diff --git a/0001-Use-prebuilt-TinyXML2.patch b/0001-Use-prebuilt-TinyXML2.patch
deleted file mode 100644
index b554081..0000000
--- a/0001-Use-prebuilt-TinyXML2.patch
+++ /dev/null
@@ -1,43 +0,0 @@
-From 3154cd3ca778c151b9a8f8c7af71dcd7f9f55e09 Mon Sep 17 00:00:00 2001
-From: sdlzx <hdu_sdlzx@163.com>
-Date: Sat, 25 Sep 2021 13:44:03 +0800
-Subject: [PATCH] Use prebuilt TinyXML2
-
----
- src/pluginlib/CMakeLists.txt | 4 +---
- src/rospack/CMakeLists.txt   | 4 +---
- 2 files changed, 2 insertions(+), 6 deletions(-)
-
-diff --git a/src/pluginlib/CMakeLists.txt b/src/pluginlib/CMakeLists.txt
-index c19c2f6..3e88204 100644
---- a/src/pluginlib/CMakeLists.txt
-+++ b/src/pluginlib/CMakeLists.txt
-@@ -4,9 +4,7 @@ project(pluginlib)
- find_package(catkin REQUIRED COMPONENTS class_loader rosconsole roslib cmake_modules)
- find_package(Boost REQUIRED COMPONENTS filesystem)
- 
--find_package(TinyXML2 REQUIRED
--PATHS ${CMAKE_CURRENT_SOURCE_DIR}/../../3rdparty/install/tinyxml2/
--NO_DEFAULT_PATH)
-+find_package(TinyXML2 REQUIRED)
- 
- catkin_package(
-   INCLUDE_DIRS include
-diff --git a/src/rospack/CMakeLists.txt b/src/rospack/CMakeLists.txt
-index 71e025b..91dc79d 100644
---- a/src/rospack/CMakeLists.txt
-+++ b/src/rospack/CMakeLists.txt
-@@ -5,9 +5,7 @@ find_package(catkin REQUIRED COMPONENTS cmake_modules)
- find_package(Boost REQUIRED COMPONENTS filesystem program_options system)
- set(Python_ADDITIONAL_VERSIONS "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
- find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIRED)
--find_package(TinyXML2 REQUIRED
--PATHS ${CMAKE_CURRENT_SOURCE_DIR}/../../3rdparty/install/tinyxml2/
--NO_DEFAULT_PATH)
-+find_package(TinyXML2 REQUIRED)
- 
- catkin_package(
-   INCLUDE_DIRS include
--- 
-2.31.1
-
diff --git a/1.10.1-1.tar.gz b/1.10.1-1.tar.gz
index bb1e1af..0db329c 100644
Binary files a/1.10.1-1.tar.gz and b/1.10.1-1.tar.gz differ
diff --git a/nodelet_core.spec b/nodelet_core.spec
index 86ee5d4..d7d2525 100644
--- a/nodelet_core.spec
+++ b/nodelet_core.spec
@@ -1,11 +1,10 @@
 Name:		nodelet_core
 Version:	1.10.1
-Release:	2
+Release:	1
 Summary:	This is ROS noetic nodelet_core Package
 License:	Public Domain and Apache-2.0 and BSD and MIT and BSL-1.0 and LGPL-2.1-only and MPL-2.0 and GPL-3.0-only and GPL-2.0-or-later and MPL-1.1 and IJG and Zlib and OFL-1.1
 URL:		https://github.com/ros-gbp/nodelet_core-release/archive/release/noetic/nodelet_core
 Source0:	https://github.com/ros-gbp/nodelet_core-release/archive/release/noetic/nodelet_core/1.10.1-1.tar.gz
-Patch0:		0001-Use-prebuilt-TinyXML2.patch
 BuildRequires:	gcc-c++
 BuildRequires:	cmake
 BuildRequires:	lz4-devel
@@ -29,13 +28,14 @@ BuildRequires:	gpgme-devel
 BuildRequires:	cpp-gpgme
 BuildRequires:	python3-crypto
 BuildRequires:	bullet-devel
-BuildRequires:	tinyxml2-devel
+BuildRequires:  gtest-devel
+BuildRequires:  gmock-devel
 
 %description
 This is ROS noetic nodelet_core Package.
 
 %prep
-%autosetup -p1
+%setup
 
 %install
 
@@ -82,44 +82,6 @@ cd rospkg-1.2.8/
 python3 setup.py install --user
 cd ..
 
-
-
-cd console_bridge/
-mkdir build/
-cd build/
-cmake ..
-make 
-make install
-cd ..
-cd ..
-
-cd poco/
-mkdir cmake-build/
-mkdir cmake-release/
-cd cmake-build/
-cmake ..
-make -j8
-make install
-cd ..
-cd ..
-
-cd urdfdom_headers/
-mkdir build
-cd build
-cmake ..
-make install
-cd ..
-cd ..
-
-cd eigen-3.3.7/
-mkdir build
-cd build
-cmake ..
-make install
-cd ..
-cd ..
-
-
 # 3rdparty
 cd ..
 
@@ -139,22 +101,16 @@ sed -i "s:${SRC_PATH}:${DST_PATH}:g"  `grep -rIln "${SRC_PATH}" install_isolated
 #
 ####
 mkdir -p %{buildroot}/opt/ros/noetic/
-mkdir -p %{buildroot}/usr/local/
 cp -r install_isolated/* %{buildroot}/opt/ros/noetic/
 cp  install_isolated/.rosinstall %{buildroot}/opt/ros/noetic/
 cp  install_isolated/.catkin %{buildroot}/opt/ros/noetic/
-cp -r 3rdparty/install/* %{buildroot}/usr/local/
 
 %files
 %defattr(-,root,root)
 /opt/ros/noetic/*
 /opt/ros/noetic/.rosinstall
 /opt/ros/noetic/.catkin
-/usr/local/*
 
 %changelog
-* Sat Sep 25 2021 sdlzx <hdu_sdlzx@163.com> - 1.10.1-2
-- Use prebuilt tinyxml2 instead of the bundled one.
-
 * Thu 12-15-2020 openEuler Buildteam <hanhaomin008@126.com>
 - Package init