diff --git a/src/Libraries/common_msgs b/src/Libraries/common_msgs
index fb03bdf..5c276af 160000
--- a/src/Libraries/common_msgs
+++ b/src/Libraries/common_msgs
@@ -1 +1 @@
-Subproject commit fb03bdf2e8695f3d01ea80a52107bd18d7802062
+Subproject commit 5c276afb3469a4618e3d2f3523a27bff2f9fb3c8
diff --git a/src/Libraries/test/test_node_handle.cpp b/src/Libraries/robot_cpp/test/test_node_handle.cpp
similarity index 100%
rename from src/Libraries/test/test_node_handle.cpp
rename to src/Libraries/robot_cpp/test/test_node_handle.cpp
diff --git a/src/Libraries/robot_nav_2d_msgs/CMakeLists.txt b/src/Libraries/robot_nav_2d_msgs/CMakeLists.txt
index ccc6454..775ff89 100755
--- a/src/Libraries/robot_nav_2d_msgs/CMakeLists.txt
+++ b/src/Libraries/robot_nav_2d_msgs/CMakeLists.txt
@@ -1,5 +1,19 @@
 cmake_minimum_required(VERSION 3.10)
 
+# ========================================================
+# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
+# ========================================================
+
+# Detect if building with Catkin
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_nav_2d_msgs with Catkin")
+  find_package(catkin REQUIRED)
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_nav_2d_msgs with Standalone CMake")
+endif()
+
 project(robot_nav_2d_msgs VERSION 1.0.0 LANGUAGES CXX)
 
 # Chuẩn C++
@@ -7,6 +21,22 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  ## The catkin_package macro generates cmake config files for your package
+  ## Note: Dependencies (robot_std_msgs, geometry_msgs) are not Catkin packages,
+  ## they are built as CMake targets in the same workspace and will be available
+  ## when this package is built. They are linked via target_link_libraries instead of CATKIN_DEPENDS
+  catkin_package(
+    INCLUDE_DIRS include
+    # LIBRARIES không cần vì đây là header-only library
+    # CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
+  )
+endif()
+
 # Tìm tất cả header files
 file(GLOB_RECURSE HEADERS "include/robot_nav_2d_msgs/*.h")
 
@@ -28,10 +58,25 @@ target_link_libraries(robot_nav_2d_msgs
         geometry_msgs
 )
 
+# Add include directories from dependencies explicitly for Catkin build
+if(BUILDING_WITH_CATKIN)
+  # Use relative paths from current source directory
+  # From robot_nav_2d_msgs (pnkx_nav_core/src/Libraries/robot_nav_2d_msgs) 
+  # to robot_std_msgs (pnkx_nav_core/src/Libraries/common_msgs/robot_std_msgs) is ../common_msgs/robot_std_msgs
+  get_filename_component(ROBOT_STD_MSGS_INCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/robot_std_msgs/include" ABSOLUTE)
+  get_filename_component(GEOMETRY_MSGS_INCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/robot_geometry_msgs/include" ABSOLUTE)
+  target_include_directories(robot_nav_2d_msgs INTERFACE
+    $<BUILD_INTERFACE:${ROBOT_STD_MSGS_INCLUDE}>
+    $<BUILD_INTERFACE:${GEOMETRY_MSGS_INCLUDE}>
+  )
+endif()
+
 # Cài đặt header files
-install(DIRECTORY include/robot_nav_2d_msgs 
-        DESTINATION include
-        FILES_MATCHING PATTERN "*.h")
+if(NOT BUILDING_WITH_CATKIN)
+  install(DIRECTORY include/robot_nav_2d_msgs 
+          DESTINATION include
+          FILES_MATCHING PATTERN "*.h")
+endif()
 
 # Cài đặt target
 install(TARGETS robot_nav_2d_msgs
diff --git a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
index 4e90a4c..7c6727f 100755
--- a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
+++ b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
@@ -1,5 +1,19 @@
 cmake_minimum_required(VERSION 3.10)
 
+# ========================================================
+# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
+# ========================================================
+
+# Detect if building with Catkin
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_nav_2d_utils with Catkin")
+  find_package(catkin REQUIRED)
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_nav_2d_utils with Standalone CMake")
+endif()
+
 project(robot_nav_2d_utils VERSION 1.0.0 LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 17)
@@ -9,6 +23,24 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 # Enable Position Independent Code
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
+# Cấu hình RPATH để tránh cycle trong runtime search path
+set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
+
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES conversions path_ops polygons bounds tf_help robot_nav_2d_utils
+    # CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
+    DEPENDS console_bridge Boost
+  )
+endif()
+
 # Find dependencies
 find_package(console_bridge REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system thread)
@@ -36,6 +68,8 @@ target_link_libraries(conversions
 
 set_target_properties(conversions PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+  BUILD_RPATH "${CMAKE_BINARY_DIR}"
+  INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
 )
 
 add_library(path_ops src/path_ops.cpp)
@@ -51,6 +85,12 @@ target_link_libraries(path_ops
         robot_cpp
 )
 
+set_target_properties(path_ops PROPERTIES
+  LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+  BUILD_RPATH "${CMAKE_BINARY_DIR}"
+  INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
+)
+
 add_library(polygons src/polygons.cpp src/footprint.cpp)
 target_include_directories(polygons
     PUBLIC
@@ -77,6 +117,8 @@ endif()
 
 set_target_properties(polygons PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+  BUILD_RPATH "${CMAKE_BINARY_DIR}"
+  INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
 )
 
 add_library(bounds src/bounds.cpp)
@@ -94,6 +136,8 @@ target_link_libraries(bounds
 
 set_target_properties(bounds PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+  BUILD_RPATH "${CMAKE_BINARY_DIR}"
+  INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
 )
 
 add_library(tf_help src/tf_help.cpp)
@@ -113,6 +157,8 @@ target_link_libraries(tf_help
 
 set_target_properties(tf_help PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+  BUILD_RPATH "${CMAKE_BINARY_DIR}"
+  INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
 )
 
 # Create an INTERFACE library that represents all robot_nav_2d_utils libraries
@@ -133,14 +179,16 @@ target_link_libraries(robot_nav_2d_utils
 )
 
 # Install header files
-install(DIRECTORY include/robot_nav_2d_utils 
-        DESTINATION include
-        FILES_MATCHING PATTERN "*.h")
+if(NOT BUILDING_WITH_CATKIN)
+  install(DIRECTORY include/robot_nav_2d_utils 
+          DESTINATION include
+          FILES_MATCHING PATTERN "*.h")
 
-# Install mapbox headers
-install(DIRECTORY include/mapbox
-        DESTINATION include
-        FILES_MATCHING PATTERN "*.hpp")
+  # Install mapbox headers
+  install(DIRECTORY include/mapbox
+          DESTINATION include
+          FILES_MATCHING PATTERN "*.hpp")
+endif()
 
 # Install targets
 install(TARGETS robot_nav_2d_utils conversions path_ops polygons bounds tf_help
diff --git a/src/Libraries/robot_time b/src/Libraries/robot_time
index d42ae54..504de86 160000
--- a/src/Libraries/robot_time
+++ b/src/Libraries/robot_time
@@ -1 +1 @@
-Subproject commit d42ae54383af04a7d7654b4039466ac9c208fdef
+Subproject commit 504de86ee92a2684564cc3a561f3f534eb798160
diff --git a/src/Libraries/tf3/CMakeLists.txt b/src/Libraries/tf3/CMakeLists.txt
index ba86e54..12ba4b6 100644
--- a/src/Libraries/tf3/CMakeLists.txt
+++ b/src/Libraries/tf3/CMakeLists.txt
@@ -1,12 +1,44 @@
 cmake_minimum_required(VERSION 3.0.2)
-
 project(tf3)
 
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
+# Cấu hình RPATH để tránh cycle trong runtime search path
+set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
+
+# ========================================================
+# Find Packages
+# ========================================================
+# ========================================================
+# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
+# ========================================================
+
+# Detect if building with Catkin
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+
+  find_package(catkin REQUIRED COMPONENTS console_bridge)
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+endif()
+
 find_package(console_bridge REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system thread)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  ## The catkin_package macro generates cmake config files for your package
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES tf3
+    DEPENDS console_bridge
+  )
+endif()
 include_directories(include ${console_bridge_INCLUDE_DIRS})
 
 # export user definitions
@@ -16,7 +48,14 @@ add_library(tf3 src/cache.cpp src/buffer_core.cpp src/static_cache.cpp)
 target_link_libraries(tf3 ${Boost_LIBRARIES} ${console_bridge_LIBRARIES})
 set_target_properties(tf3 PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+  BUILD_RPATH "${CMAKE_BINARY_DIR}"
+  INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
 )
+
+## Add cmake target dependencies
+if(BUILDING_WITH_CATKIN)
+  add_dependencies(tf3 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+endif()
 target_include_directories(tf3 PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
@@ -27,20 +66,21 @@ target_link_libraries(simple_tf3_example PRIVATE tf3 pthread ${console_bridge_LI
 set_target_properties(simple_tf3_example PROPERTIES
   LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
 )
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
 install(TARGETS tf3
+  EXPORT tf3-targets
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION include/${PROJECT_NAME}
-)
+if(NOT BUILDING_WITH_CATKIN)
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION include/${PROJECT_NAME}
+  )
+endif()
 
-install(TARGETS tf3
-        EXPORT tf3-targets)
-
-# Export targets
+# Export targets - cần trong mọi trường hợp
 install(EXPORT tf3-targets
         FILE tf3-targets.cmake
         NAMESPACE tf3::
diff --git a/src/Navigations/Cores/move_base_core/CMakeLists.txt b/src/Navigations/Cores/move_base_core/CMakeLists.txt
index ab5fe64..1cf0697 100644
--- a/src/Navigations/Cores/move_base_core/CMakeLists.txt
+++ b/src/Navigations/Cores/move_base_core/CMakeLists.txt
@@ -1,41 +1,64 @@
 cmake_minimum_required(VERSION 3.10)
-
-# Tên dự án
 project(move_base_core VERSION 1.0.0 LANGUAGES CXX)
 
 # Chuẩn C++
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-# Cho phép các project khác include được header của move_base_core
-set(MOVE_BASE_CORE_INCLUDE_DIRS
-    ${CMAKE_CURRENT_SOURCE_DIR}/include
-    PARENT_SCOPE
-)
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building move_base_core with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building move_base_core with Standalone CMake")
+endif()
 
-include_directories(
-        ${PROJECT_SOURCE_DIR}/include
-)
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS tf3 robot_time robot_geometry_msgs robot_protocol_msgs robot_nav_2d_msgs)
+
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES move_base_core
+    CATKIN_DEPENDS tf3 robot_time robot_geometry_msgs robot_protocol_msgs robot_nav_2d_msgs
+    # CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
+  )
+endif()
 
 # Tìm tất cả header files
 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 robot_geometry_msgs robot_protocol_msgs)
 
-# Set include directories
+# Set include directories trước khi link libraries
 target_include_directories(move_base_core
     INTERFACE 
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include>
 )
 
+# Link với dependencies - include directories sẽ được truyền tự động qua INTERFACE properties
+if(BUILDING_WITH_CATKIN)
+  target_link_libraries(move_base_core INTERFACE ${catkin_TARGETS})
+else()
+  target_link_libraries(move_base_core 
+  INTERFACE 
+      tf3 
+      robot_time 
+      robot_geometry_msgs 
+      robot_protocol_msgs
+      robot_nav_2d_msgs  # Thêm vì navigation.h include robot_nav_2d_msgs/Twist2DStamped.h
+  )
+endif()
+
 # Cài đặt header files
-install(DIRECTORY include/move_base_core 
-        DESTINATION include
-        FILES_MATCHING PATTERN "*.h")
+if(NOT BUILDING_WITH_CATKIN)
+  install(DIRECTORY include/move_base_core 
+          DESTINATION include
+          FILES_MATCHING PATTERN "*.h")
+endif()
 
 # Cài đặt target
 install(TARGETS move_base_core 
diff --git a/src/Navigations/Cores/move_base_core/package.xml b/src/Navigations/Cores/move_base_core/package.xml
index 0bc57d8..ba67c66 100644
--- a/src/Navigations/Cores/move_base_core/package.xml
+++ b/src/Navigations/Cores/move_base_core/package.xml
@@ -19,8 +19,16 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_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>
+  <build_depend>robot_nav_2d_msgs</build_depend>
 
-  <run_depend>libconsole-bridge-dev</run_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>
+  <run_depend>robot_nav_2d_msgs</run_depend>
 
 </package>
\ No newline at end of file