diff --git a/.github/workflows/common_build.yml b/.github/workflows/common_build.yml
index 89de3ee62d..9929b5ba22 100644
--- a/.github/workflows/common_build.yml
+++ b/.github/workflows/common_build.yml
@@ -91,7 +91,7 @@ jobs:
       os: ubuntu-22.04
       build: true
       build_installer: false
-      qmake_extra: "CONFIG+=tests CONFIG+=noPch CONFIG+=ccache CONFIG+=no-sanitizers CONFIG+=use_system_qscintilla2 CONFIG+=use_system_quazip"
+      qmake_extra: "CONFIG+=tests CONFIG+=noPch CONFIG+=ccache CONFIG+=no-sanitizers CONFIG+=use_system_box2D CONFIG+=use_system_qscintilla2 CONFIG+=use_system_quazip"
       trik_python3_version_minor: 10
       lint_clazy: true
 
@@ -103,7 +103,7 @@ jobs:
       build: true
       build_installer: false
       config: debug
-      qmake_extra: "CONFIG+=tests CONFIG+=noPch CONFIG+=ccache CONFIG+=small_debug_info CONFIG+=use_system_qscintilla2 CONFIG+=use_system_quazip CONFIG+=sanitizer CONFIG+=sanitize_undefined CONFIG+=sanitize_address"
+      qmake_extra: "CONFIG+=tests CONFIG+=noPch CONFIG+=ccache CONFIG+=small_debug_info CONFIG+=use_system_box2D CONFIG+=use_system_qscintilla2 CONFIG+=use_system_quazip CONFIG+=sanitizer CONFIG+=sanitize_undefined CONFIG+=sanitize_address"
       trik_python3_version_minor: 10
 
   build-altlinux-release-tests:
diff --git a/.github/workflows/setup_environment.yml b/.github/workflows/setup_environment.yml
index 75c8c94baa..aaadb36aaa 100644
--- a/.github/workflows/setup_environment.yml
+++ b/.github/workflows/setup_environment.yml
@@ -114,6 +114,9 @@ jobs:
         if [[ "${{ inputs.qmake_extra }}" =~ "+=use_system_qscintilla2" ]]; then
           rm -rf thirdparty/qscintilla
         fi
+        if [[ "${{ inputs.qmake_extra }}" =~ "+=use_system_box2D" ]]; then
+          rm -rf plugins/robots/thirdparty/Box2D
+        fi
         ls thirdparty
 
     - name: Set up environment
diff --git a/buildScripts/github/install.sh b/buildScripts/github/install.sh
index 95e7c3275e..815cda5cb4 100755
--- a/buildScripts/github/install.sh
+++ b/buildScripts/github/install.sh
@@ -53,7 +53,7 @@ case "$(uname)" in
     elif [ "$ID" = "ubuntu" ]; then
       sudo apt-get update && sudo apt-get install -y --no-install-recommends ccache curl libusb-1.0-0-dev \
       make qtscript5-dev qttools5-dev-tools qtmultimedia5-dev libqt5serialport5-dev libqt5svg5-dev \
-      libudev-dev "$TRIK_PYTHON"-dev qtbase5-private-dev qtwayland5 libqscintilla2-qt5-dev libquazip5-dev bear
+      libudev-dev "$TRIK_PYTHON"-dev qtbase5-private-dev qtwayland5 libqscintilla2-qt5-dev libquazip5-dev libbox2d-dev
     elif [[ "$ID" = "rocky" || "$ID" = '"rocky"' ]]; then
       GCC_VERSION=${GCC_VERSION:-13}
       sudo yum update -y &&  sudo yum install -y --setopt=install_weak_deps=False epel-release
diff --git a/plugins/robots/common/twoDModel/twoDModel.pri b/plugins/robots/common/twoDModel/twoDModel.pri
index 0c63ecd4ff..b382c03651 100644
--- a/plugins/robots/common/twoDModel/twoDModel.pri
+++ b/plugins/robots/common/twoDModel/twoDModel.pri
@@ -13,14 +13,20 @@
 # limitations under the License.
 
 QT += widgets xml svg
+CONFIG *= link_pkgconfig
 
 DEFINES += TWO_D_MODEL_LIBRARY
+links(qrkernel qrutils qrgui-tool-plugin-interface qrgui-controller robots-utils robots-kit-base)
 
-links(qrkernel qrutils qrgui-tool-plugin-interface qrgui-controller robots-utils robots-kit-base trikBox2D)
+!use_system_box2D {
+	links(trikBox2D)
+	includes(plugins/robots/thirdparty/Box2D/Box2D)
+} else {
+	PKGCONFIG *= box2d
+}
 
 includes(plugins/robots/common/kitBase)
 includes(plugins/robots/utils qrtext)
-includes(plugins/robots/thirdparty/Box2D/Box2D)
 
 TRANSLATIONS = \
 	$$PWD/../../../../qrtranslations/ru/plugins/robots/twoDModel_ru.ts \
diff --git a/plugins/robots/thirdparty/thirdparty.pro b/plugins/robots/thirdparty/thirdparty.pro
index db3d6ffe27..e3bcab4007 100644
--- a/plugins/robots/thirdparty/thirdparty.pro
+++ b/plugins/robots/thirdparty/thirdparty.pro
@@ -17,5 +17,8 @@ TEMPLATE = subdirs
 SUBDIRS += \
 	libusb-1.0 \
 	trikRuntime \
-	Box2D \
 	python \
+	
+!use_system_box2D {
+    SUBDIRS += Box2D
+}