diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index bc55e5e..d19b74d 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -2,19 +2,14 @@ binutils-dev
 libgflags-dev
 libgz-cmake4-dev
 libgz-common6-dev
-libgz-fuel-tools10-dev
 libgz-sim9-dev
 libgz-gui9-dev
 libgz-math8-dev
 libgz-math8-eigen3-dev
 libgz-msgs11-dev
-libgz-physics8-dev
 libgz-plugin3-dev
-libgz-rendering9-dev
-libgz-sensors9-dev
 libgz-tools2-dev
 libgz-transport14-dev
-libsdformat15-dev
 libtinyxml2-dev
 libwebsockets-dev
 libxi-dev
diff --git a/CMakeLists.txt b/CMakeLists.txt
index eec03b7..2d7cddb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -133,10 +133,8 @@ gz_create_docs(
   TAGFILES
    "${GZ-MATH_DOXYGEN_TAGFILE} = ${GZ-MATH_API_URL}"
    "${GZ-MSGS_DOXYGEN_TAGFILE} = ${GZ-MSGS_API_URL}"
-   "${GZ-PHYSICS_DOXYGEN_TAGFILE} = ${GZ-PHYSICS_API_URL}"
    "${GZ-PLUGIN_DOXYGEN_TAGFILE} = ${GZ-PLUGIN_API_URL}"
    "${GZ-TRANSPORT_DOXYGEN_TAGFILE} = ${GZ-TRANSPORT_API_URL}"
-   "${GZ-SENSORS_DOXYGEN_TAGFILE} = ${GZ-SENSORS_API_URL}"
    "${GZ-COMMON_DOXYGEN_TAGFILE} = ${GZ-COMMON_API_URL}"
    "${GZ-SIM_DOXYGEN_TAGFILE} = ${GZ-SIM_API_URL}"
    "${GZ-GUI_DOXYGEN_TAGFILE} = ${GZ-GUI_API_URL}"
diff --git a/package.xml b/package.xml
index 361208a..6ac1a9a 100644
--- a/package.xml
+++ b/package.xml
@@ -13,14 +13,10 @@
   <depend>binutils</depend>
   <depend>gz-cmake4</depend>
   <depend>gz-common6</depend>
-  <depend>gz-fuel-tools9</depend>
   <depend>gz-gui9</depend>
   <depend>gz-math8</depend>
   <depend>gz-msgs11</depend>
-  <depend>gz-physics7</depend>
   <depend>gz-plugin3</depend>
-  <depend>gz-rendering8</depend>
-  <depend>gz-sensors8</depend>
   <depend>gz-sim9</depend>
   <depend>gz-tools2</depend>
   <depend>gz-transport14</depend>
@@ -29,7 +25,6 @@
   <depend>libxi-dev</depend>
   <depend>libxmu-dev</depend>
   <depend>libyaml-dev</depend>
-  <depend>sdformat14</depend>
   <depend>tinyxml2</depend>
   <depend>uuid</depend>
 
diff --git a/plugins/joy_to_twist/JoyToTwist.cc b/plugins/joy_to_twist/JoyToTwist.cc
index bc72da7..bf83d18 100644
--- a/plugins/joy_to_twist/JoyToTwist.cc
+++ b/plugins/joy_to_twist/JoyToTwist.cc
@@ -22,6 +22,7 @@
 #endif
 
 #include <string>
+#include <vector>
 
 #include <gz/msgs/joy.pb.h>
 #include <gz/msgs/twist.pb.h>
diff --git a/plugins/websocket_server/WebsocketServer.cc b/plugins/websocket_server/WebsocketServer.cc
index b146e28..ee768c8 100644
--- a/plugins/websocket_server/WebsocketServer.cc
+++ b/plugins/websocket_server/WebsocketServer.cc
@@ -624,9 +624,14 @@ void WebsocketServer::Run()
 
   while (this->run)
   {
-    // The second parameter is a timeout that is no longer used by
-    // libwebsockets.
-    lws_service(this->context, 0);
+    // The second parameter is used to control lws's event wait time.
+    // A -1 does not wait for an event, and 0 causes lws to wait
+    // for an event. When shutting down the websocket server, the
+    // wait time could be over 30 seconds if 0 is used.
+    //
+    // We are running lws in a separate thread with out our own
+    // condition variable. So, we will not use lws's event wait.
+    lws_service(this->context, -1);
 
     // Wait for (1/60) seconds or an event.
     std::unique_lock<std::mutex> lock(this->runMutex);
diff --git a/src/cmd/cmdlaunch.rb.in b/src/cmd/cmdlaunch.rb.in
index d60e14b..d122f66 100755
--- a/src/cmd/cmdlaunch.rb.in
+++ b/src/cmd/cmdlaunch.rb.in
@@ -14,6 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+require  'pathname'
 # Constants.
 LIBRARY_VERSION = '@PROJECT_VERSION_FULL@'
 COMMANDS = {
@@ -28,9 +29,8 @@ class Cmd
     command = args[0]
     exe_name = COMMANDS[command]
 
-    if exe_name[0] == '/'
-      # If the first character is a slash, we'll assume that we've been given an
-      # absolute path to the executable. This is only used during test mode.
+    if Pathname.new(exe_name).absolute?
+      # The exe_name can be absolute path during test. We'll leave it unchanged
     else
       # We're assuming that the library path is relative to the current
       # location of this script.