diff --git a/go.mod b/go.mod
index c98f8aa..9bc66cf 100644
--- a/go.mod
+++ b/go.mod
@@ -3,7 +3,7 @@ module github.com/cyrilix/robocar-steering-tflite-edgetpu
 go 1.17
 
 require (
-	github.com/cyrilix/robocar-base v0.1.4
+	github.com/cyrilix/robocar-base v0.1.5
 	github.com/cyrilix/robocar-protobuf/go v1.0.3
 	github.com/eclipse/paho.mqtt.golang v1.3.5
 	github.com/golang/protobuf v1.5.2
diff --git a/go.sum b/go.sum
index 86c5126..2620b77 100644
--- a/go.sum
+++ b/go.sum
@@ -10,8 +10,8 @@ github.com/client9/misspell v0.3.4/go.mod h1:qj6jICC3Q7zFZvVWo7KLAzC3yx5G7kyvSDk
 github.com/containerd/containerd v1.4.1/go.mod h1:bC6axHOhabU15QhwfG7w5PipXdVtMXFTttgp+kVtyUA=
 github.com/containerd/continuity v0.0.0-20190426062206-aaeac12a7ffc/go.mod h1:GL3xCUCBDV3CZiTSEKksMWbLE66hEyuu9qyDOOqM47Y=
 github.com/coreos/pkg v0.0.0-20180928190104-399ea9e2e55f/go.mod h1:E3G3o1h8I7cfcXa63jLwjI0eiQQMgzzUDFVpN/nH/eA=
-github.com/cyrilix/robocar-base v0.1.4 h1:nfnjRwAcCfS7xGu6tW9rZhmc/HZIsuDJX5NFhgX5dWE=
-github.com/cyrilix/robocar-base v0.1.4/go.mod h1:Tt04UmbGBiQtU0Cn3wFD0q7XoyokTwIlWYQxThKI+04=
+github.com/cyrilix/robocar-base v0.1.5 h1:EfbYHB69hgyQCVuzZ9/ifdSrQfXS7+04M8O9BDu1/5w=
+github.com/cyrilix/robocar-base v0.1.5/go.mod h1:tb7R5OFoBn9EWNLX3Kzx6R/3cQ9/7r8XsHvlLSESOAM=
 github.com/cyrilix/robocar-protobuf/go v1.0.3 h1:iPHw2+7FVXG2C4+Th1m11hQ+2RpAQzlxKhc5M7XOa6Q=
 github.com/cyrilix/robocar-protobuf/go v1.0.3/go.mod h1:xb95cK07lYXnKcHZKnGafmAgYRrqZWZgV9LMiJAp+gE=
 github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
diff --git a/vendor/github.com/cyrilix/robocar-base/cli/cli.go b/vendor/github.com/cyrilix/robocar-base/cli/cli.go
index 7824862..08e47a6 100644
--- a/vendor/github.com/cyrilix/robocar-base/cli/cli.go
+++ b/vendor/github.com/cyrilix/robocar-base/cli/cli.go
@@ -5,7 +5,7 @@ import (
 	"fmt"
 	"github.com/cyrilix/robocar-base/service"
 	MQTT "github.com/eclipse/paho.mqtt.golang"
-	"log"
+	"go.uber.org/zap"
 	"os"
 	"os/signal"
 	"strconv"
@@ -25,7 +25,7 @@ func SetIntDefaultValueFromEnv(value *int, key string, defaultValue int) error {
 		sVal = os.Getenv(key)
 		val, err := strconv.Atoi(sVal)
 		if err != nil {
-			log.Printf("unable to convert string to int: %v", err)
+			zap.S().Errorf("unable to convert string to int: %v", err)
 			return err
 		}
 		*value = val
@@ -40,7 +40,7 @@ func SetFloat64DefaultValueFromEnv(value *float64, key string, defaultValue floa
 		sVal = os.Getenv(key)
 		val, err := strconv.ParseFloat(sVal, 64)
 		if err != nil {
-			log.Printf("unable to convert string to float: %v", err)
+			zap.S().Errorf("unable to convert string to float: %v", err)
 			return err
 		}
 		*value = val
@@ -81,7 +81,7 @@ func InitIntFlag(key string, defValue int) int {
 	var value int
 	err := SetIntDefaultValueFromEnv(&value, key, defValue)
 	if err != nil {
-		log.Panicf("invalid int value: %v", err)
+		zap.S().Panicf("invalid int value: %v", err)
 	}
 	return value
 }
@@ -90,7 +90,7 @@ func InitFloat64Flag(key string, defValue float64) float64 {
 	var value float64
 	err := SetFloat64DefaultValueFromEnv(&value, key, defValue)
 	if err != nil {
-		log.Panicf("invalid value: %v", err)
+		zap.S().Panicf("invalid value: %v", err)
 	}
 	return value
 }
@@ -106,8 +106,8 @@ func Connect(uri, username, password, clientId string) (MQTT.Client, error) {
 	opts.SetDefaultPublishHandler(
 		//define a function for the default message handler
 		func(client MQTT.Client, msg MQTT.Message) {
-			fmt.Printf("TOPIC: %s\n", msg.Topic())
-			fmt.Printf("MSG: %s\n", msg.Payload())
+			zap.S().Infof("TOPIC: %s", msg.Topic())
+			zap.S().Infof("MSG: %s", msg.Payload())
 		})
 
 	//create and start a client using the above ClientOptions
diff --git a/vendor/github.com/cyrilix/robocar-base/service/part.go b/vendor/github.com/cyrilix/robocar-base/service/part.go
index 4a79869..3487362 100644
--- a/vendor/github.com/cyrilix/robocar-base/service/part.go
+++ b/vendor/github.com/cyrilix/robocar-base/service/part.go
@@ -3,21 +3,21 @@ package service
 import (
 	"fmt"
 	mqtt "github.com/eclipse/paho.mqtt.golang"
-	"log"
+	"go.uber.org/zap"
 )
 
 func StopService(name string, client mqtt.Client, topics ...string) {
-	log.Printf("Stop %s service", name)
+	zap.S().Infof("Stop %s service", name)
 	token := client.Unsubscribe(topics...)
 	token.Wait()
 	if token.Error() != nil {
-		log.Printf("unable to unsubscribe service: %v", token.Error())
+		zap.S().Errorf("unable to unsubscribe service: %v", token.Error())
 	}
 	client.Disconnect(50)
 }
 
 func RegisterCallback(client mqtt.Client, topic string, callback mqtt.MessageHandler) error {
-	log.Printf("Register callback on topic %v", topic)
+	zap.S().Infof("Register callback on topic %v", topic)
 	token := client.Subscribe(topic, 0, callback)
 	token.Wait()
 	if token.Error() != nil {
diff --git a/vendor/modules.txt b/vendor/modules.txt
index f95f227..a17cf36 100644
--- a/vendor/modules.txt
+++ b/vendor/modules.txt
@@ -1,4 +1,4 @@
-# github.com/cyrilix/robocar-base v0.1.4
+# github.com/cyrilix/robocar-base v0.1.5
 ## explicit; go 1.17
 github.com/cyrilix/robocar-base/cli
 github.com/cyrilix/robocar-base/service