diff --git a/src/Navigations/Packages/move_base/CMakeLists.txt b/src/Navigations/Packages/move_base/CMakeLists.txt
index 6072eaa..1094967 100644
--- a/src/Navigations/Packages/move_base/CMakeLists.txt
+++ b/src/Navigations/Packages/move_base/CMakeLists.txt
@@ -29,24 +29,6 @@ endif()
 # ========================================================
 find_package(Boost REQUIRED)
 
-# If building with Catkin, use catkin_package to find dependencies
-if(BUILDING_WITH_CATKIN)
-  find_package(catkin REQUIRED COMPONENTS
-    roscpp
-    rospy
-    std_msgs
-    geometry_msgs
-    nav_msgs
-    tf2
-    tf2_ros
-    actionlib
-    dynamic_reconfigure
-  )
-  
-  # Find internal packages (these should be built in the same workspace)
-  # Catkin will handle these through workspace dependencies
-  find_package(yaml-cpp REQUIRED)
-endif()
 
 # ========================================================
 # Source Files
@@ -61,11 +43,6 @@ include_directories(
   ${PROJECT_SOURCE_DIR}/include
 )
 
-if(BUILDING_WITH_CATKIN)
-  include_directories(
-    ${catkin_INCLUDE_DIRS}
-  )
-endif()
 
 # ========================================================
 # RPATH settings: ưu tiên thư viện build tại chỗ
@@ -84,84 +61,36 @@ add_library(move_base SHARED ${SOURCES} ${HEADERS})
 # ========================================================
 # Dependencies and Link Libraries
 # ========================================================
-if(BUILDING_WITH_CATKIN)
-  # Catkin mode: use catkin dependencies
-  catkin_package(
-    INCLUDE_DIRS include
-    LIBRARIES move_base
-    CATKIN_DEPENDS 
-      roscpp 
-      rospy 
-      std_msgs 
-      geometry_msgs 
-      nav_msgs 
-      tf2 
-      tf2_ros 
-      actionlib 
-      dynamic_reconfigure
-    DEPENDS 
-      yaml-cpp
-      Boost
-  )
-  
-  # Link against catkin packages
-  target_link_libraries(move_base 
-    ${catkin_LIBRARIES}
-    ${Boost_LIBRARIES}
-    yaml-cpp
-  )
-  
-  # Internal packages (assumed to be in same workspace)
-  # These will be linked via catkin workspace dependencies
-  target_link_libraries(move_base
-    move_base_core
-    nav_core
-    costmap_2d
-    plugins  # Link với plugins library để có StaticLayer typeinfo
-    xmlrpcpp
-    robot_cpp
-    tf3_sensor_msgs
-    tf3_geometry_msgs
-    dl
-    pthread
-  )
-  
-  # Set RPATH để ưu tiên thư viện build cục bộ
-  set_target_properties(move_base PROPERTIES
-    BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/node_handle:${CMAKE_BINARY_DIR}/src/Libraries/tf3:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/xmlrpcpp"
-    INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/node_handle:${CMAKE_BINARY_DIR}/src/Libraries/tf3:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/xmlrpcpp"
-    LINK_FLAGS "-Wl,--disable-new-dtags"
-  )
-else()
-  # Standalone CMake mode: link all dependencies manually
-  set(PACKAGES_DIR 
-    geometry_msgs 
-    std_msgs 
-    move_base_core 
-    nav_core 
-    costmap_2d 
-    plugins  # Link với plugins library để có StaticLayer typeinfo
-    yaml-cpp
-    xmlrpcpp
-    tf3_sensor_msgs
-    tf3_geometry_msgs
-    data_convert
-    dl
-    pthread
-    robot_nav_2d_utils
-  )
-  
-  target_link_libraries(move_base 
-    PUBLIC ${PACKAGES_DIR} 
-    PUBLIC robot_cpp
-    PRIVATE Boost::boost
-  )
-  
-  # Set RPATH để ưu tiên thư viện build cục bộ
-  set_target_properties(move_base PROPERTIES
-    LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
-  )
-endif()
+
+# Standalone CMake mode: link all dependencies manually
+set(PACKAGES_DIR 
+  geometry_msgs 
+  std_msgs 
+  move_base_core 
+  nav_core 
+  costmap_2d 
+  plugins  # Link với plugins library để có StaticLayer typeinfo
+  yaml-cpp
+  xmlrpcpp
+  tf3_sensor_msgs
+  tf3_geometry_msgs
+  data_convert
+  dl
+  pthread
+  robot_nav_2d_utils
+)
+
+target_link_libraries(move_base 
+  PUBLIC ${PACKAGES_DIR} 
+  PUBLIC robot_cpp
+  PRIVATE Boost::boost
+)
+
+# Set RPATH để ưu tiên thư viện build cục bộ
+set_target_properties(move_base PROPERTIES
+  LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
+)
+
 
 # ========================================================
 # Include Directories for Target
@@ -187,12 +116,6 @@ target_link_libraries(move_base_main
   PRIVATE Boost::boost
 )
 
-if(BUILDING_WITH_CATKIN)
-  target_link_libraries(move_base_main
-    PRIVATE ${catkin_LIBRARIES}
-  )
-endif()
-
 # Set RPATH for executable to find libraries in build directory first
 # Use RPATH instead of RUNPATH for higher priority
 set_target_properties(move_base_main PROPERTIES
@@ -208,37 +131,25 @@ set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--disable-new-dtags")
 # ========================================================
 # Installation
 # ========================================================
-if(BUILDING_WITH_CATKIN)
-  # Catkin installation
-  install(DIRECTORY include/move_base 
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-    FILES_MATCHING PATTERN "*.h"
-  )
-  
-  install(TARGETS move_base move_base_main
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-  )
-else()
-  # Standalone CMake installation
-  install(DIRECTORY include/move_base 
-    DESTINATION include
-    FILES_MATCHING PATTERN "*.h"
-  )
-  
-  install(TARGETS move_base move_base_main
-    EXPORT move_base-targets
-    LIBRARY DESTINATION lib
-    ARCHIVE DESTINATION lib
-    RUNTIME DESTINATION bin
-  )
-  
-  install(EXPORT move_base-targets
-    FILE move_base-targets.cmake
-    DESTINATION lib/cmake/move_base
-  )
-endif()
+
+# Standalone CMake installation
+install(DIRECTORY include/move_base 
+  DESTINATION include
+  FILES_MATCHING PATTERN "*.h"
+)
+
+install(TARGETS move_base move_base_main
+  EXPORT move_base-targets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(EXPORT move_base-targets
+  FILE move_base-targets.cmake
+  DESTINATION lib/cmake/move_base
+)
+
 
 # ========================================================
 # Build Options