diff --git a/CMakeLists.txt b/CMakeLists.txt
index 60684c3..7c1ca27 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -88,6 +88,7 @@ add_library(${PROJECT_NAME}
     ########################
     ## public interface to access robot
     src/mobile_robot/scout_robot.cpp
+    src/mobile_robot/tracer_robot.cpp
     ########################
     ## protocol v2 support
     src/protocol_v2/agilex_msg_parser_v2.c
diff --git a/include/ugv_sdk/mobile_robot/tracer_robot.hpp b/include/ugv_sdk/mobile_robot/tracer_robot.hpp
new file mode 100644
index 0000000..a1b40b3
--- /dev/null
+++ b/include/ugv_sdk/mobile_robot/tracer_robot.hpp
@@ -0,0 +1,48 @@
+/*
+ * tracer_robot.hpp
+ *
+ * Created on: Jul 13, 2021 21:59
+ * Description:
+ *
+ * Copyright (c) 2021 Weston Robot Pte. Ltd.
+ */
+
+#ifndef TRACER_ROBOT_HPP
+#define TRACER_ROBOT_HPP
+
+#include <memory>
+
+#include "ugv_sdk/details/interface/robot_interface.hpp"
+#include "ugv_sdk/details/interface/tracer_interface.hpp"
+
+// #include "ugv_sdk/details/robot_base/tracer_base.hpp"
+
+namespace westonrobot {
+// using TracerRobot = TracerBaseV2();
+class TracerRobot : public RobotInterface, public TracerInterface {
+ public:
+  TracerRobot();
+  ~TracerRobot();
+
+  void Connect(std::string can_name) override;
+  void Connect(std::string uart_name, uint32_t baudrate) override;
+
+  void EnableCommandedMode() override;
+
+  void SetMotionCommand(double linear_vel, double angular_vel) override;
+  void SetLightCommand(LightMode f_mode, uint8_t f_value) override;
+  void DisableLightControl() override;
+
+  void ResetRobotState() override;
+
+  ProtocolVersion GetProtocolVersion() override;
+
+  // get robot state
+  TracerState GetRobotState() override;
+
+ private:
+  RobotInterface* robot_;
+};
+}  // namespace westonrobot
+
+#endif /* TRACER_ROBOT_HPP */
diff --git a/src/mobile_robot/tracer_robot.cpp b/src/mobile_robot/tracer_robot.cpp
new file mode 100644
index 0000000..8e1d39f
--- /dev/null
+++ b/src/mobile_robot/tracer_robot.cpp
@@ -0,0 +1,52 @@
+/*
+ * tracer_robot.cpp
+ *
+ * Created on: Jul 13, 2021 22:13
+ * Description:
+ *
+ * Copyright (c) 2021 Weston Robot Pte. Ltd.
+ */
+
+#include "ugv_sdk/mobile_robot/tracer_robot.hpp"
+#include "ugv_sdk/details/robot_base/tracer_base.hpp"
+
+namespace westonrobot {
+TracerRobot::TracerRobot() {
+  robot_ = new TracerBaseV2();
+}
+
+TracerRobot::~TracerRobot() {
+  if (robot_) delete robot_;
+}
+
+void TracerRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
+
+void TracerRobot::Connect(std::string can_name) { robot_->Connect(can_name); }
+
+void TracerRobot::Connect(std::string uart_name, uint32_t baudrate) {
+  robot_->Connect(uart_name, baudrate);
+}
+
+void TracerRobot::ResetRobotState() { robot_->ResetRobotState(); }
+
+ProtocolVersion TracerRobot::GetProtocolVersion() {
+  return robot_->GetProtocolVersion();
+}
+
+void TracerRobot::SetMotionCommand(double linear_vel, double angular_vel) {
+  auto tracer = dynamic_cast<TracerInterface*>(robot_);
+  tracer->SetMotionCommand(linear_vel, angular_vel);
+}
+
+void TracerRobot::DisableLightControl() { robot_->DisableLightControl(); }
+
+void TracerRobot::SetLightCommand(LightMode f_mode, uint8_t f_value) {
+  auto tracer = dynamic_cast<TracerInterface*>(robot_);
+  tracer->SetLightCommand(f_mode, f_value);
+}
+
+TracerState TracerRobot::GetRobotState() {
+  auto tracer = dynamic_cast<TracerInterface*>(robot_);
+  return tracer->GetRobotState();
+}
+}  // namespace westonrobot
\ No newline at end of file