diff --git a/examples/NavigationExample/NavigationAPI.cs b/examples/NavigationExample/NavigationAPI.cs
index e6e87b3..d7ed979 100644
--- a/examples/NavigationExample/NavigationAPI.cs
+++ b/examples/NavigationExample/NavigationAPI.cs
@@ -144,10 +144,9 @@ namespace NavigationExample
         [return: MarshalAs(UnmanagedType.I1)]
         public static extern bool navigation_dock_to(NavigationHandle handle, string marker, PoseStamped goal);
 
-        /// <remarks>Goal is passed by reference to match C API: navigation_dock_to_order(..., const PoseStamped &goal).</remarks>
         [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
         [return: MarshalAs(UnmanagedType.I1)]
-        public static extern bool navigation_dock_to_order(NavigationHandle handle, Order order, ref PoseStamped goal);
+        public static extern bool navigation_dock_to_order(NavigationHandle handle, Order order, string marker, PoseStamped goal);
 
         [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
         [return: MarshalAs(UnmanagedType.I1)]
diff --git a/examples/NavigationExample/Program.cs b/examples/NavigationExample/Program.cs
index ceedc3e..ae04c07 100644
--- a/examples/NavigationExample/Program.cs
+++ b/examples/NavigationExample/Program.cs
@@ -359,53 +359,54 @@ namespace NavigationExample
                     NavigationAPI.MarshalString(twist.header.frame_id), twist.velocity.x, twist.velocity.y, twist.velocity.theta);
             }  
 
-            // // Build order (thao cách bom order): header + nodes + edges giống C++
-            // Order order = new Order();
-            // order.headerId = 1;
-            // order.timestamp = Marshal.StringToHGlobalAnsi("2026-02-28 10:00:00");
-            // order.version = Marshal.StringToHGlobalAnsi("1.0.0");
-            // order.manufacturer = Marshal.StringToHGlobalAnsi("Manufacturer");
-            // order.serialNumber = Marshal.StringToHGlobalAnsi("Serial Number");
-            // order.orderId = Marshal.StringToHGlobalAnsi("Order ID");
-            // order.orderUpdateId = 1;
+            // Build order (thao cách bom order): header + nodes + edges giống C++
+            Order order = new Order();
+            order.headerId = 1;
+            order.timestamp = Marshal.StringToHGlobalAnsi("2026-02-28 10:00:00");
+            order.version = Marshal.StringToHGlobalAnsi("1.0.0");
+            order.manufacturer = Marshal.StringToHGlobalAnsi("Manufacturer");
+            order.serialNumber = Marshal.StringToHGlobalAnsi("Serial Number");
+            order.orderId = Marshal.StringToHGlobalAnsi("Order ID");
+            order.orderUpdateId = 1;
 
-            // // Nodes: giống for (auto node : order.nodes) { node_msg.nodeId = ...; node_msg.nodePosition.x = ...; order_msg.nodes.push_back(node_msg); }
-            // int nodeCount = 1;
-            // order.nodes = Marshal.AllocHGlobal(Marshal.SizeOf<Node>() * nodeCount);
-            // order.nodes_count = new UIntPtr((uint)nodeCount);
-            // Node node1 = new Node();
-            // node1.nodeId = Marshal.StringToHGlobalAnsi("node-1");
-            // node1.sequenceId = 0;
-            // node1.nodeDescription = Marshal.StringToHGlobalAnsi("Goal node");
-            // node1.released = 0;
-            // node1.nodePosition.x = 1.0;
-            // node1.nodePosition.y = 1.0;
-            // node1.nodePosition.theta = 0.0;
-            // node1.nodePosition.allowedDeviationXY = 0.1f;
-            // node1.nodePosition.allowedDeviationTheta = 0.05f;
-            // node1.nodePosition.mapId = Marshal.StringToHGlobalAnsi("map");
-            // node1.nodePosition.mapDescription = Marshal.StringToHGlobalAnsi("");
-            // node1.actions = IntPtr.Zero;
-            // node1.actions_count = UIntPtr.Zero;
-            // Marshal.StructureToPtr(node1, order.nodes, false);
+            // Nodes: giống for (auto node : order.nodes) { node_msg.nodeId = ...; node_msg.nodePosition.x = ...; order_msg.nodes.push_back(node_msg); }
+            int nodeCount = 1;
+            order.nodes = Marshal.AllocHGlobal(Marshal.SizeOf<Node>() * nodeCount);
+            order.nodes_count = new UIntPtr((uint)nodeCount);
+            Node node1 = new Node();
+            node1.nodeId = Marshal.StringToHGlobalAnsi("node-1");
+            node1.sequenceId = 0;
+            node1.nodeDescription = Marshal.StringToHGlobalAnsi("Goal node");
+            node1.released = 0;
+            node1.nodePosition.x = 1.0;
+            node1.nodePosition.y = 1.0;
+            node1.nodePosition.theta = 0.0;
+            node1.nodePosition.allowedDeviationXY = 0.1f;
+            node1.nodePosition.allowedDeviationTheta = 0.05f;
+            node1.nodePosition.mapId = Marshal.StringToHGlobalAnsi("map");
+            node1.nodePosition.mapDescription = Marshal.StringToHGlobalAnsi("");
+            node1.actions = IntPtr.Zero;
+            node1.actions_count = UIntPtr.Zero;
+            Marshal.StructureToPtr(node1, order.nodes, false);
 
-            // // Edges: rỗng trong ví dụ này; nếu cần thì alloc và fill tương tự (edge_msg.edgeId, trajectory.controlPoints, ...)
-            // order.edges = IntPtr.Zero;
-            // order.edges_count = UIntPtr.Zero;
-            // order.zoneSetId = Marshal.StringToHGlobalAnsi("");
+            // Edges: rỗng trong ví dụ này; nếu cần thì alloc và fill tương tự (edge_msg.edgeId, trajectory.controlPoints, ...)
+            order.edges = IntPtr.Zero;
+            order.edges_count = UIntPtr.Zero;
+            order.zoneSetId = Marshal.StringToHGlobalAnsi("");
 
-            // PoseStamped goal = new PoseStamped();
-            // goal.header = NavigationAPI.header_create(Marshal.PtrToStringAnsi(mapFrameId));
-            // goal.pose.position.x = 1.0;
-            // goal.pose.position.y = 1.0;
-            // goal.pose.position.z = 0.0;
-            // goal.pose.orientation.x = 0.0;
-            // goal.pose.orientation.y = 0.0;
-            // goal.pose.orientation.z = 0.0;
-            // goal.pose.orientation.w = 1.0;
+            PoseStamped goal = new PoseStamped();
+            goal.header = NavigationAPI.header_create(Marshal.PtrToStringAnsi(mapFrameId));
+            goal.pose.position.x = 1.0;
+            goal.pose.position.y = 1.0;
+            goal.pose.position.z = 0.0;
+            goal.pose.orientation.x = 0.0;
+            goal.pose.orientation.y = 0.0;
+            goal.pose.orientation.z = 0.0;
+            goal.pose.orientation.w = 1.0;
 
-            // NavigationAPI.navigation_move_to_order(navHandle, order, goal);
+            NavigationAPI.navigation_dock_to_order(navHandle, order, "docking_point", goal);
 
+            // NavigationAPI.navigation_move_to_order(navHandle, order, goal);`
             NavigationAPI.navigation_set_twist_linear(navHandle, 0.1, 0.0, 0.0);
             NavigationAPI.navigation_set_twist_angular(navHandle, 0.0, 0.0, 0.2);