diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1bd44b6f..95bc7e86 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -101,6 +101,7 @@ add_library(${PROJECT_NAME}
     src/mobile_robot/bunker_robot.cpp
     src/mobile_robot/ranger_robot.cpp
     src/mobile_robot/titan_robot.cpp
+    src/mobile_robot/tracer_robot.cpp
     ########################
     ## protocol v2 support
     src/protocol_v2/agilex_msg_parser_v2.c
diff --git a/include/ugv_sdk/details/interface/bunker_interface.hpp b/include/ugv_sdk/details/interface/bunker_interface.hpp
index 6b5f68e1..a4ac4c74 100644
--- a/include/ugv_sdk/details/interface/bunker_interface.hpp
+++ b/include/ugv_sdk/details/interface/bunker_interface.hpp
@@ -34,6 +34,12 @@ struct BunkerActuatorState {
   ActuatorStateMessageV1 actuator_state[2];
 };
 
+struct BunkerCommonSensorState {
+  SdkTimePoint time_stamp;
+
+  BmsBasicMessage bms_basic_state;
+  BmsExtendedMessage bms_extended_state;
+};
 struct BunkerInterface {
   virtual ~BunkerInterface() = default;
 
@@ -42,6 +48,8 @@ struct BunkerInterface {
   // get robot state
   virtual BunkerCoreState GetRobotState() = 0;
   virtual BunkerActuatorState GetActuatorState() = 0;
+  virtual BunkerCommonSensorState GetCommonSensorState() = 0;
+
 };
 }  // namespace westonrobot
 
diff --git a/include/ugv_sdk/details/interface/ranger_interface.hpp b/include/ugv_sdk/details/interface/ranger_interface.hpp
index 00a8c720..51b49fcc 100644
--- a/include/ugv_sdk/details/interface/ranger_interface.hpp
+++ b/include/ugv_sdk/details/interface/ranger_interface.hpp
@@ -43,6 +43,8 @@ struct RangerCommonSensorState {
   SdkTimePoint time_stamp;
 
   BmsBasicMessage bms_basic_state;
+  BmsExtendedMessage bms_extended_state;
+
 };
 
 /////////////////////////////////////////////////////////////////////////
diff --git a/include/ugv_sdk/details/interface/scout_interface.hpp b/include/ugv_sdk/details/interface/scout_interface.hpp
index 38733df6..8687ff9a 100644
--- a/include/ugv_sdk/details/interface/scout_interface.hpp
+++ b/include/ugv_sdk/details/interface/scout_interface.hpp
@@ -40,6 +40,7 @@ struct ScoutCommonSensorState {
   SdkTimePoint time_stamp;
 
   BmsBasicMessage bms_basic_state;
+  BmsExtendedMessage bms_extended_state;
 };
 
 struct ScoutInterface {
diff --git a/include/ugv_sdk/details/interface/tracer_interface.hpp b/include/ugv_sdk/details/interface/tracer_interface.hpp
index 58d794a0..160494c3 100644
--- a/include/ugv_sdk/details/interface/tracer_interface.hpp
+++ b/include/ugv_sdk/details/interface/tracer_interface.hpp
@@ -32,6 +32,12 @@ struct TracerActuatorState {
   ActuatorHSStateMessage actuator_hs_state[2];
   ActuatorLSStateMessage actuator_ls_state[2];
 };
+struct TracerCommonSensorState {
+  SdkTimePoint time_stamp;
+
+  BmsBasicMessage bms_basic_state;
+  BmsExtendedMessage bms_extended_state;
+};
 
 struct TracerInterface {
   virtual ~TracerInterface() = default;
@@ -43,6 +49,8 @@ struct TracerInterface {
   // get robot state
   virtual TracerCoreState GetRobotState() = 0;
   virtual TracerActuatorState GetActuatorState() = 0;
+  virtual TracerCommonSensorState GetCommonSensorState() = 0;
+
 };
 }  // namespace westonrobot
 
diff --git a/include/ugv_sdk/details/protocol_v1/protocol_v1_parser.hpp b/include/ugv_sdk/details/protocol_v1/protocol_v1_parser.hpp
index a7e01add..da3d1dd6 100644
--- a/include/ugv_sdk/details/protocol_v1/protocol_v1_parser.hpp
+++ b/include/ugv_sdk/details/protocol_v1/protocol_v1_parser.hpp
@@ -76,6 +76,7 @@ using ScoutMiniProtocolV1Parser = ProtocolV1Parser<ScoutMiniLimits>;
 using BunkerProtocolV1Parser = ProtocolV1Parser<BunkerLimits>;
 
 using HunterProtocolV1Parser = ProtocolV1Parser<HunterV1Limits>;
+using TracerProtocolV1Parser = ProtocolV1Parser<BunkerLimits>;
 
 }  // namespace westonrobot
 
diff --git a/include/ugv_sdk/details/robot_base/bunker_base.hpp b/include/ugv_sdk/details/robot_base/bunker_base.hpp
index e0120ef3..94b7e9a1 100644
--- a/include/ugv_sdk/details/robot_base/bunker_base.hpp
+++ b/include/ugv_sdk/details/robot_base/bunker_base.hpp
@@ -60,6 +60,20 @@ class BunkerBase : public AgilexBase<ParserType>, public BunkerInterface {
     }
     return bunker_actuator;
   }
+
+  BunkerCommonSensorState GetCommonSensorState() override {
+    auto common_sensor =
+        AgilexBase<ParserType>::GetCommonSensorStateMsgGroup();
+
+    BunkerCommonSensorState bunker_bms;
+
+    bunker_bms.time_stamp = common_sensor.time_stamp;
+    bunker_bms.bms_basic_state = common_sensor.bms_basic_state;
+
+    return bunker_bms;
+  }
+
+
 };
 }  // namespace westonrobot
 
diff --git a/include/ugv_sdk/details/robot_base/ranger_base.hpp b/include/ugv_sdk/details/robot_base/ranger_base.hpp
index 0d2a16d8..3df09f46 100644
--- a/include/ugv_sdk/details/robot_base/ranger_base.hpp
+++ b/include/ugv_sdk/details/robot_base/ranger_base.hpp
@@ -1,215 +1,229 @@
-/**
- * @Kit       : Qt-Creator: Desktop
- * @Author    : Wang Zhe
- * @Date      : 2021-04-19  19:12:52
- * @FileName  : ranger_base.hpp
- * @Mail      : wangzheqie@qq.com
- * Copyright  : AgileX Robotics
- **/
-
 #ifndef RANGER_BASE_HPP
-#define RANGER_BASE_HPP
-
-#include <cstdint>
-#include <mutex>
-#include <string>
-#include <thread>
-
-#include "ugv_sdk/details/interface/ranger_interface.hpp"
-#include "ugv_sdk/details/robot_base/agilex_base.hpp"
-
-#include "ugv_sdk/details/protocol_v2/protocol_v2_parser.hpp"
-
-namespace westonrobot {
-class RangerBaseV2 : public AgilexBase<ProtocolV2Parser>,
-                     public RangerInterface {
- public:
-  RangerBaseV2() : AgilexBase<ProtocolV2Parser>(){};
-  virtual ~RangerBaseV2() = default;
-
-  // set up connection
-  bool Connect(std::string can_name) override {
-    return AgilexBase<ProtocolV2Parser>::Connect(can_name);
-  }
-
-  // robot control
-  void SetMotionMode(uint8_t mode) { AgilexBase::SetMotionMode(mode); }
-
-  void SetMotionCommand(double linear_vel, double steer_angle,
-                        double angular_vel = 0.0) override {
-    AgilexBase<ProtocolV2Parser>::SendMotionCommand(linear_vel, angular_vel,
-                                                    0.0, steer_angle);
-  }
-
-  void SetLightCommand(AgxLightMode f_mode, uint8_t f_value,
-                       AgxLightMode r_mode, uint8_t r_value) override {
-    AgilexBase<ProtocolV2Parser>::SendLightCommand(f_mode, f_value, r_mode,
-                                                   r_value);
-  }
-
-  void DisableLightControl() override {
-    AgilexBase<ProtocolV2Parser>::DisableLightControl();
-  }
-
-  // get robot state
-  RangerCoreState GetRobotState() override {
-    auto state = AgilexBase<ProtocolV2Parser>::GetRobotCoreStateMsgGroup();
-
-    RangerCoreState ranger_state;
-    ranger_state.time_stamp = state.time_stamp;
-    ranger_state.system_state = state.system_state;
-    ranger_state.motion_state = state.motion_state;
-    ranger_state.light_state = state.light_state;
-    ranger_state.rc_state = state.rc_state;
-    ranger_state.motion_mode_state = state.motion_mode_state;
-
-    return ranger_state;
-  }
-
-  RangerActuatorState GetActuatorState() override {
-    auto actuator = AgilexBase<ProtocolV2Parser>::GetActuatorStateMsgGroup();
-
-    RangerActuatorState ranger_actuator;
-    ranger_actuator.time_stamp = actuator.time_stamp;
-
-    ranger_actuator.motor_speeds.speed_1 = actuator.motor_speeds.speed_1;
-    ranger_actuator.motor_speeds.speed_2 = actuator.motor_speeds.speed_2;
-    ranger_actuator.motor_speeds.speed_3 = actuator.motor_speeds.speed_3;
-    ranger_actuator.motor_speeds.speed_4 = actuator.motor_speeds.speed_4;
-    ranger_actuator.motor_angles.angle_5 = actuator.motor_angles.angle_5;
-    ranger_actuator.motor_angles.angle_6 = actuator.motor_angles.angle_6;
-    ranger_actuator.motor_angles.angle_7 = actuator.motor_angles.angle_7;
-    ranger_actuator.motor_angles.angle_8 = actuator.motor_angles.angle_8;
-
-    for (int i = 0; i < 8; ++i) {
-      ranger_actuator.actuator_hs_state[i] = actuator.actuator_hs_state[i];
-      ranger_actuator.actuator_ls_state[i] = actuator.actuator_ls_state[i];
-    }
-    return ranger_actuator;
-  }
-
-  RangerCommonSensorState GetCommonSensorState() override {
-    auto common_sensor =
-        AgilexBase<ProtocolV2Parser>::GetCommonSensorStateMsgGroup();
-
-    RangerCommonSensorState ranger_bms;
-
-    ranger_bms.time_stamp = common_sensor.time_stamp;
-
-    ranger_bms.bms_basic_state.current = common_sensor.bms_basic_state.current;
-    // Note: BMS CAN message definition is not consistent across AgileX robots.
-    // Robots with steering mechanism should additionally divide the voltage by
-    // 10.
-    ranger_bms.bms_basic_state.voltage =
-        common_sensor.bms_basic_state.voltage * 0.1f;
-    ranger_bms.bms_basic_state.battery_soc =
-        common_sensor.bms_basic_state.battery_soc;
-    ranger_bms.bms_basic_state.battery_soh =
-        common_sensor.bms_basic_state.battery_soh;
-    ranger_bms.bms_basic_state.temperature =
-        common_sensor.bms_basic_state.temperature;
-
-    return ranger_bms;
-  }
-};
-
-// Note: Ranger Mini V1 uses a modified AgileX V2 protocol
-// Here we provide a work-around fix as no new firmware will be provided from
-// AgileX to properly fix the issue.
-class RangerMiniV1Base : public RangerBaseV2 {
- public:
-  RangerMiniV1Base() : RangerBaseV2(){};
-  ~RangerMiniV1Base() = default;
-
-  // robot control
-  void SetMotionMode(uint8_t mode) override {
-    if (mode == RangerInterface::MotionMode::kPark) {
-      return;
-    } else if (mode == RangerInterface::MotionMode::kSideSlip) {
-      mode = 3;
-    }
-    AgilexBase::SetMotionMode(mode);
-  }
-
-  void SetMotionCommand(double linear_vel, double steer_angle,
-                        double angular_vel) override {
-    auto state = GetRobotState();
-    if (state.motion_mode_state.motion_mode ==
-        RangerInterface::MotionMode::kSpinning) {
-      angular_vel *= 0.254558;
-    }
-    AgilexBase<ProtocolV2Parser>::SendMotionCommand(
-        linear_vel, 0.0, -angular_vel, -steer_angle / 10.0 / 3.14 * 180);
-  }
-
-  RangerCoreState GetRobotState() override {
-    auto state = AgilexBase<ProtocolV2Parser>::GetRobotCoreStateMsgGroup();
-
-    RangerCoreState ranger_state;
-    ranger_state.time_stamp = state.time_stamp;
-    ranger_state.system_state = state.system_state;
-
-    ranger_state.light_state = state.light_state;
-    ranger_state.rc_state = state.rc_state;
-    ranger_state.motion_mode_state = state.motion_mode_state;
-
-    if (ranger_state.motion_mode_state.motion_mode ==
-        RangerInterface::MotionMode::kSpinning) {
-      ranger_state.motion_state.linear_velocity = 0;
-      ranger_state.motion_state.angular_velocity =
-          -state.motion_state.linear_velocity / 0.254558;
-      ranger_state.motion_state.lateral_velocity =
-          state.motion_state.lateral_velocity;
-      ranger_state.motion_state.steering_angle =
-          -state.motion_state.steering_angle * 10 / 180.0 * 3.14;
-    } else if (ranger_state.motion_mode_state.motion_mode ==
-               RangerInterface::MotionMode::kSideSlip) {
-      ranger_state.motion_state.linear_velocity =
-          -state.motion_state.linear_velocity;
-      state.motion_state.angular_velocity;
-      ranger_state.motion_state.lateral_velocity =
-          state.motion_state.lateral_velocity;
-      ranger_state.motion_state.steering_angle =
-          -state.motion_state.steering_angle * 10 / 180.0 * 3.14;
-    } else {
-      ranger_state.motion_state.linear_velocity =
-          state.motion_state.linear_velocity;
-      ranger_state.motion_state.angular_velocity =
-          -state.motion_state.angular_velocity;
-      ranger_state.motion_state.lateral_velocity =
-          state.motion_state.lateral_velocity;
-      ranger_state.motion_state.steering_angle =
-          -state.motion_state.steering_angle * 10 / 180.0 * 3.14;
-    }
-
-    return ranger_state;
-  }
-
-  RangerActuatorState GetActuatorState() override {
-    auto actuator = AgilexBase<ProtocolV2Parser>::GetActuatorStateMsgGroup();
-
-    RangerActuatorState ranger_actuator;
-    ranger_actuator.time_stamp = actuator.time_stamp;
-
-    ranger_actuator.motor_speeds.speed_1 = actuator.motor_speeds.speed_1;
-    ranger_actuator.motor_speeds.speed_2 = actuator.motor_speeds.speed_2;
-    ranger_actuator.motor_speeds.speed_3 = actuator.motor_speeds.speed_3;
-    ranger_actuator.motor_speeds.speed_4 = actuator.motor_speeds.speed_4;
-    ranger_actuator.motor_angles.angle_5 =
-        -actuator.motor_angles.angle_5 / 18.0 * M_PI;
-    ranger_actuator.motor_angles.angle_6 =
-        -actuator.motor_angles.angle_6 / 18.0 * M_PI;
-    ranger_actuator.motor_angles.angle_7 =
-        -actuator.motor_angles.angle_7 / 18.0 * M_PI;
-    ranger_actuator.motor_angles.angle_8 =
-        -actuator.motor_angles.angle_8 / 18.0 * M_PI;
-
-    for (int i = 0; i < 8; ++i) {
-      ranger_actuator.actuator_hs_state[i] = actuator.actuator_hs_state[i];
-      ranger_actuator.actuator_ls_state[i] = actuator.actuator_ls_state[i];
-    }
-    return ranger_actuator;
-  }
-};
-}  // namespace westonrobot
-#endif /* RANGER_BASE_HPP */
+ #define RANGER_BASE_HPP
+ 
+ #include <cstdint>
+ #include <mutex>
+ #include <string>
+ #include <thread>
+ 
+ #include "ugv_sdk/details/interface/ranger_interface.hpp"
+ #include "ugv_sdk/details/robot_base/agilex_base.hpp"
+ 
+ #include "ugv_sdk/details/protocol_v2/protocol_v2_parser.hpp"
+ 
+ namespace westonrobot {
+ class RangerBase : public AgilexBase<ProtocolV2Parser>, public RangerInterface {
+  public:
+   RangerBase() : AgilexBase<ProtocolV2Parser>() {};
+   virtual ~RangerBase() = default;
+ 
+   // set up connection
+   bool Connect(std::string can_name) override {
+     return AgilexBase<ProtocolV2Parser>::Connect(can_name);
+   }
+ 
+   // robot control
+   void SetMotionMode(uint8_t mode) { AgilexBase::SetMotionMode(mode); }
+ 
+   void SetMotionCommand(double linear_vel, double steer_angle,
+                         double angular_vel = 0.0) override {
+     AgilexBase<ProtocolV2Parser>::SendMotionCommand(linear_vel, angular_vel,
+                                                     0.0, steer_angle);
+   }
+ 
+   void SetLightCommand(AgxLightMode f_mode, uint8_t f_value,
+                        AgxLightMode r_mode, uint8_t r_value) override {
+     AgilexBase<ProtocolV2Parser>::SendLightCommand(f_mode, f_value, r_mode,
+                                                    r_value);
+   }
+ 
+   void DisableLightControl() override {
+     AgilexBase<ProtocolV2Parser>::DisableLightControl();
+   }
+ 
+   // get robot state
+   RangerCoreState GetRobotState() override {
+     auto state = AgilexBase<ProtocolV2Parser>::GetRobotCoreStateMsgGroup();
+ 
+     RangerCoreState ranger_state;
+     ranger_state.time_stamp = state.time_stamp;
+     ranger_state.system_state = state.system_state;
+     ranger_state.motion_state = state.motion_state;
+     ranger_state.light_state = state.light_state;
+     ranger_state.rc_state = state.rc_state;
+     ranger_state.motion_mode_state = state.motion_mode_state;
+ 
+     return ranger_state;
+   }
+ 
+   RangerActuatorState GetActuatorState() override {
+     auto actuator = AgilexBase<ProtocolV2Parser>::GetActuatorStateMsgGroup();
+ 
+     RangerActuatorState ranger_actuator;
+     ranger_actuator.time_stamp = actuator.time_stamp;
+ 
+     ranger_actuator.motor_speeds.speed_1 = actuator.motor_speeds.speed_1;
+     ranger_actuator.motor_speeds.speed_2 = actuator.motor_speeds.speed_2;
+     ranger_actuator.motor_speeds.speed_3 = actuator.motor_speeds.speed_3;
+     ranger_actuator.motor_speeds.speed_4 = actuator.motor_speeds.speed_4;
+     ranger_actuator.motor_angles.angle_5 = actuator.motor_angles.angle_5;
+     ranger_actuator.motor_angles.angle_6 = actuator.motor_angles.angle_6;
+     ranger_actuator.motor_angles.angle_7 = actuator.motor_angles.angle_7;
+     ranger_actuator.motor_angles.angle_8 = actuator.motor_angles.angle_8;
+ 
+     for (int i = 0; i < 8; ++i) {
+       ranger_actuator.actuator_hs_state[i] = actuator.actuator_hs_state[i];
+       ranger_actuator.actuator_ls_state[i] = actuator.actuator_ls_state[i];
+     }
+     return ranger_actuator;
+   }
+ 
+   RangerCommonSensorState GetCommonSensorState() override {
+     auto common_sensor =
+         AgilexBase<ProtocolV2Parser>::GetCommonSensorStateMsgGroup();
+ 
+     RangerCommonSensorState ranger_bms;
+ 
+     ranger_bms.time_stamp = common_sensor.time_stamp;
+ 
+     ranger_bms.bms_basic_state.current = common_sensor.bms_basic_state.current;
+     ranger_bms.bms_basic_state.voltage =
+         common_sensor.bms_basic_state.voltage;
+     ranger_bms.bms_basic_state.battery_soc =
+         common_sensor.bms_basic_state.battery_soc;
+     ranger_bms.bms_basic_state.battery_soh =
+         common_sensor.bms_basic_state.battery_soh;
+     ranger_bms.bms_basic_state.temperature =
+         common_sensor.bms_basic_state.temperature;
+ 
+     return ranger_bms;
+   }
+ };
+ 
+ using RangerMiniV3Base = RangerBase;
+ class RangerMiniV2Base : public RangerBase {
+   RangerCommonSensorState GetCommonSensorState() override {
+     auto common_sensor =
+         AgilexBase<ProtocolV2Parser>::GetCommonSensorStateMsgGroup();
+ 
+     RangerCommonSensorState ranger_bms;
+ 
+     ranger_bms.time_stamp = common_sensor.time_stamp;
+ 
+     ranger_bms.bms_basic_state.current = common_sensor.bms_basic_state.current;
+     // Note: BMS CAN message definition is not consistent across AgileX robots.
+     // RM2 BMS voltage data follows unit: 0.01V
+     ranger_bms.bms_basic_state.voltage =
+         common_sensor.bms_basic_state.voltage * 0.1f;
+     ranger_bms.bms_basic_state.battery_soc =
+         common_sensor.bms_basic_state.battery_soc;
+     ranger_bms.bms_basic_state.battery_soh =
+         common_sensor.bms_basic_state.battery_soh;
+     ranger_bms.bms_basic_state.temperature =
+         common_sensor.bms_basic_state.temperature;
+ 
+     return ranger_bms;
+   }
+ };
+ 
+ // Note: Ranger Mini V1 uses a modified AgileX V2 protocol
+ // Here we provide a work-around fix as no new firmware will be provided from
+ // AgileX to properly fix the issue.
+ class RangerMiniV1Base : public RangerBase {
+  public:
+   RangerMiniV1Base() : RangerBase() {};
+   ~RangerMiniV1Base() = default;
+ 
+   // robot control
+   void SetMotionMode(uint8_t mode) override {
+     if (mode == RangerInterface::MotionMode::kPark) {
+       return;
+     } else if (mode == RangerInterface::MotionMode::kSideSlip) {
+       mode = 3;
+     }
+     AgilexBase::SetMotionMode(mode);
+   }
+ 
+   void SetMotionCommand(double linear_vel, double steer_angle,
+                         double angular_vel) override {
+     auto state = GetRobotState();
+     if (state.motion_mode_state.motion_mode ==
+         RangerInterface::MotionMode::kSpinning) {
+       angular_vel *= 0.254558;
+     }
+     AgilexBase<ProtocolV2Parser>::SendMotionCommand(
+         linear_vel, 0.0, -angular_vel, -steer_angle / 10.0 / 3.14 * 180);
+   }
+ 
+   RangerCoreState GetRobotState() override {
+     auto state = AgilexBase<ProtocolV2Parser>::GetRobotCoreStateMsgGroup();
+ 
+     RangerCoreState ranger_state;
+     ranger_state.time_stamp = state.time_stamp;
+     ranger_state.system_state = state.system_state;
+ 
+     ranger_state.light_state = state.light_state;
+     ranger_state.rc_state = state.rc_state;
+     ranger_state.motion_mode_state = state.motion_mode_state;
+ 
+     if (ranger_state.motion_mode_state.motion_mode ==
+         RangerInterface::MotionMode::kSpinning) {
+       ranger_state.motion_state.linear_velocity = 0;
+       ranger_state.motion_state.angular_velocity =
+           -state.motion_state.linear_velocity / 0.254558;
+       ranger_state.motion_state.lateral_velocity =
+           state.motion_state.lateral_velocity;
+       ranger_state.motion_state.steering_angle =
+           -state.motion_state.steering_angle * 10 / 180.0 * 3.14;
+     } else if (ranger_state.motion_mode_state.motion_mode ==
+                RangerInterface::MotionMode::kSideSlip) {
+       ranger_state.motion_state.linear_velocity =
+           -state.motion_state.linear_velocity;
+       state.motion_state.angular_velocity;
+       ranger_state.motion_state.lateral_velocity =
+           state.motion_state.lateral_velocity;
+       ranger_state.motion_state.steering_angle =
+           -state.motion_state.steering_angle * 10 / 180.0 * 3.14;
+     } else {
+       ranger_state.motion_state.linear_velocity =
+           state.motion_state.linear_velocity;
+       ranger_state.motion_state.angular_velocity =
+           -state.motion_state.angular_velocity;
+       ranger_state.motion_state.lateral_velocity =
+           state.motion_state.lateral_velocity;
+       ranger_state.motion_state.steering_angle =
+           -state.motion_state.steering_angle * 10 / 180.0 * 3.14;
+     }
+ 
+     return ranger_state;
+   }
+ 
+   RangerActuatorState GetActuatorState() override {
+     auto actuator = AgilexBase<ProtocolV2Parser>::GetActuatorStateMsgGroup();
+ 
+     RangerActuatorState ranger_actuator;
+     ranger_actuator.time_stamp = actuator.time_stamp;
+ 
+     ranger_actuator.motor_speeds.speed_1 = actuator.motor_speeds.speed_1;
+     ranger_actuator.motor_speeds.speed_2 = actuator.motor_speeds.speed_2;
+     ranger_actuator.motor_speeds.speed_3 = actuator.motor_speeds.speed_3;
+     ranger_actuator.motor_speeds.speed_4 = actuator.motor_speeds.speed_4;
+     ranger_actuator.motor_angles.angle_5 =
+         -actuator.motor_angles.angle_5 / 18.0 * M_PI;
+     ranger_actuator.motor_angles.angle_6 =
+         -actuator.motor_angles.angle_6 / 18.0 * M_PI;
+     ranger_actuator.motor_angles.angle_7 =
+         -actuator.motor_angles.angle_7 / 18.0 * M_PI;
+     ranger_actuator.motor_angles.angle_8 =
+         -actuator.motor_angles.angle_8 / 18.0 * M_PI;
+ 
+     for (int i = 0; i < 8; ++i) {
+       ranger_actuator.actuator_hs_state[i] = actuator.actuator_hs_state[i];
+       ranger_actuator.actuator_ls_state[i] = actuator.actuator_ls_state[i];
+     }
+     return ranger_actuator;
+   }
+ };
+ }  // namespace westonrobot
+ #endif /* RANGER_BASE_HPP */
+ 
\ No newline at end of file
diff --git a/include/ugv_sdk/details/robot_base/tracer_base.hpp b/include/ugv_sdk/details/robot_base/tracer_base.hpp
index 6061e54c..0492406d 100644
--- a/include/ugv_sdk/details/robot_base/tracer_base.hpp
+++ b/include/ugv_sdk/details/robot_base/tracer_base.hpp
@@ -21,35 +21,36 @@
 #include "ugv_sdk/details/protocol_v2/protocol_v2_parser.hpp"
 
 namespace westonrobot {
-class TracerBaseV2 : public AgilexBase<ProtocolV2Parser>,
+template <typename ParserType>
+class TracerBase : public AgilexBase<ParserType>,
                      public TracerInterface {
  public:
-  TracerBaseV2() : AgilexBase<ProtocolV2Parser>(){};
-  ~TracerBaseV2() = default;
+  TracerBase() : AgilexBase<ParserType>(){};
+  ~TracerBase() = default;
 
   // set up connection
   bool Connect(std::string can_name) override {
-    return AgilexBase<ProtocolV2Parser>::Connect(can_name);
+    return AgilexBase<ParserType>::Connect(can_name);
   }
 
   // robot control
   void SetMotionCommand(double linear_vel, double angular_vel) override {
-    AgilexBase<ProtocolV2Parser>::SendMotionCommand(linear_vel, angular_vel,
+    AgilexBase<ParserType>::SendMotionCommand(linear_vel, angular_vel,
                                                     0.0, 0.0);
   }
 
   void SetLightCommand(AgxLightMode f_mode, uint8_t f_value) override {
-    AgilexBase<ProtocolV2Parser>::SendLightCommand(f_mode, f_value, CONST_OFF,
+    AgilexBase<ParserType>::SendLightCommand(f_mode, f_value, CONST_OFF,
                                                    0);
   }
 
   void DisableLightControl() override {
-    AgilexBase<ProtocolV2Parser>::DisableLightControl();
+    AgilexBase<ParserType>::DisableLightControl();
   }
 
   // get robot state
   TracerCoreState GetRobotState() override {
-    auto state = AgilexBase<ProtocolV2Parser>::GetRobotCoreStateMsgGroup();
+    auto state = AgilexBase<ParserType>::GetRobotCoreStateMsgGroup();
 
     TracerCoreState tracer_state;
     tracer_state.time_stamp = state.time_stamp;
@@ -61,7 +62,7 @@ class TracerBaseV2 : public AgilexBase<ProtocolV2Parser>,
   }
 
   TracerActuatorState GetActuatorState() override {
-    auto actuator = AgilexBase<ProtocolV2Parser>::GetActuatorStateMsgGroup();
+    auto actuator = AgilexBase<ParserType>::GetActuatorStateMsgGroup();
 
     TracerActuatorState tracer_actuator;
     tracer_actuator.time_stamp = actuator.time_stamp;
@@ -72,10 +73,31 @@ class TracerBaseV2 : public AgilexBase<ProtocolV2Parser>,
     return tracer_actuator;
   }
 
+  TracerCommonSensorState GetCommonSensorState() override {
+    auto common_sensor =
+        AgilexBase<ParserType>::GetCommonSensorStateMsgGroup();
+
+    TracerCommonSensorState tracer_bms;
+
+    tracer_bms.time_stamp = common_sensor.time_stamp;
+    tracer_bms.bms_basic_state = common_sensor.bms_basic_state;
+
+    return tracer_bms;
+  }
+
+
   void ResetRobotState() override {
     // TODO
   }
 };
 }  // namespace westonrobot
 
+#include "ugv_sdk/details/protocol_v1/protocol_v1_parser.hpp"
+#include "ugv_sdk/details/protocol_v2/protocol_v2_parser.hpp"
+
+namespace westonrobot {
+using TracerBaseV1 = TracerBase<TracerProtocolV1Parser>;
+using TracerBaseV2 = TracerBase<ProtocolV2Parser>;
+}  // namespace westonrobot
+
 #endif /* TRACER_BASE_HPP */
diff --git a/include/ugv_sdk/mobile_robot/bunker_robot.hpp b/include/ugv_sdk/mobile_robot/bunker_robot.hpp
index 2f56bca2..f4285139 100644
--- a/include/ugv_sdk/mobile_robot/bunker_robot.hpp
+++ b/include/ugv_sdk/mobile_robot/bunker_robot.hpp
@@ -36,6 +36,7 @@ class BunkerRobot : public RobotCommonInterface, public BunkerInterface {
   // get robot state
   BunkerCoreState GetRobotState() override;
   BunkerActuatorState GetActuatorState() override;
+  BunkerCommonSensorState GetCommonSensorState() override;
 
  private:
   RobotCommonInterface* robot_;
diff --git a/include/ugv_sdk/mobile_robot/ranger_robot.hpp b/include/ugv_sdk/mobile_robot/ranger_robot.hpp
index 62ad4294..98fcbe6a 100644
--- a/include/ugv_sdk/mobile_robot/ranger_robot.hpp
+++ b/include/ugv_sdk/mobile_robot/ranger_robot.hpp
@@ -17,13 +17,21 @@
 namespace westonrobot {
 class RangerRobot : public RobotCommonInterface, public RangerInterface {
  public:
-  RangerRobot(bool is_mini_v1);
+ enum class Variant {
+  kRangerMiniV1 = 0,
+  kRangerMiniV2,
+  kRangerMiniV3,
+  kRanger,
+};
+
+  RangerRobot(Variant variant);
+
   ~RangerRobot();
 
   bool Connect(std::string can_name) override;
 
   void EnableCommandedMode() override;
-  std::string RequestVersion(int timeout_sec) override;
+  std::string RequestVersion(int timeout_sec = 3) override;
 
   // functions to be implemented by each robot class
   void ResetRobotState() override;
diff --git a/include/ugv_sdk/mobile_robot/titan_robot.hpp b/include/ugv_sdk/mobile_robot/titan_robot.hpp
index 606a4615..a890ed5b 100644
--- a/include/ugv_sdk/mobile_robot/titan_robot.hpp
+++ b/include/ugv_sdk/mobile_robot/titan_robot.hpp
@@ -46,4 +46,5 @@ class TitanRobot : public RobotCommonInterface, public TitanInterface {
 };
 }  // namespace westonrobot
 
+
 #endif /* TITAN_ROBOT_HPP */
diff --git a/include/ugv_sdk/mobile_robot/tracer_robot.hpp b/include/ugv_sdk/mobile_robot/tracer_robot.hpp
index 72a419b4..9f1d2efa 100644
--- a/include/ugv_sdk/mobile_robot/tracer_robot.hpp
+++ b/include/ugv_sdk/mobile_robot/tracer_robot.hpp
@@ -1,19 +1,48 @@
 /*
- * tracer_robot.hpp
+ * scout_robot.hpp
  *
- * Created on: Jul 13, 2021 21:59
+ * Created on: Jul 08, 2021 10:59
  * Description:
  *
  * Copyright (c) 2021 Weston Robot Pte. Ltd.
  */
 
-#ifndef TRACER_ROBOT_HPP
-#define TRACER_ROBOT_HPP
+#ifndef SCOUT_ROBOT_HPP
+#define SCOUT_ROBOT_HPP
 
-#include "ugv_sdk/details/robot_base/tracer_base.hpp"
+#include <memory>
+
+#include "ugv_sdk/details/interface/robot_common_interface.hpp"
+#include "ugv_sdk/details/interface/tracer_interface.hpp"
 
 namespace westonrobot {
-using TracerRobot = TracerBaseV2;
+class TracerRobot : public RobotCommonInterface, public TracerInterface {
+ public:
+  TracerRobot(ProtocolVersion protocol = ProtocolVersion::AGX_V2);
+  ~TracerRobot();
+
+  bool Connect(std::string can_name) override;
+
+  void EnableCommandedMode() override;
+  std::string RequestVersion(int timeout_sec = 3) override;
+
+  void SetMotionCommand(double linear_vel, double angular_vel) override;
+  void SetLightCommand(AgxLightMode f_mode, uint8_t f_value) override;
+  void DisableLightControl() override;
+
+  void ResetRobotState() override;
+
+  ProtocolVersion GetParserProtocolVersion() override;
+
+  // get robot state
+  TracerCoreState GetRobotState() override;
+  TracerActuatorState GetActuatorState() override;
+  TracerCommonSensorState GetCommonSensorState() override;
+
+ protected:
+  RobotCommonInterface* robot_;
+};
+
 }  // namespace westonrobot
 
-#endif /* TRACER_ROBOT_HPP */
+#endif /* SCOUT_ROBOT_HPP */
diff --git a/sample/ranger_demo/ranger_robot_demo.cpp b/sample/ranger_demo/ranger_robot_demo.cpp
index 55facea6..68849dbb 100644
--- a/sample/ranger_demo/ranger_robot_demo.cpp
+++ b/sample/ranger_demo/ranger_robot_demo.cpp
@@ -6,6 +6,7 @@
  * @Mail      : wangzheqie@qq.com
  * Copyright  : AgileX Robotics
  **/
+#include <string>
 
 #include <iomanip>
 
@@ -15,7 +16,7 @@ using namespace westonrobot;
 
 int main(int argc, char *argv[]) {
   std::string device_name;
-  bool is_mini_v1 = false;
+  RangerRobot::Variant variant = RangerRobot::Variant::kRanger;
 
   if (argc == 2) {
     device_name = {argv[1]};
@@ -24,19 +25,28 @@ int main(int argc, char *argv[]) {
     device_name = {argv[1]};
     std::string check = argv[2];
     if (check == "mini_v1") {
-      is_mini_v1 = true;
+      variant = RangerRobot::Variant::kRangerMiniV1;
       std::cout << "Specified mini v1" << std::endl;
+    } else if (check == "mini_v2") {
+      variant = RangerRobot::Variant::kRangerMiniV2;
+      std::cout << "Specified mini v2" << std::endl;
+    } else if (check == "mini_v3") {
+      variant = RangerRobot::Variant::kRangerMiniV3;
+      std::cout << "Specified mini v3" << std::endl;
+    } else {
+      std::cout << "Default to ranger base" << std::endl;
     }
     std::cout << "Specified CAN: " << device_name << std::endl;
   } else {
     std::cout << "Usage: app_ranger_demo <interface> <ranger_model>"
               << std::endl
-              << "Example 1: ./app_ranger_demo can0 mini_v1" << std::endl;
+              << "Example 1: ./app_ranger_demo can0 <mini_v1, mini_v2, mini_v3>"
+              << std::endl;
     return -1;
   }
 
   // RangerMiniV1Robot ranger;
-  auto ranger = std::make_shared<RangerRobot>(is_mini_v1);
+  auto ranger = std::make_shared<RangerRobot>(variant);
   ranger->Connect(device_name);
   ranger->EnableCommandedMode();
 
@@ -92,4 +102,4 @@ int main(int argc, char *argv[]) {
     ++count;
   }
   return 0;
-}
+}
\ No newline at end of file
diff --git a/sample/tracer_demo/tracer_robot_demo.cpp b/sample/tracer_demo/tracer_robot_demo.cpp
index e0447256..ae3db49e 100644
--- a/sample/tracer_demo/tracer_robot_demo.cpp
+++ b/sample/tracer_demo/tracer_robot_demo.cpp
@@ -31,7 +31,6 @@ int main(int argc, char **argv) {
   }
 
   std::unique_ptr<TracerRobot> tracer;
-  tracer = std::unique_ptr<TracerRobot>(new TracerRobot());
   if (tracer == nullptr)
     std::cout << "Failed to create robot object" << std::endl;
 
diff --git a/src/mobile_robot/bunker_robot.cpp b/src/mobile_robot/bunker_robot.cpp
index b90d0ad3..986c3e86 100644
--- a/src/mobile_robot/bunker_robot.cpp
+++ b/src/mobile_robot/bunker_robot.cpp
@@ -53,4 +53,10 @@ BunkerActuatorState BunkerRobot::GetActuatorState() {
   auto bunker = dynamic_cast<BunkerInterface*>(robot_);
   return bunker->GetActuatorState();
 }
+
+BunkerCommonSensorState BunkerRobot::GetCommonSensorState() {
+  auto bunker = dynamic_cast<BunkerInterface*>(robot_);
+  return bunker->GetCommonSensorState();
+}
+
 }  // namespace westonrobot
\ No newline at end of file
diff --git a/src/mobile_robot/ranger_robot.cpp b/src/mobile_robot/ranger_robot.cpp
index 8e585e7d..c0987fd6 100644
--- a/src/mobile_robot/ranger_robot.cpp
+++ b/src/mobile_robot/ranger_robot.cpp
@@ -10,13 +10,17 @@
 #include "ugv_sdk/details/robot_base/ranger_base.hpp"
 
 namespace westonrobot {
-RangerRobot::RangerRobot(bool is_mini_v1) {
-  if (is_mini_v1) {
-    robot_ = new RangerMiniV1Base();
-  } else {
-    robot_ = new RangerBaseV2();
+  RangerRobot::RangerRobot(Variant variant) {
+    if (variant == Variant::kRangerMiniV1) {
+      robot_ = new RangerMiniV1Base();
+    } else if (variant == Variant::kRangerMiniV2) {
+      robot_ = new RangerMiniV2Base();
+    } else if (variant == Variant::kRangerMiniV3) {
+      robot_ = new RangerMiniV3Base();
+    } else {
+      robot_ = new RangerBase();
+    }
   }
-}
 
 RangerRobot::~RangerRobot() {
   if (robot_) delete robot_;
diff --git a/src/mobile_robot/tracer_robot.cpp b/src/mobile_robot/tracer_robot.cpp
new file mode 100644
index 00000000..ec337778
--- /dev/null
+++ b/src/mobile_robot/tracer_robot.cpp
@@ -0,0 +1,72 @@
+/*
+ * Tracer_robot.cpp
+ *
+ * Created on: Jul 14, 2021 23:14
+ * Description:
+ *
+ * Copyright (c) 2021 Ruixiang Du (rdu)
+ */
+
+#include "ugv_sdk/mobile_robot/tracer_robot.hpp"
+#include "ugv_sdk/details/robot_base/tracer_base.hpp"
+
+namespace westonrobot {
+TracerRobot::TracerRobot(ProtocolVersion protocol) {
+  if (protocol == ProtocolVersion::AGX_V1) {
+    robot_ = new TracerBaseV1();
+  } else if (protocol == ProtocolVersion::AGX_V2) {
+    robot_ = new TracerBaseV2();
+  }
+}
+
+TracerRobot::~TracerRobot() {
+  if (robot_) delete robot_;
+}
+
+std::string TracerRobot::RequestVersion(int timeout_sec) {
+    return robot_->RequestVersion(timeout_sec);
+}
+
+void TracerRobot::EnableCommandedMode() { robot_->EnableCommandedMode(); }
+
+bool TracerRobot::Connect(std::string can_name) {
+  return robot_->Connect(can_name);
+}
+
+void TracerRobot::ResetRobotState() { robot_->ResetRobotState(); }
+
+ProtocolVersion TracerRobot::GetParserProtocolVersion() {
+  return robot_->GetParserProtocolVersion();
+}
+
+void TracerRobot::SetMotionCommand(double linear_vel, double angular_vel) {
+  auto Tracer = dynamic_cast<TracerInterface*>(robot_);
+  Tracer->SetMotionCommand(linear_vel, angular_vel);
+}
+void TracerRobot::SetLightCommand(AgxLightMode f_mode, uint8_t f_value) {
+  auto Tracer = dynamic_cast<TracerInterface*>(robot_);
+  Tracer->SetLightCommand(f_mode, f_value);
+}
+
+void TracerRobot::DisableLightControl() {
+  auto Tracer = dynamic_cast<TracerInterface*>(robot_);
+  Tracer->DisableLightControl();
+}
+
+
+TracerCoreState TracerRobot::GetRobotState() {
+  auto Tracer = dynamic_cast<TracerInterface*>(robot_);
+  return Tracer->GetRobotState();
+}
+
+TracerActuatorState TracerRobot::GetActuatorState() {
+  auto Tracer = dynamic_cast<TracerInterface*>(robot_);
+  return Tracer->GetActuatorState();
+}
+
+TracerCommonSensorState TracerRobot::GetCommonSensorState() {
+  auto scout = dynamic_cast<TracerInterface*>(robot_);
+  return scout->GetCommonSensorState();
+}
+
+}  // namespace westonrobot
\ No newline at end of file
diff --git a/src/protocol_v2/agilex_msg_parser_v2.c b/src/protocol_v2/agilex_msg_parser_v2.c
index 13ec1654..25f150d5 100644
--- a/src/protocol_v2/agilex_msg_parser_v2.c
+++ b/src/protocol_v2/agilex_msg_parser_v2.c
@@ -153,7 +153,7 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
       msg->type = AgxMsgActuatorHSState;
       ActuatorHSStateFrame *frame = (ActuatorHSStateFrame *)(rx_frame->data);
       msg->body.actuator_hs_state_msg.motor_id =
-          rx_frame->can_id - CAN_MSG_ACTUATOR1_HS_STATE_ID;
+          rx_frame->can_id - CAN_MSG_ACTUATOR2_HS_STATE_ID;
       msg->body.actuator_hs_state_msg.rpm =
           (int16_t)((uint16_t)(frame->rpm.low_byte) |
                     (uint16_t)(frame->rpm.high_byte) << 8);
@@ -178,7 +178,7 @@ bool DecodeCanFrameV2(const struct can_frame *rx_frame, AgxMessage *msg) {
       msg->type = AgxMsgActuatorLSState;
       ActuatorLSStateFrame *frame = (ActuatorLSStateFrame *)(rx_frame->data);
       msg->body.actuator_hs_state_msg.motor_id =
-          rx_frame->can_id - CAN_MSG_ACTUATOR1_LS_STATE_ID;
+          rx_frame->can_id - CAN_MSG_ACTUATOR2_LS_STATE_ID;
       msg->body.actuator_ls_state_msg.driver_voltage =
           ((uint16_t)(frame->driver_voltage.low_byte) |
            (uint16_t)(frame->driver_voltage.high_byte) << 8) *