diff --git a/README.md b/README.md
index 702fb57..3c1cd0f 100644
--- a/README.md
+++ b/README.md
@@ -55,7 +55,7 @@ Please use **C++ Simulation** in this [Mujoco Simulation](https://github.com/leg
     cd ~/ros2_ws
     colcon build --packages-up-to hardware_unitree_mujoco
     ```
-* Launch the unitree mujoco go2 simulation
+* Follow the guide in [unitree_mujoco](https://github.com/legubiao/unitree_mujoco) to launch the unitree mujoco go2 simulation
 * Launch the ros2-control
     ```bash
     source ~/ros2_ws/install/setup.bash
diff --git a/controllers/ocs2_quadruped_controller/README.md b/controllers/ocs2_quadruped_controller/README.md
index e4e5ca3..3d20ac0 100644
--- a/controllers/ocs2_quadruped_controller/README.md
+++ b/controllers/ocs2_quadruped_controller/README.md
@@ -38,6 +38,7 @@ Required hardware interfaces:
 ## 2. Build
 
 ### 2.1 Build Dependencies
+Before install OCS2 ROS2, please follow the guide to install [Pinocchio](https://stack-of-tasks.github.io/pinocchio/download.html), don't use the pinocchio install by rosdep!
 
 * OCS2 ROS2 Libraries
   ```bash
diff --git a/controllers/ocs2_quadruped_controller/package.xml b/controllers/ocs2_quadruped_controller/package.xml
index ae350cf..9dd3692 100644
--- a/controllers/ocs2_quadruped_controller/package.xml
+++ b/controllers/ocs2_quadruped_controller/package.xml
@@ -15,6 +15,7 @@
   <depend>control_input_msgs</depend>
   <depend>qpoases_colcon</depend>
   <depend>ocs2_self_collision</depend>
+  <depend>ocs2_legged_robot_ros</depend>
   <depend>angles</depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.h b/controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.h
index 85595f3..168960e 100644
--- a/controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.h
+++ b/controllers/ocs2_quadruped_controller/src/Ocs2QuadrupedController.h
@@ -19,43 +19,34 @@
 namespace ocs2::legged_robot {
     class Ocs2QuadrupedController final : public controller_interface::ControllerInterface {
     public:
-        CONTROLLER_INTERFACE_PUBLIC
         Ocs2QuadrupedController() = default;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::return_type update(
             const rclcpp::Time &time, const rclcpp::Duration &period) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
+
         controller_interface::CallbackReturn on_init() override;
 
-        CONTROLLER_INTERFACE_PUBLIC
+
         controller_interface::CallbackReturn on_configure(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_activate(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_deactivate(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_cleanup(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_shutdown(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_error(
             const rclcpp_lifecycle::State &previous_state) override;
 
diff --git a/controllers/rl_quadruped_controller/src/RlQuadrupedController.h b/controllers/rl_quadruped_controller/src/RlQuadrupedController.h
index 8e864fd..abc7ccd 100644
--- a/controllers/rl_quadruped_controller/src/RlQuadrupedController.h
+++ b/controllers/rl_quadruped_controller/src/RlQuadrupedController.h
@@ -24,43 +24,32 @@ namespace rl_quadruped_controller {
 
     class LeggedGymController final : public controller_interface::ControllerInterface {
     public:
-        CONTROLLER_INTERFACE_PUBLIC
         LeggedGymController() = default;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::return_type update(
             const rclcpp::Time &time, const rclcpp::Duration &period) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_init() override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_configure(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_activate(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_deactivate(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_cleanup(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_shutdown(
             const rclcpp_lifecycle::State &previous_state) override;
-
-        CONTROLLER_INTERFACE_PUBLIC
+            
         controller_interface::CallbackReturn on_error(
             const rclcpp_lifecycle::State &previous_state) override;
 
diff --git a/controllers/unitree_guide_controller/include/unitree_guide_controller/UnitreeGuideController.h b/controllers/unitree_guide_controller/include/unitree_guide_controller/UnitreeGuideController.h
index f23cf5c..02eea16 100644
--- a/controllers/unitree_guide_controller/include/unitree_guide_controller/UnitreeGuideController.h
+++ b/controllers/unitree_guide_controller/include/unitree_guide_controller/UnitreeGuideController.h
@@ -33,43 +33,32 @@ namespace unitree_guide_controller {
 
     class UnitreeGuideController final : public controller_interface::ControllerInterface {
     public:
-        CONTROLLER_INTERFACE_PUBLIC
         UnitreeGuideController() = default;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::InterfaceConfiguration command_interface_configuration() const override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::return_type update(
             const rclcpp::Time &time, const rclcpp::Duration &period) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_init() override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_configure(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_activate(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_deactivate(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_cleanup(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_error(
             const rclcpp_lifecycle::State &previous_state) override;
 
-        CONTROLLER_INTERFACE_PUBLIC
         controller_interface::CallbackReturn on_shutdown(
             const rclcpp_lifecycle::State &previous_state) override;