diff --git a/build.gradle b/build.gradle
index 52436ce..2f8e710 100644
--- a/build.gradle
+++ b/build.gradle
@@ -8,8 +8,20 @@ group = 'com.github.CST-Group'
 
 description = "CST-Desktop"
 
-sourceCompatibility = 1.8
-targetCompatibility = 1.8
+java {
+   //sourceCompatibility = JavaVersion.VERSION_11
+   //targetCompatibility = JavaVersion.VERSION_11
+   //sourceCompatibility = JavaVersion.VERSION_1_8
+   //targetCompatibility = JavaVersion.VERSION_1_8
+
+    sourceCompatibility = JavaVersion.VERSION_17
+    targetCompatibility = JavaVersion.VERSION_17
+
+    toolchain {
+        languageVersion = JavaLanguageVersion.of(21)
+    }
+}
+
 version = '1.1.0'
 
 repositories {
@@ -18,12 +30,15 @@ repositories {
     }
     mavenCentral()
     maven {
-        url "https://github.com/rosjava/rosjava_mvn_repo/raw/master"
+        url = "https://github.com/rosjava/rosjava_mvn_repo/raw/master"
     }
     maven {
-        url "https://artifacts.camunda.com/artifactory/public/"
+        url = "https://artifacts.camunda.com/artifactory/public/"
+    }
+    maven { url = 'https://jitpack.io' }
+    maven {
+        url = 'https://cst-group.github.io/cst-dependencies/maven-repo/'
     }
-    maven { url 'https://jitpack.io' }
 }
 
 configurations {
@@ -31,27 +46,20 @@ configurations {
 }
 
 dependencies {
-    //api('com.github.CST-Group:cst:e93dc57')
-    api('com.github.CST-Group:cst-bindings:1.1.0')
-    //api ':cst-bindings:1.0.6-full'
+    api('com.github.CST-Group:cst-bindings:f5eb368')
     api group: 'org.jfree', name: 'jfreechart', version: '1.0.19'
     api 'com.soartech:jsoar-core:4.1.3'
     api 'com.soartech:jsoar-debugger:4.1.3'
-    //api 'org.ros.rosjava_core:rosjava:0.3.6'
-    //implementation 'com.github.rosjava:rosjava_core:0.3.7'
     api group: 'net.sf.jung', name: 'jung-algorithms', version: '2.0.1'
     api group: 'net.sf.jung', name: 'jung-graph-impl', version: '2.0.1'
     api group: 'net.sf.jung', name: 'jung-visualization', version: '2.0.1'
     api group: 'net.sf.jung', name: 'jung-api', version: '2.0.1'
-    api 'com.github.rosjava:rosjava_core:0.3.7'
-    api 'org.ros.rosjava_bootstrap:message_generation:0.3.3'
     testImplementation 'com.github.CST-Group:cst:e93dc57'
     testImplementation 'com.1stleg:jnativehook:2.1.0'
-    testImplementation group: 'junit', name: 'junit', version: '4.12'
-    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
-    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
-    testImplementation 'org.ros.rosjava_messages:std_msgs:0.5.11'
-    testImplementation 'org.ros.rosjava_messages:rosjava_test_msgs:0.3.0'
+    // These are necessary for JUnit5 tests
+    testImplementation 'org.junit.jupiter:junit-jupiter-api:5.11.0'
+    testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.11.0'
+    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
 task javadocJar(type: Jar) {
@@ -97,3 +105,11 @@ jacocoTestReport {
         xml.required = true
     }
 }
+
+uberJar {
+    dependsOn jar
+}
+
+test {
+    useJUnitPlatform()
+}
\ No newline at end of file
diff --git a/src/main/java/br/unicamp/cst/util/viewer/MindViewer.java b/src/main/java/br/unicamp/cst/util/viewer/MindViewer.java
index ead7754..021a3d4 100644
--- a/src/main/java/br/unicamp/cst/util/viewer/MindViewer.java
+++ b/src/main/java/br/unicamp/cst/util/viewer/MindViewer.java
@@ -119,7 +119,6 @@ public MindViewer(Mind mind, String windowName, List<Codelet> behavioralCodelets
         Logger.getLogger("javax.swing").setLevel(Level.OFF);
     }
     
-    
     private void buildMindModulePanels(Mind mind){
         if(mind.getCodeletGroupsNumber() > 0) {
             if (mind.getCodeletGroupList("Motivational") != null) {
@@ -127,13 +126,20 @@ private void buildMindModulePanels(Mind mind){
                     motivationalModuleViewer = new MotivationalSubsystemViewer(Long.parseLong(txtRefreshTime.getText()), mind);
                     tbModules.add("Motivational Subsystem", motivationalModuleViewer);
                 }
-            }    
+            }
+            if (mind.getCodeletGroupList("Planning") != null) {
+                if (mind.getCodeletGroupList("Planning").size() > 0) {
+                    JSoarCodelet jSoarCodelet = (JSoarCodelet) mind.getCodeletGroupList("Planning").get(0);
+                    plansSubsystemModule.setjSoarCodelet(jSoarCodelet);
+                    if(plansSubsystemModule.verifyExistCodelets()){
+                        plansSubsystemViewer = new PlansSubsystemViewer(Long.parseLong(txtRefreshTime.getText()), this);
+                        tbControl.add("Plans Subsystem", plansSubsystemViewer);
+                    }
+                }
+            }
         }    
 
-        if(plansSubsystemModule.verifyExistCodelets()){
-            plansSubsystemViewer = new PlansSubsystemViewer(Long.parseLong(txtRefreshTime.getText()), this);
-            tbControl.add("Plans Subsystem", plansSubsystemViewer);
-        }
+        
     }
 
     /**