diff --git a/as2-rviz-plugins-geographiclib.patch b/as2-rviz-plugins-geographiclib.patch
new file mode 100644
index 0000000000000000000000000000000000000000..aca6157446b614525071bb01d7131c3187598c4d
--- /dev/null
+++ b/as2-rviz-plugins-geographiclib.patch
@@ -0,0 +1,57 @@
+diff -Nur agiros-loong-as2-rviz-plugins-1.1.2/CMakeLists.txt agiros-loong-as2-rviz-plugins-1.1.2-2.0/CMakeLists.txt
+--- agiros-loong-as2-rviz-plugins-1.1.2/CMakeLists.txt	2024-08-22 21:23:38.000000000 +0800
++++ agiros-loong-as2-rviz-plugins-1.1.2-2.0/CMakeLists.txt	2025-03-19 15:17:47.000000000 +0800
+@@ -3,8 +3,13 @@
+ ## TeleopPanel, ImuDisplay, and PlantFlagTool tutorials.
+ 
+ cmake_minimum_required(VERSION 3.8)
++
++list(APPEND CMAKE_PREFIX_PATH "/usr")
++
+ project(as2_rviz_plugins)
+ 
++
++
+ # Default to C++17
+ if(NOT CMAKE_CXX_STANDARD)
+   set(CMAKE_CXX_STANDARD 17)
+@@ -28,10 +33,19 @@
+   as2_core
+   as2_msgs
+   as2_motion_reference_handlers
++  GeographicLib
+ )
+ 
+ find_package(Qt5 REQUIRED COMPONENTS Widgets)
+ 
++find_package(GeographicLib REQUIRED COMPONENTS SHARED)
++
++find_package(yaml-cpp REQUIRED )
++
++link_directories(/opt/agiros/loong/lib)
++
++
++
+ foreach(DEPENDENCY ${PROJECT_DEPENDENCIES})
+   find_package(${DEPENDENCY} REQUIRED)
+ endforeach()
+@@ -50,11 +64,19 @@
+ ## "rviz_plugin_tutorials", or whatever your version of this project
+ ## is called) and specify the list of source files we collected above
+ ## in ``${SRC_FILES}``. We also add the needed dependencies.
++
++
+ add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
+ ament_target_dependencies(${PROJECT_NAME} ${PROJECT_DEPENDENCIES})
+ target_include_directories(${PROJECT_NAME} PUBLIC
+   ${Qt5Widgets_INCLUDE_DIRS})
+ 
++target_link_libraries(${PROJECT_NAME}
++    GeographicLib::GeographicLib_SHARED	
++    as2_core
++	yaml-cpp
++)
++
+ ## Here we export the plugins and meshes so they can be found by RViz at runtime.
+ pluginlib_export_plugin_description_file(rviz_common plugin_description.xml)
+ 
diff --git a/as2-rviz-plugins.spec b/as2-rviz-plugins.spec
index 7c027c73bfbe1ee75426eaf0de29127e968527b3..f4850d05dccae7c20387733811d79aa9a6162a61 100644
--- a/as2-rviz-plugins.spec
+++ b/as2-rviz-plugins.spec
@@ -16,10 +16,11 @@ Summary:        Tutorials showing how to write plugins for RViz.
 Url:            http://ros.org/wiki/rviz_plugin_tutorials
 License:        BSD
 Source0:        %{name}_%{version}.orig.tar.gz
+Patch0:			as2-rviz-plugins-geographiclib.patch
 
-Requires: agiros-%{agiros_distro}-geometry_msgs
+Requires: agiros-%{agiros_distro}-geometry-msgs
 Requires: agiros-%{agiros_distro}-rclcpp
-Requires: agiros-%{agiros_distro}-rviz_common
+Requires: agiros-%{agiros_distro}-rviz-common
 Requires: agiros-%{agiros_distro}-rviz-rendering
 Requires: agiros-%{agiros_distro}-sensor-msgs
 Requires: agiros-%{agiros_distro}-as2-core
@@ -27,7 +28,7 @@ Requires: agiros-%{agiros_distro}-as2-msgs
 Requires: agiros-%{agiros_distro}-as2-motion-reference-handlers
 Requires: qt5-qtbase
 Requires: qt5-qtbase-gui
-Requires: libqt5-widgets
+#Requires: libqt5-widgets
 Requires: agiros-%{agiros_distro}-ros-workspace
 
 BuildRequires: agiros-%{agiros_distro}-geometry-msgs
@@ -60,7 +61,7 @@ Tutorials showing how to write plugins for RViz.
 %build
 # Needed to bootstrap since the ros_workspace package does not yet exist.
 export PYTHONPATH=/opt/agiros/%{agiros_distro}/lib/python%{python3_version}/site-packages
-
+export LDFLAGS="-L/opt/agiros/loong/lib"
 export ROS_DISTRO=%{ros_distro}
 export ROS_PYTHON_VERSION=%{python3_version}
 
@@ -79,7 +80,11 @@ mkdir -p .obj-%{_target_platform} && cd .obj-%{_target_platform}
     -DAMENT_PREFIX_PATH="/opt/agiros/%{agiros_distro}" \
     -DCMAKE_PREFIX_PATH="/opt/agiros/%{agiros_distro}" \
     -DCMAKE_INSTALL_LIBDIR="/opt/agiros/%{agiros_distro}/lib" \
+	-DCMAKE_LIBRARY_PATH=/opt/agiros/%{agiros_distro}/lib \
     -DSETUPTOOLS_DEB_LAYOUT=OFF \
+    -DGeographicLib_DIR=/usr/lib64/cmake/geographiclib \
+    -DCMAKE_PREFIX_PATH="/usr:%{CMAKE_PREFIX_PATH}" \
+    -DCMAKE_MODULE_PATH=/usr/share/cmake/Modules \
 %if !0%{?with_tests}
     -DBUILD_TESTING=OFF \
 %endif
@@ -119,4 +124,4 @@ else echo "RPM TESTS SKIPPED"; fi
 
 %changelog
 * Thu Dec 26 2024 Mabel Zhang mabel@openrobotics.org - 1.1.2-1
-- Autogenerated by ros-porting-tools
+- Autogenerated by ros-porting-tools
\ No newline at end of file