diff --git a/app/release/app-release.apk b/app/release/app-release.apk
index 3aeeeed..cfbb781 100644
Binary files a/app/release/app-release.apk and b/app/release/app-release.apk differ
diff --git a/app/src/main/java/com/github/gidabotapp/repository/QNode.java b/app/src/main/java/com/github/gidabotapp/repository/QNode.java
index 619c148..be2c499 100644
--- a/app/src/main/java/com/github/gidabotapp/repository/QNode.java
+++ b/app/src/main/java/com/github/gidabotapp/repository/QNode.java
@@ -4,7 +4,6 @@
 
 import androidx.lifecycle.MutableLiveData;
 
-import com.github.gidabotapp.data.MultiNavPhase;
 import com.github.gidabotapp.data.PhaseMessage;
 import com.github.gidabotapp.domain.Floor;
 import com.github.gidabotapp.domain.MapPosition;
@@ -51,14 +50,12 @@ public class QNode extends AbstractNodeMain {
     // Node subscribers
     private HashMap<Floor, Subscriber<PoseWithCovarianceStamped>> positionSubHM;
     private HashMap<Floor, Subscriber<PendingGoals>> pendingReqSubHM;
-    private Subscriber<std_msgs.Int8> subNavPhase;
     private Subscriber<std_msgs.Int8> subDialogMessage;
 
     // All MutableLiveData to expose ROS system's current data
     private final HashMap<Floor, MutableLiveData<MapPosition>> currentPositionsHM;
     private final HashMap<Floor, MutableLiveData<List<Goal>>> pendingRequestsHM;
     private final MutableLiveData<PhaseMessage> phaseMessageLD;
-    private final MutableLiveData<MultiNavPhase> multiNavPhaseLD;
 
     // ConnectedNode will be injected through MainActivity (RosActivity)
     private ConnectedNode connectedNode;
@@ -87,7 +84,6 @@ private QNode() {
             }
         }};
         this.phaseMessageLD = new MutableLiveData<>();
-        this.multiNavPhaseLD = new MutableLiveData<>();
     }
 
     // Singleton lazy initialization
@@ -151,17 +147,6 @@ public void onNewMessage(PendingGoals message) {
         }};
 
 
-        // Nav Phase subscriber connection
-        subNavPhase = connectedNode.newSubscriber("/nav_phase", Int8._TYPE);
-        subNavPhase.addMessageListener(new MessageListener<Int8>() {
-            @Override
-            public void onNewMessage(Int8 message) {
-                int i = message.getData();
-                MultiNavPhase currentNavPhase = MultiNavPhase.values()[i];
-                multiNavPhaseLD.postValue(currentNavPhase);
-            }
-        });
-
         // Dialog QT message subscriber connection
         subDialogMessage = connectedNode.newSubscriber("/dialog_qt_message", Int8._TYPE);
         subDialogMessage.addMessageListener(new MessageListener<Int8>() {
@@ -282,7 +267,6 @@ public void shutdown() {
             }
 
             subDialogMessage.shutdown();
-            subNavPhase.shutdown();
 
             pubCancel.shutdown();
             pubGoal.shutdown();
@@ -302,9 +286,6 @@ public void shutdown() {
     public MutableLiveData<PhaseMessage> getPhaseMessageLD(){
         return this.phaseMessageLD;
     }
-    public MutableLiveData<MultiNavPhase> getMultiNavPhaseLD(){
-        return this.multiNavPhaseLD;
-    }
     public HashMap<Floor, MutableLiveData<MapPosition>> getCurrentPositionsHM(){
         return this.currentPositionsHM;
     }
diff --git a/app/src/main/java/com/github/gidabotapp/repository/Repository.java b/app/src/main/java/com/github/gidabotapp/repository/Repository.java
index 16a5d52..173c9ed 100644
--- a/app/src/main/java/com/github/gidabotapp/repository/Repository.java
+++ b/app/src/main/java/com/github/gidabotapp/repository/Repository.java
@@ -132,9 +132,6 @@ public void qNodeShutdown() {
     public LiveData<Integer> getAlertLD(){
         return this.alertLD;
     }
-    public MutableLiveData<MultiNavPhase> getMultiNavPhaseLD(){
-        return qNode.getMultiNavPhaseLD();
-    }
     public MutableLiveData<Integer> getToastLD(){
         return this.toastLD;
     }
diff --git a/app/src/main/java/com/github/gidabotapp/view/RouteSelectActivity.java b/app/src/main/java/com/github/gidabotapp/view/RouteSelectActivity.java
index 069b328..512a197 100644
--- a/app/src/main/java/com/github/gidabotapp/view/RouteSelectActivity.java
+++ b/app/src/main/java/com/github/gidabotapp/view/RouteSelectActivity.java
@@ -300,7 +300,6 @@ public void onDestroy() {
             viewModel.getPositionLD(floor).removeObservers(this);
         }
         viewModel.getCurrentFloorRoomsLD().removeObservers(this);
-        viewModel.getMultiNavPhaseLD().removeObservers(this);
 
         // Shut down robot query Node (qNode)
         viewModel.shutdownNode();
diff --git a/app/src/main/java/com/github/gidabotapp/viewmodel/MapViewModel.java b/app/src/main/java/com/github/gidabotapp/viewmodel/MapViewModel.java
index b91b4dd..cb2aaf5 100644
--- a/app/src/main/java/com/github/gidabotapp/viewmodel/MapViewModel.java
+++ b/app/src/main/java/com/github/gidabotapp/viewmodel/MapViewModel.java
@@ -194,9 +194,6 @@ public void selectFloor(Floor floor) {
     public LiveData<String> getToastLD() {
         return this.toastLD;
     }
-    public MutableLiveData<MultiNavPhase> getMultiNavPhaseLD(){
-        return repository.getMultiNavPhaseLD();
-    }
     public MutableLiveData<MapPosition> getPositionLD(Floor f){
         return repository.getCurrentPositionsHM().get(f);
     }