diff --git a/REQUIRE b/REQUIRE
index dd798da0..0721323c 100644
--- a/REQUIRE
+++ b/REQUIRE
@@ -1,10 +1,10 @@
 julia 0.7 1.1
-IncrementalInference 0.5.2
-Graphs 0.10.1
+IncrementalInference 0.5.4 0.6.0
+Graphs 0.10.2
 TransformUtils 0.2.2
 CoordinateTransformations 0.5.0
 Rotations 0.9.1
-KernelDensityEstimate 0.4.3
+KernelDensityEstimate 0.5.0
 ApproxManifoldProducts 0.0.3
 Distributions 0.16.4
 JLD2 0.1.2
diff --git a/src/RoME.jl b/src/RoME.jl
index dd17e393..887c9a3d 100644
--- a/src/RoME.jl
+++ b/src/RoME.jl
@@ -26,11 +26,12 @@ import IncrementalInference: convert, getSample, reshapeVec2Mat, extractdistribu
 const AMP = ApproxManifoldProducts
 
 export
-  IIF,
+  IIF,  # Aliases for various packages
   KDE,
   TU,
   AMP,
-  initfg,  # RoME specific functions
+  # initfg,
+  # RoME specific functions
   measureMeanDist,
   predictBodyBR,
   getLastPose,
diff --git a/src/RobotUtils.jl b/src/RobotUtils.jl
index 786a1874..076e087b 100644
--- a/src/RobotUtils.jl
+++ b/src/RobotUtils.jl
@@ -246,14 +246,27 @@ function addOdoFG!(
     return vnext, fact
 end
 
-
-function initfg(;sessionname="NA")
-  fgl = IIF.FactorGraph()
-  fgl.sessionname=sessionname
-  # fgl.robotname = ?
-  # registerCallback!(fgl, RoME.getSample) # RoME.evalPotention
-  return fgl
-end
+# """
+#     $SIGNATURES
+#
+# Initialize an empty `::FactorGraph` object while initializing `sessionname`, `robotname`, and `cloudgraph`.
+# """
+# function initfg(;sessionname="NA",robotname="",username="",cloudgraph=nothing)
+#   # fgl = RoME.initfg(sessionname=sessionname)
+#   fgl = IIF.FactorGraph()
+#   fgl.sessionname = sessionname
+#   fgl.robotname = robotname
+#   fgl.username = username
+#   fgl.cg = cloudgraph
+#   return fgl
+# end
+# function initfg(;sessionname="NA")
+#   fgl = IIF.FactorGraph()
+#   fgl.sessionname=sessionname
+#   # fgl.robotname = ?
+#   # registerCallback!(fgl, RoME.getSample) # RoME.evalPotention
+#   return fgl
+# end
 
 """
     $(SIGNATURES)
diff --git a/test/testManifoldsPose2Equivalent.jl b/test/testManifoldsPose2Equivalent.jl
index 0704fd46..212f1639 100644
--- a/test/testManifoldsPose2Equivalent.jl
+++ b/test/testManifoldsPose2Equivalent.jl
@@ -8,7 +8,7 @@ using RoME, Distributions
 # using RoMEPlotting
 
 using ApproxManifoldProducts
-const AMP = ApproxManifoldProducts
+# const AMP = ApproxManifoldProducts
 
 ##