diff --git a/robonix/brain/test_mcp/main.py b/robonix/brain/test_mcp/main.py
index f7a20c6..16e37d3 100644
--- a/robonix/brain/test_mcp/main.py
+++ b/robonix/brain/test_mcp/main.py
@@ -12,10 +12,6 @@
 import time
 
 import sys
-root_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))
-if root_dir not in sys.path:
-    sys.path.append(root_dir)
-print(root_dir)
 from robonix.manager.eaios_decorators import package_init, mcp_start,eaios
 
 
diff --git a/robonix/brain/test_mcp/server.py b/robonix/brain/test_mcp/server.py
index 63e8e35..800c49c 100644
--- a/robonix/brain/test_mcp/server.py
+++ b/robonix/brain/test_mcp/server.py
@@ -1,9 +1,5 @@
 import sys
 import os
-root_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))
-print(root_dir)
-if root_dir not in sys.path:
-    sys.path.append(root_dir)
 from robonix.manager.eaios_decorators import eaios, package_init,FunctionRegistry,mcp_start
 
 import yaml
diff --git a/robonix/capability/navigation2/api/api.py b/robonix/capability/navigation2/api/api.py
index 95260d6..84fa101 100644
--- a/robonix/capability/navigation2/api/api.py
+++ b/robonix/capability/navigation2/api/api.py
@@ -177,7 +177,8 @@ def set_goal(x, y, yaw) -> str:
         y: Target Y coordinate
         yaw: Target yaw angle
     """
-    # rclpy.init()
+    if not rclpy.ok():
+        rclpy.init()
     import yaml
     plugin_name = "simple_navigation"
     config_path = os.path.join(os.path.dirname(
diff --git a/robonix/capability/navigation2/plugins/ros2_navigation/lib.py b/robonix/capability/navigation2/plugins/ros2_navigation/lib.py
index 39db2cf..927f16c 100644
--- a/robonix/capability/navigation2/plugins/ros2_navigation/lib.py
+++ b/robonix/capability/navigation2/plugins/ros2_navigation/lib.py
@@ -70,7 +70,8 @@ def nv_test():
 
 @eaios.plugin("navigation2","ros2_navigation")
 def set_goal(x, y, yaw) -> str:
-    # rclpy.init()
+    if not rclpy.ok():
+        rclpy.init()
     res = nv_controller.set_goal(x,y,yaw)
     func_status = f"Service set_goal response: {res}"
     # rclpy.shutdown()
diff --git a/robonix/manager/boot.py b/robonix/manager/boot.py
index 09480b6..a3f4d2f 100644
--- a/robonix/manager/boot.py
+++ b/robonix/manager/boot.py
@@ -1,22 +1,18 @@
 import asyncio
 import signal
 import argparse
-import process_manage
-import node
-from log import logger
-from cmdline import CLI
-import depend
+from robonix.manager import process_manage
+from robonix.manager import node
+from robonix.manager.log import logger
+from robonix.manager.cmdline import CLI
+from robonix.manager import depend
 import os
-from constant import BASE_SKILL_PATH, INIT_FILE, BASE_PATH
+from robonix.manager.constant import BASE_SKILL_PATH, INIT_FILE, BASE_PATH
 import sys
 
-if os.path.dirname(BASE_PATH) not in sys.path:
-    sys.path.append(os.path.dirname(BASE_PATH))
-
-from eaios_decorators import package_init, mcp_start
+from robonix.manager.eaios_decorators import package_init
 
 # Ensure the root directory is in the Python path for skill import
-sys.path.insert(0, BASE_PATH)
 # import skill
 
 
diff --git a/robonix/manager/cmdline.py b/robonix/manager/cmdline.py
index a26773c..ae37e1a 100644
--- a/robonix/manager/cmdline.py
+++ b/robonix/manager/cmdline.py
@@ -8,7 +8,7 @@
 from typing import List, Dict, Any, Optional, Callable
 import traceback
 import aioconsole
-from log import logger
+from robonix.manager.log import logger
 
 
 class Colors:
diff --git a/robonix/manager/depend.py b/robonix/manager/depend.py
index fffe99e..47da91d 100644
--- a/robonix/manager/depend.py
+++ b/robonix/manager/depend.py
@@ -1,9 +1,9 @@
 import os
 import yaml
 from collections import defaultdict
-from constant import BASE_PATH
-from log import logger
-from node import get_entry_name
+from robonix.manager.constant import BASE_PATH
+from robonix.manager.log import logger
+from robonix.manager.node import get_entry_name
 
 
 def scan_dir(base_path, feature_set, feature_sources, all_dependencies, all_params):
diff --git a/robonix/manager/eaios_decorators.py b/robonix/manager/eaios_decorators.py
index 733a44f..0f9154e 100644
--- a/robonix/manager/eaios_decorators.py
+++ b/robonix/manager/eaios_decorators.py
@@ -7,11 +7,9 @@
 import yaml
 import sys
 import inspect
-from node import get_entry_name
+from robonix.manager.node import get_entry_name
 
-if os.path.abspath(os.path.dirname(__file__)) not in sys.path:
-    sys.path.append(os.path.abspath(os.path.dirname(__file__)))
-from constant import BASE_SKILL_PATH, INIT_FILE, EXPORT_FILE, BASE_PATH
+from robonix.manager.constant import BASE_SKILL_PATH, INIT_FILE, EXPORT_FILE, BASE_PATH
 
 if os.path.dirname(BASE_PATH) not in sys.path:
     sys.path.append(os.path.dirname(BASE_PATH))
diff --git a/robonix/manager/node.py b/robonix/manager/node.py
index 19805cf..1c494a6 100644
--- a/robonix/manager/node.py
+++ b/robonix/manager/node.py
@@ -1,7 +1,7 @@
 import os
 import yaml
-from log import logger
-from constant import BASE_PATH
+from robonix.manager.log import logger
+from robonix.manager.constant import BASE_PATH
 
 
 class BaseNode:
diff --git a/robonix/manager/process_manage.py b/robonix/manager/process_manage.py
index e8b47a6..b8d01ed 100644
--- a/robonix/manager/process_manage.py
+++ b/robonix/manager/process_manage.py
@@ -5,7 +5,7 @@
 import pty
 import select
 import signal
-from log import logger
+from robonix.manager.log import logger
 import shlex
 
 def build_cli_args(params: dict, *, normalize_dash: bool = True) -> str:
diff --git a/robonix/skill/move/api/api.py b/robonix/skill/move/api/api.py
index d46306a..d5d9555 100644
--- a/robonix/skill/move/api/api.py
+++ b/robonix/skill/move/api/api.py
@@ -10,13 +10,6 @@
 from sensor_msgs.msg import Range
 import sys
 
-import sys
-root_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))))
-if root_dir not in sys.path:
-    sys.path.append(root_dir)
-
-print(root_dir)
-
 from robonix.manager.eaios_decorators import eaios
 from robonix.uapi.graph.entity import Entity
 
diff --git a/robonix/skill/semantic_map/test_semantic_map.py b/robonix/skill/semantic_map/test_semantic_map.py
index 55f3f52..59763cb 100644
--- a/robonix/skill/semantic_map/test_semantic_map.py
+++ b/robonix/skill/semantic_map/test_semantic_map.py
@@ -5,11 +5,7 @@
 
 import sys
 import os
-
-# Add the project root to Python path
-sys.path.append(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))
-
-from skill.semantic_map.api.api import skl_update_map, skl_query_map_all, skl_query_map, skl_add_map_obj
+from robonix.skill.semantic_map.api.api import skl_update_map, skl_query_map_all, skl_query_map, skl_add_map_obj
 
 def test_semantic_map():
     print("Testing semantic map skills...")
diff --git a/robonix/skill/test.py b/robonix/skill/test.py
index ead3957..8eb3a2a 100644
--- a/robonix/skill/test.py
+++ b/robonix/skill/test.py
@@ -1,10 +1,6 @@
 import os
 import sys
 
-root_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-if root_dir not in sys.path:
-    sys.path.append(root_dir)
-print("[DEBUG] skill root_dir:", root_dir)
 from robonix.manager.eaios_decorators import package_init, mcp_start,eaios
 
 package_init("config/include/ranger_test.yml")
diff --git a/robonix/skill/test_skill/api/api.py b/robonix/skill/test_skill/api/api.py
index bfa637d..c5533ab 100644
--- a/robonix/skill/test_skill/api/api.py
+++ b/robonix/skill/test_skill/api/api.py
@@ -10,11 +10,6 @@
 from sensor_msgs.msg import Range
 import sys
 
-import sys
-root_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))))
-if root_dir not in sys.path:
-    sys.path.append(root_dir)
-print(root_dir)
 from robonix.manager.eaios_decorators import eaios
 
 #TODO memory
diff --git a/start.sh b/start.sh
index 3697107..c73f701 100755
--- a/start.sh
+++ b/start.sh
@@ -1,3 +1,8 @@
+# make sure the script runs in the root of robonix
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+cd "$SCRIPT_DIR"
+
+export PYTHONPATH="$PWD:$PYTHONPATH"
 bash init.sh
 source /opt/ros/humble/setup.sh