diff --git a/CMakeLists.txt b/CMakeLists.txt
index efaf17d..bf39434 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -67,7 +67,9 @@ if(BUILD_WITHOUT_ROS)
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
 endif()
 
-if(NOT BUILD_WITHOUT_ROS)
+if(BUILD_WITHOUT_ROS)
+    find_package(async_port REQUIRED)
+else()
     find_package(catkin REQUIRED COMPONENTS async_port)
     include_directories(
         include
@@ -80,7 +82,7 @@ find_package(Threads REQUIRED)
 
 add_library(${PROJECT_NAME} 
     # agx common
-    src/mobile_base.cpp
+    src/agilex_base.cpp
     src/agx_msg_parser.c
     # robot support
     src/scout_base.cpp
@@ -89,7 +91,7 @@ add_library(${PROJECT_NAME}
     # src/bunker_base.cpp
 )
 if(BUILD_WITHOUT_ROS)
-    target_link_libraries(${PROJECT_NAME} wrp_io Threads::Threads)
+    target_link_libraries(${PROJECT_NAME} westonrobot::async_port Threads::Threads)
 else()
     target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} Threads::Threads)
 endif() 
@@ -195,7 +197,7 @@ else() # BUILD_WITHOUT_ROS
     catkin_package(
         LIBRARIES ${PROJECT_NAME}
         INCLUDE_DIRS include 
-         CATKIN_DEPENDS wrp_io
+         CATKIN_DEPENDS async_port
         #  DEPENDS system_lib
     )
 
diff --git a/package.xml b/package.xml
index 6b8ca5d..e4f2f28 100644
--- a/package.xml
+++ b/package.xml
@@ -14,7 +14,7 @@
   <url type="repository">https://github.com/westonrobot/ugv_sdk</url>
 
   <buildtool_depend>catkin</buildtool_depend> 
-  <build_depend>wrp_io</build_depend>
-  <run_depend>wrp_io</run_depend>
+  <build_depend>async_port</build_depend>
+  <run_depend>async_port</run_depend>
   <export></export>
 </package>