@ -44,7 +45,7 @@ if (NOT BUILDING_WITH_CATKIN)
     robot_cpp
     robot_move_base_msgs
   )
-
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
 else()
 
 # ========================================================
@@ -63,7 +64,7 @@ else()
     robot_cpp
     robot_move_base_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 ${PROJECT_NAME}
@@ -75,6 +76,7 @@ else()
     include
     ${catkin_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -98,12 +100,14 @@ if(BUILDING_WITH_CATKIN)
     PUBLIC
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:include>
+    ${TF3_INCLUDE_DIR}
   )
 
   target_link_libraries(${PROJECT_NAME}
     PUBLIC ${catkin_LIBRARIES}
     PRIVATE Boost::filesystem Boost::system
     dl
+    ${TF3_LIBRARY}
   )
 
 else()
@@ -112,11 +116,13 @@ else()
     PUBLIC
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:include>
+    ${TF3_INCLUDE_DIR}
   )
 
   target_link_libraries(${PROJECT_NAME}
     PUBLIC
       ${PACKAGES_DIR}
+      ${TF3_LIBRARY}
     PRIVATE
       Boost::filesystem Boost::system
       yaml-cpp
@@ -134,30 +140,32 @@ endif()
 # ========================================================
 # Executable
 # ========================================================
-# add_executable(${PROJECT_NAME}_main src/move_base_main.cpp)
+add_executable(${PROJECT_NAME}_main src/move_base_main.cpp)
 
-# if(BUILDING_WITH_CATKIN)
-#   target_link_libraries(${PROJECT_NAME}_main PRIVATE
-#     ${PROJECT_NAME}
-#     robot_cpp
-#     Boost::filesystem Boost::system
-#     dl
-#   )
-# else()
-#   target_link_libraries(${PROJECT_NAME}_main PRIVATE
-#     ${PROJECT_NAME}
-#     robot_cpp
-#     Boost::filesystem Boost::system
-#     dl
-#   )
+if(BUILDING_WITH_CATKIN)
+  target_link_libraries(${PROJECT_NAME}_main PRIVATE
+    ${PROJECT_NAME}
+    robot_cpp
+    Boost::filesystem Boost::system
+    dl
+    ${TF3_LIBRARY}
+  )
+else()
+  target_link_libraries(${PROJECT_NAME}_main PRIVATE
+    ${PROJECT_NAME}
+    robot_cpp
+    Boost::filesystem Boost::system
+    dl
+    ${TF3_LIBRARY}
+  )
 
-#   # Configure RPATH to find libraries in devel space
-#   set_target_properties(${PROJECT_NAME}_main PROPERTIES
-#     BUILD_WITH_INSTALL_RPATH FALSE
-#     INSTALL_RPATH_USE_LINK_PATH TRUE
-#     BUILD_RPATH "${CMAKE_BINARY_DIR}"
-#   )
-# endif()
+  # Configure RPATH to find libraries in devel space
+  set_target_properties(${PROJECT_NAME}_main PROPERTIES
+    BUILD_WITH_INSTALL_RPATH FALSE
+    INSTALL_RPATH_USE_LINK_PATH TRUE
+    BUILD_RPATH "${CMAKE_BINARY_DIR}"
+  )
+endif()
 
 # ========================================================
 # Install
@@ -165,8 +173,7 @@ endif()
 if(BUILDING_WITH_CATKIN)
   ## Mark libraries for installation
   ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-  # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_main
-  install(TARGETS ${PROJECT_NAME}
+  install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_main
     ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
@@ -180,9 +187,7 @@ if(BUILDING_WITH_CATKIN)
   )
 
 else()
-
-  # install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_main
-  install(TARGETS ${PROJECT_NAME}
+  install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_main  
     EXPORT ${PROJECT_NAME}-targets
     ARCHIVE DESTINATION lib
     LIBRARY DESTINATION lib