diff --git a/CMakeLists.txt b/CMakeLists.txt
index f7d9932..78ecc11 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -38,8 +38,8 @@ if (NOT TARGET robot_time)
     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/robot_time)
 endif()
 
-if (NOT TARGET xmlrpcpp)
-   add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/xmlrpcpp) 
+if (NOT TARGET robot_xmlrpcpp)
+   add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/robot_xmlrpcpp) 
 endif()
 
 if (NOT TARGET robot_cpp)
@@ -98,57 +98,57 @@ if (NOT TARGET move_base_core)
     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Cores/move_base_core)
 endif()
 
-# if (NOT TARGET mkt_msgs)
-#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_msgs)
-# endif()
+if (NOT TARGET mkt_msgs)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_msgs)
+endif()
 
-# if (NOT TARGET angles)
-#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/angles)
-# endif()
+if (NOT TARGET angles)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/angles)
+endif()
 
-# if (NOT TARGET kalman)
-#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/kalman)
-# endif()
+if (NOT TARGET kalman)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/kalman)
+endif()
 
-# if (NOT TARGET score_algorithm)
-#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Cores/score_algorithm)
-# endif()
+if (NOT TARGET score_algorithm)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Cores/score_algorithm)
+endif()
 
-# if (NOT TARGET mkt_plugins)
-#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_plugins)
-# endif()
+if (NOT TARGET mkt_plugins)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_plugins)
+endif()
 
-# if (NOT TARGET mkt_algorithm)
-#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_algorithm)
-# endif()
+if (NOT TARGET mkt_algorithm)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_algorithm)
+endif()
 
-# if (NOT TARGET two_points_planner)
-#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/two_points_planner)
-# endif()
+if (NOT TARGET two_points_planner)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/two_points_planner)
+endif()
 
-# if (NOT TARGET custom_planner)
-#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/custom_planner)
-# endif()
+if (NOT TARGET custom_planner)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/custom_planner)
+endif()
 
-# if (NOT TARGET dock_planner)
-#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/dock_planner)
-# endif()
+if (NOT TARGET dock_planner)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/dock_planner)
+endif()
 
-# if (NOT TARGET pnkx_local_planner)
-#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/local_planners/pnkx_local_planner)
-# endif()
+if (NOT TARGET pnkx_local_planner)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/local_planners/pnkx_local_planner)
+endif()
 
 
 # 2. Main packages (phụ thuộc vào cores)
-message(STATUS "[move_base] Shared library configured")
+# message(STATUS "[move_base] Shared library configured")
 if (NOT TARGET move_base)
     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Packages/move_base)
 endif()
 
 # C API for .NET/C# integration
-if (NOT TARGET navigation_c_api)
-    add_subdirectory(${CMAKE_SOURCE_DIR}/src/APIs/c_api)
-endif()
+# if (NOT TARGET navigation_c_api)
+#     add_subdirectory(${CMAKE_SOURCE_DIR}/src/APIs/c_api)
+# endif()
 
 message(STATUS "========================================")
 message(STATUS "All packages configured successfully")
diff --git a/src/Libraries/costmap_2d b/src/Libraries/costmap_2d
index 59b0b1a..71adf13 160000
--- a/src/Libraries/costmap_2d
+++ b/src/Libraries/costmap_2d
@@ -1 +1 @@
-Subproject commit 59b0b1a806d8da28c32694f04d83985c727ea280
+Subproject commit 71adf1390fe7c1bad3823d25a06db43a9c46278b
diff --git a/src/Libraries/robot_cpp b/src/Libraries/robot_cpp
index dc9362c..cb9dfe5 160000
--- a/src/Libraries/robot_cpp
+++ b/src/Libraries/robot_cpp
@@ -1 +1 @@
-Subproject commit dc9362cb0b1e04247a7918c0410411a5583a281f
+Subproject commit cb9dfe5c9be8d99a8b14dd0718a2da986aca5ef4
diff --git a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
index 836b63c..cebd27c 100755
--- a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
+++ b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt
@@ -12,8 +12,8 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 # Find dependencies
 find_package(console_bridge REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system thread)
-find_package(xmlrpcpp QUIET)
-if(NOT xmlrpcpp_FOUND)
+find_package(robot_xmlrpcpp QUIET)
+if(NOT robot_xmlrpcpp_FOUND)
     # Try alternative package name
     find_package(XmlRpcCpp QUIET)
 endif()
@@ -63,21 +63,21 @@ target_include_directories(polygons
         $<INSTALL_INTERFACE:include>
 )
 
-if(xmlrpcpp_FOUND)
-    target_include_directories(polygons PRIVATE ${xmlrpcpp_INCLUDE_DIRS})
+if(robot_xmlrpcpp_FOUND)
+    target_include_directories(polygons PRIVATE ${robot_xmlrpcpp_INCLUDE_DIRS})
     target_link_libraries(polygons
         PUBLIC robot_nav_2d_msgs geometry_msgs robot_cpp
-        PRIVATE ${xmlrpcpp_LIBRARIES})
+        PRIVATE ${robot_xmlrpcpp_LIBRARIES})
 elseif(XmlRpcCpp_FOUND)
     target_include_directories(polygons PRIVATE ${XmlRpcCpp_INCLUDE_DIRS})
     target_link_libraries(polygons 
         PUBLIC robot_nav_2d_msgs geometry_msgs robot_cpp 
         PRIVATE ${XmlRpcCpp_LIBRARIES})
 else()
-    target_include_directories(polygons PRIVATE ${xmlrpcpp_INCLUDE_DIRS})
+    target_include_directories(polygons PRIVATE ${robot_xmlrpcpp_INCLUDE_DIRS})
     target_link_libraries(polygons
         PUBLIC robot_nav_2d_msgs geometry_msgs robot_cpp
-        PRIVATE ${xmlrpcpp_LIBRARIES})
+        PRIVATE ${robot_xmlrpcpp_LIBRARIES})
 endif()
 
 set_target_properties(polygons PROPERTIES
diff --git a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h b/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h
index d94ac0c..b44eb8d 100755
--- a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h
+++ b/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h
@@ -38,7 +38,7 @@
 #include <robot_nav_2d_msgs/Polygon2D.h>
 #include <robot_nav_2d_msgs/ComplexPolygon2D.h>
 #include <geometry_msgs/Pose2D.h>
-#include <xmlrpcpp/XmlRpcValue.h>
+#include <robot_xmlrpcpp/XmlRpcValue.h>
 #include <vector>
 #include <string>
 
diff --git a/src/Libraries/xmlrpcpp b/src/Libraries/xmlrpcpp
deleted file mode 160000
index 5bdd606..0000000
--- a/src/Libraries/xmlrpcpp
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 5bdd606fffa7dcaa24448c112c4921778b24c9cd
diff --git a/src/Navigations/Packages/move_base/CMakeLists.txt b/src/Navigations/Packages/move_base/CMakeLists.txt
index 1094967..109da5b 100644
--- a/src/Navigations/Packages/move_base/CMakeLists.txt
+++ b/src/Navigations/Packages/move_base/CMakeLists.txt
@@ -71,7 +71,6 @@ set(PACKAGES_DIR
   costmap_2d 
   plugins  # Link với plugins library để có StaticLayer typeinfo
   yaml-cpp
-  xmlrpcpp
   tf3_sensor_msgs
   tf3_geometry_msgs
   data_convert
@@ -118,13 +117,7 @@ target_link_libraries(move_base_main
 
 # 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
-  BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Navigations/Packages/move_base:${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:${CMAKE_BINARY_DIR}/src/Libraries/robot_nav_2d_utils"
-  INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Navigations/Packages/move_base:${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/node_handle:${CMAKE_BINARY_DIR}/src/Libraries/tf3:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/xmlrpcpp:${CMAKE_BINARY_DIR}/src/Libraries/robot_nav_2d_utils"
-  BUILD_WITH_INSTALL_RPATH FALSE
-  INSTALL_RPATH_USE_LINK_PATH TRUE
-  SKIP_BUILD_RPATH FALSE
-)
+
 # Force use of RPATH instead of RUNPATH
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--disable-new-dtags")
 
diff --git a/src/Navigations/Packages/move_base/src/move_base.cpp b/src/Navigations/Packages/move_base/src/move_base.cpp
index 95c85fa..958f590 100644
--- a/src/Navigations/Packages/move_base/src/move_base.cpp
+++ b/src/Navigations/Packages/move_base/src/move_base.cpp
@@ -8,7 +8,6 @@
 #include <cmath>
 #include <stdexcept>
 #include <cstdlib>
-#include <xmlrpcpp/XmlRpcValue.h>
 #include <data_convert/data_convert.h>
 #include <tf3_geometry_msgs/tf3_geometry_msgs.h>
 #include <boost/algorithm/string.hpp>