diff --git a/include/ugv_sdk/details/interface/tracer_interface.hpp b/include/ugv_sdk/details/interface/tracer_interface.hpp
index debf6ca..8edfdb4 100644
--- a/include/ugv_sdk/details/interface/tracer_interface.hpp
+++ b/include/ugv_sdk/details/interface/tracer_interface.hpp
@@ -15,18 +15,17 @@
 #include "ugv_sdk/details/interface/agilex_message.h"
 
 namespace westonrobot {
-struct TracerState {
-  // system state
+struct TracerCoreState {
   SystemStateMessage system_state;
   MotionStateMessage motion_state;
   LightStateMessage light_state;
+  RcStateMessage rc_state;
+};
 
+struct TracerActuatorState {
   // actuator state
-  // - for v2 robots only
-  ActuatorHSStateMessage actuator_hs_state[4];
-  ActuatorLSStateMessage actuator_ls_state[4];
-  // - for v1 robots only
-  ActuatorStateMessageV1 actuator_state[4];
+  ActuatorHSStateMessage actuator_hs_state[2];
+  ActuatorLSStateMessage actuator_ls_state[2];
 };
 
 struct TracerInterface {
@@ -36,7 +35,8 @@ struct TracerInterface {
   virtual void SetLightCommand(LightMode f_mode, uint8_t f_value) = 0;
 
   // get robot state
-  virtual TracerState GetRobotState() = 0;
+  virtual TracerCoreState GetRobotState() = 0;
+  virtual TracerActuatorState GetActuatorState() = 0;
 };
 }  // namespace westonrobot
 
diff --git a/include/ugv_sdk/details/robot_base/tracer_base.hpp b/include/ugv_sdk/details/robot_base/tracer_base.hpp
index 72d6af2..7dd2221 100644
--- a/include/ugv_sdk/details/robot_base/tracer_base.hpp
+++ b/include/ugv_sdk/details/robot_base/tracer_base.hpp
@@ -29,10 +29,9 @@ class TracerBaseV2 : public AgilexBase<ProtocolV2Parser>,
 
   // set up connection
   void Connect(std::string can_name) override {
-    AgilexBase<ProtocolV2Parser>::ConnectPort(
-        can_name,
-        std::bind(&TracerBaseV2::ParseCANFrame, this, std::placeholders::_1));
+    AgilexBase<ProtocolV2Parser>::Connect(can_name);
   }
+  
   void Connect(std::string uart_name, uint32_t baudrate) override {
     // TODO
   }
@@ -49,9 +48,26 @@ class TracerBaseV2 : public AgilexBase<ProtocolV2Parser>,
   }
 
   // get robot state
-  TracerState GetRobotState() override {
-    // std::lock_guard<std::mutex>
-    // guard(AgilexBase<ProtocolV2Parser>::state_mutex_); return tracer_state_;
+  TracerCoreState GetRobotState() override {
+    auto state = AgilexBase<ProtocolV2Parser>::GetRobotCoreStateMsgGroup();
+
+    TracerCoreState tracer_state;
+    tracer_state.system_state = state.system_state;
+    tracer_state.motion_state = state.motion_state;
+    tracer_state.light_state = state.light_state;
+    tracer_state.rc_state = state.rc_state;
+    return tracer_state;
+  }
+
+  TracerActuatorState GetActuatorState() override {
+    auto actuator = AgilexBase<ProtocolV2Parser>::GetActuatorStateMsgGroup();
+
+    TracerActuatorState tracer_actuator;
+    for (int i = 0; i < 2; ++i) {
+      tracer_actuator.actuator_hs_state[i] = actuator.actuator_hs_state[i];
+      tracer_actuator.actuator_ls_state[i] = actuator.actuator_ls_state[i];
+    }
+    return tracer_actuator;
   }
 
   void ResetRobotState() override {