diff --git a/scout_base/CMakeLists.txt b/scout_base/CMakeLists.txt
index ed4c5d0..28d1b2b 100644
--- a/scout_base/CMakeLists.txt
+++ b/scout_base/CMakeLists.txt
@@ -24,7 +24,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES scout_messenger
+  # LIBRARIES scout_messenger
   CATKIN_DEPENDS ugv_sdk scout_msgs
 #   DEPENDS Boost
 )
@@ -40,18 +40,19 @@ include_directories(
     ${catkin_INCLUDE_DIRS}
 )
 
-add_library(scout_messenger STATIC src/scout_messenger.cpp)
-target_link_libraries(scout_messenger ${catkin_LIBRARIES})
-add_dependencies(scout_messenger ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# add_library(scout_messenger STATIC src/scout_messenger.cpp)
+# target_link_libraries(scout_messenger ${catkin_LIBRARIES})
+# add_dependencies(scout_messenger ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(scout_base_node src/scout_base_node.cpp)
-target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES})
+target_link_libraries(scout_base_node ${catkin_LIBRARIES})
+add_dependencies(scout_base_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 #############
 ## Install ##
 #############
 
-install(TARGETS scout_messenger scout_base_node
+install(TARGETS scout_base_node
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
diff --git a/scout_base/src/scout_base_node.cpp b/scout_base/src/scout_base_node.cpp
index dc35e6d..4b965f6 100644
--- a/scout_base/src/scout_base_node.cpp
+++ b/scout_base/src/scout_base_node.cpp
@@ -140,20 +140,15 @@ bool CheckSystemState(scout_msgs::ScoutCheckSystemState::Request &req,
 int main(int argc, char **argv) {
   // setup ROS node
   ros::init(argc, argv, "scout_node");
-  ros::NodeHandle node;
-
+  // ros::NodeHandle node;
+  ros::NodeHandle node(""), private_node("~");
   // connect robot device
   std::string device_name;
-  if (argc == 2) {
-    device_name = {argv[1]};
-    ROS_INFO("Specified CAN: %s", device_name.c_str());
-  } else {
-    ROS_INFO("Please specified CAN port name");
-    return -1;
-  }
+  private_node.param<std::string>("port_name", device_name, std::string("can0"));
 
   robot = std::make_shared<ScoutBase>();
   robot->Connect(device_name);
+  robot->EnableCommandedMode();
 
   // publisher
   ros::Publisher state_pub = node.advertise<scout_msgs::ScoutMotionState>(
diff --git a/scout_msgs/CMakeLists.txt b/scout_msgs/CMakeLists.txt
index ac5330e..334c928 100644
--- a/scout_msgs/CMakeLists.txt
+++ b/scout_msgs/CMakeLists.txt
@@ -8,9 +8,8 @@ project(scout_msgs)
 
 ## Find catkin macros and libraries
 find_package(catkin REQUIRED COMPONENTS
-  message_generation
-  message_runtime
   std_msgs
+  message_generation
 )
 
 ## System dependencies are found with CMake's conventions
diff --git a/scout_msgs/package.xml b/scout_msgs/package.xml
index 5809d39..da66136 100644
--- a/scout_msgs/package.xml
+++ b/scout_msgs/package.xml
@@ -20,9 +20,6 @@
   <build_depend>std_msgs</build_depend>
   <run_depend>message_runtime</run_depend>
   <run_depend>std_msgs</run_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <exec_depend>message_runtime</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
 
   <export>
   </export>