diff --git a/include/ugv_sdk/interface/agilex_message.h b/include/ugv_sdk/details/interface/agilex_message.h
similarity index 100%
rename from include/ugv_sdk/interface/agilex_message.h
rename to include/ugv_sdk/details/interface/agilex_message.h
diff --git a/include/ugv_sdk/interface/parser_interface.hpp b/include/ugv_sdk/details/interface/parser_interface.hpp
similarity index 95%
rename from include/ugv_sdk/interface/parser_interface.hpp
rename to include/ugv_sdk/details/interface/parser_interface.hpp
index 36f280b..3d63008 100644
--- a/include/ugv_sdk/interface/parser_interface.hpp
+++ b/include/ugv_sdk/details/interface/parser_interface.hpp
@@ -24,7 +24,7 @@ struct can_frame {
 };
 #endif
 
-#include "ugv_sdk/interface/agilex_message.h"
+#include "ugv_sdk/details/interface/agilex_message.h"
 
 struct ParserInterface {
   // CAN support
diff --git a/include/ugv_sdk/interface/ranger_interface.hpp b/include/ugv_sdk/details/interface/ranger_interface.hpp
similarity index 100%
rename from include/ugv_sdk/interface/ranger_interface.hpp
rename to include/ugv_sdk/details/interface/ranger_interface.hpp
diff --git a/include/ugv_sdk/interface/robot_interface.hpp b/include/ugv_sdk/details/interface/robot_interface.hpp
similarity index 96%
rename from include/ugv_sdk/interface/robot_interface.hpp
rename to include/ugv_sdk/details/interface/robot_interface.hpp
index 92fc823..8d71221 100644
--- a/include/ugv_sdk/interface/robot_interface.hpp
+++ b/include/ugv_sdk/details/interface/robot_interface.hpp
@@ -12,7 +12,7 @@
 
 #include <string>
 
-#include "ugv_sdk/interface/agilex_message.h"
+#include "ugv_sdk/details/interface/agilex_message.h"
 
 namespace westonrobot {
 enum class ProtocolType { AGX_V1, AGX_V2 };
diff --git a/include/ugv_sdk/interface/scout_interface.hpp b/include/ugv_sdk/details/interface/scout_interface.hpp
similarity index 94%
rename from include/ugv_sdk/interface/scout_interface.hpp
rename to include/ugv_sdk/details/interface/scout_interface.hpp
index 0f655fd..46d2014 100644
--- a/include/ugv_sdk/interface/scout_interface.hpp
+++ b/include/ugv_sdk/details/interface/scout_interface.hpp
@@ -12,7 +12,7 @@
 
 #include <string>
 
-#include "ugv_sdk/interface/agilex_message.h"
+#include "ugv_sdk/details/interface/agilex_message.h"
 
 namespace westonrobot {
 struct ScoutState {
diff --git a/include/ugv_sdk/interface/tracer_interface.hpp b/include/ugv_sdk/details/interface/tracer_interface.hpp
similarity index 100%
rename from include/ugv_sdk/interface/tracer_interface.hpp
rename to include/ugv_sdk/details/interface/tracer_interface.hpp
diff --git a/include/ugv_sdk/protocol_v1/scout_base_v1.hpp b/include/ugv_sdk/details/protocol_v1/scout_base_v1.hpp
similarity index 100%
rename from include/ugv_sdk/protocol_v1/scout_base_v1.hpp
rename to include/ugv_sdk/details/protocol_v1/scout_base_v1.hpp
diff --git a/include/ugv_sdk/protocol_v1/scout_protocol_v1_parser.hpp b/include/ugv_sdk/details/protocol_v1/scout_protocol_v1_parser.hpp
similarity index 94%
rename from include/ugv_sdk/protocol_v1/scout_protocol_v1_parser.hpp
rename to include/ugv_sdk/details/protocol_v1/scout_protocol_v1_parser.hpp
index b040eaa..73b8e6b 100644
--- a/include/ugv_sdk/protocol_v1/scout_protocol_v1_parser.hpp
+++ b/include/ugv_sdk/details/protocol_v1/scout_protocol_v1_parser.hpp
@@ -10,7 +10,7 @@
 #ifndef SCOUT_PROTOCOL_V1_PARSER_HPP
 #define SCOUT_PROTOCOL_V1_PARSER_HPP
 
-#include "ugv_sdk/interface/parser_interface.hpp"
+#include "ugv_sdk/details/interface/parser_interface.hpp"
 
 namespace westonrobot {
 class ScoutProtocolV1Parser : public ParserInterface {
diff --git a/include/ugv_sdk/protocol_v2/agilex_msg_parser.h b/include/ugv_sdk/details/protocol_v2/agilex_msg_parser.h
similarity index 93%
rename from include/ugv_sdk/protocol_v2/agilex_msg_parser.h
rename to include/ugv_sdk/details/protocol_v2/agilex_msg_parser.h
index 3d91594..ec372ab 100644
--- a/include/ugv_sdk/protocol_v2/agilex_msg_parser.h
+++ b/include/ugv_sdk/details/protocol_v2/agilex_msg_parser.h
@@ -28,7 +28,7 @@ struct can_frame {
 };
 #endif
 
-#include "ugv_sdk/interface/agilex_message.h"
+#include "ugv_sdk/details/interface/agilex_message.h"
 
 bool DecodeCanFrame(const struct can_frame *rx_frame, AgxMessage *msg);
 void EncodeCanFrame(const AgxMessage *msg, struct can_frame *tx_frame);
diff --git a/include/ugv_sdk/protocol_v2/protocol_v2_parser.hpp b/include/ugv_sdk/details/protocol_v2/protocol_v2_parser.hpp
similarity index 91%
rename from include/ugv_sdk/protocol_v2/protocol_v2_parser.hpp
rename to include/ugv_sdk/details/protocol_v2/protocol_v2_parser.hpp
index 5f86ed8..0a18909 100644
--- a/include/ugv_sdk/protocol_v2/protocol_v2_parser.hpp
+++ b/include/ugv_sdk/details/protocol_v2/protocol_v2_parser.hpp
@@ -10,7 +10,7 @@
 #ifndef PROTOCOL_V2_PARSER_HPP
 #define PROTOCOL_V2_PARSER_HPP
 
-#include "ugv_sdk/interface/parser_interface.hpp"
+#include "ugv_sdk/details/interface/parser_interface.hpp"
 
 namespace westonrobot {
 class ProtocolV2Parser : public ParserInterface {
diff --git a/include/ugv_sdk/details/robot_base/agilex_base.hpp b/include/ugv_sdk/details/robot_base/agilex_base.hpp
index 996c26a..9a06c0a 100644
--- a/include/ugv_sdk/details/robot_base/agilex_base.hpp
+++ b/include/ugv_sdk/details/robot_base/agilex_base.hpp
@@ -24,9 +24,8 @@
 
 #include "ugv_sdk/details/stopwatch.hpp"
 #include "ugv_sdk/details/async_port/async_can.hpp"
-
-#include "ugv_sdk/interface/robot_interface.hpp"
-#include "ugv_sdk/protocol_v2/agilex_msg_parser.h"
+#include "ugv_sdk/details/interface/robot_interface.hpp"
+#include "ugv_sdk/details/protocol_v2/agilex_msg_parser.h"
 
 namespace westonrobot {
 template <typename ParserType>
diff --git a/include/ugv_sdk/details/robot_base/scout_base.hpp b/include/ugv_sdk/details/robot_base/scout_base.hpp
index 870574f..43b87d1 100644
--- a/include/ugv_sdk/details/robot_base/scout_base.hpp
+++ b/include/ugv_sdk/details/robot_base/scout_base.hpp
@@ -15,7 +15,7 @@
 #include <thread>
 #include <mutex>
 
-#include "ugv_sdk/interface/scout_interface.hpp"
+#include "ugv_sdk/details/interface/scout_interface.hpp"
 #include "ugv_sdk/details/robot_base/agilex_base.hpp"
 
 namespace westonrobot {
@@ -113,8 +113,8 @@ class ScoutBase : public AgilexBase<Parser>, public ScoutInterface {
 };
 }  // namespace westonrobot
 
-#include "ugv_sdk/protocol_v1/scout_protocol_v1_parser.hpp"
-#include "ugv_sdk/protocol_v2/protocol_v2_parser.hpp"
+#include "ugv_sdk/details/protocol_v1/scout_protocol_v1_parser.hpp"
+#include "ugv_sdk/details/protocol_v2/protocol_v2_parser.hpp"
 
 namespace westonrobot {
 using ScoutBaseV1 = ScoutBase<ScoutProtocolV1Parser>;
diff --git a/include/ugv_sdk/mobile_base/scout_robot.hpp b/include/ugv_sdk/mobile_base/scout_robot.hpp
index 022e3d2..f757850 100644
--- a/include/ugv_sdk/mobile_base/scout_robot.hpp
+++ b/include/ugv_sdk/mobile_base/scout_robot.hpp
@@ -12,8 +12,8 @@
 
 #include <memory>
 
-#include "ugv_sdk/interface/robot_interface.hpp"
-#include "ugv_sdk/interface/scout_interface.hpp"
+#include "ugv_sdk/details/interface/robot_interface.hpp"
+#include "ugv_sdk/details/interface/scout_interface.hpp"
 
 namespace westonrobot {
 class ScoutRobot : public RobotInterface, public ScoutInterface {
diff --git a/src/protocol_v1/scout/scout_protocol_v1_parser.cpp b/src/protocol_v1/scout/scout_protocol_v1_parser.cpp
index f9760ff..6b6c957 100644
--- a/src/protocol_v1/scout/scout_protocol_v1_parser.cpp
+++ b/src/protocol_v1/scout/scout_protocol_v1_parser.cpp
@@ -7,7 +7,7 @@
  * Copyright (c) 2021 Ruixiang Du (rdu)
  */
 
-#include "ugv_sdk/protocol_v1/scout_protocol_v1_parser.hpp"
+#include "ugv_sdk/details/protocol_v1/scout_protocol_v1_parser.hpp"
 
 #include "protocol_v1/scout/scout_can_parser.h"
 
diff --git a/src/protocol_v2/agx_msg_parser.c b/src/protocol_v2/agx_msg_parser.c
index 813c3cb..76d4227 100644
--- a/src/protocol_v2/agx_msg_parser.c
+++ b/src/protocol_v2/agx_msg_parser.c
@@ -8,7 +8,7 @@
  */
 
 #include "agx_protocol_v2.h"
-#include "ugv_sdk/protocol_v2/agilex_msg_parser.h"
+#include "ugv_sdk/details/protocol_v2/agilex_msg_parser.h"
 
 #include "stdio.h"
 #include "string.h"
diff --git a/src/protocol_v2/protocol_v2_parser.cpp b/src/protocol_v2/protocol_v2_parser.cpp
index 41c7e66..4341073 100644
--- a/src/protocol_v2/protocol_v2_parser.cpp
+++ b/src/protocol_v2/protocol_v2_parser.cpp
@@ -7,9 +7,8 @@
  * Copyright (c) 2021 Weston Robot Pte. Ltd.
  */
 
-#include "ugv_sdk/protocol_v2/agilex_msg_parser.h"
-
-#include "ugv_sdk/protocol_v2/protocol_v2_parser.hpp"
+#include "ugv_sdk/details/protocol_v2/agilex_msg_parser.h"
+#include "ugv_sdk/details/protocol_v2/protocol_v2_parser.hpp"
 
 namespace westonrobot {
 bool ProtocolV2Parser::DecodeMessage(const struct can_frame *rx_frame,