diff --git a/src/Libraries/robot_cpp/CMakeLists.txt b/src/Libraries/robot_cpp/CMakeLists.txt
index 91e0193..44d8381 100644
--- a/src/Libraries/robot_cpp/CMakeLists.txt
+++ b/src/Libraries/robot_cpp/CMakeLists.txt
@@ -1,18 +1,4 @@
 cmake_minimum_required(VERSION 3.0.2)
-
-# ========================================================
-# 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_cpp with Catkin")
-else()
-  set(BUILDING_WITH_CATKIN FALSE)
-  message(STATUS "Building robot_cpp with Standalone CMake")
-endif()
-
 project(robot_cpp)
 
 set(CMAKE_CXX_STANDARD 17)
@@ -23,10 +9,25 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 # Find Packages
 # ========================================================
 
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_cpp with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_cpp with Standalone CMake")
+endif()
+
+
 if(BUILDING_WITH_CATKIN)
   ## Find catkin macros and libraries
   find_package(catkin REQUIRED COMPONENTS
-    robot_xmlrpcpp
+    robot_xmlrpcpp 
+    robot_time
+  )
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES robot_cpp
+    CATKIN_DEPENDS robot_xmlrpcpp robot_time
   )
 endif()
 
@@ -44,105 +45,7 @@ if(PkgConfig_FOUND)
   endif()
 endif()
 
-# If pkg-config didn't work, find shared library directly, prioritizing /usr/lib
-if(NOT YAML_CPP_TARGET)
-  # First try system paths (avoid /usr/local which may have static library)
-  find_library(YAML_CPP_SHARED_LIB
-    NAMES yaml-cpp
-    PATHS /usr/lib
-    PATH_SUFFIXES x86_64-linux-gnu
-    NO_DEFAULT_PATH
-  )
-  
-  if(YAML_CPP_SHARED_LIB AND EXISTS "${YAML_CPP_SHARED_LIB}")
-    # Verify it's actually a shared library (not a symlink to static)
-    get_filename_component(YAML_CPP_REAL_LIB "${YAML_CPP_SHARED_LIB}" REALPATH)
-    if(YAML_CPP_REAL_LIB MATCHES "\\.so")
-      set(YAML_CPP_TARGET ${YAML_CPP_SHARED_LIB})
-      message(STATUS "Found yaml-cpp shared library in /usr/lib: ${YAML_CPP_SHARED_LIB}")
-      # Also find include directory
-      find_path(YAML_CPP_INCLUDE_DIR
-        NAMES yaml-cpp/yaml.h
-        PATHS /usr/include
-        NO_DEFAULT_PATH
-      )
-      if(YAML_CPP_INCLUDE_DIR)
-        message(STATUS "Found yaml-cpp include directory: ${YAML_CPP_INCLUDE_DIR}")
-      endif()
-    endif()
-  endif()
-endif()
-
-# Now use find_package, but temporarily exclude /usr/local to avoid static library
-set(CMAKE_PREFIX_PATH_SAVED ${CMAKE_PREFIX_PATH})
-list(REMOVE_ITEM CMAKE_PREFIX_PATH "/usr/local")
 find_package(yaml-cpp QUIET)
-set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH_SAVED})
-
-# Use target if available and we haven't found a library yet
-if(NOT YAML_CPP_TARGET)
-  if(TARGET yaml-cpp::yaml-cpp)
-    set(YAML_CPP_TARGET yaml-cpp::yaml-cpp)
-    message(STATUS "Using yaml-cpp target: yaml-cpp::yaml-cpp")
-  elseif(TARGET yaml-cpp)
-    set(YAML_CPP_TARGET yaml-cpp)
-    message(STATUS "Using yaml-cpp target: yaml-cpp")
-  else()
-    # Last resort: try to find any library, but check if it's static
-    find_library(YAML_CPP_ANY_LIB
-      NAMES yaml-cpp
-      PATHS /usr/lib /usr/local/lib /lib
-      PATH_SUFFIXES x86_64-linux-gnu
-    )
-    
-    if(YAML_CPP_ANY_LIB)
-      if(YAML_CPP_ANY_LIB MATCHES "\\.a$")
-        message(FATAL_ERROR 
-          "yaml-cpp static library found at: ${YAML_CPP_ANY_LIB}\n"
-          "This cannot be linked into a shared library.\n"
-          "Solution: Remove static library or use system shared library:\n"
-          "  sudo rm /usr/local/lib/libyaml-cpp.a\n"
-          "Or ensure /usr/lib/x86_64-linux-gnu/libyaml-cpp.so is found first."
-        )
-      else()
-        set(YAML_CPP_TARGET ${YAML_CPP_ANY_LIB})
-        message(STATUS "Found yaml-cpp library: ${YAML_CPP_TARGET}")
-      endif()
-    else()
-      set(YAML_CPP_TARGET yaml-cpp)
-      message(WARNING "yaml-cpp library not found. Using library name 'yaml-cpp'")
-    endif()
-  endif()
-endif()
-
-find_package(console_bridge REQUIRED)
-
-# ========================================================
-# Catkin specific configuration
-# ========================================================
-
-if(BUILDING_WITH_CATKIN)
-  ## The catkin_package macro generates cmake config files for your package
-  ## Note: yaml-cpp and console_bridge are system dependencies, not declared in DEPENDS
-  ## as they don't provide the required INCLUDE_DIRS/LIBRARIES variables for catkin
-  catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES robot_cpp
-    CATKIN_DEPENDS robot_xmlrpcpp
-  )
-endif()
-
-###########
-## Build ##
-###########
-
-## Compiler flags
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  # Warning flags - disabled to suppress warnings during build
-  # add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
-  add_compile_options(-w -fPIC)  # -w suppresses all warnings
-endif()
-
 ## Include directories
 include_directories(
   include
@@ -170,30 +73,18 @@ target_include_directories(${PROJECT_NAME}
 
 ## Link libraries
 # Use the determined yaml-cpp target/library
-target_link_libraries(${PROJECT_NAME}
-  PUBLIC
-    ${YAML_CPP_TARGET}
-    robot_xmlrpcpp
-    robot_time
-  PRIVATE
-    dl  # Required for dladdr() function used in plugin_loader_helper.cpp
-)
-
-# Check if we're using static library and warn user
-if(YAML_CPP_TARGET MATCHES "\\.a$" OR YAML_CPP_TARGET MATCHES "libyaml-cpp\\.a")
-  message(FATAL_ERROR 
-    "yaml-cpp static library detected at: ${YAML_CPP_TARGET}\n"
-    "Static libraries cannot be linked into shared libraries without -fPIC.\n"
-    "Solution: Install shared library version:\n"
-    "  sudo apt-get install libyaml-cpp-dev\n"
-    "Or rebuild yaml-cpp with -fPIC flag."
-  )
-endif()
-
-
-## Add cmake target dependencies
-if(BUILDING_WITH_CATKIN)
+if(BUILDING_WITH_CATKIN)  
   add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+  target_link_libraries(${PROJECT_NAME} ${catkin_TARGETS})
+else()
+  target_link_libraries(${PROJECT_NAME}
+    PUBLIC
+      ${YAML_CPP_TARGET}
+      robot_xmlrpcpp
+      robot_time
+    PRIVATE
+      dl  # Required for dladdr() function used in plugin_loader_helper.cpp
+  )
 endif()
 
 set_target_properties(${PROJECT_NAME} PROPERTIES
diff --git a/src/Libraries/robot_cpp/package.xml b/src/Libraries/robot_cpp/package.xml
index dd08f5e..48c3787 100644
--- a/src/Libraries/robot_cpp/package.xml
+++ b/src/Libraries/robot_cpp/package.xml
@@ -19,10 +19,9 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
   <build_depend>robot_xmlrpcpp</build_depend>
-
-  <run_depend>libconsole-bridge-dev</run_depend>
+  <build_depend>robot_time</build_depend>
   <run_depend>robot_xmlrpcpp</run_depend>
+  <run_depend>robot_time</run_depend>
 
-</package>
\ No newline at end of file
+</package> 
\ No newline at end of file
diff --git a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
index 7c6727f..f1dc735 100755
--- a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
+++ b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
@@ -1,19 +1,4 @@
 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)
@@ -32,7 +17,18 @@ set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
 # Catkin specific configuration
 # ========================================================
 
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_nav_2d_utils with Catkin")
+
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_nav_2d_utils with Standalone CMake")
+endif()
+
 if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS robot_xmlrpcpp)
+
   catkin_package(
     INCLUDE_DIRS include
     LIBRARIES conversions path_ops polygons bounds tf_help robot_nav_2d_utils
diff --git a/src/Libraries/robot_nav_2d_utils/package.xml b/src/Libraries/robot_nav_2d_utils/package.xml
index 1d8d44b..de0118f 100755
--- a/src/Libraries/robot_nav_2d_utils/package.xml
+++ b/src/Libraries/robot_nav_2d_utils/package.xml
@@ -19,8 +19,7 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
-
-  <run_depend>libconsole-bridge-dev</run_depend>
+  <build_depend>robot_xmlrpcpp</build_depend>
+  <run_depend>robot_xmlrpcpp</run_depend>
 
 </package>
\ No newline at end of file
diff --git a/src/Libraries/tf3/include/tf3/LinearMath/MinMax.h b/src/Libraries/tf3/include/tf3/LinearMath/MinMax.h
index 9b699b2..801e054 100644
--- a/src/Libraries/tf3/include/tf3/LinearMath/MinMax.h
+++ b/src/Libraries/tf3/include/tf3/LinearMath/MinMax.h
@@ -14,8 +14,8 @@ subject to the following restrictions:
 
 
 
-#ifndef GEN_MINMAX_H
-#define GEN_MINMAX_H
+#ifndef TF3_GEN_MINMAX_H
+#define TF3_GEN_MINMAX_H
 
 #include "Scalar.h"
 
@@ -33,7 +33,7 @@ TF3SIMD_FORCE_INLINE const T& tf3Max(const T& a, const T& b)
 }
 
 template <class T>
-TF3SIMD_FORCE_INLINE const T& GEN_clamped(const T& a, const T& lb, const T& ub) 
+TF3SIMD_FORCE_INLINE const T& tf3GEN_clamped(const T& a, const T& lb, const T& ub) 
 {
 	return a < lb ? lb : (ub < a ? ub : a); 
 }
@@ -57,7 +57,7 @@ TF3SIMD_FORCE_INLINE void tf3SetMax(T& a, const T& b)
 }
 
 template <class T>
-TF3SIMD_FORCE_INLINE void GEN_clamp(T& a, const T& lb, const T& ub) 
+TF3SIMD_FORCE_INLINE void tf3GEN_clamp(T& a, const T& lb, const T& ub) 
 {
 	if (a < lb) 
 	{
diff --git a/src/Libraries/xmlrpcpp b/src/Libraries/xmlrpcpp
index a933044..6a3dea8 160000
--- a/src/Libraries/xmlrpcpp
+++ b/src/Libraries/xmlrpcpp
@@ -1 +1 @@
-Subproject commit a93304418d9e20c841dd8bf0ea9c9755eb57601f
+Subproject commit 6a3dea8614c3833c8bc17c160762b5d75f1b2413