diff --git a/CMakeLists.txt b/CMakeLists.txt
old mode 100644
new mode 100755
index adc3011..efaf17d
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,211 @@
 cmake_minimum_required(VERSION 3.5.1)
-project(mobile_robot VERSION 0.2.0)
+project(ugv_sdk VERSION 0.1.5)
 
-add_subdirectory(ugv_sdk)
+find_program(CCACHE_PROGRAM ccache)
+if(CCACHE_PROGRAM)
+    message(STATUS "Found ccache")
+    set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
+endif()
+
+## Project Options
+option(BUILD_TESTS ON)
+option(STATIC_CHECK OFF)
+# set(CMAKE_BUILD_TYPE Release)
+# set(CMAKE_BUILD_TYPE Debug)
+
+## Check if pkg is built with ROS catkin
+if(CATKIN_DEVEL_PREFIX)
+    message(STATUS "Build package with catkin")
+    set(BUILD_WITHOUT_ROS OFF)
+    find_package(catkin REQUIRED)
+else()
+    message(STATUS "Build package with cmake")
+    set(BUILD_WITHOUT_ROS ON)    
+endif()
+
+## Generate symbols for IDE indexer
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+if(STATIC_CHECK)
+    find_program(CPPCHECK cppcheck)
+    if(CPPCHECK)
+        message(STATUS "Found cppcheck")
+        set(CMAKE_CXX_CPPCHECK cppcheck;--std=c++11;--enable=all)
+    endif() 
+endif()
+
+## Additional cmake module path
+set(USER_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH "${USER_CMAKE_PATH}/modules")
+list(APPEND CMAKE_PREFIX_PATH "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/cmake")
+list(APPEND CMAKE_PREFIX_PATH "/opt/weston_robot/lib/cmake")
+
+## Set compiler to use c++ 11 features
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+## Chosse build type
+set(default_build_type "Release")
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
+  set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
+      STRING "Choose the type of build." FORCE)
+  # Set the possible values of build type for cmake-gui
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+    "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif()
+
+if(BUILD_WITHOUT_ROS)
+    ## Use GNUInstallDirs to install libraries into correct locations on all platforms.
+    include(GNUInstallDirs)
+    message(STATUS "Project will be installed to ${CMAKE_INSTALL_PREFIX} with 'make install'")
+
+    ## Put all binary files into /bin and libraries into /lib
+    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
+    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
+    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
+endif()
+
+if(NOT BUILD_WITHOUT_ROS)
+    find_package(catkin REQUIRED COMPONENTS async_port)
+    include_directories(
+        include
+        ${catkin_INCLUDE_DIRS}
+    )
+endif()
+
+# Build libraries
+find_package(Threads REQUIRED)
+
+add_library(${PROJECT_NAME} 
+    # agx common
+    src/mobile_base.cpp
+    src/agx_msg_parser.c
+    # robot support
+    src/scout_base.cpp
+    # src/hunter_base.cpp
+    src/tracer_base.cpp
+    # src/bunker_base.cpp
+)
+if(BUILD_WITHOUT_ROS)
+    target_link_libraries(${PROJECT_NAME} wrp_io Threads::Threads)
+else()
+    target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} Threads::Threads)
+endif() 
+target_include_directories(${PROJECT_NAME} PUBLIC
+	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+	$<INSTALL_INTERFACE:include>
+    PRIVATE src)
+    
+# Build apps
+if(BUILD_WITHOUT_ROS)
+    # Check wether to build monitor tool
+    set(BUILD_MONITOR ON)
+    # Disable monitor if ncurses library is not found
+    set(CURSES_NEED_NCURSES TRUE)
+    find_package(Curses QUIET)
+    if(BUILD_MONITOR AND NOT CURSES_FOUND)
+        set(BUILD_MONITOR OFF)
+        message(STATUS "Monitor app will not be built due to missing ncurses library, try: sudo apt install libncurses5-dev")
+    endif()
+
+    # add app source directory
+    add_subdirectory(apps)
+endif()
+
+# Build tests
+# if(PROJECT_NAME STREQUAL CMAKE_PROJECT_NAME AND BUILD_TESTS)
+#     message(STATUS "Tests will be built")
+#     enable_testing()
+#     include(GoogleTest)
+#     add_subdirectory(tests)
+# else()
+#     message(STATUS "Tests will not be built")
+# endif()
+
+## Installation configuration
+if(BUILD_WITHOUT_ROS) # BUILD_WITHOUT_ROS
+
+    # Offer the user the choice of overriding the installation directories
+    set(INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR} CACHE PATH "Installation directory for libraries")
+    set(INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR} CACHE PATH "Installation directory for executables")
+    set(INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for header files")
+    if(WIN32 AND NOT CYGWIN)
+        set(DEF_INSTALL_CMAKEDIR CMake)
+    else()
+        set(DEF_INSTALL_CMAKEDIR share/cmake/${PROJECT_NAME})
+    endif()
+    set(INSTALL_CMAKEDIR ${DEF_INSTALL_CMAKEDIR} CACHE PATH "Installation directory for CMake files")
+
+    # Report to user
+    foreach(p LIB BIN INCLUDE CMAKE)
+        file(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX}/${INSTALL_${p}DIR} _path)
+        message(STATUS " - To install ${p} components to ${_path}")
+        unset(_path)
+    endforeach()
+
+    # targets to install
+    install(TARGETS ${PROJECT_NAME}
+        EXPORT ugv_sdkTargets
+        LIBRARY DESTINATION lib
+        ARCHIVE DESTINATION lib
+        RUNTIME DESTINATION bin
+        INCLUDES DESTINATION include)
+
+    install(DIRECTORY include/ugv_sdk
+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+    # export target configuration 
+    include(CMakePackageConfigHelpers)
+    write_basic_package_version_file(
+        ugv_sdkConfigVersion.cmake
+        VERSION "${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}"
+        COMPATIBILITY SameMajorVersion)
+
+    install(EXPORT ugv_sdkTargets
+        FILE ugv_sdkTargets.cmake
+        NAMESPACE westonrobot::
+        DESTINATION lib/cmake/ugv_sdk)
+
+    configure_file(cmake/ugv_sdkConfig.cmake.in ugv_sdkConfig.cmake @ONLY)
+    install(FILES "${CMAKE_CURRENT_BINARY_DIR}/ugv_sdkConfig.cmake"
+                "${CMAKE_CURRENT_BINARY_DIR}/ugv_sdkConfigVersion.cmake"
+            DESTINATION lib/cmake/ugv_sdk)
+
+    # Packaging support
+    set(CPACK_PACKAGE_VENDOR "Weston Robot")
+    set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Weston Robot Platform - SDK")
+    set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
+    set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
+    set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
+    set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/weston_robot")
+    set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
+    # set(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
+
+    set(CPACK_GENERATOR "DEB")
+    set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
+    set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Ruixiang Du (ruixiang.du@westonrobot.com)") 
+    # set(CPACK_DEBIAN_PACKAGE_DEPENDS "libasio-dev")
+    set(CPACK_SOURCE_IGNORE_FILES .git dist .*build.* /\\\\.DS_Store)
+    include(CPack)
+
+else() # BUILD_WITHOUT_ROS
+
+    catkin_package(
+        LIBRARIES ${PROJECT_NAME}
+        INCLUDE_DIRS include 
+         CATKIN_DEPENDS wrp_io
+        #  DEPENDS system_lib
+    )
+
+    ## Add catkin install targets
+    install(TARGETS ${PROJECT_NAME}
+      RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+      LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+      ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+    install(DIRECTORY include/${PROJECT_NAME}
+      DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
+
+endif() # BUILD_WITHOUT_ROS
diff --git a/LICENSE b/LICENSE
index c8c14c7..261eeb9 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,29 +1,201 @@
-BSD 3-Clause License
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
 
-Copyright (c) 2020, WestonRobot
-All rights reserved.
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+   1. Definitions.
 
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-   list of conditions and the following disclaimer.
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
 
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+      "Licensor" shall mean the copyright owner or entity authorized by
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-3. Neither the name of the copyright holder nor the names of its
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-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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diff --git a/ugv_sdk/apps/CMakeLists.txt b/apps/CMakeLists.txt
similarity index 100%
rename from ugv_sdk/apps/CMakeLists.txt
rename to apps/CMakeLists.txt
diff --git a/ugv_sdk/apps/hunter_demo/hunter_demo.cpp b/apps/hunter_demo/hunter_demo.cpp
similarity index 100%
rename from ugv_sdk/apps/hunter_demo/hunter_demo.cpp
rename to apps/hunter_demo/hunter_demo.cpp
diff --git a/ugv_sdk/apps/scout_demo/scout_demo.cpp b/apps/scout_demo/scout_demo.cpp
similarity index 100%
rename from ugv_sdk/apps/scout_demo/scout_demo.cpp
rename to apps/scout_demo/scout_demo.cpp
diff --git a/ugv_sdk/apps/scout_demo/scout_discharge.cpp b/apps/scout_demo/scout_discharge.cpp
similarity index 100%
rename from ugv_sdk/apps/scout_demo/scout_discharge.cpp
rename to apps/scout_demo/scout_discharge.cpp
diff --git a/ugv_sdk/apps/scout_monitor/CMakeLists.txt b/apps/scout_monitor/CMakeLists.txt
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/CMakeLists.txt
rename to apps/scout_monitor/CMakeLists.txt
diff --git a/ugv_sdk/apps/scout_monitor/app/CMakeLists.txt b/apps/scout_monitor/app/CMakeLists.txt
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/app/CMakeLists.txt
rename to apps/scout_monitor/app/CMakeLists.txt
diff --git a/ugv_sdk/apps/scout_monitor/app/app_scout_monitor.cpp b/apps/scout_monitor/app/app_scout_monitor.cpp
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/app/app_scout_monitor.cpp
rename to apps/scout_monitor/app/app_scout_monitor.cpp
diff --git a/ugv_sdk/apps/scout_monitor/color_demo.png b/apps/scout_monitor/color_demo.png
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/color_demo.png
rename to apps/scout_monitor/color_demo.png
diff --git a/ugv_sdk/apps/scout_monitor/include/monitor/ncolors.hpp b/apps/scout_monitor/include/monitor/ncolors.hpp
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/include/monitor/ncolors.hpp
rename to apps/scout_monitor/include/monitor/ncolors.hpp
diff --git a/ugv_sdk/apps/scout_monitor/include/monitor/nshapes.hpp b/apps/scout_monitor/include/monitor/nshapes.hpp
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/include/monitor/nshapes.hpp
rename to apps/scout_monitor/include/monitor/nshapes.hpp
diff --git a/ugv_sdk/apps/scout_monitor/include/monitor/scout_monitor.hpp b/apps/scout_monitor/include/monitor/scout_monitor.hpp
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/include/monitor/scout_monitor.hpp
rename to apps/scout_monitor/include/monitor/scout_monitor.hpp
diff --git a/ugv_sdk/apps/scout_monitor/src/ncolors.cpp b/apps/scout_monitor/src/ncolors.cpp
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/src/ncolors.cpp
rename to apps/scout_monitor/src/ncolors.cpp
diff --git a/ugv_sdk/apps/scout_monitor/src/nshapes.cpp b/apps/scout_monitor/src/nshapes.cpp
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/src/nshapes.cpp
rename to apps/scout_monitor/src/nshapes.cpp
diff --git a/ugv_sdk/apps/scout_monitor/src/scout_monitor.cpp b/apps/scout_monitor/src/scout_monitor.cpp
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/src/scout_monitor.cpp
rename to apps/scout_monitor/src/scout_monitor.cpp
diff --git a/ugv_sdk/apps/scout_monitor/tests/CMakeLists.txt b/apps/scout_monitor/tests/CMakeLists.txt
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/tests/CMakeLists.txt
rename to apps/scout_monitor/tests/CMakeLists.txt
diff --git a/ugv_sdk/apps/scout_monitor/tests/test_ncolor.c b/apps/scout_monitor/tests/test_ncolor.c
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/tests/test_ncolor.c
rename to apps/scout_monitor/tests/test_ncolor.c
diff --git a/ugv_sdk/apps/scout_monitor/tests/test_ncolor2.cpp b/apps/scout_monitor/tests/test_ncolor2.cpp
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/tests/test_ncolor2.cpp
rename to apps/scout_monitor/tests/test_ncolor2.cpp
diff --git a/ugv_sdk/apps/scout_monitor/tests/test_ncurses.cpp b/apps/scout_monitor/tests/test_ncurses.cpp
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/tests/test_ncurses.cpp
rename to apps/scout_monitor/tests/test_ncurses.cpp
diff --git a/ugv_sdk/apps/scout_monitor/tests/test_scout_monitor.cpp b/apps/scout_monitor/tests/test_scout_monitor.cpp
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/tests/test_scout_monitor.cpp
rename to apps/scout_monitor/tests/test_scout_monitor.cpp
diff --git a/ugv_sdk/apps/scout_monitor/tests/test_scout_monitor_virtual.cpp b/apps/scout_monitor/tests/test_scout_monitor_virtual.cpp
similarity index 100%
rename from ugv_sdk/apps/scout_monitor/tests/test_scout_monitor_virtual.cpp
rename to apps/scout_monitor/tests/test_scout_monitor_virtual.cpp
diff --git a/ugv_sdk/apps/tracer_demo/tracer_demo.cpp b/apps/tracer_demo/tracer_demo.cpp
similarity index 100%
rename from ugv_sdk/apps/tracer_demo/tracer_demo.cpp
rename to apps/tracer_demo/tracer_demo.cpp
diff --git a/ugv_sdk/cmake/ugv_sdkConfig.cmake.in b/cmake/ugv_sdkConfig.cmake.in
similarity index 100%
rename from ugv_sdk/cmake/ugv_sdkConfig.cmake.in
rename to cmake/ugv_sdkConfig.cmake.in
diff --git a/ugv_sdk/include/ugv_sdk/hunter/hunter_base.hpp b/include/ugv_sdk/hunter/hunter_base.hpp
similarity index 100%
rename from ugv_sdk/include/ugv_sdk/hunter/hunter_base.hpp
rename to include/ugv_sdk/hunter/hunter_base.hpp
diff --git a/ugv_sdk/include/ugv_sdk/hunter/hunter_types.hpp b/include/ugv_sdk/hunter/hunter_types.hpp
similarity index 100%
rename from ugv_sdk/include/ugv_sdk/hunter/hunter_types.hpp
rename to include/ugv_sdk/hunter/hunter_types.hpp
diff --git a/ugv_sdk/include/ugv_sdk/mobile_base.hpp b/include/ugv_sdk/mobile_base.hpp
similarity index 96%
rename from ugv_sdk/include/ugv_sdk/mobile_base.hpp
rename to include/ugv_sdk/mobile_base.hpp
index 3adc3a1..e12668e 100644
--- a/ugv_sdk/include/ugv_sdk/mobile_base.hpp
+++ b/include/ugv_sdk/mobile_base.hpp
@@ -19,8 +19,8 @@
 #include <mutex>
 #include <atomic>
 
-#include "wrp_io/async_can.hpp"
-#include "wrp_io/async_serial.hpp"
+#include "async_port/async_can.hpp"
+#include "async_port/async_serial.hpp"
 
 namespace westonrobot {
 class MobileBase {
diff --git a/ugv_sdk/include/ugv_sdk/proto/agx_msg_parser.h b/include/ugv_sdk/proto/agx_msg_parser.h
similarity index 100%
rename from ugv_sdk/include/ugv_sdk/proto/agx_msg_parser.h
rename to include/ugv_sdk/proto/agx_msg_parser.h
diff --git a/ugv_sdk/include/ugv_sdk/proto/agx_protocol_v2.h b/include/ugv_sdk/proto/agx_protocol_v2.h
similarity index 100%
rename from ugv_sdk/include/ugv_sdk/proto/agx_protocol_v2.h
rename to include/ugv_sdk/proto/agx_protocol_v2.h
diff --git a/ugv_sdk/include/ugv_sdk/scout/scout_base.hpp b/include/ugv_sdk/scout/scout_base.hpp
similarity index 100%
rename from ugv_sdk/include/ugv_sdk/scout/scout_base.hpp
rename to include/ugv_sdk/scout/scout_base.hpp
diff --git a/ugv_sdk/include/ugv_sdk/scout/scout_types.hpp b/include/ugv_sdk/scout/scout_types.hpp
similarity index 100%
rename from ugv_sdk/include/ugv_sdk/scout/scout_types.hpp
rename to include/ugv_sdk/scout/scout_types.hpp
diff --git a/ugv_sdk/include/ugv_sdk/tracer/tracer_base.hpp b/include/ugv_sdk/tracer/tracer_base.hpp
similarity index 100%
rename from ugv_sdk/include/ugv_sdk/tracer/tracer_base.hpp
rename to include/ugv_sdk/tracer/tracer_base.hpp
diff --git a/ugv_sdk/include/ugv_sdk/tracer/tracer_types.hpp b/include/ugv_sdk/tracer/tracer_types.hpp
similarity index 100%
rename from ugv_sdk/include/ugv_sdk/tracer/tracer_types.hpp
rename to include/ugv_sdk/tracer/tracer_types.hpp
diff --git a/ugv_sdk/package.xml b/package.xml
similarity index 100%
rename from ugv_sdk/package.xml
rename to package.xml
diff --git a/ugv_sdk/src/agx_msg_parser.c b/src/agx_msg_parser.c
similarity index 100%
rename from ugv_sdk/src/agx_msg_parser.c
rename to src/agx_msg_parser.c
diff --git a/ugv_sdk/src/hunter_base.cpp b/src/hunter_base.cpp
similarity index 100%
rename from ugv_sdk/src/hunter_base.cpp
rename to src/hunter_base.cpp
diff --git a/ugv_sdk/src/mobile_base.cpp b/src/mobile_base.cpp
similarity index 100%
rename from ugv_sdk/src/mobile_base.cpp
rename to src/mobile_base.cpp
diff --git a/ugv_sdk/src/scout_base.cpp b/src/scout_base.cpp
similarity index 100%
rename from ugv_sdk/src/scout_base.cpp
rename to src/scout_base.cpp
diff --git a/ugv_sdk/src/stopwatch.hpp b/src/stopwatch.hpp
similarity index 100%
rename from ugv_sdk/src/stopwatch.hpp
rename to src/stopwatch.hpp
diff --git a/ugv_sdk/src/tracer_base.cpp b/src/tracer_base.cpp
similarity index 100%
rename from ugv_sdk/src/tracer_base.cpp
rename to src/tracer_base.cpp
diff --git a/ugv_sdk/CMakeLists.txt b/ugv_sdk/CMakeLists.txt
deleted file mode 100755
index e58d4c0..0000000
--- a/ugv_sdk/CMakeLists.txt
+++ /dev/null
@@ -1,211 +0,0 @@
-cmake_minimum_required(VERSION 3.5.1)
-project(ugv_sdk VERSION 0.1.5)
-
-find_program(CCACHE_PROGRAM ccache)
-if(CCACHE_PROGRAM)
-    message(STATUS "Found ccache")
-    set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
-endif()
-
-## Project Options
-option(BUILD_TESTS ON)
-option(STATIC_CHECK OFF)
-# set(CMAKE_BUILD_TYPE Release)
-# set(CMAKE_BUILD_TYPE Debug)
-
-## Check if pkg is built with ROS catkin
-if(CATKIN_DEVEL_PREFIX)
-    message(STATUS "Build package with catkin")
-    set(BUILD_WITHOUT_ROS OFF)
-    find_package(catkin REQUIRED)
-else()
-    message(STATUS "Build package with cmake")
-    set(BUILD_WITHOUT_ROS ON)    
-endif()
-
-## Generate symbols for IDE indexer
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
-if(STATIC_CHECK)
-    find_program(CPPCHECK cppcheck)
-    if(CPPCHECK)
-        message(STATUS "Found cppcheck")
-        set(CMAKE_CXX_CPPCHECK cppcheck;--std=c++11;--enable=all)
-    endif() 
-endif()
-
-## Additional cmake module path
-set(USER_CMAKE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-list(APPEND CMAKE_MODULE_PATH "${USER_CMAKE_PATH}/modules")
-list(APPEND CMAKE_PREFIX_PATH "/usr/lib/${CMAKE_SYSTEM_PROCESSOR}-linux-gnu/cmake")
-list(APPEND CMAKE_PREFIX_PATH "/opt/weston_robot/lib/cmake")
-
-## Set compiler to use c++ 11 features
-set(CMAKE_CXX_STANDARD 11)
-set(CMAKE_CXX_EXTENSIONS OFF)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-## Chosse build type
-set(default_build_type "Release")
-if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
-  message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
-  set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
-      STRING "Choose the type of build." FORCE)
-  # Set the possible values of build type for cmake-gui
-  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
-    "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
-endif()
-
-if(BUILD_WITHOUT_ROS)
-    ## Use GNUInstallDirs to install libraries into correct locations on all platforms.
-    include(GNUInstallDirs)
-    message(STATUS "Project will be installed to ${CMAKE_INSTALL_PREFIX} with 'make install'")
-
-    ## Put all binary files into /bin and libraries into /lib
-    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
-    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
-    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
-endif()
-
-if(NOT BUILD_WITHOUT_ROS)
-    find_package(catkin REQUIRED COMPONENTS wrp_io)
-    include_directories(
-        include
-        ${catkin_INCLUDE_DIRS}
-    )
-endif()
-
-# Build libraries
-find_package(Threads REQUIRED)
-
-add_library(${PROJECT_NAME} 
-    # agx common
-    src/mobile_base.cpp
-    src/agx_msg_parser.c
-    # robot support
-    src/scout_base.cpp
-    # src/hunter_base.cpp
-    src/tracer_base.cpp
-    # src/bunker_base.cpp
-)
-if(BUILD_WITHOUT_ROS)
-    target_link_libraries(${PROJECT_NAME} wrp_io Threads::Threads)
-else()
-    target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} Threads::Threads)
-endif() 
-target_include_directories(${PROJECT_NAME} PUBLIC
-	$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-	$<INSTALL_INTERFACE:include>
-    PRIVATE src)
-    
-# Build apps
-if(BUILD_WITHOUT_ROS)
-    # Check wether to build monitor tool
-    set(BUILD_MONITOR ON)
-    # Disable monitor if ncurses library is not found
-    set(CURSES_NEED_NCURSES TRUE)
-    find_package(Curses QUIET)
-    if(BUILD_MONITOR AND NOT CURSES_FOUND)
-        set(BUILD_MONITOR OFF)
-        message(STATUS "Monitor app will not be built due to missing ncurses library, try: sudo apt install libncurses5-dev")
-    endif()
-
-    # add app source directory
-    add_subdirectory(apps)
-endif()
-
-# Build tests
-# if(PROJECT_NAME STREQUAL CMAKE_PROJECT_NAME AND BUILD_TESTS)
-#     message(STATUS "Tests will be built")
-#     enable_testing()
-#     include(GoogleTest)
-#     add_subdirectory(tests)
-# else()
-#     message(STATUS "Tests will not be built")
-# endif()
-
-## Installation configuration
-if(BUILD_WITHOUT_ROS) # BUILD_WITHOUT_ROS
-
-    # Offer the user the choice of overriding the installation directories
-    set(INSTALL_LIBDIR ${CMAKE_INSTALL_LIBDIR} CACHE PATH "Installation directory for libraries")
-    set(INSTALL_BINDIR ${CMAKE_INSTALL_BINDIR} CACHE PATH "Installation directory for executables")
-    set(INSTALL_INCLUDEDIR ${CMAKE_INSTALL_INCLUDEDIR} CACHE PATH "Installation directory for header files")
-    if(WIN32 AND NOT CYGWIN)
-        set(DEF_INSTALL_CMAKEDIR CMake)
-    else()
-        set(DEF_INSTALL_CMAKEDIR share/cmake/${PROJECT_NAME})
-    endif()
-    set(INSTALL_CMAKEDIR ${DEF_INSTALL_CMAKEDIR} CACHE PATH "Installation directory for CMake files")
-
-    # Report to user
-    foreach(p LIB BIN INCLUDE CMAKE)
-        file(TO_NATIVE_PATH ${CMAKE_INSTALL_PREFIX}/${INSTALL_${p}DIR} _path)
-        message(STATUS " - To install ${p} components to ${_path}")
-        unset(_path)
-    endforeach()
-
-    # targets to install
-    install(TARGETS ${PROJECT_NAME}
-        EXPORT ugv_sdkTargets
-        LIBRARY DESTINATION lib
-        ARCHIVE DESTINATION lib
-        RUNTIME DESTINATION bin
-        INCLUDES DESTINATION include)
-
-    install(DIRECTORY include/ugv_sdk
-        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
-
-    # export target configuration 
-    include(CMakePackageConfigHelpers)
-    write_basic_package_version_file(
-        ugv_sdkConfigVersion.cmake
-        VERSION "${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}"
-        COMPATIBILITY SameMajorVersion)
-
-    install(EXPORT ugv_sdkTargets
-        FILE ugv_sdkTargets.cmake
-        NAMESPACE westonrobot::
-        DESTINATION lib/cmake/ugv_sdk)
-
-    configure_file(cmake/ugv_sdkConfig.cmake.in ugv_sdkConfig.cmake @ONLY)
-    install(FILES "${CMAKE_CURRENT_BINARY_DIR}/ugv_sdkConfig.cmake"
-                "${CMAKE_CURRENT_BINARY_DIR}/ugv_sdkConfigVersion.cmake"
-            DESTINATION lib/cmake/ugv_sdk)
-
-    # Packaging support
-    set(CPACK_PACKAGE_VENDOR "Weston Robot")
-    set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Weston Robot Platform - SDK")
-    set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
-    set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
-    set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
-    set(CPACK_PACKAGING_INSTALL_PREFIX "/opt/weston_robot")
-    set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
-    # set(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
-
-    set(CPACK_GENERATOR "DEB")
-    set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
-    set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Ruixiang Du (ruixiang.du@westonrobot.com)") 
-    # set(CPACK_DEBIAN_PACKAGE_DEPENDS "libasio-dev")
-    set(CPACK_SOURCE_IGNORE_FILES .git dist .*build.* /\\\\.DS_Store)
-    include(CPack)
-
-else() # BUILD_WITHOUT_ROS
-
-    catkin_package(
-        LIBRARIES ${PROJECT_NAME}
-        INCLUDE_DIRS include 
-         CATKIN_DEPENDS wrp_io
-        #  DEPENDS system_lib
-    )
-
-    ## Add catkin install targets
-    install(TARGETS ${PROJECT_NAME}
-      RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-      LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-      ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
-
-    install(DIRECTORY include/${PROJECT_NAME}
-      DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
-
-endif() # BUILD_WITHOUT_ROS
diff --git a/ugv_sdk/LICENSE b/ugv_sdk/LICENSE
deleted file mode 100644
index c8c14c7..0000000
--- a/ugv_sdk/LICENSE
+++ /dev/null
@@ -1,29 +0,0 @@
-BSD 3-Clause License
-
-Copyright (c) 2020, WestonRobot
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-
-3. Neither the name of the copyright holder nor the names of its
-   contributors may be used to endorse or promote products derived from
-   this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.