diff --git a/CHANGELOG.md b/CHANGELOG.md
index c3eaba6..bbd763d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,12 +2,14 @@
 
 ## 0.1.5 (2020-06-17)
 -------------------
-* Merged multiple small libraries into one "wrpsdk"
+* Merged multiple small libraries into one "wrp_sdk"
 * Changed to "plain" project structure
+* Contributors: Ruixiang Du
 
 ## 0.1.4 (2020-04-01)
 -------------------
 * Added initial support of Hunter
+* Contributors: Ruixiang Du
 
 ## 0.1.3 (2019-09-15)
 ------------------
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 090c846..ad8219c 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,5 @@
 cmake_minimum_required(VERSION 3.10.2)
+project(wrp_sdk VERSION 0.1.5)
 
 find_program(CCACHE_PROGRAM ccache)
 if(CCACHE_PROGRAM)
@@ -6,10 +7,11 @@ if(CCACHE_PROGRAM)
     set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
 endif()
 
-project(wrp_sdk VERSION 0.1.5)
-
 ## Project Options
 option(BUILD_TESTS ON)
+option(STATIC_CHECK OFF)
+# set(CMAKE_BUILD_TYPE Release)
+# set(CMAKE_BUILD_TYPE Debug)
 
 ## Check if pkg is built with ROS catkin
 if(CATKIN_DEVEL_PREFIX)
@@ -23,6 +25,14 @@ endif()
 ## Generate symbols for IDE indexer
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
+if(STATIC_CHECK)
+    find_program(CPPCHECK cppcheck)
+    if(CPPCHECK)
+        message(STATUS "Found cppcheck")
+        set(CMAKE_CXX_CPPCHECK cppcheck;--std=c++11;--enable=all)
+    endif() 
+endif()
+
 ## Additional cmake module path
 set(USER_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 list(APPEND CMAKE_MODULE_PATH "${USER_CMAKE_PATH}/modules")
@@ -35,9 +45,6 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 ## Chosse build type
-# set(CMAKE_BUILD_TYPE Release)
-# set(CMAKE_BUILD_TYPE Debug)
-
 set(default_build_type "Release")
 if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
   message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
@@ -63,9 +70,9 @@ endif()
 find_package(Threads REQUIRED)
 
 add_library(${PROJECT_NAME} 
-    src/async_serial.cpp
-    src/async_can.cpp
-    src/asyncio_utils.cpp
+    src/asyncio/async_serial.cpp
+    src/asyncio/async_can.cpp
+    src/asyncio/asyncio_utils.cpp
     # agilex mobile platforms
     src/platforms/mobile_base.cpp
     src/platforms/hunter_base.cpp
diff --git a/include/wrp_sdk/platforms/scout/scout_base.hpp b/include/wrp_sdk/platforms/scout/scout_base.hpp
index 6ac6a4e..c859e36 100644
--- a/include/wrp_sdk/platforms/scout/scout_base.hpp
+++ b/include/wrp_sdk/platforms/scout/scout_base.hpp
@@ -48,7 +48,6 @@ class ScoutBase : public MobileBase {
   uint8_t tx_buffer_[SCOUT_CMD_BUF_LEN];
 
   // cmd/status update related variables
-  std::thread cmd_thread_;
   std::mutex scout_state_mutex_;
   std::mutex motion_cmd_mutex_;
   std::mutex light_cmd_mutex_;
@@ -57,9 +56,6 @@ class ScoutBase : public MobileBase {
   ScoutMotionCmd current_motion_cmd_;
   ScoutLightCmd current_light_cmd_;
 
-  
- 
-
   bool light_ctrl_enabled_ = false;
   bool light_ctrl_requested_ = false;
 
diff --git a/src/async_can.cpp b/src/asyncio/async_can.cpp
similarity index 100%
rename from src/async_can.cpp
rename to src/asyncio/async_can.cpp
diff --git a/src/async_serial.cpp b/src/asyncio/async_serial.cpp
similarity index 100%
rename from src/async_serial.cpp
rename to src/asyncio/async_serial.cpp
diff --git a/src/asyncio_utils.cpp b/src/asyncio/asyncio_utils.cpp
similarity index 100%
rename from src/asyncio_utils.cpp
rename to src/asyncio/asyncio_utils.cpp
diff --git a/src/asyncio_utils.hpp b/src/asyncio/asyncio_utils.hpp
similarity index 100%
rename from src/asyncio_utils.hpp
rename to src/asyncio/asyncio_utils.hpp