diff --git a/src/custom_robot.cpp b/src/custom_robot.cpp
index 6f4101f..b570c6e 100644
--- a/src/custom_robot.cpp
+++ b/src/custom_robot.cpp
@@ -176,8 +176,8 @@ bool CustomRobot::SetReportFreq(int32_t interval, int32_t duration) {
 
 bool CustomRobot::initializeMqtt() {
     try {
-        std::string broker = config_->mqtt_broker;
-        int port = config_->mqtt_port;
+        std::string broker = config_.mqtt_broker;
+        int port = config_.mqtt_port;
         std::string clientId = generateRandomClientId();  
         
         mqttClient_ = std::make_unique<MqttClient>(broker, port, clientId);
@@ -192,7 +192,7 @@ bool CustomRobot::initializeMqtt() {
             return false;
         }
         
-        std::string controlTopic = config_->topic_prefix + "/" + config_->topic_cmd;
+        std::string controlTopic = config_.topic_prefix + "/" + config_.topic_cmd;
         
         mqttClient_->subscribe(controlTopic, 1);
         
@@ -211,7 +211,7 @@ void CustomRobot::onMqttMessage(const std::string& topic, const std::string& pay
 
         // nlohmann::json message = nlohmann::json::parse(payload);
         
-        // std::string controlTopic = config_->topic_prefix + "/" + config_->topic_cmd;
+        // std::string controlTopic = config_.topic_prefix + "/" + config_.topic_cmd;
         
         // if (topic == controlTopic) {
         //     if (message.contains("command")) {
@@ -225,7 +225,7 @@ void CustomRobot::onMqttMessage(const std::string& topic, const std::string& pay
         //             response["status"] = "executed";
         //             response["command"] = command;
         //             response["timestamp"] = std::time(nullptr);
-        //             std::string statusTopic = config_->topic_prefix + "/" + config_->topic_state;
+        //             std::string statusTopic = config_.topic_prefix + "/" + config_.topic_state;
         //             mqttClient_->publishJson(statusTopic, response);
                     
         //             // Publish updated status
@@ -238,7 +238,7 @@ void CustomRobot::onMqttMessage(const std::string& topic, const std::string& pay
         //             response["status"] = "executed";
         //             response["command"] = command;
         //             response["timestamp"] = std::time(nullptr);
-        //             std::string statusTopic = config_->topic_prefix + "/" + config_->topic_state;
+        //             std::string statusTopic = config_.topic_prefix + "/" + config_.topic_state;
         //             mqttClient_->publishJson(statusTopic, response);
                     
         //             // Publish updated status
@@ -250,7 +250,7 @@ void CustomRobot::onMqttMessage(const std::string& topic, const std::string& pay
         //         response["status"] = "error";
         //         response["message"] = "Unknown command: " + command;
         //         response["timestamp"] = std::time(nullptr);
-        //         std::string statusTopic = config_->topic_prefix + "/" + config_->topic_state;
+        //         std::string statusTopic = config_.topic_prefix + "/" + config_.topic_state;
         //         mqttClient_->publishJson(statusTopic, response);
                 
         //         // Publish updated status
@@ -270,7 +270,7 @@ void CustomRobot::onMqttConnection(bool connected) {
         nlohmann::json status;
         status["status"] = "online";
         status["timestamp"] = std::time(nullptr);
-        std::string statusTopic = config_->topic_prefix + "/" + config_->topic_state;
+        std::string statusTopic = config_.topic_prefix + "/" + config_.topic_state;
         mqttClient_->publishJson(statusTopic, status, 1, true);
         
         publishStatus();
@@ -296,7 +296,7 @@ void CustomRobot::publishStatus() {
             status["controller_connected"] = controller_->isConnected();
         }
         
-        std::string statusTopic = config_->topic_prefix + "/" + config_->topic_state;
+        std::string statusTopic = config_.topic_prefix + "/" + config_.topic_state;
         mqttClient_->publishJson(statusTopic, status, 1, true);
         
         LOG_DEBUG("Published status to topic: " + statusTopic);
@@ -307,7 +307,7 @@ void CustomRobot::publishStatus() {
 }
 
 std::string CustomRobot::generateRandomClientId() const {
-    std::string baseId = config_->mqtt_client_id;
+    std::string baseId = config_.mqtt_client_id;
     
     std::random_device rd;
     std::mt19937 gen(rd());