diff --git a/include/ugv_sdk/mobile_robot/scout_robot.hpp b/include/ugv_sdk/mobile_robot/scout_robot.hpp
index ce77279..0afe519 100644
--- a/include/ugv_sdk/mobile_robot/scout_robot.hpp
+++ b/include/ugv_sdk/mobile_robot/scout_robot.hpp
@@ -49,7 +49,6 @@ class ScoutRobot : public RobotCommonInterface, public ScoutInterface {
 class ScoutMiniOmniRobot : public ScoutRobot, public ScoutOmniInterface {
  public:
   ScoutMiniOmniRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2);
-  ~ScoutMiniOmniRobot();
 
   void SetMotionCommand(double linear_vel, double angular_vel,
                         double lateral_velocity) override;
diff --git a/src/mobile_robot/scout_robot.cpp b/src/mobile_robot/scout_robot.cpp
index 9821e1a..7a90c88 100644
--- a/src/mobile_robot/scout_robot.cpp
+++ b/src/mobile_robot/scout_robot.cpp
@@ -81,10 +81,6 @@ ScoutMiniOmniRobot::ScoutMiniOmniRobot(ProtocolVersion protocol)
   }
 }
 
-ScoutMiniOmniRobot::~ScoutMiniOmniRobot() {
-  if (robot_) delete robot_;
-}
-
 void ScoutMiniOmniRobot::SetMotionCommand(double linear_vel, double angular_vel,
                                           double lateral_velocity) {
   auto scout = dynamic_cast<ScoutOmniInterface*>(robot_);
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 2469631..4a4dcb6 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -20,4 +20,6 @@ target_include_directories(utests PRIVATE ${PRIVATE_HEADERS})
 # gtest_discover_tests(utests)
 # add_test(NAME gtest_all COMMAND utests)
 
-# add_subdirectory(devel)
\ No newline at end of file
+# add_subdirectory(devel)
+add_executable(scout_memory_check scout_memory_check.cpp)
+target_link_libraries(scout_memory_check ugv_sdk)
\ No newline at end of file
diff --git a/test/scout_memory_check.cpp b/test/scout_memory_check.cpp
new file mode 100644
index 0000000..2bf4f6f
--- /dev/null
+++ b/test/scout_memory_check.cpp
@@ -0,0 +1,48 @@
+/*
+ * scout_robot_demo.cpp
+ *
+ * Created on: Jul 08, 2021 11:12
+ * Description:
+ *
+ * Copyright (c) 2021 Weston Robot Pte. Ltd.
+ */
+
+#include <unistd.h>
+
+#include <memory>
+#include <iostream>
+
+#include "ugv_sdk/mobile_robot/scout_robot.hpp"
+#include "ugv_sdk/utilities/protocol_detector.hpp"
+
+using namespace westonrobot;
+
+int main(int argc, char **argv) {
+  std::string device_name;
+
+  if (argc == 2) {
+    device_name = {argv[1]};
+    std::cout << "Selected interface " << device_name << std::endl;
+  } else {
+    std::cout << "Usage: demo_scout_mini_omni_robot <interface>" << std::endl
+              << "Example 1: ./demo_scout_mini_omni_robot can0" << std::endl;
+    return -1;
+  }
+
+  std::unique_ptr<ScoutMiniOmniRobot> scout;
+
+  scout = std::unique_ptr<ScoutMiniOmniRobot>(
+      new ScoutMiniOmniRobot(ProtocolVersion::AGX_V2));
+
+  if (scout == nullptr)
+    std::cout << "Failed to create robot object" << std::endl;
+
+  scout->Connect(device_name);
+  scout->SetMotionCommand(0.0, 0.0, 0.8);
+
+  // get robot state
+  auto state = scout->GetRobotState();
+  auto actuator = scout->GetActuatorState();
+
+  return 0;
+}
\ No newline at end of file