diff --git a/include/ugv_sdk/details/robot_base/tracer_base.cpp b/include/ugv_sdk/details/robot_base/tracer_base.cpp
deleted file mode 100644
index 8f1a54d..0000000
--- a/include/ugv_sdk/details/robot_base/tracer_base.cpp
+++ /dev/null
@@ -1,91 +0,0 @@
-#include "ugv_sdk/protocol_v2/tracer_base.hpp"
-
-#include <string>
-#include <cstring>
-#include <iostream>
-#include <algorithm>
-#include <array>
-#include <chrono>
-#include <cstdint>
-#include <ratio>
-#include <thread>
-
-#include "stopwatch.hpp"
-
-#include "ugv_sdk/protocol_v2/agilex_msg_parser.h"
-
-namespace westonrobot {
-void TracerBaseV2::Connect(std::string dev_name) {
-  AgilexBase::ConnectPort(dev_name, std::bind(&TracerBaseV2::ParseCANFrame, this,
-                                              std::placeholders::_1));
-}
-
-void TracerBaseV2::Connect(std::string uart_name, uint32_t baudrate) {
-  // TODO
-}
-
-void TracerBaseV2::SetMotionCommand(double linear_vel, double angular_vel) {
-  AgilexBase::SetMotionCommand(linear_vel, angular_vel, 0.0, 0.0);
-}
-
-void TracerBaseV2::SetLightCommand(const TracerLightCmd &cmd) {
-  if (cmd.enable_cmd_ctrl) {
-    AgilexBase::SendLightCommand(cmd.front_mode, cmd.front_custom_value,
-                                 LightMode::CONST_OFF, 0);
-  }
-}
-
-TracerState TracerBaseV2::GetTracerState() {
-  std::lock_guard<std::mutex> guard(state_mutex_);
-  return tracer_state_;
-}
-
-void TracerBaseV2::ParseCANFrame(can_frame *rx_frame) {
-  AgxMessage status_msg;
-  DecodeCanFrameV2(rx_frame, &status_msg);
-  std::lock_guard<std::mutex> guard(state_mutex_);
-  UpdateTracerState(status_msg, tracer_state_);
-}
-
-void TracerBaseV2::UpdateTracerState(const AgxMessage &status_msg,
-                                   TracerState &state) {
-  switch (status_msg.type) {
-    case AgxMsgSystemState: {
-      //   std::cout << "system status feedback received" << std::endl;
-      state.system_state = status_msg.body.system_state_msg;
-      break;
-    }
-    case AgxMsgMotionState: {
-      // std::cout << "motion control feedback received" << std::endl;
-      state.motion_state = status_msg.body.motion_state_msg;
-      break;
-    }
-    case AgxMsgLightState: {
-      // std::cout << "light control feedback received" << std::endl;
-      state.light_state = status_msg.body.light_state_msg;
-      break;
-    }
-    case AgxMsgRcState: {
-      state.rc_state = status_msg.body.rc_state_msg;
-      break;
-    }
-    case AgxMsgActuatorHSState: {
-      // std::cout << "actuator hs feedback received" << std::endl;
-      state.actuator_hs_state[status_msg.body.actuator_hs_state_msg.motor_id] =
-          status_msg.body.actuator_hs_state_msg;
-      break;
-    }
-    case AgxMsgActuatorLSState: {
-      // std::cout << "actuator ls feedback received" << std::endl;
-      state.actuator_ls_state[status_msg.body.actuator_ls_state_msg.motor_id] =
-          status_msg.body.actuator_ls_state_msg;
-      break;
-    }
-    /* sensor feedback */
-    case AgxMsgOdometry: {
-      // std::cout << "Odometer msg feedback received" << std::endl;
-      state.odometry = status_msg.body.odometry_msg;
-    }
-  }
-}
-}  // namespace westonrobot