diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 2994d94..d44a44b 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -6,32 +6,62 @@ xenial-cpp-build:
     - cd / && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git
     - cd /async_port && mkdir build && cd build
     - cmake .. && cpack
-    - dkpg async_port_0.1.0_amd64.deb
+    - apt install ./async_port_0.1.0_amd64.deb
     - cd /ugv_sdk
     - mkdir build && cd build
     - cmake -DCMAKE_BUILD_TYPE=Release ..
     - cmake --build . && cpack
 
-# bionic-cpp-build:
-#   stage: build
-#   image: rduweston/ubuntu-ci:18.04
-#   script:
-#     - mkdir build && cd build
-#     - cmake -DCMAKE_BUILD_TYPE=Release ..
-#     - cmake --build . && cpack
+bionic-cpp-build:
+  stage: build
+  image: rduweston/ubuntu-ci:18.04
+  script:
+    - cd / && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git
+    - cd /async_port && mkdir build && cd build
+    - cmake .. && cpack
+    - apt install ./async_port_0.1.0_amd64.deb
+    - cd /ugv_sdk
+    - mkdir build && cd build
+    - cmake -DCMAKE_BUILD_TYPE=Release ..
+    - cmake --build . && cpack
 
-# focal-cpp-build:
-#   stage: build
-#   image: rduweston/ubuntu-ci:20.04
-#   script:
-#     - mkdir build && cd build
-#     - cmake -DCMAKE_BUILD_TYPE=Release ..
-#     - cmake --build . && cpack
+focal-cpp-build:
+  stage: build
+  image: rduweston/ubuntu-ci:20.04
+  script:
+    - cd / && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git
+    - cd /async_port && mkdir build && cd build
+    - cmake .. && cpack
+    - apt install ./async_port_0.1.0_amd64.deb
+    - cd /ugv_sdk
+    - mkdir build && cd build
+    - cmake -DCMAKE_BUILD_TYPE=Release ..
+    - cmake --build . && cpack
 
 ## Build and test as catkin package
 kinetic-catkin-build:
   stage: build
   image: rduweston/ubuntu-ci:kinetic
+  script:
+    - mkdir -p /catkin_ws/src/ugv_sdk/ugv_sdk && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/ugv_sdk
+    - cd /catkin_ws/src/ugv_sdk
+    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git
+    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
+
+kinetic-catkin-isolated-build:
+  stage: build
+  image: rduweston/ubuntu-ci:kinetic
+  script:
+    - mkdir -p /catkin_ws/src/ugv_sdk/ugv_sdk && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/ugv_sdk
+    - cd /catkin_ws/src/ugv_sdk 
+    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git
+    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
+
+melodic-catkin-build:
+  stage: build
+  image: rduweston/ubuntu-ci:melodic
   script:
     - mkdir -p /catkin_ws/src/ugv_sdk && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/ugv_sdk
@@ -39,52 +69,32 @@ kinetic-catkin-build:
     - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git
     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
 
-# kinetic-catkin-isolated-build:
-#   stage: build
-#   image: rduweston/ubuntu-ci:kinetic
-#   script:
-#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
-#     - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
-#     - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
-#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
+melodic-catkin-isolated-build:
+  stage: build
+  image: rduweston/ubuntu-ci:melodic
+  script:
+    - mkdir -p /catkin_ws/src/ugv_sdk && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/ugv_sdk
+    - cd /catkin_ws/src/ugv_sdk
+    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git
+    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
 
-# melodic-catkin-build:
-#   stage: build
-#   image: rduweston/ubuntu-ci:melodic
-#   script:
-#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
-#     - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
-#     - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
-#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
+noetic-catkin-build:
+  stage: build
+  image: rduweston/ubuntu-ci:noetic
+  script:
+    - mkdir -p /catkin_ws/src/ugv_sdk && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/ugv_sdk
+    - cd /catkin_ws/src/ugv_sdk
+    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git
+    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
 
-# melodic-catkin-isolated-build:
-#   stage: build
-#   image: rduweston/ubuntu-ci:melodic
-#   script:
-#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
-#     - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
-#     - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
-#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
-
-# noetic-catkin-build:
-#   stage: build
-#   image: rduweston/ubuntu-ci:noetic
-#   script:
-#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
-#     - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
-#     - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
-#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
-
-# noetic-catkin-isolated-build:
-#   stage: build
-#   image: rduweston/ubuntu-ci:noetic
-#   script:
-#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_sdk
-#     - cd /catkin_ws/src/wrp_sdk && git submodule update --init --recursive
-#     - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/ros/scout_base.git
-#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
\ No newline at end of file
+noetic-catkin-isolated-build:
+  stage: build
+  image: rduweston/ubuntu-ci:noetic
+  script:
+    - mkdir -p /catkin_ws/src/ugv_sdk && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/ugv_sdk
+    - cd /catkin_ws/src/ugv_sdk
+    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/async_port.git
+    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
\ No newline at end of file