diff --git a/src/Libraries/common_msgs b/src/Libraries/common_msgs
index 32c0342..fb03bdf 160000
--- a/src/Libraries/common_msgs
+++ b/src/Libraries/common_msgs
@@ -1 +1 @@
-Subproject commit 32c034225f911ff8b5b7f3d8f9a8f48084636134
+Subproject commit fb03bdf2e8695f3d01ea80a52107bd18d7802062
diff --git a/src/Libraries/robot_cpp b/src/Libraries/robot_cpp
index ebb46a7..9b4252e 160000
--- a/src/Libraries/robot_cpp
+++ b/src/Libraries/robot_cpp
@@ -1 +1 @@
-Subproject commit ebb46a77d486531845b49c6c20b60045c7adf74c
+Subproject commit 9b4252ea912cbc9ec59f285a7d3b8d59d3cb9d38
diff --git a/src/Libraries/tf3/include/tf3/LinearMath/MinMax.h b/src/Libraries/tf3/include/tf3/LinearMath/MinMax.h
index 4eabd57..9b699b2 100644
--- a/src/Libraries/tf3/include/tf3/LinearMath/MinMax.h
+++ b/src/Libraries/tf3/include/tf3/LinearMath/MinMax.h
@@ -17,6 +17,9 @@ subject to the following restrictions:
 #ifndef GEN_MINMAX_H
 #define GEN_MINMAX_H
 
+#include "Scalar.h"
+
+
 template <class T>
 TF3SIMD_FORCE_INLINE const T& tf3Min(const T& a, const T& b) 
 {
diff --git a/src/Libraries/tf3/include/tf3/LinearMath/QuadWord.h b/src/Libraries/tf3/include/tf3/LinearMath/QuadWord.h
index 871696e..21571a0 100644
--- a/src/Libraries/tf3/include/tf3/LinearMath/QuadWord.h
+++ b/src/Libraries/tf3/include/tf3/LinearMath/QuadWord.h
@@ -159,20 +159,20 @@ protected:
    */
 		TF3SIMD_FORCE_INLINE void	setMax(const QuadWord& other)
 		{
-			tf3SetMax(m_floats[0], other.m_floats[0]);
-			tf3SetMax(m_floats[1], other.m_floats[1]);
-			tf3SetMax(m_floats[2], other.m_floats[2]);
-			tf3SetMax(m_floats[3], other.m_floats[3]);
+			// tf3SetMax(m_floats[0], other.m_floats[0]);
+			// tf3SetMax(m_floats[1], other.m_floats[1]);
+			// tf3SetMax(m_floats[2], other.m_floats[2]);
+			// tf3SetMax(m_floats[3], other.m_floats[3]);
 		}
   /**@brief Set each element to the min of the current values and the values of another QuadWord
    * @param other The other QuadWord to compare with 
    */
 		TF3SIMD_FORCE_INLINE void	setMin(const QuadWord& other)
 		{
-			tf3SetMin(m_floats[0], other.m_floats[0]);
-			tf3SetMin(m_floats[1], other.m_floats[1]);
-			tf3SetMin(m_floats[2], other.m_floats[2]);
-			tf3SetMin(m_floats[3], other.m_floats[3]);
+			// tf3SetMin(m_floats[0], other.m_floats[0]);
+			// tf3SetMin(m_floats[1], other.m_floats[1]);
+			// tf3SetMin(m_floats[2], other.m_floats[2]);
+			// tf3SetMin(m_floats[3], other.m_floats[3]);
 		}
 
 
diff --git a/src/Navigations/Cores/move_base_core/CMakeLists.txt b/src/Navigations/Cores/move_base_core/CMakeLists.txt
index 0cd3225..ab5fe64 100644
--- a/src/Navigations/Cores/move_base_core/CMakeLists.txt
+++ b/src/Navigations/Cores/move_base_core/CMakeLists.txt
@@ -22,7 +22,8 @@ file(GLOB HEADERS "include/move_base_core/*.h")
 
 # Tạo INTERFACE library (header-only)
 add_library(move_base_core INTERFACE)
-target_link_libraries(move_base_core INTERFACE tf3 robot_time geometry_msgs)
+target_link_libraries(move_base_core 
+        INTERFACE tf3 robot_time robot_geometry_msgs robot_protocol_msgs)
 
 # Set include directories
 target_include_directories(move_base_core