From fac9114899f00a6829e1ed04e3347742bcfd8c46 Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Mon, 13 Apr 2026 12:48:37 +0200
Subject: [PATCH 01/33] changes so build works

---
 scripts/installation/install_functions.sh | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/scripts/installation/install_functions.sh b/scripts/installation/install_functions.sh
index 9f8601a07..4b85d6876 100755
--- a/scripts/installation/install_functions.sh
+++ b/scripts/installation/install_functions.sh
@@ -41,10 +41,10 @@ add_source_line_if_needed() {
     local shell_type="$2"
     local source_line="$3$shell_type"
 
-    if [ ! grep -qF "$source_line" "$file" ]; then
-        # Ask the user if they want to add the source line.
-        # First check for noninteractive shell with DEBAIN_FRONTEND=noninteractive
-        if [ -z "$DEBIAN_FRONTEND" && ! -z $GITHUB_ACTION ]; then
+    if ! grep -qF "$source_line" "$file"; then
+        # Ask the user only for interactive local shells.
+        # In non-interactive environments (e.g. CI), append automatically.
+        if [ -t 0 ] && [ -z "$DEBIAN_FRONTEND" ] && [ -z "$GITHUB_ACTION" ]; then
             echo "Do you want to add the following line to your $shell_type config file $file:"
             echo "$source_line"
             echo "y/n"
@@ -58,4 +58,4 @@ add_source_line_if_needed() {
             echo "$source_line" >> "$file"
         fi
     fi
-}
\ No newline at end of file
+}

From 8bf9645d440199340ced612e37a6bdcfab5c409b Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Mon, 13 Apr 2026 13:57:52 +0200
Subject: [PATCH 02/33] ATOSMini scaffolding

---
 ATOSMini_architecture_and_dev_guide.pdf       | Bin 0 -> 4248 bytes
 README.md                                     |  21 ++++
 atos/launch/launch_atosmini.py                | 113 ++++++++++++++++++
 .../modules/TruckObjectControl/CMakeLists.txt |   1 -
 atos_gui/atos_gui/main.py                     |  90 +++++++++-----
 atos_gui/atos_gui/objectpanel/objectpanel.py  |  48 +++-----
 atos_gui/setup.py                             |   5 +-
 7 files changed, 219 insertions(+), 59 deletions(-)
 create mode 100644 ATOSMini_architecture_and_dev_guide.pdf
 create mode 100644 atos/launch/launch_atosmini.py

diff --git a/ATOSMini_architecture_and_dev_guide.pdf b/ATOSMini_architecture_and_dev_guide.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..88e320e32d6c747e66e1a14280dd5fa6ea88496d
GIT binary patch
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diff --git a/README.md b/README.md
index c3c554b97..21a60183c 100644
--- a/README.md
+++ b/README.md
@@ -46,6 +46,27 @@ ATOS comes with an installation script that automates the installation process.
 ## <a name="Native build"></a> Building from source manually
 You can find instructions on how to manually install ATOS and its dependencies from source [here](https://atos.readthedocs.io/en/latest/Installation/installation/).
 
+## ATOSMini development launch
+ATOSMini is a lightweight development stack built around `truck_object_control` and `truck_object_gui` and does not start OpenScenarioGateway, JournalControl, or EsminiAdapter.
+
+After building, start it with:
+```bash
+ros2 launch atos launch_atosmini.py insecure:=True
+```
+
+The placeholder COT input topic for TruckObjectControl is:
+```text
+/atos/truck_objects/cot
+```
+Expected temporary payload format:
+```text
+id=<truck_id>;distance_m=<value>;tcp_connected=<0|1>
+```
+TruckObjectControl publishes speed commands on:
+```text
+/atos/truck_objects/speed_command
+```
+
 # <a name="usage"></a> Using ATOS with a Graphical User Interface (GUI)
 Please click [here](https://atos.readthedocs.io/en/latest/Usage/GUI/foxglove/) for instructions on how to use ATOS with a GUI.
 
diff --git a/atos/launch/launch_atosmini.py b/atos/launch/launch_atosmini.py
new file mode 100644
index 000000000..a950225f2
--- /dev/null
+++ b/atos/launch/launch_atosmini.py
@@ -0,0 +1,113 @@
+import os
+import sys
+
+from ament_index_python.packages import get_package_prefix
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import Node
+
+# Need to modify sys.path since we launch from the ros2 installed path.
+sys.path.insert(0, os.path.join(get_package_prefix('atos'), 'share', 'atos', 'launch'))
+
+
+def generate_launch_description():
+    insecure_websockets = LaunchConfiguration('insecure')
+    foxbridge = LaunchConfiguration('foxbridge')
+
+    insecure_launch_arg = DeclareLaunchArgument('insecure', default_value='False')
+    foxbridge_launch_arg = DeclareLaunchArgument('foxbridge', default_value='True')
+
+    fox_tls_bridge_params = [
+        {'port': 8765},
+        {'retry_startup_delay': 5.0},
+        {'tls': True},
+        {'fragment_timeout': 600},
+        {'max_message_size': 10000000},
+        {'unregister_timeout': 10.0},
+        {'use_compression': False},
+    ]
+    ros_tls_bridge_params = [
+        {'port': 9090},
+        {'retry_startup_delay': 5.0},
+        {'tls': True},
+        {'fragment_timeout': 600},
+        {'max_message_size': 10000000},
+        {'unregister_timeout': 10.0},
+        {'use_compression': False},
+    ]
+
+    fox_bridge_params = [dict(item) for item in fox_tls_bridge_params]
+    fox_bridge_params[2] = {'tls': False}
+    ros_bridge_params = [dict(item) for item in ros_tls_bridge_params]
+    ros_bridge_params[1] = {'retry_startup_delay': 5.0}
+    ros_bridge_params[2] = {'tls': False}
+
+    return LaunchDescription([
+        foxbridge_launch_arg,
+        insecure_launch_arg,
+        Node(
+            condition=IfCondition(PythonExpression(['not ', LaunchConfiguration('insecure')])),
+            package='atos_gui',
+            namespace='atos',
+            executable='truck_object_gui',
+            name='truck_object_gui',
+            output='screen',
+            arguments=['True', 'atosmini'],
+        ),
+        Node(
+            condition=IfCondition(LaunchConfiguration('insecure')),
+            package='atos_gui',
+            namespace='atos',
+            executable='truck_object_gui',
+            name='truck_object_gui',
+            output='screen',
+            arguments=['False', 'atosmini'],
+        ),
+        Node(
+            package='atos',
+            namespace='atos',
+            executable='truck_object_control',
+            name='truck_object_control',
+            output='screen',
+        ),
+        Node(
+            condition=IfCondition(PythonExpression(['not ', foxbridge])),
+            name='rosapi',
+            package='rosapi',
+            executable='rosapi_node',
+        ),
+        Node(
+            condition=IfCondition(PythonExpression([insecure_websockets, ' and ', foxbridge])),
+            package='foxglove_bridge',
+            executable='foxglove_bridge',
+            name='foxglove_bridge',
+            output={'both': 'log'},
+            parameters=fox_bridge_params,
+        ),
+        Node(
+            condition=IfCondition(PythonExpression(['not ', insecure_websockets, ' and ', foxbridge])),
+            package='foxglove_bridge',
+            executable='foxglove_bridge',
+            name='foxglove_bridge',
+            output={'both': 'log'},
+            parameters=fox_tls_bridge_params,
+        ),
+        Node(
+            condition=IfCondition(PythonExpression([insecure_websockets, ' and not ', foxbridge])),
+            package='rosbridge_server',
+            executable='rosbridge_websocket',
+            name='ros_bridge',
+            output={'both': 'log'},
+            parameters=ros_bridge_params,
+        ),
+        Node(
+            condition=IfCondition(PythonExpression(['not ', insecure_websockets, ' and not ', foxbridge])),
+            package='rosbridge_server',
+            executable='rosbridge_websocket',
+            name='ros_bridge',
+            output={'both': 'log'},
+            parameters=ros_tls_bridge_params,
+        ),
+    ])
diff --git a/atos/modules/TruckObjectControl/CMakeLists.txt b/atos/modules/TruckObjectControl/CMakeLists.txt
index 1da34fbbc..2096276c2 100644
--- a/atos/modules/TruckObjectControl/CMakeLists.txt
+++ b/atos/modules/TruckObjectControl/CMakeLists.txt
@@ -18,7 +18,6 @@ find_package(OpenSSL REQUIRED)
 include(GNUInstallDirs)
 
 set(COREUTILS_LIBRARY ATOSCoreUtil)
-
 add_executable(${PROJECT_NAME}
   ${CMAKE_CURRENT_SOURCE_DIR}/src/main.cpp
   ${CMAKE_CURRENT_SOURCE_DIR}/src/truckobjectcontrol.cpp
diff --git a/atos_gui/atos_gui/main.py b/atos_gui/atos_gui/main.py
index dd9c3a9bf..9ab6c9200 100644
--- a/atos_gui/atos_gui/main.py
+++ b/atos_gui/atos_gui/main.py
@@ -15,63 +15,99 @@
 from atos_gui.configpanel.configpanel import ConfigPanelNode
 from atos_gui.controlpanel.controlpanel import ControlPanelNode
 from atos_gui.objectpanel.objectpanel import ObjectPanelNode
-from atos_interfaces.srv import *
 
-USE_SSL = sys.argv[1] == "True"
+USE_SSL = len(sys.argv) > 1 and sys.argv[1] == "True"
+ATOSMINI_MODE = len(sys.argv) > 2 and sys.argv[2].lower() == "atosmini"
+
 
 
 def main() -> None:
-    # NOTE: This function is defined as the ROS entry point in setup.py, but it's empty to enable NiceGUI auto-reloading
+    # NOTE: This function is defined as the ROS entry point in setup.py,
+    # but it's empty to enable NiceGUI auto-reloading.
     pass
 
 
+def render_atosmini_pages() -> None:
+    nicegui.ui.link("ATOSMini Home", "/")
+
+    @ui.page(path="/", title="TruckObjectGUI")
+    def render_home() -> None:
+        ui.label("TruckObjectGUI (ATOSMini mode)").classes("text-h4")
+        ui.markdown(
+            """
+This GUI is running in **ATOSMini mode**.
+
+Active runtime components:
+- `truck_object_control`
+- `foxglove_bridge` / `rosbridge`
+
+Expected COT topic:
+- `/atos/truck_objects/cot`
+
+Speed command topic:
+- `/atos/truck_objects/speed_command`
+
+Placeholder COT payload format:
+- `id=<truck_id>;distance_m=<value>;tcp_connected=<0|1>`
+            """.strip()
+        )
+
+
 def ros_main() -> None:
-    nicegui.ui.link("Control Panel", "/control")
-    nicegui.ui.link("Config Panel", "/config")
-    nicegui.ui.link("Object Panel", "/object")
     rclpy.init()
-    control_panel = ControlPanelNode()
-    config_panel = ConfigPanelNode()
-    object_panel = ObjectPanelNode()
     executor = MultiThreadedExecutor()
-    executor.add_node(control_panel)
-    executor.add_node(config_panel)
-    executor.add_node(object_panel)
+    nodes = []
+
+    if ATOSMINI_MODE:
+        render_atosmini_pages()
+    else:
+        nicegui.ui.link("Control Panel", "/control")
+        nicegui.ui.link("Config Panel", "/config")
+        nicegui.ui.link("Object Panel", "/object")
+
+        control_panel = ControlPanelNode()
+        config_panel = ConfigPanelNode()
+        object_panel = ObjectPanelNode()
+        nodes = [control_panel, config_panel, object_panel]
+
+        for node in nodes:
+            executor.add_node(node)
+
     try:
-        executor.spin()
+        if nodes:
+            executor.spin()
     except ExternalShutdownException:
         pass
     finally:
         executor.shutdown()
-        control_panel.destroy_node()
-        config_panel.destroy_node()
-        object_panel.destroy_node()
+        for node in nodes:
+            node.destroy_node()
+        rclpy.shutdown()
+
+def print_access_hint() -> None:
+    scheme = "https" if USE_SSL else "http"
+    print(f"TruckObjectGUI ready. Open {scheme}://localhost:3000", flush=True)
 
 
-# Starting the ros node in a thread managed by nicegui. It will be restarted with "on_startup" after a reload.
-# It has to be in a thread, since NiceGUI wants the main thread for itself.
-app.on_startup(lambda: threading.Thread(target=ros_main).start())
+# Start the ROS node logic in a thread managed by nicegui.
+app.on_startup(lambda: threading.Thread(target=ros_main, daemon=True).start())
+app.on_startup(print_access_hint)
 
-ui_run.APP_IMPORT_STRING = f"{__name__}:app"  # ROS2 uses a non-standard module name, so we need to specify it here
+ui_run.APP_IMPORT_STRING = f"{__name__}:app"  # ROS2 uses non-standard module naming.
 
-# Prepare the arguments for ui.run()
 uvicorn_args = {
     "uvicorn_reload_dirs": str(Path(__file__).parent.resolve()),
-    # 'favicon': '/images/favicon.ico',
     "port": 3000,
-    "show": False,  # Disable auto-opening the browser
-    "title": "ATOS GUI",
+    "show": False,
+    "title": "TruckObjectGUI" if ATOSMINI_MODE else "ATOS GUI",
 }
 
-# If use_ssl is True, add the SSL arguments
 if USE_SSL:
     uvicorn_args["ssl_keyfile"] = Path.home() / ".astazero/ATOS/certs/selfsigned.key"
     uvicorn_args["ssl_certfile"] = Path.home() / ".astazero/ATOS/certs/selfsigned.crt"
 
-# Call ui.run() with the prepared arguments
 ui.run(**uvicorn_args)
 
-# If print is above ui.run(), it will be printed twice for some reason
 if USE_SSL:
     print(
         "ATTENTION: Using SSL, use https://localhost:3000 to access the GUI instead",
diff --git a/atos_gui/atos_gui/objectpanel/objectpanel.py b/atos_gui/atos_gui/objectpanel/objectpanel.py
index 86c256af1..111ec6d91 100644
--- a/atos_gui/atos_gui/objectpanel/objectpanel.py
+++ b/atos_gui/atos_gui/objectpanel/objectpanel.py
@@ -7,8 +7,14 @@
 
 
 class ObjectPanelNode(Node):
-    """This node is responsible for rendering the object panel and visualize the IP address for each object ID in the scenario."""
+    def _safe_notify(self, message: str) -> None:
+        try:
+            ui.notify(message)
+        except RuntimeError:
+            self.get_logger().warning(message)
+
 
+    """This node is responsible for rendering the object panel and visualize the IP address for each object ID in the scenario."""
     def __init__(self) -> None:
         """Initializes the node, fetches all object IDs and their IPs in the current scenario and visualizes them."""
         super().__init__("object_panel")
@@ -49,12 +55,8 @@ def get_object_ids(self):
                 "Get object ID service not available, waiting again..."
             )
             if service_timeout_counter > MAX_TIMEOUT:
-                ui.notify(
-                    f"Get object ID service not available after {MAX_TIMEOUT} seconds"
-                )
-                self.get_logger().info(
-                    f"Get object ID service not available after {MAX_TIMEOUT} seconds"
-                )
+                self._safe_notify(f'Get object ID service not available after {MAX_TIMEOUT} seconds')
+                self.get_logger().info(f'Get object ID service not available after {MAX_TIMEOUT} seconds')
                 return
         future = self.get_id_client.call_async(self.object_ids_req)
         future.add_done_callback(
@@ -75,12 +77,8 @@ def get_object_ips(self, object_ids):
                 "Get object IP service not available, waiting again..."
             )
             if service_timeout_counter > MAX_TIMEOUT:
-                ui.notify(
-                    f"Get object IP service not available after {MAX_TIMEOUT} seconds"
-                )
-                self.get_logger().info(
-                    f"Get object IP service not available after {MAX_TIMEOUT} seconds"
-                )
+                self._safe_notify(f'Get object IP service not available after {MAX_TIMEOUT} seconds')
+                self.get_logger().info(f'Get object IP service not available after {MAX_TIMEOUT} seconds')
                 return
         for object_id in object_ids:
             self.object_id_ip_map[object_id] = ""
@@ -107,19 +105,15 @@ def update_object_ip(self, object_id, object_ip):
             object_ip (str): New IP address for the given object ID.
 
         """
-        ui.notify(f"Setting object {object_id} IP: {object_ip}")
+        self._safe_notify(f'Setting object {object_id} IP: {object_ip}')
         service_timeout_counter = 0
         while not self.set_ip_client.wait_for_service(timeout_sec=1.0):
             self.get_logger().debug(
                 "Set object IP service not available, waiting again..."
             )
             if service_timeout_counter > MAX_TIMEOUT:
-                ui.notify(
-                    f"Set object IP service not available after {MAX_TIMEOUT} seconds"
-                )
-                self.get_logger().info(
-                    f"Set object IP service not available after {MAX_TIMEOUT} seconds"
-                )
+                self._safe_notify(f'Set object IP service not available after {MAX_TIMEOUT} seconds')
+                self.get_logger().info(f'Set object IP service not available after {MAX_TIMEOUT} seconds')
                 return
         future = self.set_ip_client.call_async(
             SetObjectIp.Request(id=object_id, ip=object_ip)
@@ -137,19 +131,13 @@ def update_object_ip_result(self, result):
         """
         if result.success:
             with self.refresh_row:
-                ui.notify(
-                    f"IP set to {result.ip} for object {result.id} was successful"
-                )
-            self.get_logger().info(
-                f"IP set to {result.ip} for object {result.id} was successful"
-            )
+                self._safe_notify(f'IP set to {result.ip} for object {result.id} was successful')
+            self.get_logger().info(f'IP set to {result.ip} for object {result.id} was successful')
             self.object_id_ip_map[result.id] = result.ip
         else:
             with self.refresh_row:
-                ui.notify(f"Failed to set object {result.id} IP to {result.ip}")
-            self.get_logger().info(
-                f"Failed to set object {result.id} IP to {result.ip}"
-            )
+                self._safe_notify(f'Failed to set object {result.id} IP to {result.ip}')
+            self.get_logger().info(f'Failed to set object {result.id} IP to {result.ip}')
 
     def refresh(self):
         """Refreshes the object panel by fetching all object IDs and their IPs in the current scenario."""
diff --git a/atos_gui/setup.py b/atos_gui/setup.py
index ea3f8726a..2648aae69 100644
--- a/atos_gui/setup.py
+++ b/atos_gui/setup.py
@@ -20,6 +20,9 @@
     install_requires=["setuptools"],
     zip_safe=True,
     entry_points={
-        "console_scripts": ["gui = atos_gui.main:main"],
+        "console_scripts": [
+            "gui = atos_gui.main:main",
+            "truck_object_gui = atos_gui.main:main",
+        ],
     },
 )

From f58c30542c1d8deb7d0fe02b0fbdea687f1660cd Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Mon, 13 Apr 2026 14:19:05 +0200
Subject: [PATCH 03/33] renamed to ATOSFleetManagement

---
 ...tManagement_architecture_and_dev_guide.pdf | Bin 4248 -> 4089 bytes
 README.md                                     |   6 +++---
 ROS2_ATOSFleetManagement_cheatsheet.pdf       | Bin 0 -> 2548 bytes
 ...smini.py => launch_atosfleetmanagement.py} |   4 ++--
 atos_gui/atos_gui/main.py                     |  16 ++++++++--------
 5 files changed, 13 insertions(+), 13 deletions(-)
 rename ATOSMini_architecture_and_dev_guide.pdf => ATOSFleetManagement_architecture_and_dev_guide.pdf (61%)
 create mode 100644 ROS2_ATOSFleetManagement_cheatsheet.pdf
 rename atos/launch/{launch_atosmini.py => launch_atosfleetmanagement.py} (97%)

diff --git a/ATOSMini_architecture_and_dev_guide.pdf b/ATOSFleetManagement_architecture_and_dev_guide.pdf
similarity index 61%
rename from ATOSMini_architecture_and_dev_guide.pdf
rename to ATOSFleetManagement_architecture_and_dev_guide.pdf
index 88e320e32d6c747e66e1a14280dd5fa6ea88496d..f3629912224644778042e98f7a1675cc05d29fd7 100644
GIT binary patch
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diff --git a/README.md b/README.md
index 21a60183c..d1c10ec3b 100644
--- a/README.md
+++ b/README.md
@@ -46,12 +46,12 @@ ATOS comes with an installation script that automates the installation process.
 ## <a name="Native build"></a> Building from source manually
 You can find instructions on how to manually install ATOS and its dependencies from source [here](https://atos.readthedocs.io/en/latest/Installation/installation/).
 
-## ATOSMini development launch
-ATOSMini is a lightweight development stack built around `truck_object_control` and `truck_object_gui` and does not start OpenScenarioGateway, JournalControl, or EsminiAdapter.
+## ATOSFleetManagement development launch
+ATOSFleetManagement is a lightweight development stack built around `truck_object_control` and `truck_object_gui` and does not start OpenScenarioGateway, JournalControl, or EsminiAdapter.
 
 After building, start it with:
 ```bash
-ros2 launch atos launch_atosmini.py insecure:=True
+ros2 launch atos launch_atosfleetmanagement.py insecure:=True
 ```
 
 The placeholder COT input topic for TruckObjectControl is:
diff --git a/ROS2_ATOSFleetManagement_cheatsheet.pdf b/ROS2_ATOSFleetManagement_cheatsheet.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..87e68a8b8f845ecc061d757149a8f9fd67efa77a
GIT binary patch
literal 2548
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diff --git a/atos/launch/launch_atosmini.py b/atos/launch/launch_atosfleetmanagement.py
similarity index 97%
rename from atos/launch/launch_atosmini.py
rename to atos/launch/launch_atosfleetmanagement.py
index a950225f2..2efb71efd 100644
--- a/atos/launch/launch_atosmini.py
+++ b/atos/launch/launch_atosfleetmanagement.py
@@ -54,7 +54,7 @@ def generate_launch_description():
             executable='truck_object_gui',
             name='truck_object_gui',
             output='screen',
-            arguments=['True', 'atosmini'],
+            arguments=['True', 'atosfleetmanagement'],
         ),
         Node(
             condition=IfCondition(LaunchConfiguration('insecure')),
@@ -63,7 +63,7 @@ def generate_launch_description():
             executable='truck_object_gui',
             name='truck_object_gui',
             output='screen',
-            arguments=['False', 'atosmini'],
+            arguments=['False', 'atosfleetmanagement'],
         ),
         Node(
             package='atos',
diff --git a/atos_gui/atos_gui/main.py b/atos_gui/atos_gui/main.py
index 9ab6c9200..82ff66187 100644
--- a/atos_gui/atos_gui/main.py
+++ b/atos_gui/atos_gui/main.py
@@ -17,7 +17,7 @@
 from atos_gui.objectpanel.objectpanel import ObjectPanelNode
 
 USE_SSL = len(sys.argv) > 1 and sys.argv[1] == "True"
-ATOSMINI_MODE = len(sys.argv) > 2 and sys.argv[2].lower() == "atosmini"
+FLEET_MODE = len(sys.argv) > 2 and sys.argv[2].lower() == "atosfleetmanagement"
 
 
 
@@ -27,15 +27,15 @@ def main() -> None:
     pass
 
 
-def render_atosmini_pages() -> None:
-    nicegui.ui.link("ATOSMini Home", "/")
+def render_atosfleetmanagement_pages() -> None:
+    nicegui.ui.link("ATOSFleetManagement Home", "/")
 
     @ui.page(path="/", title="TruckObjectGUI")
     def render_home() -> None:
-        ui.label("TruckObjectGUI (ATOSMini mode)").classes("text-h4")
+        ui.label("TruckObjectGUI (ATOSFleetManagement mode)").classes("text-h4")
         ui.markdown(
             """
-This GUI is running in **ATOSMini mode**.
+This GUI is running in **ATOSFleetManagement mode**.
 
 Active runtime components:
 - `truck_object_control`
@@ -58,8 +58,8 @@ def ros_main() -> None:
     executor = MultiThreadedExecutor()
     nodes = []
 
-    if ATOSMINI_MODE:
-        render_atosmini_pages()
+    if FLEET_MODE:
+        render_atosfleetmanagement_pages()
     else:
         nicegui.ui.link("Control Panel", "/control")
         nicegui.ui.link("Config Panel", "/config")
@@ -99,7 +99,7 @@ def print_access_hint() -> None:
     "uvicorn_reload_dirs": str(Path(__file__).parent.resolve()),
     "port": 3000,
     "show": False,
-    "title": "TruckObjectGUI" if ATOSMINI_MODE else "ATOS GUI",
+    "title": "TruckObjectGUI" if FLEET_MODE else "ATOS GUI",
 }
 
 if USE_SSL:

From fd14786cd48fd36eaa9942f97de5f62242a147bb Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Mon, 13 Apr 2026 14:57:24 +0200
Subject: [PATCH 04/33] Use atos fleet management instead of ATOSMini

---
 ...tManagement_architecture_and_dev_guide.pdf | Bin 4089 -> 4075 bytes
 ROS2_ATOSFleetManagement_cheatsheet.pdf       | Bin 2548 -> 2525 bytes
 scripts/build_atosfleetmanagement.sh          |  70 ++++++++++++++++++
 3 files changed, 70 insertions(+)
 create mode 100755 scripts/build_atosfleetmanagement.sh

diff --git a/ATOSFleetManagement_architecture_and_dev_guide.pdf b/ATOSFleetManagement_architecture_and_dev_guide.pdf
index f3629912224644778042e98f7a1675cc05d29fd7..2dfd6ee55d288fc5d910c01a3aac35dd05dd124e 100644
GIT binary patch
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diff --git a/ROS2_ATOSFleetManagement_cheatsheet.pdf b/ROS2_ATOSFleetManagement_cheatsheet.pdf
index 87e68a8b8f845ecc061d757149a8f9fd67efa77a..8a3589439c495735e873b4d981ca36ceaf5e80d0 100644
GIT binary patch
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BKezw@

diff --git a/scripts/build_atosfleetmanagement.sh b/scripts/build_atosfleetmanagement.sh
new file mode 100755
index 000000000..a8431d345
--- /dev/null
+++ b/scripts/build_atosfleetmanagement.sh
@@ -0,0 +1,70 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# Canonical build profile for ATOSFleetManagement.
+# Default workspace: ~/atos_ws
+# Usage:
+#   ./scripts/build_atosfleetmanagement.sh
+#   ./scripts/build_atosfleetmanagement.sh /path/to/ws
+#   ATOS_WS=/path/to/ws ./scripts/build_atosfleetmanagement.sh --event-handlers console_direct+
+
+if [[ "${1:-}" == "-h" || "${1:-}" == "--help" ]]; then
+  cat <<'HELP'
+ATOSFleetManagement build script
+
+Usage:
+  scripts/build_atosfleetmanagement.sh [workspace] [extra colcon args...]
+
+Examples:
+  scripts/build_atosfleetmanagement.sh
+  scripts/build_atosfleetmanagement.sh /home/user/atos_ws
+  scripts/build_atosfleetmanagement.sh --event-handlers console_direct+
+  scripts/build_atosfleetmanagement.sh /home/user/atos_ws --executor sequential
+
+Behavior:
+  - Builds packages: atos, atos_gui
+  - Enables TruckObjectControl module
+  - Disables legacy ATOS modules not used in ATOSFleetManagement
+HELP
+  exit 0
+fi
+
+DEFAULT_WS="${ATOS_WS:-$HOME/atos_ws}"
+WS="$DEFAULT_WS"
+
+# If first arg is not an option, treat it as workspace path.
+if [[ $# -gt 0 && "${1:0:1}" != "-" ]]; then
+  WS="$1"
+  shift
+fi
+
+if [[ ! -d "$WS" ]]; then
+  echo "Workspace does not exist: $WS"
+  echo "Create it first or pass a valid workspace path."
+  exit 1
+fi
+
+if [[ ! -d "$WS/src" ]]; then
+  echo "Workspace is missing src directory: $WS/src"
+  exit 1
+fi
+
+echo "Building ATOSFleetManagement in workspace: $WS"
+
+cd "$WS"
+colcon build --packages-select atos atos_gui --symlink-install --cmake-args \
+  -DWITH_TRUCK_OBJECT_CONTROL=ON \
+  -DWITH_OBJECT_CONTROL=OFF \
+  -DWITH_OPEN_SCENARIO_GATEWAY=OFF \
+  -DWITH_JOURNAL_CONTROL=OFF \
+  -DWITH_ESMINI_ADAPTER=OFF \
+  -DWITH_DIRECT_CONTROL=OFF \
+  -DWITH_TRAJECTORYLET_STREAMER=OFF \
+  -DWITH_OSI_ADAPTER=OFF \
+  -DWITH_MQTT_BRIDGE=OFF \
+  -DWITH_POINTCLOUD_PUBLISHER=OFF \
+  -DWITH_INTEGRATION_TESTING=OFF \
+  -DWITH_BACK_TO_START=OFF \
+  -DWITH_REST_BRIDGE=OFF \
+  -DWITH_MONR_RELAY=OFF \
+  "$@"

From be80e62a7958a9d5e5627589fd5a237b459de8a1 Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Mon, 13 Apr 2026 17:08:52 +0200
Subject: [PATCH 05/33] simulation along path

---
 atos/launch/launch_atosfleetmanagement.py     |   11 +
 atos_gui/atos_gui/main.py                     |  157 +-
 atos_gui/atos_gui/static/fleet_map.js         |  240 +
 atos_gui/setup.py                             |    3 +
 ...ralRoad_center_of_driving_lane_ccw.geojson | 4643 +++++++++++++++++
 5 files changed, 5043 insertions(+), 11 deletions(-)
 create mode 100644 atos_gui/atos_gui/static/fleet_map.js
 create mode 100644 conf/conf/RuralRoad_center_of_driving_lane_ccw.geojson

diff --git a/atos/launch/launch_atosfleetmanagement.py b/atos/launch/launch_atosfleetmanagement.py
index 2efb71efd..b96fef9d1 100644
--- a/atos/launch/launch_atosfleetmanagement.py
+++ b/atos/launch/launch_atosfleetmanagement.py
@@ -15,9 +15,11 @@
 def generate_launch_description():
     insecure_websockets = LaunchConfiguration('insecure')
     foxbridge = LaunchConfiguration('foxbridge')
+    with_simulator = LaunchConfiguration('with_truck_simulator')
 
     insecure_launch_arg = DeclareLaunchArgument('insecure', default_value='False')
     foxbridge_launch_arg = DeclareLaunchArgument('foxbridge', default_value='True')
+    simulator_launch_arg = DeclareLaunchArgument('with_truck_simulator', default_value='False')
 
     fox_tls_bridge_params = [
         {'port': 8765},
@@ -47,6 +49,7 @@ def generate_launch_description():
     return LaunchDescription([
         foxbridge_launch_arg,
         insecure_launch_arg,
+        simulator_launch_arg,
         Node(
             condition=IfCondition(PythonExpression(['not ', LaunchConfiguration('insecure')])),
             package='atos_gui',
@@ -72,6 +75,14 @@ def generate_launch_description():
             name='truck_object_control',
             output='screen',
         ),
+        Node(
+            condition=IfCondition(with_simulator),
+            package='atos',
+            namespace='atos',
+            executable='atos_truck_simulator',
+            name='atos_truck_simulator',
+            output='screen',
+        ),
         Node(
             condition=IfCondition(PythonExpression(['not ', foxbridge])),
             name='rosapi',
diff --git a/atos_gui/atos_gui/main.py b/atos_gui/atos_gui/main.py
index 82ff66187..48b926e18 100644
--- a/atos_gui/atos_gui/main.py
+++ b/atos_gui/atos_gui/main.py
@@ -3,6 +3,7 @@
 file, You can obtain one at https://mozilla.org/MPL/2.0/.
 """
 
+import json
 import sys
 import threading
 from pathlib import Path
@@ -11,6 +12,8 @@
 import rclpy
 from nicegui import app, ui, ui_run
 from rclpy.executors import ExternalShutdownException, MultiThreadedExecutor
+from rclpy.node import Node
+from std_msgs.msg import String
 
 from atos_gui.configpanel.configpanel import ConfigPanelNode
 from atos_gui.controlpanel.controlpanel import ControlPanelNode
@@ -18,6 +21,11 @@
 
 USE_SSL = len(sys.argv) > 1 and sys.argv[1] == "True"
 FLEET_MODE = len(sys.argv) > 2 and sys.argv[2].lower() == "atosfleetmanagement"
+GEOJSON_NAME = "RuralRoad_center_of_driving_lane_ccw.geojson"
+FLEET_STATIC_ROUTE = "/atos_gui_static"
+FLEET_STATIC_DIR = Path(__file__).parent / "static"
+FLEET_STATE_LOCK = threading.Lock()
+FLEET_TRUCK_STATES: dict[str, dict] = {}
 
 
 
@@ -27,14 +35,86 @@ def main() -> None:
     pass
 
 
+def _candidate_geojson_paths() -> list[Path]:
+    candidates = [
+        Path.home() / ".astazero/ATOS/conf" / GEOJSON_NAME,
+        Path.home() / "atos_ws/src/atos/conf/conf" / GEOJSON_NAME,
+        Path.home() / "Documents/repos/ATOS/conf/conf" / GEOJSON_NAME,
+    ]
+
+    try:
+        from ament_index_python.packages import get_package_prefix
+
+        atos_prefix = Path(get_package_prefix("atos"))
+        candidates.append(atos_prefix / "etc/conf" / GEOJSON_NAME)
+    except Exception:
+        pass
+
+    unique_candidates = []
+    seen = set()
+    for path in candidates:
+        key = str(path)
+        if key in seen:
+            continue
+        seen.add(key)
+        unique_candidates.append(path)
+
+    return unique_candidates
+
+
+def _load_fleet_geojson() -> tuple[dict | None, Path | None]:
+    for path in _candidate_geojson_paths():
+        if path.exists():
+            try:
+                return json.loads(path.read_text()), path
+            except Exception:
+                continue
+    return None, None
+
+
+def _fleet_snapshot_payload() -> str:
+    with FLEET_STATE_LOCK:
+        trucks = list(FLEET_TRUCK_STATES.values())
+    return json.dumps(trucks).replace("</", "<\\/")
+
+
+class FleetStateNode(Node):
+    def __init__(self) -> None:
+        super().__init__("truck_object_gui_state_bridge")
+        self._state_sub = self.create_subscription(String, "truck_objects/state", self._on_state, 100)
+
+    def _on_state(self, msg: String) -> None:
+        try:
+            payload = json.loads(msg.data)
+        except Exception:
+            self.get_logger().warning("Failed to parse truck_objects/state payload as JSON")
+            return
+
+        uid = payload.get("uid")
+        if not uid:
+            return
+
+        with FLEET_STATE_LOCK:
+            FLEET_TRUCK_STATES[str(uid)] = payload
+
+
 def render_atosfleetmanagement_pages() -> None:
-    nicegui.ui.link("ATOSFleetManagement Home", "/")
+    if FLEET_STATIC_DIR.exists():
+        app.add_static_files(FLEET_STATIC_ROUTE, str(FLEET_STATIC_DIR))
 
     @ui.page(path="/", title="TruckObjectGUI")
     def render_home() -> None:
+        ui.add_head_html(f'<script src="{FLEET_STATIC_ROUTE}/fleet_map.js"></script>')
         ui.label("TruckObjectGUI (ATOSFleetManagement mode)").classes("text-h4")
-        ui.markdown(
-            """
+
+        with ui.tabs().classes("w-full") as tabs:
+            home_tab = ui.tab("Overview", icon="dashboard")
+            road_tab = ui.tab("RuralRoad Map", icon="map")
+
+        with ui.tab_panels(tabs, value=home_tab).classes("w-full"):
+            with ui.tab_panel(home_tab):
+                ui.markdown(
+                    """
 This GUI is running in **ATOSFleetManagement mode**.
 
 Active runtime components:
@@ -44,13 +124,68 @@ def render_home() -> None:
 Expected COT topic:
 - `/atos/truck_objects/cot`
 
+Expected COT TCP endpoint:
+- `tcp://0.0.0.0:8114` (TruckObjectControl listener)
+
 Speed command topic:
 - `/atos/truck_objects/speed_command`
 
-Placeholder COT payload format:
-- `id=<truck_id>;distance_m=<value>;tcp_connected=<0|1>`
-            """.strip()
-        )
+Live truck state topic for map overlay:
+- `/atos/truck_objects/state`
+                    """.strip()
+                )
+
+            with ui.tab_panel(road_tab):
+                geojson, source_path = _load_fleet_geojson()
+                ui.label("RuralRoad centerline visualization").classes("text-h5")
+
+                if not geojson:
+                    ui.label("Could not load geojson file.").classes("text-red-600")
+                    ui.markdown("Searched:\n" + "\n".join([f"- `{p}`" for p in _candidate_geojson_paths()]))
+                    return
+
+                ui.label(f"Source: {source_path}").classes("text-sm text-gray-600")
+                map_id = "rural-road-map"
+                ui.html(f'<div id="{map_id}" style="height:75vh;width:100%;border-radius:8px;"></div>')
+
+                geojson_payload = json.dumps(geojson).replace("</", "<\\/")
+                ui.timer(
+                    0.2,
+                    lambda: ui.run_javascript(
+                        f"""
+(() => {{
+  const payload = {geojson_payload};
+  const containerId = "{map_id}";
+  let attempts = 0;
+  const maxAttempts = 60;
+  const timer = setInterval(() => {{
+    attempts += 1;
+    const hasFn = typeof window.renderFleetRoadMap === "function";
+    const hasEl = !!document.getElementById(containerId);
+    if (hasFn && hasEl) {{
+      clearInterval(timer);
+      window.renderFleetRoadMap(containerId, payload, {_fleet_snapshot_payload()});
+      return;
+    }}
+    if (attempts >= maxAttempts) {{
+      clearInterval(timer);
+      const el = document.getElementById(containerId);
+      if (el) {{
+        el.innerHTML = "<div style='padding:12px;color:#b91c1c;font-weight:600;'>Map renderer not available. Check browser console.</div>";
+      }}
+    }}
+  }}, 250);
+}})();
+                        """.strip()
+                    ),
+                    once=True,
+                )
+                ui.timer(
+                    0.5,
+                    lambda: ui.run_javascript(
+                        f"window.updateFleetTruckStates('{map_id}', {_fleet_snapshot_payload()});"
+                    ),
+                )
 
 
 def ros_main() -> None:
@@ -60,6 +195,7 @@ def ros_main() -> None:
 
     if FLEET_MODE:
         render_atosfleetmanagement_pages()
+        nodes = [FleetStateNode()]
     else:
         nicegui.ui.link("Control Panel", "/control")
         nicegui.ui.link("Config Panel", "/config")
@@ -70,12 +206,11 @@ def ros_main() -> None:
         object_panel = ObjectPanelNode()
         nodes = [control_panel, config_panel, object_panel]
 
-        for node in nodes:
-            executor.add_node(node)
+    for node in nodes:
+        executor.add_node(node)
 
     try:
-        if nodes:
-            executor.spin()
+        executor.spin()
     except ExternalShutdownException:
         pass
     finally:
diff --git a/atos_gui/atos_gui/static/fleet_map.js b/atos_gui/atos_gui/static/fleet_map.js
new file mode 100644
index 000000000..3ed8ff0ba
--- /dev/null
+++ b/atos_gui/atos_gui/static/fleet_map.js
@@ -0,0 +1,240 @@
+(function() {
+  function toRad(value) {
+    return value * Math.PI / 180.0;
+  }
+
+  // Constants aligned with atos/common/util.c:
+  // EARTH_EQUATOR_RADIUS_M = 6378137.0 and INVERSE_FLATTENING = 298.257223563
+  function vincentyDistanceMeters(lat1, lon1, lat2, lon2) {
+    const a = 6378137.0;
+    const f = 1.0 / 298.257223563;
+    const b = (1.0 - f) * a;
+
+    const phi1 = toRad(lat1);
+    const phi2 = toRad(lat2);
+    const L = toRad(lon2 - lon1);
+
+    const U1 = Math.atan((1.0 - f) * Math.tan(phi1));
+    const U2 = Math.atan((1.0 - f) * Math.tan(phi2));
+    const sinU1 = Math.sin(U1);
+    const cosU1 = Math.cos(U1);
+    const sinU2 = Math.sin(U2);
+    const cosU2 = Math.cos(U2);
+
+    let lambda = L;
+    let lambdaPrev = 0.0;
+    let iterLimit = 100;
+    let sinSigma = 0.0;
+    let cosSigma = 0.0;
+    let sigma = 0.0;
+    let sinAlpha = 0.0;
+    let cosSqAlpha = 0.0;
+    let cos2SigmaM = 0.0;
+
+    while (iterLimit > 0) {
+      iterLimit -= 1;
+      const sinLambda = Math.sin(lambda);
+      const cosLambda = Math.cos(lambda);
+      sinSigma = Math.sqrt(
+        (cosU2 * sinLambda) * (cosU2 * sinLambda) +
+        (cosU1 * sinU2 - sinU1 * cosU2 * cosLambda) *
+          (cosU1 * sinU2 - sinU1 * cosU2 * cosLambda)
+      );
+
+      if (sinSigma === 0.0) {
+        return 0.0;
+      }
+
+      cosSigma = sinU1 * sinU2 + cosU1 * cosU2 * cosLambda;
+      sigma = Math.atan2(sinSigma, cosSigma);
+      sinAlpha = (cosU1 * cosU2 * sinLambda) / sinSigma;
+      cosSqAlpha = 1.0 - sinAlpha * sinAlpha;
+      if (cosSqAlpha !== 0.0) {
+        cos2SigmaM = cosSigma - 2.0 * sinU1 * sinU2 / cosSqAlpha;
+      } else {
+        cos2SigmaM = 0.0;
+      }
+
+      const C = f / 16.0 * cosSqAlpha * (4.0 + f * (4.0 - 3.0 * cosSqAlpha));
+      lambdaPrev = lambda;
+      lambda = L + (1.0 - C) * f * sinAlpha *
+        (sigma + C * sinSigma *
+          (cos2SigmaM + C * cosSigma * (-1.0 + 2.0 * cos2SigmaM * cos2SigmaM)));
+
+      if (Math.abs(lambda - lambdaPrev) < 1e-12) {
+        break;
+      }
+    }
+
+    if (iterLimit <= 0) {
+      return Number.NaN;
+    }
+
+    const uSq = cosSqAlpha * (a * a - b * b) / (b * b);
+    const A = 1.0 + uSq / 16384.0 *
+      (4096.0 + uSq * (-768.0 + uSq * (320.0 - 175.0 * uSq)));
+    const B = uSq / 1024.0 *
+      (256.0 + uSq * (-128.0 + uSq * (74.0 - 47.0 * uSq)));
+    const deltaSigma = B * sinSigma *
+      (cos2SigmaM + B / 4.0 *
+        (cosSigma * (-1.0 + 2.0 * cos2SigmaM * cos2SigmaM) -
+         B / 6.0 * cos2SigmaM * (-3.0 + 4.0 * sinSigma * sinSigma) *
+           (-3.0 + 4.0 * cos2SigmaM * cos2SigmaM)));
+
+    return b * A * (sigma - deltaSigma);
+  }
+
+  function findPathCoordinates(geojson) {
+    if (!geojson || !Array.isArray(geojson.features)) {
+      return [];
+    }
+
+    const preferred = geojson.features.find(function(feature) {
+      return feature && feature.id === "PathSection" &&
+        feature.geometry && feature.geometry.type === "LineString";
+    });
+    if (preferred && preferred.geometry && preferred.geometry.coordinates) {
+      return preferred.geometry.coordinates;
+    }
+
+    const fallback = geojson.features.find(function(feature) {
+      return feature && feature.geometry && feature.geometry.type === "LineString";
+    });
+    if (fallback && fallback.geometry && fallback.geometry.coordinates) {
+      return fallback.geometry.coordinates;
+    }
+
+    return [];
+  }
+
+  function computeTotalLengthMeters(coords) {
+    if (!Array.isArray(coords) || coords.length < 2) {
+      return 0.0;
+    }
+
+    let total = 0.0;
+    for (let index = 1; index < coords.length; index += 1) {
+      const previous = coords[index - 1];
+      const current = coords[index];
+      const distance = vincentyDistanceMeters(previous[1], previous[0], current[1], current[0]);
+      if (Number.isFinite(distance)) {
+        total += distance;
+      }
+    }
+    return total;
+  }
+
+  function normalizeTruckStates(trucks) {
+    if (!Array.isArray(trucks)) {
+      return [];
+    }
+    return trucks.filter(function(item) {
+      return item &&
+        Number.isFinite(Number(item.lat)) &&
+        Number.isFinite(Number(item.lon));
+    });
+  }
+
+  function renderSvg(container, coords, trucks) {
+    const width = Math.max(container.clientWidth, 700);
+    const height = Math.max(container.clientHeight, 420);
+    const padding = 30;
+
+    let minLon = Infinity;
+    let maxLon = -Infinity;
+    let minLat = Infinity;
+    let maxLat = -Infinity;
+
+    coords.forEach(function(item) {
+      const lon = item[0];
+      const lat = item[1];
+      if (lon < minLon) minLon = lon;
+      if (lon > maxLon) maxLon = lon;
+      if (lat < minLat) minLat = lat;
+      if (lat > maxLat) maxLat = lat;
+    });
+
+    const lonSpan = Math.max(maxLon - minLon, 1e-9);
+    const latSpan = Math.max(maxLat - minLat, 1e-9);
+
+    function toSvgXY(lon, lat) {
+      const x = padding + ((lon - minLon) / lonSpan) * (width - 2 * padding);
+      const y = height - padding - ((lat - minLat) / latSpan) * (height - 2 * padding);
+      return {x: x, y: y};
+    }
+
+    const linePoints = coords.map(function(item) {
+      const p = toSvgXY(item[0], item[1]);
+      return p.x.toFixed(2) + "," + p.y.toFixed(2);
+    }).join(" ");
+
+    const totalMeters = computeTotalLengthMeters(coords);
+    const totalKm = totalMeters / 1000.0;
+
+    const truckCircles = trucks.map(function(item) {
+      const p = toSvgXY(Number(item.lon), Number(item.lat));
+      const uid = String(item.uid || "truck");
+      const speedKmh = Number(item.speed_kmh || 0);
+      const courseDeg = Number(item.course_deg || 0);
+      const color = item.tcp_connected ? "#dc2626" : "#6b7280";
+      return (
+        "<g>" +
+          "<circle cx='" + p.x.toFixed(2) + "' cy='" + p.y.toFixed(2) + "' r='5' fill='" + color + "' />" +
+          "<text x='" + (p.x + 8).toFixed(2) + "' y='" + (p.y - 8).toFixed(2) + "' " +
+            "font-size='12' font-family='sans-serif' fill='#111827'>" +
+            uid + " " + speedKmh.toFixed(1) + " km/h @" + courseDeg.toFixed(0) + "°" +
+          "</text>" +
+        "</g>"
+      );
+    }).join("");
+
+    container.innerHTML =
+      "<svg width='100%' height='" + height + "' viewBox='0 0 " + width + " " + height + "' " +
+      "style='background:#f8fafc;border:1px solid #cbd5e1;border-radius:8px;'>" +
+      "<polyline fill='none' stroke='#0ea5e9' stroke-width='3' points='" + linePoints + "'/>" +
+      truckCircles +
+      "</svg>" +
+      "<div style='padding-top:8px;font-family:sans-serif;font-size:13px;'>" +
+      "<div><b>Path points:</b> " + coords.length + "</div>" +
+      "<div><b>Total length (Vincenty):</b> " + totalMeters.toFixed(2) + " m</div>" +
+      "<div><b>Total length:</b> " + totalKm.toFixed(3) + " km</div>" +
+      "<div><b>Live trucks:</b> " + trucks.length + "</div>" +
+      "</div>";
+  }
+
+  function renderInternal(containerId) {
+    const container = document.getElementById(containerId);
+    if (!container) {
+      return;
+    }
+    const state = window.__fleetRoadMapState[containerId];
+    if (!state) {
+      return;
+    }
+
+    const coords = findPathCoordinates(state.geojson);
+    if (coords.length === 0) {
+      container.innerHTML = "<div style='padding:12px;color:#b91c1c;font-weight:600;'>No LineString found in geojson.</div>";
+      return;
+    }
+    renderSvg(container, coords, normalizeTruckStates(state.trucks));
+  }
+
+  window.__fleetRoadMapState = window.__fleetRoadMapState || {};
+
+  window.renderFleetRoadMap = function(containerId, geojson, trucks) {
+    window.__fleetRoadMapState[containerId] = {
+      geojson: geojson,
+      trucks: normalizeTruckStates(trucks),
+    };
+    renderInternal(containerId);
+  };
+
+  window.updateFleetTruckStates = function(containerId, trucks) {
+    if (!window.__fleetRoadMapState[containerId]) {
+      return;
+    }
+    window.__fleetRoadMapState[containerId].trucks = normalizeTruckStates(trucks);
+    renderInternal(containerId);
+  };
+})();
diff --git a/atos_gui/setup.py b/atos_gui/setup.py
index 2648aae69..55469add6 100644
--- a/atos_gui/setup.py
+++ b/atos_gui/setup.py
@@ -10,6 +10,9 @@
     name=package_name,
     version=package_xml.find("version").text,
     packages=find_packages(),
+    package_data={
+        package_name: ["images/*", "static/*.js"],
+    },
     maintainer=package_xml.find("license").text,
     maintainer_email=package_xml.find("maintainer").attrib["email"],
     license=package_xml.find("license").text,
diff --git a/conf/conf/RuralRoad_center_of_driving_lane_ccw.geojson b/conf/conf/RuralRoad_center_of_driving_lane_ccw.geojson
new file mode 100644
index 000000000..2aa13164b
--- /dev/null
+++ b/conf/conf/RuralRoad_center_of_driving_lane_ccw.geojson
@@ -0,0 +1,4643 @@
+{
+    "type": "FeatureCollection",
+    "id": "rural_road_center_of_driving_lane_cw",
+    "features": [
+        {
+            "type": "Feature",
+            "id": "Origin",
+            "geometry": {
+                "type": "Point",
+                "coordinates": [
+                    12.763825093586895,
+                    57.78361108438431
+                ]
+            }
+        },
+        {
+            "type": "Feature",
+            "id": "PathSection",
+            "geometry": {
+                "type": "LineString",
+                "coordinates": [
+                    [
+                        12.763825093586895,
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+                    ],
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From 6b8946ac21f5bd22ac2e9e4c52d441f8455e681e Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Wed, 15 Apr 2026 08:32:16 +0200
Subject: [PATCH 06/33] Simulate with 3 trucks

---
 ROS2_ATOSFleetManagement_cheatsheet.pdf   | Bin 2525 -> 22888 bytes
 atos/launch/launch_atosfleetmanagement.py |  37 +++++++++++-
 atos_gui/atos_gui/static/fleet_map.js     |  67 +++++++++++++++++++++-
 3 files changed, 102 insertions(+), 2 deletions(-)

diff --git a/ROS2_ATOSFleetManagement_cheatsheet.pdf b/ROS2_ATOSFleetManagement_cheatsheet.pdf
index 8a3589439c495735e873b4d981ca36ceaf5e80d0..280387a65af8bf3229cdf4bb0f040ac1f04f83b4 100644
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diff --git a/atos/launch/launch_atosfleetmanagement.py b/atos/launch/launch_atosfleetmanagement.py
index b96fef9d1..2d7f6c3f2 100644
--- a/atos/launch/launch_atosfleetmanagement.py
+++ b/atos/launch/launch_atosfleetmanagement.py
@@ -80,8 +80,43 @@ def generate_launch_description():
             package='atos',
             namespace='atos',
             executable='atos_truck_simulator',
-            name='atos_truck_simulator',
+            name='atos_truck_simulator_1',
             output='screen',
+            parameters=[
+                {'uid': 'L5S-TRUCK-SIM-1'},
+                {'start_index': 0},
+                {'target_speed_kmh': 80.0},
+                {'acceleration_mps2': 2.0},
+                {'ignore_warning_speed_commands': True},
+            ],
+        ),
+        Node(
+            condition=IfCondition(with_simulator),
+            package='atos',
+            namespace='atos',
+            executable='atos_truck_simulator',
+            name='atos_truck_simulator_2',
+            output='screen',
+            parameters=[
+                {'uid': 'L5S-TRUCK-SIM-2'},
+                {'start_index': 250},
+                {'target_speed_kmh': 40.0},
+                {'acceleration_mps2': 2.0},
+            ],
+        ),
+        Node(
+            condition=IfCondition(with_simulator),
+            package='atos',
+            namespace='atos',
+            executable='atos_truck_simulator',
+            name='atos_truck_simulator_3',
+            output='screen',
+            parameters=[
+                {'uid': 'L5S-TRUCK-SIM-3'},
+                {'start_index': 500},
+                {'target_speed_kmh': 40.0},
+                {'acceleration_mps2': 2.0},
+            ],
         ),
         Node(
             condition=IfCondition(PythonExpression(['not ', foxbridge])),
diff --git a/atos_gui/atos_gui/static/fleet_map.js b/atos_gui/atos_gui/static/fleet_map.js
index 3ed8ff0ba..7807d02b4 100644
--- a/atos_gui/atos_gui/static/fleet_map.js
+++ b/atos_gui/atos_gui/static/fleet_map.js
@@ -135,6 +135,38 @@
     });
   }
 
+  function computeAheadDistanceMap(trucks, pathLengthMeters) {
+    const result = {};
+    const candidates = trucks
+      .filter(function(item) {
+        return item.tcp_connected && Number.isFinite(Number(item.distance_m));
+      })
+      .map(function(item) {
+        return {
+          uid: String(item.uid || "truck"),
+          distance_m: Number(item.distance_m),
+        };
+      })
+      .sort(function(a, b) { return a.distance_m - b.distance_m; });
+
+    if (candidates.length < 2) {
+      return result;
+    }
+
+    for (let i = 0; i < candidates.length; i += 1) {
+      const current = candidates[i];
+      const next = candidates[(i + 1) % candidates.length];
+      let gap = next.distance_m - current.distance_m;
+      if (gap <= 0 && pathLengthMeters > 0) {
+        gap += pathLengthMeters;
+      }
+      if (gap > 0) {
+        result[current.uid] = gap;
+      }
+    }
+    return result;
+  }
+
   function renderSvg(container, coords, trucks) {
     const width = Math.max(container.clientWidth, 700);
     const height = Math.max(container.clientHeight, 420);
@@ -171,23 +203,49 @@
     const totalMeters = computeTotalLengthMeters(coords);
     const totalKm = totalMeters / 1000.0;
 
+    const aheadDistanceMap = computeAheadDistanceMap(trucks, totalMeters);
+
     const truckCircles = trucks.map(function(item) {
       const p = toSvgXY(Number(item.lon), Number(item.lat));
       const uid = String(item.uid || "truck");
       const speedKmh = Number(item.speed_kmh || 0);
       const courseDeg = Number(item.course_deg || 0);
       const color = item.tcp_connected ? "#dc2626" : "#6b7280";
+      const ahead = aheadDistanceMap[uid];
+      const aheadText =
+        speedKmh > 0.1 && Number.isFinite(ahead)
+          ? (" next: " + ahead.toFixed(1) + " m")
+          : " next: -";
       return (
         "<g>" +
           "<circle cx='" + p.x.toFixed(2) + "' cy='" + p.y.toFixed(2) + "' r='5' fill='" + color + "' />" +
           "<text x='" + (p.x + 8).toFixed(2) + "' y='" + (p.y - 8).toFixed(2) + "' " +
             "font-size='12' font-family='sans-serif' fill='#111827'>" +
-            uid + " " + speedKmh.toFixed(1) + " km/h @" + courseDeg.toFixed(0) + "°" +
+            uid + " " + speedKmh.toFixed(1) + " km/h @" + courseDeg.toFixed(0) + "°" + aheadText +
           "</text>" +
         "</g>"
       );
     }).join("");
 
+    const truckRows = trucks.map(function(item) {
+      const uid = String(item.uid || "truck");
+      const speedKmh = Number(item.speed_kmh || 0);
+      const courseDeg = Number(item.course_deg || 0);
+      const ahead = aheadDistanceMap[uid];
+      const aheadCell =
+        speedKmh > 0.1 && Number.isFinite(ahead)
+          ? ahead.toFixed(1) + " m"
+          : "-";
+      return (
+        "<tr>" +
+          "<td style='padding:2px 8px 2px 0;'>" + uid + "</td>" +
+          "<td style='padding:2px 8px 2px 0;'>" + speedKmh.toFixed(1) + " km/h</td>" +
+          "<td style='padding:2px 8px 2px 0;'>" + courseDeg.toFixed(0) + "°</td>" +
+          "<td style='padding:2px 0;'><b>" + aheadCell + "</b></td>" +
+        "</tr>"
+      );
+    }).join("");
+
     container.innerHTML =
       "<svg width='100%' height='" + height + "' viewBox='0 0 " + width + " " + height + "' " +
       "style='background:#f8fafc;border:1px solid #cbd5e1;border-radius:8px;'>" +
@@ -199,6 +257,13 @@
       "<div><b>Total length (Vincenty):</b> " + totalMeters.toFixed(2) + " m</div>" +
       "<div><b>Total length:</b> " + totalKm.toFixed(3) + " km</div>" +
       "<div><b>Live trucks:</b> " + trucks.length + "</div>" +
+      "<div style='padding-top:6px;'><b>Distance To Next Truck Ahead</b></div>" +
+      "<table style='font-family:sans-serif;font-size:13px;border-collapse:collapse;'>" +
+      "<thead><tr><th style='text-align:left;padding:2px 8px 2px 0;'>Truck</th>" +
+      "<th style='text-align:left;padding:2px 8px 2px 0;'>Speed</th>" +
+      "<th style='text-align:left;padding:2px 8px 2px 0;'>Course</th>" +
+      "<th style='text-align:left;padding:2px 0;'>Next ahead</th></tr></thead>" +
+      "<tbody>" + truckRows + "</tbody></table>" +
       "</div>";
   }
 

From cd4c76c45de3a3dc8112d4395da0e1ea71a95079 Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Wed, 15 Apr 2026 08:45:56 +0200
Subject: [PATCH 07/33] removed user path dependencies

---
 ROS2_ATOSFleetManagement_cheatsheet.pdf | Bin 22888 -> 22882 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/ROS2_ATOSFleetManagement_cheatsheet.pdf b/ROS2_ATOSFleetManagement_cheatsheet.pdf
index 280387a65af8bf3229cdf4bb0f040ac1f04f83b4..86a5209e0b55e3ac5ca0622ab0acd700a51dc6de 100644
GIT binary patch
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From fea5e29ef2f61f6418bdf0baabfd46c67ae945ab Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Thu, 16 Apr 2026 09:38:52 +0200
Subject: [PATCH 08/33] Docker container supported

---
 Dockerfile                              |   7 +++-
 README.md                               |  53 +++++++++++++++++++++++-
 ROS2_ATOSFleetManagement_cheatsheet.pdf | Bin 22882 -> 24192 bytes
 atos_gui/atos_gui/main.py               |  10 ++---
 atos_gui/atos_gui/static/fleet_map.js   |   8 +++-
 docker-compose-fleetmanagement.yml      |  22 ++++++++++
 scripts/atosfleetmanagement.env.example |   5 +++
 scripts/atosfleetmanagement.service     |  18 ++++++++
 scripts/run_atosfleetmanagement.sh      |  19 +++++++++
 9 files changed, 131 insertions(+), 11 deletions(-)
 create mode 100644 docker-compose-fleetmanagement.yml
 create mode 100644 scripts/atosfleetmanagement.env.example
 create mode 100644 scripts/atosfleetmanagement.service
 create mode 100644 scripts/run_atosfleetmanagement.sh

diff --git a/Dockerfile b/Dockerfile
index b90a777db..75a805678 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -24,4 +24,9 @@ RUN --mount=type=cache,target=/var/cache/apt \
         ./scripts/installation/install_deps.sh ${REPO_DIR}
 COPY . .
 RUN ./scripts/installation/install_atos.sh ${REPO_DIR}
-WORKDIR /root/atos_ws
\ No newline at end of file
+WORKDIR /root/atos_ws
+RUN chmod +x /root/atos_git/scripts/run_atosfleetmanagement.sh
+
+EXPOSE 8420 8765 9090 8114
+
+CMD ["/bin/bash", "-lc", "/root/atos_git/scripts/run_atosfleetmanagement.sh"]
diff --git a/README.md b/README.md
index d1c10ec3b..b8c478f54 100644
--- a/README.md
+++ b/README.md
@@ -30,7 +30,7 @@ docker run --network="host"  --ipc=host --privileged -it -v ~/.astazero/ATOS/:/r
 ```
 If you run Docker Desktop you will need to specify the ports to expose to the host computer.
 ```bash
-docker run --ipc=host --privileged -it -v ~/.astazero/ATOS/:/root/.astazero/ATOS/ -p 80:80 -p 8080:8080 -p 8081:8081 -p 8082:8082 -p 3000:3000 -p 3443:3443 -p 55555:55555 -p 443:443 -p 9090:9090 astazero/atos_docker_env:latest bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
+docker run --ipc=host --privileged -it -v ~/.astazero/ATOS/:/root/.astazero/ATOS/ -p 80:80 -p 8080:8080 -p 8081:8081 -p 8082:8082 -p 8420:8420 -p 3443:3443 -p 55555:55555 -p 443:443 -p 9090:9090 astazero/atos_docker_env:latest bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
 ```
 
 See the [GUI](../Usage/GUI/foxglove.md) documentation on how to enable secure connections. 
@@ -67,6 +67,56 @@ TruckObjectControl publishes speed commands on:
 /atos/truck_objects/speed_command
 ```
 
+### ATOSFleetManagement in Docker (with or without simulators)
+Build and start with docker compose:
+```bash
+docker compose -f docker-compose-fleetmanagement.yml up --build
+```
+
+Start with simulated trucks enabled:
+```bash
+WITH_TRUCK_SIMULATOR=True docker compose -f docker-compose-fleetmanagement.yml up --build
+```
+
+Start with simulated trucks disabled:
+```bash
+WITH_TRUCK_SIMULATOR=False docker compose -f docker-compose-fleetmanagement.yml up --build
+```
+
+Open TruckObjectGUI at:
+```text
+http://localhost:8420
+```
+
+### Run as system service (Docker + systemd)
+Example deployment folder on server: `/opt/atos`.
+
+1. Copy repository to server:
+```bash
+sudo mkdir -p /opt/atos
+sudo rsync -a ./ /opt/atos/
+```
+
+2. Install service env file and customize:
+```bash
+sudo cp /opt/atos/scripts/atosfleetmanagement.env.example /etc/default/atosfleetmanagement
+sudo nano /etc/default/atosfleetmanagement
+```
+
+3. Install and enable service:
+```bash
+sudo cp /opt/atos/scripts/atosfleetmanagement.service /etc/systemd/system/atosfleetmanagement.service
+sudo systemctl daemon-reload
+sudo systemctl enable --now atosfleetmanagement
+```
+
+4. Service management:
+```bash
+sudo systemctl status atosfleetmanagement
+sudo systemctl restart atosfleetmanagement
+sudo journalctl -u atosfleetmanagement -f
+```
+
 # <a name="usage"></a> Using ATOS with a Graphical User Interface (GUI)
 Please click [here](https://atos.readthedocs.io/en/latest/Usage/GUI/foxglove/) for instructions on how to use ATOS with a GUI.
 
@@ -94,4 +144,3 @@ This project has partly been funded by the below organisations. The herein expre
 </picture>
 <br>
 <br>
-
diff --git a/ROS2_ATOSFleetManagement_cheatsheet.pdf b/ROS2_ATOSFleetManagement_cheatsheet.pdf
index 86a5209e0b55e3ac5ca0622ab0acd700a51dc6de..848d2719169757ae45e2e55ce7a313cf1c977bf5 100644
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diff --git a/atos_gui/atos_gui/main.py b/atos_gui/atos_gui/main.py
index 48b926e18..b25814483 100644
--- a/atos_gui/atos_gui/main.py
+++ b/atos_gui/atos_gui/main.py
@@ -221,7 +221,7 @@ def ros_main() -> None:
 
 def print_access_hint() -> None:
     scheme = "https" if USE_SSL else "http"
-    print(f"TruckObjectGUI ready. Open {scheme}://localhost:3000", flush=True)
+    print(f"TruckObjectGUI ready. Open {scheme}://localhost:8420", flush=True)
 
 
 # Start the ROS node logic in a thread managed by nicegui.
@@ -232,7 +232,8 @@ def print_access_hint() -> None:
 
 uvicorn_args = {
     "uvicorn_reload_dirs": str(Path(__file__).parent.resolve()),
-    "port": 3000,
+    "host": "0.0.0.0",
+    "port": 8420,
     "show": False,
     "title": "TruckObjectGUI" if FLEET_MODE else "ATOS GUI",
 }
@@ -244,7 +245,4 @@ def print_access_hint() -> None:
 ui.run(**uvicorn_args)
 
 if USE_SSL:
-    print(
-        "ATTENTION: Using SSL, use https://localhost:3000 to access the GUI instead",
-        flush=True,
-    )
+    print("ATTENTION: Using SSL, use https://localhost:8420 to access the GUI instead", flush=True)
diff --git a/atos_gui/atos_gui/static/fleet_map.js b/atos_gui/atos_gui/static/fleet_map.js
index 7807d02b4..2db4e9642 100644
--- a/atos_gui/atos_gui/static/fleet_map.js
+++ b/atos_gui/atos_gui/static/fleet_map.js
@@ -208,7 +208,9 @@
     const truckCircles = trucks.map(function(item) {
       const p = toSvgXY(Number(item.lon), Number(item.lat));
       const uid = String(item.uid || "truck");
-      const speedKmh = Number(item.speed_kmh || 0);
+      const speedKmh = Number.isFinite(Number(item.speed_mps))
+        ? Number(item.speed_mps) * 3.6
+        : Number(item.speed_kmh || 0);
       const courseDeg = Number(item.course_deg || 0);
       const color = item.tcp_connected ? "#dc2626" : "#6b7280";
       const ahead = aheadDistanceMap[uid];
@@ -229,7 +231,9 @@
 
     const truckRows = trucks.map(function(item) {
       const uid = String(item.uid || "truck");
-      const speedKmh = Number(item.speed_kmh || 0);
+      const speedKmh = Number.isFinite(Number(item.speed_mps))
+        ? Number(item.speed_mps) * 3.6
+        : Number(item.speed_kmh || 0);
       const courseDeg = Number(item.course_deg || 0);
       const ahead = aheadDistanceMap[uid];
       const aheadCell =
diff --git a/docker-compose-fleetmanagement.yml b/docker-compose-fleetmanagement.yml
new file mode 100644
index 000000000..49d35cb09
--- /dev/null
+++ b/docker-compose-fleetmanagement.yml
@@ -0,0 +1,22 @@
+version: "3.2"
+services:
+  atos-fleetmanagement:
+    container_name: atos-fleetmanagement
+    image: astazero/atos_docker_env:latest
+    build:
+      context: .
+      dockerfile: ./Dockerfile
+    ipc: host
+    privileged: true
+    stdin_open: true
+    tty: true
+    restart: unless-stopped
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
+      - INSECURE=${INSECURE:-True}
+      - WITH_TRUCK_SIMULATOR=${WITH_TRUCK_SIMULATOR:-False}
+      - FOXBRIDGE=${FOXBRIDGE:-True}
+    volumes:
+      - ~/.astazero/ATOS/:/root/.astazero/ATOS/
+    network_mode: "host"
+    command: /bin/bash -lc "/root/atos_git/scripts/run_atosfleetmanagement.sh"
diff --git a/scripts/atosfleetmanagement.env.example b/scripts/atosfleetmanagement.env.example
new file mode 100644
index 000000000..07b91f8b6
--- /dev/null
+++ b/scripts/atosfleetmanagement.env.example
@@ -0,0 +1,5 @@
+# Copy this file to /etc/default/atosfleetmanagement and adjust values.
+INSECURE=True
+WITH_TRUCK_SIMULATOR=False
+FOXBRIDGE=True
+ROS_DOMAIN_ID=42
diff --git a/scripts/atosfleetmanagement.service b/scripts/atosfleetmanagement.service
new file mode 100644
index 000000000..3c7c121f6
--- /dev/null
+++ b/scripts/atosfleetmanagement.service
@@ -0,0 +1,18 @@
+[Unit]
+Description=ATOSFleetManagement Docker Service
+After=docker.service network-online.target
+Wants=network-online.target
+Requires=docker.service
+
+[Service]
+Type=oneshot
+RemainAfterExit=yes
+WorkingDirectory=/opt/atos
+EnvironmentFile=-/etc/default/atosfleetmanagement
+ExecStart=/usr/bin/docker compose -f /opt/atos/docker-compose-fleetmanagement.yml up -d --build
+ExecStop=/usr/bin/docker compose -f /opt/atos/docker-compose-fleetmanagement.yml down
+TimeoutStartSec=0
+TimeoutStopSec=120
+
+[Install]
+WantedBy=multi-user.target
diff --git a/scripts/run_atosfleetmanagement.sh b/scripts/run_atosfleetmanagement.sh
new file mode 100644
index 000000000..e73f3071a
--- /dev/null
+++ b/scripts/run_atosfleetmanagement.sh
@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+INSECURE="${INSECURE:-True}"
+WITH_TRUCK_SIMULATOR="${WITH_TRUCK_SIMULATOR:-False}"
+FOXBRIDGE="${FOXBRIDGE:-True}"
+
+source /root/atos_ws/install/setup.sh
+
+echo "Starting ATOSFleetManagement with:"
+echo "  INSECURE=${INSECURE}"
+echo "  WITH_TRUCK_SIMULATOR=${WITH_TRUCK_SIMULATOR}"
+echo "  FOXBRIDGE=${FOXBRIDGE}"
+
+exec ros2 launch atos launch_atosfleetmanagement.py \
+  insecure:="${INSECURE}" \
+  with_truck_simulator:="${WITH_TRUCK_SIMULATOR}" \
+  foxbridge:="${FOXBRIDGE}"

From 5e8ac6b638d8ca5ce83303d826e1c6e998fdf9b0 Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Thu, 16 Apr 2026 09:47:34 +0200
Subject: [PATCH 09/33] updated cheatsheet

---
 ROS2_ATOSFleetManagement_cheatsheet.pdf | Bin 24192 -> 24908 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/ROS2_ATOSFleetManagement_cheatsheet.pdf b/ROS2_ATOSFleetManagement_cheatsheet.pdf
index 848d2719169757ae45e2e55ce7a313cf1c977bf5..85192d242a5538c141d191ef58c66fb9d6d4176f 100644
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zk$CW4BH+)eF@19M;Ovtxv3fE$U;}Lv`gpZ44hQy=4qAkKywo4BIX=JjrLt4`KJnss
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z@4x;gn$1qL`M<t*?j_eS|JCdL!j#ePzwBPK;}bX$HCledZ@0a+*P$ZX3!5QD1*Z;4
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From 796b2fdc52bceda29baec2b8894eccc5acb11e3a Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Thu, 16 Apr 2026 13:31:18 +0200
Subject: [PATCH 10/33] trying to build docker image

---
 scripts/installation/install_deps.sh | 41 ++++++++++++++++++++++++++--
 1 file changed, 38 insertions(+), 3 deletions(-)

diff --git a/scripts/installation/install_deps.sh b/scripts/installation/install_deps.sh
index 5d643fc80..32787af0c 100755
--- a/scripts/installation/install_deps.sh
+++ b/scripts/installation/install_deps.sh
@@ -23,6 +23,37 @@ if [ -z "${ROS_DISTRO:-}" ]; then
     echo "ROS_DISTRO is not set. Source /opt/ros/<distro>/setup.bash before running this script."
     exit 1
 fi
+apt_update_retry() {
+    local attempts=5
+    local delay=5
+    local i=1
+    while [ "$i" -le "$attempts" ]; do
+        if sudo apt-get update; then
+            return 0
+        fi
+        echo "apt update failed (attempt ${i}/${attempts}); cleaning apt cache and retrying..."
+        sudo apt-get clean
+        sudo rm -rf /var/lib/apt/lists/*
+        sleep "$delay"
+        i=$((i + 1))
+    done
+    return 1
+}
+
+apt_install_retry() {
+    local attempts=3
+    local delay=5
+    local i=1
+    while [ "$i" -le "$attempts" ]; do
+        if sudo apt-get install -y "$@"; then
+            return 0
+        fi
+        echo "apt install failed (attempt ${i}/${attempts}); retrying..."
+        sleep "$delay"
+        i=$((i + 1))
+    done
+    return 1
+}
 
 PIP_INSTALL_CMD=(python3 -m pip install)
 if python3 -m pip help install 2>/dev/null | grep -q -- "--break-system-packages"; then
@@ -32,7 +63,9 @@ fi
 # Update and install required dependencies specified in dependencies.txt and requirements.txt file
 apt_deps=$(cat ${ATOS_REPO_PATH}/scripts/installation/dependencies.txt | tr '\n' ' ')
 echo "Installing dependencies... $apt_deps"
-sudo apt update && sudo apt install -y ${apt_deps}
+apt_update_retry
+apt_install_retry ${apt_deps}
+apt_install_retry python3-pip
 "${PIP_INSTALL_CMD[@]}" -r ${ATOS_REPO_PATH}/scripts/installation/requirements.txt
 
 # Check if apt failed to install dependencies
@@ -46,7 +79,8 @@ if ! (apt list | grep -q "ros-$ROS_DISTRO-desktop"); then
     echo "Adding the ROS2 $ROS_DISTRO apt repository..."
 
     # Install ROS2 prerequisites
-    sudo apt update && sudo apt install -y lsb-release ros-dev-tools
+    apt_update_retry
+    apt_install_retry lsb-release ros-dev-tools
 
     # Authorize the ROS2 gpg key with apt
     sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
@@ -60,7 +94,8 @@ fi
 
 # Install ROS2 packages
 echo "Installing ROS2 packages..."
-sudo apt install -y \
+apt_update_retry
+apt_install_retry \
     ros-${ROS_DISTRO}-desktop \
     python3-rosdep \
     ros-${ROS_DISTRO}-launch-pytest

From 4bfc28ace134d4e94aca5ca6d831a7cd9bc2a16e Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Thu, 16 Apr 2026 14:20:06 +0200
Subject: [PATCH 11/33] handling COT->path_name and send back request/info to
 pf on ctp

---
 atos_gui/atos_gui/main.py             | 100 ++++++++++++++++------
 atos_gui/atos_gui/static/fleet_map.js | 115 +++++++++++++++++++++-----
 2 files changed, 169 insertions(+), 46 deletions(-)

diff --git a/atos_gui/atos_gui/main.py b/atos_gui/atos_gui/main.py
index b25814483..fc40bf69e 100644
--- a/atos_gui/atos_gui/main.py
+++ b/atos_gui/atos_gui/main.py
@@ -26,6 +26,7 @@
 FLEET_STATIC_DIR = Path(__file__).parent / "static"
 FLEET_STATE_LOCK = threading.Lock()
 FLEET_TRUCK_STATES: dict[str, dict] = {}
+FLEET_GEOJSON_CACHE: dict[str, dict] = {}
 
 
 
@@ -35,18 +36,18 @@ def main() -> None:
     pass
 
 
-def _candidate_geojson_paths() -> list[Path]:
+def _candidate_conf_dirs() -> list[Path]:
     candidates = [
-        Path.home() / ".astazero/ATOS/conf" / GEOJSON_NAME,
-        Path.home() / "atos_ws/src/atos/conf/conf" / GEOJSON_NAME,
-        Path.home() / "Documents/repos/ATOS/conf/conf" / GEOJSON_NAME,
+        Path.home() / ".astazero/ATOS/conf",
+        Path.home() / "atos_ws/src/atos/conf/conf",
+        Path.home() / "Documents/repos/ATOS/conf/conf",
     ]
 
     try:
         from ament_index_python.packages import get_package_prefix
 
         atos_prefix = Path(get_package_prefix("atos"))
-        candidates.append(atos_prefix / "etc/conf" / GEOJSON_NAME)
+        candidates.append(atos_prefix / "etc/conf")
     except Exception:
         pass
 
@@ -62,20 +63,65 @@ def _candidate_geojson_paths() -> list[Path]:
     return unique_candidates
 
 
-def _load_fleet_geojson() -> tuple[dict | None, Path | None]:
-    for path in _candidate_geojson_paths():
-        if path.exists():
-            try:
-                return json.loads(path.read_text()), path
-            except Exception:
-                continue
-    return None, None
+def _resolve_geojson_path(path_name: str) -> Path | None:
+    sanitized = Path(path_name).name
+    if not sanitized:
+        return None
 
+    direct = Path(path_name)
+    if direct.is_absolute() and direct.exists():
+        return direct
 
-def _fleet_snapshot_payload() -> str:
+    for conf_dir in _candidate_conf_dirs():
+        candidate = conf_dir / sanitized
+        if candidate.exists():
+            return candidate
+
+    return None
+
+
+def _load_geojson_by_name(path_name: str) -> tuple[dict | None, Path | None]:
+    sanitized = Path(path_name).name
+    if not sanitized:
+        return None, None
+
+    if sanitized in FLEET_GEOJSON_CACHE:
+        return FLEET_GEOJSON_CACHE[sanitized], _resolve_geojson_path(sanitized)
+
+    path = _resolve_geojson_path(sanitized)
+    if not path:
+        return None, None
+
+    try:
+        payload = json.loads(path.read_text())
+        FLEET_GEOJSON_CACHE[sanitized] = payload
+        return payload, path
+    except Exception:
+        return None, None
+
+
+def _fleet_map_payload_json() -> str:
     with FLEET_STATE_LOCK:
         trucks = list(FLEET_TRUCK_STATES.values())
-    return json.dumps(trucks).replace("</", "<\\/")
+
+    path_names = {GEOJSON_NAME}
+    for truck in trucks:
+        path_name = truck.get("path_name")
+        if path_name:
+            path_names.add(Path(str(path_name)).name)
+
+    paths_payload = {}
+    for path_name in sorted(path_names):
+        geojson, _ = _load_geojson_by_name(path_name)
+        if geojson:
+            paths_payload[path_name] = geojson
+
+    payload = {
+        "default_path_name": GEOJSON_NAME,
+        "paths": paths_payload,
+        "trucks": trucks,
+    }
+    return json.dumps(payload).replace("</", "<\\/")
 
 
 class FleetStateNode(Node):
@@ -94,6 +140,9 @@ def _on_state(self, msg: String) -> None:
         if not uid:
             return
 
+        if payload.get("path_name"):
+            payload["path_name"] = Path(str(payload["path_name"])).name
+
         with FLEET_STATE_LOCK:
             FLEET_TRUCK_STATES[str(uid)] = payload
 
@@ -136,25 +185,24 @@ def render_home() -> None:
                 )
 
             with ui.tab_panel(road_tab):
-                geojson, source_path = _load_fleet_geojson()
-                ui.label("RuralRoad centerline visualization").classes("text-h5")
+                default_geojson, source_path = _load_geojson_by_name(GEOJSON_NAME)
+                ui.label("Path visualization by COT path_name").classes("text-h5")
 
-                if not geojson:
-                    ui.label("Could not load geojson file.").classes("text-red-600")
-                    ui.markdown("Searched:\n" + "\n".join([f"- `{p}`" for p in _candidate_geojson_paths()]))
+                if not default_geojson:
+                    ui.label("Could not load default geojson file.").classes("text-red-600")
+                    ui.markdown("Searched conf dirs:\n" + "\n".join([f"- `{p}`" for p in _candidate_conf_dirs()]))
                     return
 
-                ui.label(f"Source: {source_path}").classes("text-sm text-gray-600")
-                map_id = "rural-road-map"
+                ui.label(f"Default source: {source_path}").classes("text-sm text-gray-600")
+                map_id = "fleet-road-map"
                 ui.html(f'<div id="{map_id}" style="height:75vh;width:100%;border-radius:8px;"></div>')
 
-                geojson_payload = json.dumps(geojson).replace("</", "<\\/")
                 ui.timer(
                     0.2,
                     lambda: ui.run_javascript(
                         f"""
 (() => {{
-  const payload = {geojson_payload};
+  const payload = {_fleet_map_payload_json()};
   const containerId = "{map_id}";
   let attempts = 0;
   const maxAttempts = 60;
@@ -164,7 +212,7 @@ def render_home() -> None:
     const hasEl = !!document.getElementById(containerId);
     if (hasFn && hasEl) {{
       clearInterval(timer);
-      window.renderFleetRoadMap(containerId, payload, {_fleet_snapshot_payload()});
+      window.renderFleetRoadMap(containerId, payload);
       return;
     }}
     if (attempts >= maxAttempts) {{
@@ -183,7 +231,7 @@ def render_home() -> None:
                 ui.timer(
                     0.5,
                     lambda: ui.run_javascript(
-                        f"window.updateFleetTruckStates('{map_id}', {_fleet_snapshot_payload()});"
+                        f"window.updateFleetRoadMap('{map_id}', {_fleet_map_payload_json()});"
                     ),
                 )
 
diff --git a/atos_gui/atos_gui/static/fleet_map.js b/atos_gui/atos_gui/static/fleet_map.js
index 2db4e9642..d6feac4b1 100644
--- a/atos_gui/atos_gui/static/fleet_map.js
+++ b/atos_gui/atos_gui/static/fleet_map.js
@@ -132,14 +132,52 @@
       return item &&
         Number.isFinite(Number(item.lat)) &&
         Number.isFinite(Number(item.lon));
+    }).map(function(item) {
+      const normalized = Object.assign({}, item);
+      normalized.uid = String(item.uid || "truck");
+      normalized.path_name = item.path_name ? String(item.path_name) : "";
+      normalized.path_index = Number.isFinite(Number(item.path_index)) ? Number(item.path_index) : -1;
+      return normalized;
     });
   }
 
-  function computeAheadDistanceMap(trucks, pathLengthMeters) {
+  function selectPathName(state) {
+    const trucks = state.trucks || [];
+    const counts = {};
+    trucks.forEach(function(item) {
+      const pathName = item.path_name || state.defaultPathName;
+      if (!pathName) {
+        return;
+      }
+      counts[pathName] = (counts[pathName] || 0) + 1;
+    });
+
+    let bestName = state.defaultPathName;
+    let bestCount = -1;
+    Object.keys(counts).forEach(function(name) {
+      if (counts[name] > bestCount) {
+        bestCount = counts[name];
+        bestName = name;
+      }
+    });
+
+    if (!bestName || !state.pathsByName[bestName]) {
+      const available = Object.keys(state.pathsByName);
+      if (available.length > 0) {
+        bestName = available[0];
+      }
+    }
+    return bestName;
+  }
+
+  function computeAheadDistanceMap(trucks, pathLengthMeters, selectedPathName) {
     const result = {};
     const candidates = trucks
       .filter(function(item) {
-        return item.tcp_connected && Number.isFinite(Number(item.distance_m));
+        const itemPath = item.path_name || selectedPathName;
+        return itemPath === selectedPathName &&
+          item.tcp_connected &&
+          Number.isFinite(Number(item.distance_m));
       })
       .map(function(item) {
         return {
@@ -167,7 +205,7 @@
     return result;
   }
 
-  function renderSvg(container, coords, trucks) {
+  function renderSvg(container, coords, trucks, selectedPathName, pathsByName) {
     const width = Math.max(container.clientWidth, 700);
     const height = Math.max(container.clientHeight, 420);
     const padding = 30;
@@ -203,15 +241,21 @@
     const totalMeters = computeTotalLengthMeters(coords);
     const totalKm = totalMeters / 1000.0;
 
-    const aheadDistanceMap = computeAheadDistanceMap(trucks, totalMeters);
+    const filteredTrucks = trucks.filter(function(item) {
+      const itemPath = item.path_name || selectedPathName;
+      return itemPath === selectedPathName;
+    });
+
+    const aheadDistanceMap = computeAheadDistanceMap(filteredTrucks, totalMeters, selectedPathName);
 
-    const truckCircles = trucks.map(function(item) {
+    const truckCircles = filteredTrucks.map(function(item) {
       const p = toSvgXY(Number(item.lon), Number(item.lat));
       const uid = String(item.uid || "truck");
       const speedKmh = Number.isFinite(Number(item.speed_mps))
         ? Number(item.speed_mps) * 3.6
         : Number(item.speed_kmh || 0);
       const courseDeg = Number(item.course_deg || 0);
+      const pathIndex = Number(item.path_index || -1);
       const color = item.tcp_connected ? "#dc2626" : "#6b7280";
       const ahead = aheadDistanceMap[uid];
       const aheadText =
@@ -223,18 +267,19 @@
           "<circle cx='" + p.x.toFixed(2) + "' cy='" + p.y.toFixed(2) + "' r='5' fill='" + color + "' />" +
           "<text x='" + (p.x + 8).toFixed(2) + "' y='" + (p.y - 8).toFixed(2) + "' " +
             "font-size='12' font-family='sans-serif' fill='#111827'>" +
-            uid + " " + speedKmh.toFixed(1) + " km/h @" + courseDeg.toFixed(0) + "°" + aheadText +
+            uid + " [idx " + pathIndex + "] " + speedKmh.toFixed(1) + " km/h @" + courseDeg.toFixed(0) + "°" + aheadText +
           "</text>" +
         "</g>"
       );
     }).join("");
 
-    const truckRows = trucks.map(function(item) {
+    const truckRows = filteredTrucks.map(function(item) {
       const uid = String(item.uid || "truck");
       const speedKmh = Number.isFinite(Number(item.speed_mps))
         ? Number(item.speed_mps) * 3.6
         : Number(item.speed_kmh || 0);
       const courseDeg = Number(item.course_deg || 0);
+      const pathIndex = Number(item.path_index || -1);
       const ahead = aheadDistanceMap[uid];
       const aheadCell =
         speedKmh > 0.1 && Number.isFinite(ahead)
@@ -243,6 +288,7 @@
       return (
         "<tr>" +
           "<td style='padding:2px 8px 2px 0;'>" + uid + "</td>" +
+          "<td style='padding:2px 8px 2px 0;'>" + pathIndex + "</td>" +
           "<td style='padding:2px 8px 2px 0;'>" + speedKmh.toFixed(1) + " km/h</td>" +
           "<td style='padding:2px 8px 2px 0;'>" + courseDeg.toFixed(0) + "°</td>" +
           "<td style='padding:2px 0;'><b>" + aheadCell + "</b></td>" +
@@ -250,6 +296,15 @@
       );
     }).join("");
 
+    const allPathNames = Object.keys(pathsByName).sort();
+    const pathSummary = allPathNames.map(function(pathName) {
+      const count = trucks.filter(function(t) {
+        const tPath = t.path_name || selectedPathName;
+        return tPath === pathName;
+      }).length;
+      return "<li><code>" + pathName + "</code>: " + count + " truck(s)</li>";
+    }).join("");
+
     container.innerHTML =
       "<svg width='100%' height='" + height + "' viewBox='0 0 " + width + " " + height + "' " +
       "style='background:#f8fafc;border:1px solid #cbd5e1;border-radius:8px;'>" +
@@ -257,13 +312,17 @@
       truckCircles +
       "</svg>" +
       "<div style='padding-top:8px;font-family:sans-serif;font-size:13px;'>" +
+      "<div><b>Selected path:</b> <code>" + selectedPathName + "</code></div>" +
       "<div><b>Path points:</b> " + coords.length + "</div>" +
       "<div><b>Total length (Vincenty):</b> " + totalMeters.toFixed(2) + " m</div>" +
       "<div><b>Total length:</b> " + totalKm.toFixed(3) + " km</div>" +
-      "<div><b>Live trucks:</b> " + trucks.length + "</div>" +
+      "<div><b>Live trucks on selected path:</b> " + filteredTrucks.length + "</div>" +
+      "<div style='padding-top:6px;'><b>Available paths in payload</b></div>" +
+      "<ul style='margin:4px 0 8px 16px;'>" + pathSummary + "</ul>" +
       "<div style='padding-top:6px;'><b>Distance To Next Truck Ahead</b></div>" +
       "<table style='font-family:sans-serif;font-size:13px;border-collapse:collapse;'>" +
       "<thead><tr><th style='text-align:left;padding:2px 8px 2px 0;'>Truck</th>" +
+      "<th style='text-align:left;padding:2px 8px 2px 0;'>Path idx</th>" +
       "<th style='text-align:left;padding:2px 8px 2px 0;'>Speed</th>" +
       "<th style='text-align:left;padding:2px 8px 2px 0;'>Course</th>" +
       "<th style='text-align:left;padding:2px 0;'>Next ahead</th></tr></thead>" +
@@ -281,29 +340,45 @@
       return;
     }
 
-    const coords = findPathCoordinates(state.geojson);
-    if (coords.length === 0) {
-      container.innerHTML = "<div style='padding:12px;color:#b91c1c;font-weight:600;'>No LineString found in geojson.</div>";
+    const selectedPathName = selectPathName(state);
+    const geojson = state.pathsByName[selectedPathName];
+    const coords = findPathCoordinates(geojson);
+
+    if (!selectedPathName || coords.length === 0) {
+      container.innerHTML = "<div style='padding:12px;color:#b91c1c;font-weight:600;'>No valid path found in payload.</div>";
       return;
     }
-    renderSvg(container, coords, normalizeTruckStates(state.trucks));
+
+    renderSvg(container, coords, state.trucks, selectedPathName, state.pathsByName);
+  }
+
+  function normalizePayload(payload) {
+    const normalized = payload || {};
+    normalized.default_path_name = String(normalized.default_path_name || "");
+    normalized.paths = normalized.paths && typeof normalized.paths === "object" ? normalized.paths : {};
+    normalized.trucks = normalizeTruckStates(normalized.trucks || []);
+    return normalized;
   }
 
   window.__fleetRoadMapState = window.__fleetRoadMapState || {};
 
-  window.renderFleetRoadMap = function(containerId, geojson, trucks) {
+  window.renderFleetRoadMap = function(containerId, payload) {
+    const p = normalizePayload(payload);
     window.__fleetRoadMapState[containerId] = {
-      geojson: geojson,
-      trucks: normalizeTruckStates(trucks),
+      defaultPathName: p.default_path_name,
+      pathsByName: p.paths,
+      trucks: p.trucks,
     };
     renderInternal(containerId);
   };
 
-  window.updateFleetTruckStates = function(containerId, trucks) {
-    if (!window.__fleetRoadMapState[containerId]) {
-      return;
-    }
-    window.__fleetRoadMapState[containerId].trucks = normalizeTruckStates(trucks);
+  window.updateFleetRoadMap = function(containerId, payload) {
+    const p = normalizePayload(payload);
+    window.__fleetRoadMapState[containerId] = {
+      defaultPathName: p.default_path_name,
+      pathsByName: p.paths,
+      trucks: p.trucks,
+    };
     renderInternal(containerId);
   };
 })();

From 9160c24f8223cfc77d7f49fccd93b8f784771c84 Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Fri, 17 Apr 2026 14:33:22 +0200
Subject: [PATCH 12/33] tcp data to pf updated

---
 ROS2_ATOSFleetManagement_cheatsheet.pdf | Bin 24908 -> 20494 bytes
 atos_gui/atos_gui/static/fleet_map.js   |   4 ++--
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ROS2_ATOSFleetManagement_cheatsheet.pdf b/ROS2_ATOSFleetManagement_cheatsheet.pdf
index 85192d242a5538c141d191ef58c66fb9d6d4176f..1abc53a8565bede23feec5b7ad9ac38620ee8181 100644
GIT binary patch
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diff --git a/atos_gui/atos_gui/static/fleet_map.js b/atos_gui/atos_gui/static/fleet_map.js
index d6feac4b1..b2d81815b 100644
--- a/atos_gui/atos_gui/static/fleet_map.js
+++ b/atos_gui/atos_gui/static/fleet_map.js
@@ -259,7 +259,7 @@
       const color = item.tcp_connected ? "#dc2626" : "#6b7280";
       const ahead = aheadDistanceMap[uid];
       const aheadText =
-        speedKmh > 0.1 && Number.isFinite(ahead)
+        Number.isFinite(ahead)
           ? (" next: " + ahead.toFixed(1) + " m")
           : " next: -";
       return (
@@ -282,7 +282,7 @@
       const pathIndex = Number(item.path_index || -1);
       const ahead = aheadDistanceMap[uid];
       const aheadCell =
-        speedKmh > 0.1 && Number.isFinite(ahead)
+        Number.isFinite(ahead)
           ? ahead.toFixed(1) + " m"
           : "-";
       return (

From 50f3c7718629bd7992f82d61230197a14b34c87b Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Fri, 17 Apr 2026 22:51:00 +0200
Subject: [PATCH 13/33] calc distance when standing still

---
 ROS2_ATOSFleetManagement_cheatsheet.pdf | Bin 20494 -> 21159 bytes
 atos_gui/atos_gui/static/fleet_map.js   |  11 ++++++-----
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/ROS2_ATOSFleetManagement_cheatsheet.pdf b/ROS2_ATOSFleetManagement_cheatsheet.pdf
index 1abc53a8565bede23feec5b7ad9ac38620ee8181..86e56f45f5f5ef47173dbb4989aac8c643f1fa43 100644
GIT binary patch
delta 16474
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diff --git a/atos_gui/atos_gui/static/fleet_map.js b/atos_gui/atos_gui/static/fleet_map.js
index b2d81815b..6ba181ddf 100644
--- a/atos_gui/atos_gui/static/fleet_map.js
+++ b/atos_gui/atos_gui/static/fleet_map.js
@@ -175,9 +175,7 @@
     const candidates = trucks
       .filter(function(item) {
         const itemPath = item.path_name || selectedPathName;
-        return itemPath === selectedPathName &&
-          item.tcp_connected &&
-          Number.isFinite(Number(item.distance_m));
+        return itemPath === selectedPathName && Number.isFinite(Number(item.distance_m));
       })
       .map(function(item) {
         return {
@@ -280,6 +278,7 @@
         : Number(item.speed_kmh || 0);
       const courseDeg = Number(item.course_deg || 0);
       const pathIndex = Number(item.path_index || -1);
+      const lastTcpCommand = String(item.last_tcp_command || "-");
       const ahead = aheadDistanceMap[uid];
       const aheadCell =
         Number.isFinite(ahead)
@@ -291,7 +290,8 @@
           "<td style='padding:2px 8px 2px 0;'>" + pathIndex + "</td>" +
           "<td style='padding:2px 8px 2px 0;'>" + speedKmh.toFixed(1) + " km/h</td>" +
           "<td style='padding:2px 8px 2px 0;'>" + courseDeg.toFixed(0) + "°</td>" +
-          "<td style='padding:2px 0;'><b>" + aheadCell + "</b></td>" +
+          "<td style='padding:2px 8px 2px 0;'><b>" + aheadCell + "</b></td>" +
+          "<td style='padding:2px 0;max-width:700px;word-break:break-all;'>" + lastTcpCommand + "</td>" +
         "</tr>"
       );
     }).join("");
@@ -325,7 +325,8 @@
       "<th style='text-align:left;padding:2px 8px 2px 0;'>Path idx</th>" +
       "<th style='text-align:left;padding:2px 8px 2px 0;'>Speed</th>" +
       "<th style='text-align:left;padding:2px 8px 2px 0;'>Course</th>" +
-      "<th style='text-align:left;padding:2px 0;'>Next ahead</th></tr></thead>" +
+      "<th style='text-align:left;padding:2px 8px 2px 0;'>Next ahead</th>" +
+      "<th style='text-align:left;padding:2px 0;'>Last TCP command</th></tr></thead>" +
       "<tbody>" + truckRows + "</tbody></table>" +
       "</div>";
   }

From 65b07f2592acbd6cd88ca78b2be996b47d70ebb1 Mon Sep 17 00:00:00 2001
From: Jonathan Ahlstedt <jonathan.ahlstedt@ri.se>
Date: Mon, 20 Apr 2026 15:41:28 +0200
Subject: [PATCH 14/33] TLS support

---
 atos/launch/launch_atosfleetmanagement.py | 18 ++++++++++++++
 docker-compose-fleetmanagement.yml        |  4 ++++
 scripts/atosfleetmanagement.env.example   |  4 ++++
 scripts/installation/install_atos.sh      |  8 +++++--
 scripts/run_atosfleetmanagement.sh        | 29 +++++++++++++++++++----
 5 files changed, 57 insertions(+), 6 deletions(-)

diff --git a/atos/launch/launch_atosfleetmanagement.py b/atos/launch/launch_atosfleetmanagement.py
index 2d7f6c3f2..72bf26486 100644
--- a/atos/launch/launch_atosfleetmanagement.py
+++ b/atos/launch/launch_atosfleetmanagement.py
@@ -16,10 +16,18 @@ def generate_launch_description():
     insecure_websockets = LaunchConfiguration('insecure')
     foxbridge = LaunchConfiguration('foxbridge')
     with_simulator = LaunchConfiguration('with_truck_simulator')
+    cot_tls_require_client_cert = LaunchConfiguration('cot_tls_require_client_cert')
+    cot_tls_cert_path = LaunchConfiguration('cot_tls_cert_path')
+    cot_tls_key_path = LaunchConfiguration('cot_tls_key_path')
+    cot_tls_ca_path = LaunchConfiguration('cot_tls_ca_path')
 
     insecure_launch_arg = DeclareLaunchArgument('insecure', default_value='False')
     foxbridge_launch_arg = DeclareLaunchArgument('foxbridge', default_value='True')
     simulator_launch_arg = DeclareLaunchArgument('with_truck_simulator', default_value='False')
+    cot_tls_require_client_cert_launch_arg = DeclareLaunchArgument('cot_tls_require_client_cert', default_value='False')
+    cot_tls_cert_path_launch_arg = DeclareLaunchArgument('cot_tls_cert_path', default_value='')
+    cot_tls_key_path_launch_arg = DeclareLaunchArgument('cot_tls_key_path', default_value='')
+    cot_tls_ca_path_launch_arg = DeclareLaunchArgument('cot_tls_ca_path', default_value='')
 
     fox_tls_bridge_params = [
         {'port': 8765},
@@ -50,6 +58,10 @@ def generate_launch_description():
         foxbridge_launch_arg,
         insecure_launch_arg,
         simulator_launch_arg,
+        cot_tls_require_client_cert_launch_arg,
+        cot_tls_cert_path_launch_arg,
+        cot_tls_key_path_launch_arg,
+        cot_tls_ca_path_launch_arg,
         Node(
             condition=IfCondition(PythonExpression(['not ', LaunchConfiguration('insecure')])),
             package='atos_gui',
@@ -74,6 +86,12 @@ def generate_launch_description():
             executable='truck_object_control',
             name='truck_object_control',
             output='screen',
+            parameters=[
+                {'cot_tls_require_client_cert': cot_tls_require_client_cert},
+                {'cot_tls_cert_path': cot_tls_cert_path},
+                {'cot_tls_key_path': cot_tls_key_path},
+                {'cot_tls_ca_path': cot_tls_ca_path},
+            ],
         ),
         Node(
             condition=IfCondition(with_simulator),
diff --git a/docker-compose-fleetmanagement.yml b/docker-compose-fleetmanagement.yml
index 49d35cb09..04d819e43 100644
--- a/docker-compose-fleetmanagement.yml
+++ b/docker-compose-fleetmanagement.yml
@@ -16,6 +16,10 @@ services:
       - INSECURE=${INSECURE:-True}
       - WITH_TRUCK_SIMULATOR=${WITH_TRUCK_SIMULATOR:-False}
       - FOXBRIDGE=${FOXBRIDGE:-True}
+      - COT_TLS_REQUIRE_CLIENT_CERT=${COT_TLS_REQUIRE_CLIENT_CERT:-False}
+      - COT_TLS_CERT_PATH=${COT_TLS_CERT_PATH:-}
+      - COT_TLS_KEY_PATH=${COT_TLS_KEY_PATH:-}
+      - COT_TLS_CA_PATH=${COT_TLS_CA_PATH:-}
     volumes:
       - ~/.astazero/ATOS/:/root/.astazero/ATOS/
     network_mode: "host"
diff --git a/scripts/atosfleetmanagement.env.example b/scripts/atosfleetmanagement.env.example
index 07b91f8b6..4c3526f03 100644
--- a/scripts/atosfleetmanagement.env.example
+++ b/scripts/atosfleetmanagement.env.example
@@ -3,3 +3,7 @@ INSECURE=True
 WITH_TRUCK_SIMULATOR=False
 FOXBRIDGE=True
 ROS_DOMAIN_ID=42
+COT_TLS_REQUIRE_CLIENT_CERT=False
+COT_TLS_CERT_PATH=
+COT_TLS_KEY_PATH=
+COT_TLS_CA_PATH=
diff --git a/scripts/installation/install_atos.sh b/scripts/installation/install_atos.sh
index a37f96441..6f48442e6 100755
--- a/scripts/installation/install_atos.sh
+++ b/scripts/installation/install_atos.sh
@@ -32,7 +32,11 @@ echo "Dependecy installation done and ATOS workspace created."
 # First make sure the submodules are up to date
 echo "Updating submodules to make sure they are up to date..."
 cd $HOME/atos_ws/src/atos
-git submodule update --init --recursive
+if command -v git >/dev/null 2>&1 && git rev-parse --is-inside-work-tree >/dev/null 2>&1; then
+    git submodule update --init --recursive
+else
+    echo "Skipping submodule update: source tree is not a git repository in this environment."
+fi
 cd -
 
 # temporarily cd into the workspace and build with colcon
@@ -63,4 +67,4 @@ case "$SHELL" in
         echo "Unsupported shell detected! Please use either bash or zsh shells to run ATOS"
         exit 1
     ;;
-esac
\ No newline at end of file
+esac
diff --git a/scripts/run_atosfleetmanagement.sh b/scripts/run_atosfleetmanagement.sh
index e73f3071a..f3534925a 100644
--- a/scripts/run_atosfleetmanagement.sh
+++ b/scripts/run_atosfleetmanagement.sh
@@ -5,15 +5,36 @@ set -euo pipefail
 INSECURE="${INSECURE:-True}"
 WITH_TRUCK_SIMULATOR="${WITH_TRUCK_SIMULATOR:-False}"
 FOXBRIDGE="${FOXBRIDGE:-True}"
+COT_TLS_REQUIRE_CLIENT_CERT="${COT_TLS_REQUIRE_CLIENT_CERT:-False}"
+COT_TLS_CERT_PATH="${COT_TLS_CERT_PATH:-}"
+COT_TLS_KEY_PATH="${COT_TLS_KEY_PATH:-}"
+COT_TLS_CA_PATH="${COT_TLS_CA_PATH:-}"
 
+# setup.sh from colcon references vars that may be unset; avoid nounset during sourcing.
+set +u
 source /root/atos_ws/install/setup.sh
+set -u
 
 echo "Starting ATOSFleetManagement with:"
 echo "  INSECURE=${INSECURE}"
 echo "  WITH_TRUCK_SIMULATOR=${WITH_TRUCK_SIMULATOR}"
 echo "  FOXBRIDGE=${FOXBRIDGE}"
+echo "  COT_TLS_REQUIRE_CLIENT_CERT=${COT_TLS_REQUIRE_CLIENT_CERT}"
+echo "  COT_TLS_CERT_PATH=${COT_TLS_CERT_PATH}"
+echo "  COT_TLS_KEY_PATH=${COT_TLS_KEY_PATH}"
+echo "  COT_TLS_CA_PATH=${COT_TLS_CA_PATH}"
 
-exec ros2 launch atos launch_atosfleetmanagement.py \
-  insecure:="${INSECURE}" \
-  with_truck_simulator:="${WITH_TRUCK_SIMULATOR}" \
-  foxbridge:="${FOXBRIDGE}"
+launch_args=(
+  "insecure:=${INSECURE}"
+  "with_truck_simulator:=${WITH_TRUCK_SIMULATOR}"
+  "foxbridge:=${FOXBRIDGE}"
+  "cot_tls_require_client_cert:=${COT_TLS_REQUIRE_CLIENT_CERT}"
+  "cot_tls_cert_path:=${COT_TLS_CERT_PATH}"
+  "cot_tls_key_path:=${COT_TLS_KEY_PATH}"
+)
+
+if [[ -n "${COT_TLS_CA_PATH}" ]]; then
+  launch_args+=("cot_tls_ca_path:=${COT_TLS_CA_PATH}")
+fi
+
+exec ros2 launch atos launch_atosfleetmanagement.py "${launch_args[@]}"

From 0c49fd37e296998b6702ea89379b32f35c7a483e Mon Sep 17 00:00:00 2001
From: Jonathan Ahlstedt <jonathan.ahlstedt@ri.se>
Date: Wed, 22 Apr 2026 08:51:29 +0200
Subject: [PATCH 15/33] Path index calculated instead of sent in

---
 atos_gui/atos_gui/static/fleet_map.js | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/atos_gui/atos_gui/static/fleet_map.js b/atos_gui/atos_gui/static/fleet_map.js
index 6ba181ddf..70d7d07da 100644
--- a/atos_gui/atos_gui/static/fleet_map.js
+++ b/atos_gui/atos_gui/static/fleet_map.js
@@ -191,11 +191,13 @@
 
     for (let i = 0; i < candidates.length; i += 1) {
       const current = candidates[i];
-      const next = candidates[(i + 1) % candidates.length];
-      let gap = next.distance_m - current.distance_m;
-      if (gap <= 0 && pathLengthMeters > 0) {
-        gap += pathLengthMeters;
+      const hasAhead = (i + 1) < candidates.length;
+      if (!hasAhead) {
+        continue;
       }
+      const next = candidates[i + 1];
+      const gap = next.distance_m - current.distance_m;
+      // Match TruckObjectControl backend logic: no circular wrap-around.
       if (gap > 0) {
         result[current.uid] = gap;
       }

From c43d8e5324b2846874bf7a3384533d4d24158e5e Mon Sep 17 00:00:00 2001
From: Jonathan Ahlstedt <jonathan.ahlstedt@ri.se>
Date: Wed, 22 Apr 2026 15:43:02 +0200
Subject: [PATCH 16/33] Distances and wraparound works, but still some TCP
 message issue

---
 atos_gui/atos_gui/main.py             |  3 ++-
 atos_gui/atos_gui/static/fleet_map.js | 12 +++++-------
 2 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/atos_gui/atos_gui/main.py b/atos_gui/atos_gui/main.py
index fc40bf69e..d20385d9f 100644
--- a/atos_gui/atos_gui/main.py
+++ b/atos_gui/atos_gui/main.py
@@ -24,6 +24,7 @@
 GEOJSON_NAME = "RuralRoad_center_of_driving_lane_ccw.geojson"
 FLEET_STATIC_ROUTE = "/atos_gui_static"
 FLEET_STATIC_DIR = Path(__file__).parent / "static"
+FLEET_MAP_JS_VERSION = "20260422-1"
 FLEET_STATE_LOCK = threading.Lock()
 FLEET_TRUCK_STATES: dict[str, dict] = {}
 FLEET_GEOJSON_CACHE: dict[str, dict] = {}
@@ -153,7 +154,7 @@ def render_atosfleetmanagement_pages() -> None:
 
     @ui.page(path="/", title="TruckObjectGUI")
     def render_home() -> None:
-        ui.add_head_html(f'<script src="{FLEET_STATIC_ROUTE}/fleet_map.js"></script>')
+        ui.add_head_html(f'<script src="{FLEET_STATIC_ROUTE}/fleet_map.js?v={FLEET_MAP_JS_VERSION}"></script>')
         ui.label("TruckObjectGUI (ATOSFleetManagement mode)").classes("text-h4")
 
         with ui.tabs().classes("w-full") as tabs:
diff --git a/atos_gui/atos_gui/static/fleet_map.js b/atos_gui/atos_gui/static/fleet_map.js
index 70d7d07da..a2042e0f4 100644
--- a/atos_gui/atos_gui/static/fleet_map.js
+++ b/atos_gui/atos_gui/static/fleet_map.js
@@ -191,14 +191,12 @@
 
     for (let i = 0; i < candidates.length; i += 1) {
       const current = candidates[i];
-      const hasAhead = (i + 1) < candidates.length;
-      if (!hasAhead) {
-        continue;
+      const next = candidates[(i + 1) % candidates.length];
+      let gap = next.distance_m - current.distance_m;
+      if (gap <= 0 && pathLengthMeters > 0) {
+        gap += pathLengthMeters;
       }
-      const next = candidates[i + 1];
-      const gap = next.distance_m - current.distance_m;
-      // Match TruckObjectControl backend logic: no circular wrap-around.
-      if (gap > 0) {
+      if (gap > 0.01) {
         result[current.uid] = gap;
       }
     }

From 1068bf809b8e9565ba0ea742bc8b800cfea5f0e2 Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Thu, 23 Apr 2026 16:06:53 +0200
Subject: [PATCH 17/33] Tcp client can reconnect. Report tcp error in UI. COT
 and TCP displayed in UI.

---
 ROS2_ATOSFleetManagement_cheatsheet.pdf | Bin 21159 -> 3943 bytes
 atos_gui/atos_gui/main.py               |   2 +-
 atos_gui/atos_gui/static/fleet_map.js   |  36 ++++++++++++++++++++----
 3 files changed, 31 insertions(+), 7 deletions(-)

diff --git a/ROS2_ATOSFleetManagement_cheatsheet.pdf b/ROS2_ATOSFleetManagement_cheatsheet.pdf
index 86e56f45f5f5ef47173dbb4989aac8c643f1fa43..2060d7f31daa32264a5319b40a5781426c34acf0 100644
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diff --git a/atos_gui/atos_gui/main.py b/atos_gui/atos_gui/main.py
index d20385d9f..83f313436 100644
--- a/atos_gui/atos_gui/main.py
+++ b/atos_gui/atos_gui/main.py
@@ -24,7 +24,7 @@
 GEOJSON_NAME = "RuralRoad_center_of_driving_lane_ccw.geojson"
 FLEET_STATIC_ROUTE = "/atos_gui_static"
 FLEET_STATIC_DIR = Path(__file__).parent / "static"
-FLEET_MAP_JS_VERSION = "20260422-1"
+FLEET_MAP_JS_VERSION = "20260423-7"
 FLEET_STATE_LOCK = threading.Lock()
 FLEET_TRUCK_STATES: dict[str, dict] = {}
 FLEET_GEOJSON_CACHE: dict[str, dict] = {}
diff --git a/atos_gui/atos_gui/static/fleet_map.js b/atos_gui/atos_gui/static/fleet_map.js
index a2042e0f4..0ef1a2ccd 100644
--- a/atos_gui/atos_gui/static/fleet_map.js
+++ b/atos_gui/atos_gui/static/fleet_map.js
@@ -3,6 +3,16 @@
     return value * Math.PI / 180.0;
   }
 
+  function escapeHtml(value) {
+    return String(value || "")
+      .replace(/&/g, "&amp;")
+      .replace(/</g, "&lt;")
+      .replace(/>/g, "&gt;")
+      .replace(/\"/g, "&quot;")
+      .replace(/'/g, '&#39;');
+  }
+
+
   // Constants aligned with atos/common/util.c:
   // EARTH_EQUATOR_RADIUS_M = 6378137.0 and INVERSE_FLATTENING = 298.257223563
   function vincentyDistanceMeters(lat1, lon1, lat2, lon2) {
@@ -138,6 +148,8 @@
       normalized.path_name = item.path_name ? String(item.path_name) : "";
       normalized.path_index = Number.isFinite(Number(item.path_index)) ? Number(item.path_index) : -1;
       return normalized;
+    }).sort(function(a, b) {
+      return a.uid.localeCompare(b.uid, undefined, { sensitivity: "base", numeric: true });
     });
   }
 
@@ -204,8 +216,8 @@
   }
 
   function renderSvg(container, coords, trucks, selectedPathName, pathsByName) {
-    const width = Math.max(container.clientWidth, 700);
-    const height = Math.max(container.clientHeight, 420);
+    const width = 600;
+    const height = 650;
     const padding = 30;
 
     let minLon = Infinity;
@@ -278,7 +290,9 @@
         : Number(item.speed_kmh || 0);
       const courseDeg = Number(item.course_deg || 0);
       const pathIndex = Number(item.path_index || -1);
+      const lastCotMessage = String(item.last_cot_message || "-");
       const lastTcpCommand = String(item.last_tcp_command || "-");
+      const tcpWarning = String(item.last_tcp_warning || "");
       const ahead = aheadDistanceMap[uid];
       const aheadCell =
         Number.isFinite(ahead)
@@ -291,7 +305,13 @@
           "<td style='padding:2px 8px 2px 0;'>" + speedKmh.toFixed(1) + " km/h</td>" +
           "<td style='padding:2px 8px 2px 0;'>" + courseDeg.toFixed(0) + "°</td>" +
           "<td style='padding:2px 8px 2px 0;'><b>" + aheadCell + "</b></td>" +
-          "<td style='padding:2px 0;max-width:700px;word-break:break-all;'>" + lastTcpCommand + "</td>" +
+          "<td style='padding:2px 0;max-width:760px;'>" +
+            "<div><b>Latest CoT</b></div>" +
+            "<pre style='margin:2px 0 0 0;max-height:120px;overflow:auto;white-space:pre-wrap;word-break:break-word;font-family:monospace;font-size:12px;border:1px solid #d1d5db;border-radius:6px;padding:6px;background:#f8fafc;'>" + escapeHtml(lastCotMessage) + "</pre>" +
+            "<div style='padding-top:4px;'><b>Last TCP</b></div>" +
+            "<pre style='margin:2px 0 0 0;max-height:120px;overflow:auto;white-space:pre-wrap;word-break:break-word;font-family:monospace;font-size:12px;border:1px solid #d1d5db;border-radius:6px;padding:6px;background:#f8fafc;'>" + escapeHtml(lastTcpCommand) + "</pre>" +
+            (tcpWarning ? "<div style='padding-top:4px;color:#b91c1c;font-weight:600;'>TCP warning: " + escapeHtml(tcpWarning) + "</div>" : "") +
+          "</td>" +
         "</tr>"
       );
     }).join("");
@@ -306,12 +326,15 @@
     }).join("");
 
     container.innerHTML =
-      "<svg width='100%' height='" + height + "' viewBox='0 0 " + width + " " + height + "' " +
+      "<div style='display:flex;gap:12px;align-items:flex-start;flex-wrap:wrap;'>" +
+      "<div style='flex:0 0 auto;width:600px;'>" +
+      "<svg width='" + width + "' height='" + height + "' viewBox='0 0 " + width + " " + height + "' " +
       "style='background:#f8fafc;border:1px solid #cbd5e1;border-radius:8px;'>" +
       "<polyline fill='none' stroke='#0ea5e9' stroke-width='3' points='" + linePoints + "'/>" +
       truckCircles +
       "</svg>" +
-      "<div style='padding-top:8px;font-family:sans-serif;font-size:13px;'>" +
+      "</div>" +
+      "<div style='flex:1 1 420px;min-width:420px;padding:2px 4px;font-family:sans-serif;font-size:13px;'>" +
       "<div><b>Selected path:</b> <code>" + selectedPathName + "</code></div>" +
       "<div><b>Path points:</b> " + coords.length + "</div>" +
       "<div><b>Total length (Vincenty):</b> " + totalMeters.toFixed(2) + " m</div>" +
@@ -326,8 +349,9 @@
       "<th style='text-align:left;padding:2px 8px 2px 0;'>Speed</th>" +
       "<th style='text-align:left;padding:2px 8px 2px 0;'>Course</th>" +
       "<th style='text-align:left;padding:2px 8px 2px 0;'>Next ahead</th>" +
-      "<th style='text-align:left;padding:2px 0;'>Last TCP command</th></tr></thead>" +
+      "<th style='text-align:left;padding:2px 0;'>Latest CoT / Last TCP</th></tr></thead>" +
       "<tbody>" + truckRows + "</tbody></table>" +
+      "</div>" +
       "</div>";
   }
 

From 75c90042d15ca5be90c38d00ab8f08d491db380c Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Fri, 24 Apr 2026 08:58:39 +0200
Subject: [PATCH 18/33] UI update

---
 atos_gui/atos_gui/main.py             |  2 +-
 atos_gui/atos_gui/static/fleet_map.js | 12 +++++++-----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/atos_gui/atos_gui/main.py b/atos_gui/atos_gui/main.py
index 83f313436..eb1cd5e85 100644
--- a/atos_gui/atos_gui/main.py
+++ b/atos_gui/atos_gui/main.py
@@ -24,7 +24,7 @@
 GEOJSON_NAME = "RuralRoad_center_of_driving_lane_ccw.geojson"
 FLEET_STATIC_ROUTE = "/atos_gui_static"
 FLEET_STATIC_DIR = Path(__file__).parent / "static"
-FLEET_MAP_JS_VERSION = "20260423-7"
+FLEET_MAP_JS_VERSION = "20260424-3"
 FLEET_STATE_LOCK = threading.Lock()
 FLEET_TRUCK_STATES: dict[str, dict] = {}
 FLEET_GEOJSON_CACHE: dict[str, dict] = {}
diff --git a/atos_gui/atos_gui/static/fleet_map.js b/atos_gui/atos_gui/static/fleet_map.js
index 0ef1a2ccd..4e124dfee 100644
--- a/atos_gui/atos_gui/static/fleet_map.js
+++ b/atos_gui/atos_gui/static/fleet_map.js
@@ -306,9 +306,9 @@
           "<td style='padding:2px 8px 2px 0;'>" + courseDeg.toFixed(0) + "°</td>" +
           "<td style='padding:2px 8px 2px 0;'><b>" + aheadCell + "</b></td>" +
           "<td style='padding:2px 0;max-width:760px;'>" +
-            "<div><b>Latest CoT</b></div>" +
+            "<div><b>Latest CoT (Rx)</b></div>" +
             "<pre style='margin:2px 0 0 0;max-height:120px;overflow:auto;white-space:pre-wrap;word-break:break-word;font-family:monospace;font-size:12px;border:1px solid #d1d5db;border-radius:6px;padding:6px;background:#f8fafc;'>" + escapeHtml(lastCotMessage) + "</pre>" +
-            "<div style='padding-top:4px;'><b>Last TCP</b></div>" +
+            "<div style='padding-top:4px;'><b>Latest TCP (Tx)</b></div>" +
             "<pre style='margin:2px 0 0 0;max-height:120px;overflow:auto;white-space:pre-wrap;word-break:break-word;font-family:monospace;font-size:12px;border:1px solid #d1d5db;border-radius:6px;padding:6px;background:#f8fafc;'>" + escapeHtml(lastTcpCommand) + "</pre>" +
             (tcpWarning ? "<div style='padding-top:4px;color:#b91c1c;font-weight:600;'>TCP warning: " + escapeHtml(tcpWarning) + "</div>" : "") +
           "</td>" +
@@ -333,8 +333,7 @@
       "<polyline fill='none' stroke='#0ea5e9' stroke-width='3' points='" + linePoints + "'/>" +
       truckCircles +
       "</svg>" +
-      "</div>" +
-      "<div style='flex:1 1 420px;min-width:420px;padding:2px 4px;font-family:sans-serif;font-size:13px;'>" +
+      "<div style='padding:8px 2px 0 2px;font-family:sans-serif;font-size:13px;'>" +
       "<div><b>Selected path:</b> <code>" + selectedPathName + "</code></div>" +
       "<div><b>Path points:</b> " + coords.length + "</div>" +
       "<div><b>Total length (Vincenty):</b> " + totalMeters.toFixed(2) + " m</div>" +
@@ -342,6 +341,9 @@
       "<div><b>Live trucks on selected path:</b> " + filteredTrucks.length + "</div>" +
       "<div style='padding-top:6px;'><b>Available paths in payload</b></div>" +
       "<ul style='margin:4px 0 8px 16px;'>" + pathSummary + "</ul>" +
+      "</div>" +
+      "</div>" +
+      "<div style='flex:1 1 420px;min-width:420px;padding:2px 4px;font-family:sans-serif;font-size:13px;'>" +
       "<div style='padding-top:6px;'><b>Distance To Next Truck Ahead</b></div>" +
       "<table style='font-family:sans-serif;font-size:13px;border-collapse:collapse;'>" +
       "<thead><tr><th style='text-align:left;padding:2px 8px 2px 0;'>Truck</th>" +
@@ -349,7 +351,7 @@
       "<th style='text-align:left;padding:2px 8px 2px 0;'>Speed</th>" +
       "<th style='text-align:left;padding:2px 8px 2px 0;'>Course</th>" +
       "<th style='text-align:left;padding:2px 8px 2px 0;'>Next ahead</th>" +
-      "<th style='text-align:left;padding:2px 0;'>Latest CoT / Last TCP</th></tr></thead>" +
+      "<th style='text-align:left;padding:2px 0;'>Latest CoT (Rx) / Latest TCP (Tx)</th></tr></thead>" +
       "<tbody>" + truckRows + "</tbody></table>" +
       "</div>" +
       "</div>";

From 81e2a69279e79039448a3db4fb54c04914795bc5 Mon Sep 17 00:00:00 2001
From: Jonathan Ahlstedt <jonathan.ahlstedt@ri.se>
Date: Fri, 24 Apr 2026 09:21:57 +0200
Subject: [PATCH 19/33] Add sync-to-server script

---
 scripts/sync_to_buildserver.sh | 101 +++++++++++++++++++++++++++++++++
 1 file changed, 101 insertions(+)
 create mode 100755 scripts/sync_to_buildserver.sh

diff --git a/scripts/sync_to_buildserver.sh b/scripts/sync_to_buildserver.sh
new file mode 100755
index 000000000..7ecc0ebdf
--- /dev/null
+++ b/scripts/sync_to_buildserver.sh
@@ -0,0 +1,101 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# Sync current ATOS repository to build server.
+# Default target:
+#   az-buildserver@srv-l039-p:~/ATOS
+#
+# Usage:
+#   scripts/sync_to_buildserver.sh
+#   scripts/sync_to_buildserver.sh --dry-run
+#   scripts/sync_to_buildserver.sh --delete
+#   scripts/sync_to_buildserver.sh --delete --remote-dir /home/az-buildserver/ATOS
+
+REMOTE_USER="${REMOTE_USER:-az-buildserver}"
+REMOTE_HOST="${REMOTE_HOST:-srv-l039-p}"
+REMOTE_DIR="${REMOTE_DIR:-/home/az-buildserver/ATOS}"
+
+DELETE_FLAG=""
+DRY_RUN_FLAG=""
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --delete)
+      DELETE_FLAG="--delete"
+      shift
+      ;;
+    --dry-run|-n)
+      DRY_RUN_FLAG="--dry-run"
+      shift
+      ;;
+    --remote-user)
+      REMOTE_USER="$2"
+      shift 2
+      ;;
+    --remote-host)
+      REMOTE_HOST="$2"
+      shift 2
+      ;;
+    --remote-dir)
+      REMOTE_DIR="$2"
+      shift 2
+      ;;
+    -h|--help)
+      cat <<'EOF'
+Sync ATOS repo to remote build server.
+
+Options:
+  --delete              Remove files on remote that no longer exist locally.
+  --dry-run, -n         Show what would change, without changing files.
+  --remote-user USER    Override SSH user (default: az-buildserver).
+  --remote-host HOST    Override SSH host (default: srv-l039-p).
+  --remote-dir DIR      Override remote ATOS path (default: /home/az-buildserver/ATOS).
+EOF
+      exit 0
+      ;;
+    *)
+      echo "Unknown option: $1"
+      echo "Use --help for usage."
+      exit 1
+      ;;
+  esac
+done
+
+REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+REMOTE="${REMOTE_USER}@${REMOTE_HOST}"
+
+echo "Sync source: ${REPO_ROOT}/"
+echo "Sync target: ${REMOTE}:${REMOTE_DIR}/"
+if [[ -n "${DELETE_FLAG}" ]]; then
+  echo "Mode: mirror update (with delete)"
+else
+  echo "Mode: incremental update (no delete)"
+fi
+if [[ -n "${DRY_RUN_FLAG}" ]]; then
+  echo "Dry-run: enabled"
+fi
+
+ssh "${REMOTE}" "mkdir -p '${REMOTE_DIR}'"
+
+rsync -azvi --human-readable \
+  ${DRY_RUN_FLAG} \
+  ${DELETE_FLAG} \
+  --exclude ".git" \
+  --exclude ".codex" \
+  --exclude "build" \
+  --exclude "install" \
+  --exclude "log" \
+  --exclude "__pycache__" \
+  "${REPO_ROOT}/" "${REMOTE}:${REMOTE_DIR}/"
+
+echo
+echo "Sync complete."
+echo "Run these on server:"
+echo "  cd ${REMOTE_DIR}"
+echo "  docker compose -f docker-compose-fleetmanagement.yml down"
+echo "  COT_TLS_REQUIRE_CLIENT_CERT=False \\"
+echo "  COT_TLS_CERT_PATH=/root/.astazero/ATOS/certs/server.crt \\"
+echo "  COT_TLS_KEY_PATH=/root/.astazero/ATOS/certs/server.key \\"
+echo "  COT_TLS_CA_PATH=/root/.astazero/ATOS/certs/ca-trusted.pem \\"
+echo "  docker compose -f docker-compose-fleetmanagement.yml up -d --build"
+echo "  docker compose -f docker-compose-fleetmanagement.yml logs -f atos-fleetmanagement"

From 1214a507cc653ba92f1aa4ac805cbab07fab9c7b Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Mon, 27 Apr 2026 08:56:37 +0200
Subject: [PATCH 20/33] truck object control pdf

---
 TruckObjectControl_Illustration.pdf | Bin 0 -> 14713 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 TruckObjectControl_Illustration.pdf

diff --git a/TruckObjectControl_Illustration.pdf b/TruckObjectControl_Illustration.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..1e3346f0feed10092104cd08c5c27b2bf17bdcd4
GIT binary patch
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From e2392c13ce491bcc56b1f1d3c526834292e22cd6 Mon Sep 17 00:00:00 2001
From: Sebastian Lindholm <sebastian.lindholm@ri.se>
Date: Mon, 27 Apr 2026 11:07:15 +0200
Subject: [PATCH 21/33] DRIVE command replaces RESUME

---
 ROS2_ATOSFleetManagement_cheatsheet.pdf | Bin 3943 -> 5231 bytes
 TruckObjectControl_Illustration.pdf     | Bin 14713 -> 14135 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)

diff --git a/ROS2_ATOSFleetManagement_cheatsheet.pdf b/ROS2_ATOSFleetManagement_cheatsheet.pdf
index 2060d7f31daa32264a5319b40a5781426c34acf0..317559e1166777cafb130c7a350f40bb2944f71c 100644
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diff --git a/TruckObjectControl_Illustration.pdf b/TruckObjectControl_Illustration.pdf
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From 2c01b57f643c7598abd9e48a2449e063b2435b48 Mon Sep 17 00:00:00 2001
From: Sebastian Loh Lindholm <sll@sebart.net>
Date: Mon, 11 May 2026 12:45:00 +0200
Subject: [PATCH 22/33] Build for 20, 22 and 24

---
 README.md                                     |   2 +-
 atos/CMakeLists.txt                           |   2 +-
 atos/common/module.hpp                        | 130 +--
 atos/common/roschannels/roschannel.hpp        |  33 +-
 atos/common/util.c                            |  20 +-
 .../DirectControl/src/directcontrol.cpp       | 188 +++--
 .../EsminiAdapter/src/esminiadapter.cpp       | 360 ++++----
 .../src/scenarioexecution.cpp                 |  78 +-
 atos/modules/MQTTBridge/src/mqttbridge.cpp    | 789 +++++++++---------
 .../ObjectControl/inc/relativeanchor.hpp      |   6 +-
 .../ObjectControl/inc/relativetestobject.hpp  |  22 +-
 atos/modules/ObjectControl/inc/testobject.hpp |   2 +-
 .../ObjectControl/src/objectcontrol.cpp       |  85 +-
 .../ObjectControl/src/objectlistener.cpp      |  18 +-
 .../inc/trajectoryletstreamer.hpp             |   4 +-
 docs/Installation/installation.md             |   2 +-
 scripts/installation/install_atos.sh          |  25 +
 scripts/installation/install_functions.sh     |  56 +-
 setup_atos.sh                                 |  38 +-
 19 files changed, 1025 insertions(+), 835 deletions(-)

diff --git a/README.md b/README.md
index b8c478f54..3c57d25c8 100644
--- a/README.md
+++ b/README.md
@@ -38,7 +38,7 @@ You might wish to mount the config directory at ~/.astazero/ATOS/ to a different
 
 
 ## <a name="Installation script"></a> Using the installation script
-ATOS comes with an installation script that automates the installation process. It is intended for use on Ubuntu 22.04. The script will install ROS2 Humble, ATOS dependencies, and ATOS itself. It will also create a workspace (~/atos_ws) and build ATOS. The script can be executed using the following command:
+ATOS comes with an installation script that automates the installation process. Native installation is supported on Ubuntu 20.04 with ROS 2 Foxy, Ubuntu 22.04 with ROS 2 Humble, and Ubuntu 24.04 with ROS 2 Jazzy. The script will install ROS 2, ATOS dependencies, and ATOS itself. It will also create a workspace (~/atos_ws) and build ATOS. The script can be executed using the following command:
 ```bash
 ./setup_atos.sh
 ```
diff --git a/atos/CMakeLists.txt b/atos/CMakeLists.txt
index d9a311d25..017133a73 100644
--- a/atos/CMakeLists.txt
+++ b/atos/CMakeLists.txt
@@ -16,7 +16,7 @@ set(CMAKE_C_COMPILER "clang")
 #Set preprocessor macros depending on used ros version
 if ($ENV{ROS_DISTRO} STREQUAL "foxy")
   add_definitions(-DROS_FOXY)
-elseif($ENV{ROS_DISTRO} STREQUAL "humble")
+elseif($ENV{ROS_DISTRO} STREQUAL "humble" OR $ENV{ROS_DISTRO} STREQUAL "jazzy")
   add_definitions(-DROS_HUMBLE)
 endif()
 
diff --git a/atos/common/module.hpp b/atos/common/module.hpp
index 840d964f1..ff62b2e27 100644
--- a/atos/common/module.hpp
+++ b/atos/common/module.hpp
@@ -8,27 +8,27 @@
 #include <functional>
 #include <string>
 
-#include "roschannels/commandchannels.hpp"
 #include <rclcpp/rclcpp.hpp>
+#include "roschannels/commandchannels.hpp"
 
 namespace ServiceNames {
-const std::string initDataDict				= "init_data_dictionary";
-const std::string getObjectIds				= "get_object_ids";
-const std::string getObjectIp				= "get_object_ip";
-const std::string getTestOrigin				= "get_test_origin";
-const std::string getObjectTrajectory		= "get_object_trajectory";
-const std::string getObjectTriggerStart		= "get_object_trigger_start";
-const std::string getObjectControlState		= "get_object_control_state";
+const std::string initDataDict = "init_data_dictionary";
+const std::string getObjectIds = "get_object_ids";
+const std::string getObjectIp = "get_object_ip";
+const std::string getTestOrigin = "get_test_origin";
+const std::string getObjectTrajectory = "get_object_trajectory";
+const std::string getObjectTriggerStart = "get_object_trigger_start";
+const std::string getObjectControlState = "get_object_control_state";
 const std::string getObjectReturnTrajectory = "get_object_return_trajectory";
-const std::string getOpenScenarioFilePath	= "get_open_scenario_file_path";
-} // namespace ServiceNames
+const std::string getOpenScenarioFilePath = "get_open_scenario_file_path";
+}
 
 // TODO move somewhere else? also make generic to allow more args (variadic template)?
 /*!
  * \brief Facilitates one-line intialization
  * of a ros message with one argument.
  */
-template<typename Msg_T, typename MsgData_T>
+template <typename Msg_T, typename MsgData_T>
 Msg_T msgCtr1(MsgData_T data) {
 	Msg_T ret;
 	ret.data = data;
@@ -43,51 +43,51 @@ Msg_T msgCtr1(MsgData_T data) {
  * \param name name of the module. Is passed to the ROS node.
  */
 class Module : public rclcpp::Node {
-public:
-	Module(const std::string name) :
-	  Node(name),
-	  getStatusResponsePub(*this) {};
-	Module() = default;
+   public:
+	Module(const std::string name) : Node(name), getStatusResponsePub(*this) {};
+	Module() = delete;
 	bool shouldExit();
 
-protected:
-	bool quit = false;
+   protected:
+	bool quit=false;
 
 	ROSChannels::GetStatusResponse::Pub getStatusResponsePub;
 
-	virtual void onFailureMessage(const ROSChannels::Failure::message_type::SharedPtr) {};
-	virtual void onGetStatusResponse(const ROSChannels::GetStatusResponse::message_type::SharedPtr) {};
+	virtual void onFailureMessage(const ROSChannels::Failure::message_type::SharedPtr){};
+	virtual void onGetStatusResponse(const ROSChannels::GetStatusResponse::message_type::SharedPtr){};
 	virtual void onGetStatusMessage(const ROSChannels::GetStatus::message_type::SharedPtr) {
 		auto msg = std_msgs::msg::String();
 		msg.data = this->get_name();
 		getStatusResponsePub.publish(msg);
 	};
 
-	virtual void onInitMessage(const ROSChannels::Init::message_type::SharedPtr) {};
-	virtual void onConnectMessage(const ROSChannels::Connect::message_type::SharedPtr) {};
-	virtual void onDisconnectMessage(const ROSChannels::Disconnect::message_type::SharedPtr) {};
-	virtual void onArmMessage(const ROSChannels::Arm::message_type::SharedPtr) {};
-	virtual void onDisarmMessage(const ROSChannels::Disarm::message_type::SharedPtr) {};
-	virtual void onObjectsConnectedMessage(const ROSChannels::ObjectsConnected::message_type::SharedPtr) {};
-	virtual void onAllClearMessage(const ROSChannels::AllClear::message_type::SharedPtr) {};
-	virtual void onStartMessage(const ROSChannels::Start::message_type::SharedPtr) {};
-	virtual void onStartObjectMessage(const ROSChannels::StartObject::message_type::SharedPtr) {};
-	virtual void onStopMessage(const ROSChannels::Stop::message_type::SharedPtr) {};
-	virtual void onAbortMessage(const ROSChannels::Abort::message_type::SharedPtr) {};
-	virtual void onReplayMessage(const ROSChannels::Replay::message_type::SharedPtr) {};
+	virtual void onInitMessage(const ROSChannels::Init::message_type::SharedPtr){};
+	virtual void onConnectMessage(const ROSChannels::Connect::message_type::SharedPtr){};
+	virtual void onDisconnectMessage(const ROSChannels::Disconnect::message_type::SharedPtr){};
+	virtual void onArmMessage(const ROSChannels::Arm::message_type::SharedPtr){};
+	virtual void onDisarmMessage(const ROSChannels::Disarm::message_type::SharedPtr){};
+	virtual void onObjectsConnectedMessage(const ROSChannels::ObjectsConnected::message_type::SharedPtr){};
+	virtual void onAllClearMessage(const ROSChannels::AllClear::message_type::SharedPtr){};
+	virtual void onStartMessage(const ROSChannels::Start::message_type::SharedPtr){};
+	virtual void onStartObjectMessage(const ROSChannels::StartObject::message_type::SharedPtr){};
+	virtual void onStopMessage(const ROSChannels::Stop::message_type::SharedPtr){};
+	virtual void onAbortMessage(const ROSChannels::Abort::message_type::SharedPtr){};
+	virtual void onReplayMessage(const ROSChannels::Replay::message_type::SharedPtr){};
 	virtual void onExitMessage(const ROSChannels::Exit::message_type::SharedPtr);
-	virtual void onResetTestObjectsMessage(const ROSChannels::ResetTestObjects::message_type::SharedPtr) {};
-	virtual void onReloadObjectSettingsMessage(const ROSChannels::ReloadObjectSettings::message_type::SharedPtr) {};
+	virtual void onResetTestObjectsMessage(const ROSChannels::ResetTestObjects::message_type::SharedPtr){};
+	virtual void onReloadObjectSettingsMessage(const ROSChannels::ReloadObjectSettings::message_type::SharedPtr){};
+
 
 	static void tryHandleMessage(std::function<void()> tryExecute,
 								 std::function<void()> executeIfFail,
 								 const std::string& topic,
 								 const rclcpp::Logger& logger);
+	
 
 	/**
 	 * @brief This helper function performs a service call given a client and yields a response. This
 	 * function is used when you want to specify the request instead of sending an empty request.
-	 *
+	 * 
 	 * @tparam Srv Srv The name of the service to request.
 	 * @param timeout The timeout for the service call.
 	 * @param client The client to use to request the service.
@@ -95,11 +95,12 @@ class Module : public rclcpp::Node {
 	 * @param request The request of the service, with the data to be sent. Defaults to an empty request.
 	 * @return The response of the service.
 	 */
-	template<typename Srv>
-	bool callService(const std::chrono::duration<double>& timeout,
-					 std::shared_ptr<rclcpp::Client<Srv>>& client,
-					 std::shared_ptr<typename Srv::Response>& response,
-					 std::shared_ptr<typename Srv::Request> request = std::make_shared<typename Srv::Request>()) {
+	template <typename Srv>
+	bool callService( const std::chrono::duration< double > &timeout,
+						std::shared_ptr<rclcpp::Client<Srv>> &client,
+						std::shared_ptr<typename Srv::Response> &response,
+						std::shared_ptr<typename Srv::Request> request = std::make_shared<typename Srv::Request>())
+{
 		auto promise = client->async_send_request(request);
 		if (rclcpp::spin_until_future_complete(get_node_base_interface(), promise, timeout) ==
 			rclcpp::FutureReturnCode::SUCCESS) {
@@ -112,16 +113,17 @@ class Module : public rclcpp::Node {
 	}
 
 	/*! \brief This helper function waits for a service to become available and returns a client.
-	 *  \tparam Srv The name of the service to request.
-	 *  \param n The number of times to retry.
-	 *  \param timeout The timeout to wait for the service.
-	 *  \param serviceName The name of the service to request.
-	 * 	\return The response of the service.
-	 */
-	template<typename Srv>
+	*  \tparam Srv The name of the service to request.
+	*  \param n The number of times to retry.
+	*  \param timeout The timeout to wait for the service.
+	*  \param serviceName The name of the service to request.
+	* 	\return The response of the service.
+	*/
+	template <typename Srv>
 	typename std::shared_ptr<rclcpp::Client<Srv>> nTimesWaitForService(int n,
-																	   const std::chrono::duration<double>& timeout,
-																	   const std::string& serviceName) {
+							const std::chrono::duration< double > &timeout,
+							const std::string &serviceName)
+{
 		int retries = 0;
 		auto client = create_client<Srv>(serviceName);
 
@@ -138,23 +140,25 @@ class Module : public rclcpp::Node {
 		throw std::runtime_error("Failed to initialize service " + serviceName);
 	}
 
+
 	/*! \brief This helper function is used by rosnodes to request a service.
-	 *  \tparam Srv The name of the service to request.
-	 *  \param n Number of times to retry until accepting the service is not available.
-	 *  \param timeout The timeout to wait for the service.
-	 *  \param serviceName The name of the service to request.
-	 *  \param response Response of the service, to be returned.
-	 * 	\return The response of the service.
-	 */
-	template<typename Srv>
-	bool nShotServiceRequest(int n,
-							 const std::chrono::duration<double>& timeout,
-							 const std::string& serviceName,
-							 std::shared_ptr<typename Srv::Response>& response) {
+	*  \tparam Srv The name of the service to request.
+	*  \param n Number of times to retry until accepting the service is not available.
+	*  \param timeout The timeout to wait for the service.
+	*  \param serviceName The name of the service to request.
+	*  \param response Response of the service, to be returned.
+	* 	\return The response of the service.
+	*/
+	template <typename Srv>
+	bool nShotServiceRequest(int n, 
+							const std::chrono::duration< double > &timeout,
+							const std::string &serviceName,
+							std::shared_ptr<typename Srv::Response> &response) {
 		std::shared_ptr<rclcpp::Client<Srv>> client;
-		try {
+		try{
 			client = nTimesWaitForService<Srv>(n, timeout, serviceName);
-		} catch (std::runtime_error& e) {
+		}
+		catch (std::runtime_error &e){
 			RCLCPP_ERROR(get_logger(), "Failed to initialize service %s", serviceName.c_str());
 			return false;
 		}
diff --git a/atos/common/roschannels/roschannel.hpp b/atos/common/roschannels/roschannel.hpp
index 9e2b3f312..8e608f4aa 100644
--- a/atos/common/roschannels/roschannel.hpp
+++ b/atos/common/roschannels/roschannel.hpp
@@ -5,35 +5,36 @@
  */
 #pragma once
 
-#include <functional>
 #include <rclcpp/rclcpp.hpp>
 #include <string>
+#include <functional>
 
 namespace ROSChannels {
 
 template<typename T>
 class BasePub {
 public:
-	BasePub(rclcpp::Node& node, const std::string& topicName, const rclcpp::QoS& qos = rclcpp::QoS(rclcpp::KeepAll())) :
-	  pub(node.create_publisher<T>(topicName, qos)) {}
-	BasePub() = delete;
-	typename rclcpp::Publisher<T>::SharedPtr pub;
-	inline virtual void publish(const T& msg) {
-		assert(pub);
-		pub->publish(msg);
-	};
+    BasePub(rclcpp::Node& node,
+        const std::string& topicName,
+        const rclcpp::QoS& qos = rclcpp::QoS(rclcpp::KeepAll()))
+        : pub(node.create_publisher<T>(topicName, qos)) {}
+    BasePub() = delete;
+    virtual ~BasePub() = default;
+    typename rclcpp::Publisher<T>::SharedPtr pub;
+    inline virtual void publish(const T& msg) { assert(pub); pub->publish(msg); };
 };
 
 template<typename T>
 class BaseSub {
 public:
-	BaseSub(rclcpp::Node& node,
-			const std::string& topicName,
-			std::function<void(const typename T::SharedPtr)> callback,
-			const rclcpp::QoS& qos = rclcpp::QoS(rclcpp::KeepAll())) :
-	  sub(node.create_subscription<T>(topicName, qos, callback)) {}
-	BaseSub() = delete;
-	typename rclcpp::Subscription<T>::SharedPtr sub;
+    BaseSub(rclcpp::Node& node,
+        const std::string& topicName,
+        std::function<void(const typename T::SharedPtr)> callback,
+        const rclcpp::QoS& qos = rclcpp::QoS(rclcpp::KeepAll()))
+        : sub(node.create_subscription<T>(topicName, qos, callback)) {}
+    BaseSub() = delete;
+    virtual ~BaseSub() = default;
+    typename rclcpp::Subscription<T>::SharedPtr sub;
 };
 
 } // namespace ROSChannels
diff --git a/atos/common/util.c b/atos/common/util.c
index 761ce8f6e..8d1672350 100644
--- a/atos/common/util.c
+++ b/atos/common/util.c
@@ -251,8 +251,7 @@ static int recursiveMkdir(const char *dir, int mode) {
 			*p = '/';
 		}
 	res = mkdir(tmp, mode);
-	return res;
-}
+	}
 
 /*!
  * \brief deleteFile Deletes the file given in the parameter ::path
@@ -1070,7 +1069,7 @@ int UtilSetSyncPoint(ObjectPosition * OP, double x, double y, double z, double T
 		}
 
 	}
-	return OP->SyncIndex;
+
 }
 
 float UtilCalculateTimeToSync(ObjectPosition * OP) {
@@ -1222,7 +1221,6 @@ int UtilSortSpaceTimeAscending(ObjectPosition * OP) {
 			}
 		}
 	}
-	return 0;
 }
 
 
@@ -1237,7 +1235,7 @@ int UtilFindCurrentTrajectoryPosition(ObjectPosition * OP, int StartIndex, doubl
 	//OP->BestFoundTrajectoryIndex = 0;
 	if (debug)
 		fprintf(stderr, "UtilFindCurrentTrajectoryPosition: StartIndex=%d, CurrentTime=%4.3f, MaxTrajDiff=%4.3f, MaxTimeDiff=%4.3f\n",
-				StartIndex, CurrentTime, MaxTrajDiff, MaxTimeDiff);
+				OP->OrigoDistance, OP->x, OP->y, OP->SyncIndex);
 
 	Init = 1;
 	while (i < (OP->TrajectoryPositionCount - 1) && i <= OP->SyncIndex) {
@@ -1379,8 +1377,8 @@ int UtilFindCurrentTrajectoryPositionNew(ObjectPosition * OP, int StartIndex, do
 					PositionFound = i;
 					//SampledSpaceIndex[j] = i;
 					//j++ ;
-					if (debug == 2)
-						fprintf(stderr, "Minimum: %d, %3.6f, %3.6f", i, AngleDiff, RDiff);
+						if (debug == 2)
+							fprintf(stderr, "Minimum: %d, %3.6f, %3.6f", i, AngleDiff, RDiff);
 					PrevAngleDiff = AngleDiff;
 				}
 
@@ -1755,10 +1753,10 @@ int UtilGetRowInFile(const char *path, const size_t pathLength,
 				fprintf(stderr, "Buffer to small for read row in file\n");
 				return -1;
 			}
-			if(rowIndex == i){
-				*(rowBuffer + length) = '\0';
-				return i;
-			} 
+				if(rowIndex == i){
+					*(rowBuffer+length) = '\0';
+					return i;
+				} 
 		}
 	}
 	fclose(fd);
diff --git a/atos/modules/DirectControl/src/directcontrol.cpp b/atos/modules/DirectControl/src/directcontrol.cpp
index 388955162..52f15125f 100644
--- a/atos/modules/DirectControl/src/directcontrol.cpp
+++ b/atos/modules/DirectControl/src/directcontrol.cpp
@@ -3,12 +3,12 @@
  * License, v. 2.0. If a copy of the MPL was not distributed with this
  * file, You can obtain one at https://mozilla.org/MPL/2.0/.
  */
+#include <vector>
 #include "directcontrol.hpp"
+#include "util.h"
+#include "tcphandler.hpp"
 #include "atosTime.h"
 #include "atos_interfaces/msg/control_signal_percentage.hpp"
-#include "tcphandler.hpp"
-#include "util.h"
-#include <vector>
 
 using atos_interfaces::msg::ControlSignalPercentage;
 using namespace ROSChannels;
@@ -19,41 +19,39 @@ using namespace ROSChannels;
  *  @brief Driver Model message, used in esmini to send
  * control signals to a vehicle from a driver model.
  */
-class DmMsg {
+class DmMsg{
 public:
-	DmMsg() {};
+	DmMsg(){};
 
-	ControlSignalPercentage toATOSMsg() {
+	ControlSignalPercentage toATOSMsg(){
 		ControlSignalPercentage cspmsg = ControlSignalPercentage();
-		cspmsg.atos_header.object_id   = this->objectId;
-		// Convert throttle brake and steering angle to integers between 0,100 and -100,100 respectively.
-		cspmsg.throttle		  = round(this->throttle * 100);
-		cspmsg.brake		  = round(this->brake * 100);
+		cspmsg.atos_header.object_id = this->objectId;
+		// Convert throttle brake and steering angle to integers between 0,100 and -100,100 respectively.  
+		cspmsg.throttle = round(this->throttle * 100);
+		cspmsg.brake = round(this->brake * 100);
 		cspmsg.steering_angle = round(this->steeringAngle * 100);
 		return cspmsg;
 	}
 
 	/*!
-	 * \brief Decodes a DM message from esmini compatible sender.
-	 *			if the message is not of type inputMode=1 (DRIVER_INPUT)
-	 *			the function returns
-	 *
-	 * \param bytes vector of (char) bytes
-	 * \param DMMsg the data structure to be populated with contents of the message
-	 * \return number of bytes on successfully parsed message, -1 otherwise
-	 */
-	int parseFromBytes(const std::vector<char>& bytes) {
-		int idx = 0;
-		decodeNextXBytes(4, this->version, idx, bytes);
-		decodeNextXBytes(4, this->inputMode, idx, bytes);
-		if (this->inputMode != 1) {
-			return 0;
-		}
-		decodeNextXBytes(4, this->objectId, idx, bytes);
-		decodeNextXBytes(4, this->frameNumber, idx, bytes);
-		decodeNextXBytes(8, this->throttle, idx, bytes);
-		decodeNextXBytes(8, this->brake, idx, bytes);
-		decodeNextXBytes(8, this->steeringAngle, idx, bytes);
+	* \brief Decodes a DM message from esmini compatible sender. 
+	*			if the message is not of type inputMode=1 (DRIVER_INPUT)
+	*			the function returns
+	*
+	* \param bytes vector of (char) bytes
+	* \param DMMsg the data structure to be populated with contents of the message 
+	* \return number of bytes on successfully parsed message, -1 otherwise
+	*/
+	int parseFromBytes(const std::vector<char>& bytes){
+		int idx=0;
+		decodeNextXBytes(4,this->version,idx,bytes);
+		decodeNextXBytes(4,this->inputMode,idx,bytes);
+		if (this->inputMode != 1) { return 0;}
+		decodeNextXBytes(4,this->objectId,idx,bytes);
+		decodeNextXBytes(4,this->frameNumber,idx,bytes);
+		decodeNextXBytes(8,this->throttle,idx,bytes);
+		decodeNextXBytes(8,this->brake,idx,bytes);
+		decodeNextXBytes(8,this->steeringAngle,idx,bytes);
 		return idx;
 	}
 
@@ -62,31 +60,34 @@ class DmMsg {
 	unsigned int inputMode;
 	unsigned int objectId;
 	unsigned int frameNumber;
-	double throttle;	  // range [0, 1]
-	double brake;		  // range [0, 1]
-	double steeringAngle; // range [-pi/2, pi/2]
+	double throttle;       // range [0, 1]
+	double brake;          // range [0, 1]
+	double steeringAngle;  // range [-pi/2, pi/2]
 
 	/*!
-	 * \brief transfers x bytes, on the interval from idx to idx+x,
-	 *			from a vector of bytes into a variable
-	 *
-	 * \param x number of bytes to transfer
-	 * \param field variable to receive bytes
-	 * \param idx starting byte
-	 * \param bytes vector of (char) bytes
-	 */
+	* \brief transfers x bytes, on the interval from idx to idx+x, 
+	*			from a vector of bytes into a variable
+	*
+	* \param x number of bytes to transfer
+	* \param field variable to receive bytes
+	* \param idx starting byte
+	* \param bytes vector of (char) bytes
+	*/
 	template<typename T>
-	void decodeNextXBytes(int x, T& field, int& idx, const std::vector<char>& bytes) {
+	void decodeNextXBytes(int x, T& field, int& idx, const std::vector<char>& bytes){
 		std::memcpy(&field, &(bytes[idx]), sizeof(T));
-		if (sizeof(T) == 2) {
+		if (sizeof(T) == 2){
 			le16toh(field);
-		} else if (sizeof(T) == 4) {
+		}
+		else if (sizeof(T) == 4){
 			le32toh(field);
-		} else if (sizeof(T) == 8) {
-			le64toh(field);
 		}
-		idx += x;
+		else if (sizeof(T) == 8){
+			le64toh(field);
+		} 
+		idx+=x;
 	}
+
 };
 
 //! Message queue callbacks
@@ -98,84 +99,86 @@ void DirectControl::onAllClearMessage(const AllClear::message_type::SharedPtr) {
 //! Class methods
 
 DirectControl::DirectControl() :
-  Module(moduleName),
-  controlSignalPub(*this),
-  tcpHandler(TCPPort, "", "off", 1, O_NONBLOCK),
-  udpServer("0.0.0.0", UDPPort) {}
+	Module(moduleName),
+	controlSignalPub(*this),
+	tcpHandler(TCPPort, "", "off", 1, O_NONBLOCK), 
+	udpServer("0.0.0.0",UDPPort) {}
 
 void DirectControl::startThreads() {
-	receiveThread	 = std::make_unique<std::thread>(&DirectControl::readTCPSocketData, this);
-	receiveThreadUDP = std::make_unique<std::thread>(&DirectControl::readUDPSocketData, this);
+	receiveThread=std::make_unique<std::thread>(&DirectControl::readTCPSocketData, this);
+	receiveThreadUDP=std::make_unique<std::thread>(&DirectControl::readUDPSocketData, this);
 }
 
-void DirectControl::joinThreads() {
-	// Tear down connections
-	if (this->tcpHandler.isConnected())
-		this->tcpHandler.TCPHandlerclose();
+void DirectControl::joinThreads(){
+	//Tear down connections
+	if(this->tcpHandler.isConnected()) this->tcpHandler.TCPHandlerclose();
 	this->udpServer.close();
-	// Join threads
+	//Join threads
 	receiveThread->join();
 	receiveThreadUDP->join();
 }
 
+
 /*!
  * \brief Listens for UDP data and sends a control signal on ros topic when recevied
  */
 void DirectControl::readUDPSocketData() {
-	RCLCPP_INFO(get_logger(), "Listening on UDP port %d", UDPPort);
-
-	while (!this->quit) {
-		try {
+	RCLCPP_INFO(get_logger(),"Listening on UDP port %d",UDPPort);
+	
+	while (!this->quit){
+		try{
 			auto [data, remote] = udpServer.recvfrom();
 			DmMsg dmMsg;
 
 			auto bytesParsed = dmMsg.parseFromBytes(data);
-			// TODO: add re-ordering with frame numbers?
-			// Have to think abt if/what kind of re-ordering makes sense for
+			// TODO: add re-ordering with frame numbers? 
+			// Have to think abt if/what kind of re-ordering makes sense for 
 			// the application (driver model).
-			if (bytesParsed != -1) {
+			if (bytesParsed != -1){
 				ControlSignalPercentage cspmsg = dmMsg.toATOSMsg();
 				controlSignalPub.publish(cspmsg);
 			}
-		} catch (const SocketErrors::DisconnectedError& error) {
-			// If we get a disconnected exception when we do not intend to exit, propagate said exception
-			if (!this->quit) {
+		}
+		catch(const SocketErrors::DisconnectedError& error){
+			//If we get a disconnected exception when we do not intend to exit, propagate said exception
+			if (!this->quit){
 				throw error;
 			}
 		}
 	}
 }
 
+
 void DirectControl::readTCPSocketData() {
 	std::vector<char> data(TCP_BUFFER_SIZE);
 	int recvData = 0;
 
-	RCLCPP_INFO(get_logger(), "Awaiting TCP connection...");
+	RCLCPP_INFO(get_logger(),"Awaiting TCP connection...");
 	this->tcpHandler.CreateServer();
 
 	while (!this->quit) {
 		// TODO set up TCP connection (wait until connected before continue)
 		this->tcpHandler.TCPHandlerAccept(1000);
 
-		if (this->tcpHandler.isConnected()) {
-			RCLCPP_INFO(get_logger(), "Connected");
-
+		if (this->tcpHandler.isConnected()){
+			RCLCPP_INFO(get_logger(),"Connected");
+		
 			while (!this->quit && tcpHandler.isConnected()) {
 				data.resize(TCP_BUFFER_SIZE);
 				std::fill(data.begin(), data.end(), 0);
 				recvData = tcpHandler.receiveTCP(data, 0);
 				if (recvData == TCPHandler::FAILURE) {
 					this->tcpHandler.TCPHandlerclose();
-					RCLCPP_INFO(get_logger(), "TCP connection closed unexpectedly...");
-					RCLCPP_INFO(get_logger(), "Awaiting new TCP connection...");
-					;
+					RCLCPP_INFO(get_logger(),"TCP connection closed unexpectedly...");
+					RCLCPP_INFO(get_logger(),"Awaiting new TCP connection...");;
 					this->tcpHandler.CreateServer();
 					break;
-				} else if (recvData > 0) {
+				}
+				else if (recvData > 0) {
 					try {
 						this->handleISOMessage(data, static_cast<size_t>(recvData));
 					} catch (std::invalid_argument& e) {
-						RCLCPP_ERROR(get_logger(), e.what());
+						RCLCPP_ERROR(get_logger(), "%s", e.what());
 						std::fill(data.begin(), data.end(), 0);
 					}
 				}
@@ -184,40 +187,45 @@ void DirectControl::readTCPSocketData() {
 	}
 }
 
-void DirectControl::handleISOMessage(std::vector<char>& byteData, size_t receivedBytes) {
+void DirectControl::handleISOMessage(
+		std::vector<char>& byteData,
+		size_t receivedBytes) {
 	while (receivedBytes > 0) {
 		ISOMessageID recvMessage = getISOMessageType(byteData.data(), byteData.size(), false);
 		// TODO check for RDCI (optional)
 		// TODO if RDCI, respond with DCTI (optional)
 		switch (recvMessage) {
-			case MESSAGE_ID_INVALID:
-				throw std::invalid_argument("Received invalid ISO message");
-			case MESSAGE_ID_VENDOR_SPECIFIC_ASTAZERO_RDCA:
-				receivedBytes -= this->handleRDCAMessage(byteData);
-				break;
-			default:
-				throw std::invalid_argument("Received unhandled ISO message");
+		case MESSAGE_ID_INVALID:
+			throw std::invalid_argument("Received invalid ISO message");
+		case MESSAGE_ID_VENDOR_SPECIFIC_ASTAZERO_RDCA:
+			receivedBytes -= this->handleRDCAMessage(byteData);
+			break;
+		default:
+			throw std::invalid_argument("Received unhandled ISO message");
 		}
 	}
 }
 
-size_t DirectControl::handleRDCAMessage(std::vector<char>& byteData) {
+size_t DirectControl::handleRDCAMessage(
+		std::vector<char> &byteData) {
 	RequestControlActionType recvMessage;
 	struct timeval currentTime;
 	TimeSetToCurrentSystemTime(&currentTime);
 	ssize_t bytesRead = decodeRDCAMessage(byteData.data(), &recvMessage, byteData.size(), currentTime, false);
 	if (bytesRead >= 0) {
 		byteData.erase(byteData.begin(), byteData.begin() + bytesRead);
-		// TODO: Implement equivalent of below line in using ROS2.
-		// DataDictionarySetRequestedControlAction(recvMessage.executingID, &recvMessage);
+		//TODO: Implement equivalent of below line in using ROS2.
+		//DataDictionarySetRequestedControlAction(recvMessage.executingID, &recvMessage);
 		return static_cast<size_t>(bytesRead);
-	} else {
+	}
+	else {
 		// TODO respond with error (optional)
 		throw std::invalid_argument("Failed to decode RDCA message");
 	}
 }
 
-size_t DirectControl::handleUnknownMessage(std::vector<char>& byteData) {
+size_t DirectControl::handleUnknownMessage(
+		std::vector<char> &byteData) {
 	std::fill(byteData.begin(), byteData.end(), 0);
 	return byteData.size();
 }
diff --git a/atos/modules/EsminiAdapter/src/esminiadapter.cpp b/atos/modules/EsminiAdapter/src/esminiadapter.cpp
index a079d69ea..72691b879 100644
--- a/atos/modules/EsminiAdapter/src/esminiadapter.cpp
+++ b/atos/modules/EsminiAdapter/src/esminiadapter.cpp
@@ -4,84 +4,92 @@
  * file, You can obtain one at https://mozilla.org/MPL/2.0/.
  */
 #include "esminiadapter.hpp"
+#include <tf2/LinearMath/Quaternion.h>
+#include <tf2/LinearMath/Matrix3x3.h>
 #include <algorithm>
+#include <functional>
 #include <chrono>
 #include <cmath>
-#include <functional>
+#include <chrono>
 #include <regex>
-#include <tf2/LinearMath/Matrix3x3.h>
-#include <tf2/LinearMath/Quaternion.h>
 
 #include "atos_interfaces/msg/cartesian_trajectory.hpp"
 #include "rclcpp/wait_for_message.hpp"
-#include "string_utility.hpp"
 #include "trajectory.hpp"
+#include "string_utility.hpp"
+
 
 using namespace ROSChannels;
-using TestOriginSrv		  = atos_interfaces::srv::GetTestOrigin;
+using TestOriginSrv = atos_interfaces::srv::GetTestOrigin;
 using ObjectTrajectorySrv = atos_interfaces::srv::GetObjectTrajectory;
-using ObjectTriggerSrv	  = atos_interfaces::srv::GetObjectTriggerStart;
+using ObjectTriggerSrv = atos_interfaces::srv::GetObjectTriggerStart;
 using std::placeholders::_1;
 using std::placeholders::_2;
 using namespace std::chrono_literals;
 
-std::shared_ptr<EsminiAdapter> EsminiAdapter::me					   = nullptr;
+
+
+
+std::shared_ptr<EsminiAdapter> EsminiAdapter::me = nullptr;
 std::unordered_map<int, std::string> EsminiAdapter::atosIDToObjectName = std::unordered_map<int, std::string>();
 std::unordered_map<std::string, int> EsminiAdapter::objectNameToAtosId = std::unordered_map<std::string, int>();
-std::map<uint32_t, ATOS::Trajectory> EsminiAdapter::atosObjectIdToTraj = std::map<uint32_t, ATOS::Trajectory>();
-std::unordered_map<int, int> EsminiAdapter::atosIdToEsminiId		   = std::unordered_map<int, int>();
-
-std::unordered_map<uint32_t, std::shared_ptr<ROSChannels::Monitor::Sub>> EsminiAdapter::monrSubscribers =
-  std::unordered_map<uint32_t, std::shared_ptr<Monitor::Sub>>();
-std::shared_ptr<rclcpp::Service<ObjectTrajectorySrv>> EsminiAdapter::objectTrajectoryService =
-  std::shared_ptr<rclcpp::Service<ObjectTrajectorySrv>>();
-std::shared_ptr<rclcpp::Service<TestOriginSrv>> EsminiAdapter::testOriginService =
-  std::shared_ptr<rclcpp::Service<TestOriginSrv>>();
+std::map<uint32_t,ATOS::Trajectory> EsminiAdapter::atosObjectIdToTraj = std::map<uint32_t,ATOS::Trajectory>();
+std::unordered_map<int, int> EsminiAdapter::atosIdToEsminiId = std::unordered_map<int, int>();
+
+std::unordered_map<uint32_t,std::shared_ptr<ROSChannels::Monitor::Sub>> EsminiAdapter::monrSubscribers = std::unordered_map<uint32_t,std::shared_ptr<Monitor::Sub>>();
+std::shared_ptr<rclcpp::Service<ObjectTrajectorySrv>> EsminiAdapter::objectTrajectoryService = std::shared_ptr<rclcpp::Service<ObjectTrajectorySrv>>();
+std::shared_ptr<rclcpp::Service<TestOriginSrv>> EsminiAdapter::testOriginService = std::shared_ptr<rclcpp::Service<TestOriginSrv>>();
 geographic_msgs::msg::GeoPose EsminiAdapter::testOrigin = geographic_msgs::msg::GeoPose();
 
-EsminiAdapter::EsminiAdapter() :
-  Module(moduleName),
-  storyBoardElementStateChangePub(*this),
-  connectedObjectIdsSub(*this, &EsminiAdapter::onConnectedObjectIdsMessage),
-  exitSub(*this, &EsminiAdapter::onStaticExitMessage),
-  stateChangeSub(*this, &EsminiAdapter::onStaticStateChangeMessage),
-  applyTrajTransform(false),
-  testOriginSet(false) {
+EsminiAdapter::EsminiAdapter() : Module(moduleName),
+	storyBoardElementStateChangePub(*this),
+	connectedObjectIdsSub(*this, &EsminiAdapter::onConnectedObjectIdsMessage),
+	exitSub(*this, &EsminiAdapter::onStaticExitMessage),
+	stateChangeSub(*this, &EsminiAdapter::onStaticStateChangeMessage),
+	applyTrajTransform(false),
+	testOriginSet(false)
+ {
 	oscFilePathClient_cb_group_ = this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-	objectIdsClient_cb_group_	= this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-	oscFilePathClient_			= create_client<atos_interfaces::srv::GetOpenScenarioFilePath>(
-	   ServiceNames::getOpenScenarioFilePath, rmw_qos_profile_services_default, oscFilePathClient_cb_group_);
+	objectIdsClient_cb_group_ = this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
+	oscFilePathClient_ = create_client<atos_interfaces::srv::GetOpenScenarioFilePath>(
+	  ServiceNames::getOpenScenarioFilePath, rclcpp::ServicesQoS(), oscFilePathClient_cb_group_);
 	objectIdsClient_ = create_client<atos_interfaces::srv::GetObjectIds>(
-	  ServiceNames::getObjectIds, rmw_qos_profile_services_default, objectIdsClient_cb_group_);
+	  ServiceNames::getObjectIds, rclcpp::ServicesQoS(), objectIdsClient_cb_group_);
 	declare_parameter("timestep", 0.1);
+
 }
 
 /*!
  * \brief Fetches the open drive file path from the open scenario file parameter
  * \return Configured path
- */
-std::filesystem::path EsminiAdapter::getOpenDriveFile() {
+*/
+std::filesystem::path EsminiAdapter::getOpenDriveFile()
+{
 	std::filesystem::path odrFilePath;
 	if (SE_GetODRFilename() != nullptr) {
 		odrFilePath = std::filesystem::path(SE_GetODRFilename());
 		RCLCPP_INFO(me->get_logger(), "Got ODR file %s from scenario", odrFilePath.string().c_str());
-	} else {
+	}
+	else {
 		RCLCPP_DEBUG(me->get_logger(), "No ODR file found");
 	}
 
 	if (odrFilePath.is_absolute()) {
 		return odrFilePath;
-	} else {
+	}
+	else {
 		// Look for the file relative the scenario file (ie root openx dir)
-		auto odrCatalog					 = std::filesystem::path(me->oscFilePath).parent_path();
+		auto odrCatalog = std::filesystem::path(me->oscFilePath).parent_path();
 		std::filesystem::path joinedPath = odrCatalog / odrFilePath;
 		if (!std::filesystem::exists(joinedPath)) {
 			throw std::runtime_error("ODR file " + joinedPath.string() + " does not exist");
-		} else {
+		}
+		else {
 			RCLCPP_INFO(me->get_logger(), "Found ODR file at %s", joinedPath.string().c_str());
 		}
 		return joinedPath;
 	}
+
 }
 
 /*!
@@ -92,24 +100,22 @@ std::shared_ptr<EsminiAdapter> EsminiAdapter::instance() {
 	if (me == nullptr) {
 		me = std::shared_ptr<EsminiAdapter>(new EsminiAdapter());
 		// Start listening to connected object ids
-		me->connectedObjectIdsSub =
-		  ROSChannels::ConnectedObjectIds::Sub(*me, &EsminiAdapter::onConnectedObjectIdsMessage);
-		me->exitSub		   = ROSChannels::Exit::Sub(*me, &EsminiAdapter::onStaticExitMessage);
-		me->stateChangeSub = ROSChannels::StateChange::Sub(*me, &EsminiAdapter::onStaticStateChangeMessage);
+		me->connectedObjectIdsSub = ROSChannels::ConnectedObjectIds::Sub(*me,&EsminiAdapter::onConnectedObjectIdsMessage);
+		me->exitSub = ROSChannels::Exit::Sub(*me,&EsminiAdapter::onStaticExitMessage);
+		me->stateChangeSub = ROSChannels::StateChange::Sub(*me,&EsminiAdapter::onStaticStateChangeMessage);
+
 	}
 	return me;
 }
 
 /*!
- * \brief This callback is executed when objects are connected, and creates Monitor subscribers for all connected
- * objects.
+ * \brief This callback is executed when objects are connected, and creates Monitor subscribers for all connected objects.
  * \param msg Array of object IDs
  */
 void EsminiAdapter::onConnectedObjectIdsMessage(const ConnectedObjectIds::message_type::SharedPtr msg) {
 	for (uint32_t id : msg->ids) {
-		if (me->monrSubscribers.find(id) == me->monrSubscribers.end()) {
-			me->monrSubscribers[id] =
-			  std::make_shared<Monitor::Sub>(*me, id, std::bind(&EsminiAdapter::onMonitorMessage, me, _1, id));
+		if (me->monrSubscribers.find(id) == me->monrSubscribers.end()){
+			me->monrSubscribers[id] = std::make_shared<Monitor::Sub>(*me, id, std::bind(&EsminiAdapter::onMonitorMessage, me, _1, id));
 		}
 	}
 }
@@ -122,50 +128,56 @@ void EsminiAdapter::onConnectedObjectIdsMessage(const ConnectedObjectIds::messag
  * @param msg StateChange message
  */
 void EsminiAdapter::onStaticStateChangeMessage(const ROSChannels::StateChange::message_type::SharedPtr msg) {
-	int prevState	 = msg->prev_state;
+	int prevState = msg->prev_state;
 	int currentState = msg->current_state;
 
 	if (prevState == OBCState_t::OBC_STATE_ARMED && currentState == OBCState_t::OBC_STATE_RUNNING) {
 		me->handleStartCommand();
-	} else if (currentState == OBCState_t::OBC_STATE_ABORTING) {
+	}
+	else if (currentState == OBCState_t::OBC_STATE_ABORTING) {
 		me->handleAbortCommand();
 	}
 }
 
+
 void EsminiAdapter::handleAbortCommand() {
 	SE_Close();
 	RCLCPP_INFO(me->get_logger(), "Esmini ScenarioEngine stopped due to Abort");
 }
 
-void EsminiAdapter::fetchOSCFilePath() {
+void EsminiAdapter::fetchOSCFilePath()
+{
 	// Get the file path of xosc file
 	std::promise<bool> done;
 	auto callback = [&](rclcpp::Client<atos_interfaces::srv::GetOpenScenarioFilePath>::SharedFuture future) {
-		auto response	= future.get();
+		auto response = future.get();
 		me->oscFilePath = response->path;
 		if (response->md5hash != me->scenarioFileMd5hash) {
 			me->scenarioFileMd5hash = response->md5hash;
-			me->runSimulation		= true;
+			me->runSimulation = true;
 		}
 		me->scenarioFileMd5hash = response->md5hash;
 		done.set_value(true);
 	};
 
 	auto request = std::make_shared<atos_interfaces::srv::GetOpenScenarioFilePath::Request>();
-	auto future	 = me->oscFilePathClient_->async_send_request(request, std::move(callback));
+	auto future = me->oscFilePathClient_->async_send_request(request, std::move(callback));
 	if (done.get_future().wait_for(250ms) == std::future_status::timeout) {
 		RCLCPP_ERROR(me->get_logger(), "Failed to fetch open scenario file path");
 	}
+
 }
 
-void EsminiAdapter::onStaticExitMessage(const ROSChannels::Exit::message_type::SharedPtr) {
+void EsminiAdapter::onStaticExitMessage(const ROSChannels::Exit::message_type::SharedPtr)
+{
 	SE_Close();
-	RCLCPP_DEBUG(me->get_logger(), "Received exit command");
+	RCLCPP_DEBUG(me->get_logger(),"Received exit command");
 	rclcpp::shutdown();
 }
 
-void EsminiAdapter::handleStartCommand() {
-	if (SE_Init(me->oscFilePath.c_str(), 0, 0, 0, 0) < 0) {
+void EsminiAdapter::handleStartCommand()
+{
+	if (SE_Init(me->oscFilePath.c_str(),0,0,0,0) < 0) {
 		throw std::runtime_error("Failed to initialize esmini with scenario file " + me->oscFilePath.string());
 	}
 	// Handle triggers and story board element changes
@@ -179,22 +191,21 @@ void EsminiAdapter::handleStartCommand() {
  * \brief Callback to be executed by esmini when story board state changes.
  * 		If story board element is an action, and the action is supported, the action is run.
  * \param name Name of the StoryBoardElement whose state has changed.
- * \param type Possible values: STORY_BOARD = 1, STORY = 2, ACT = 3, MANEUVER_GROUP = 4, MANEUVER = 5, EVENT = 6, ACTION
- * = 7, UNDEFINED_ELEMENT_TYPE = 0.
+ * \param type Possible values: STORY_BOARD = 1, STORY = 2, ACT = 3, MANEUVER_GROUP = 4, MANEUVER = 5, EVENT = 6, ACTION = 7, UNDEFINED_ELEMENT_TYPE = 0.
  * \param state new state, possible values: STANDBY = 1, RUNNING = 2, COMPLETE = 3, UNDEFINED_ELEMENT_STATE = 0.
  */
-void EsminiAdapter::handleStoryBoardElementChange(const char* name, int type, int state, const char* full_path) {
-	RCLCPP_INFO(me->get_logger(),
-				"Storyboard state changed! Name: %s, Type: %d, State: %d, Full path: %s",
-				name,
-				type,
-				state,
-				full_path);
+void EsminiAdapter::handleStoryBoardElementChange(
+	const char *name,
+	int type,
+	int state,
+	const char *full_path)
+{
+	RCLCPP_INFO(me->get_logger(), "Storyboard state changed! Name: %s, Type: %d, State: %d, Full path: %s", name, type, state, full_path);
 
 	atos_interfaces::msg::StoryBoardElementStateChange msg;
-	msg.name	  = name;
-	msg.type	  = type;
-	msg.state	  = state;
+	msg.name = name;
+	msg.type = type;
+	msg.state = state;
 	msg.full_path = full_path;
 
 	me->storyBoardElementStateChangePub.publish(msg);
@@ -206,9 +217,9 @@ void EsminiAdapter::handleStoryBoardElementChange(const char* name, int type, in
  * \param monr ROS Monitor message of an object
  * \param id The object ID to which the monr belongs
  */
-void EsminiAdapter::reportObjectPosition(const Monitor::message_type::SharedPtr monr, uint32_t esminiObjectId) {
+void EsminiAdapter::reportObjectPosition(const Monitor::message_type::SharedPtr monr, uint32_t esminiObjectId){
 	// Conversions from ROS to Esmini
-	auto ori  = monr->pose.pose.orientation;
+	auto ori = monr->pose.pose.orientation;
 	auto quat = tf2::Quaternion(ori.x, ori.y, ori.z, ori.w);
 	tf2::Matrix3x3 m(quat);
 	double roll, pitch, yaw;
@@ -221,8 +232,7 @@ void EsminiAdapter::reportObjectPosition(const Monitor::message_type::SharedPtr
 	auto speed = monr->velocity.twist.linear;
 
 	// Reporting to Esmini
-	float timestamp = 0.0f; // Not really used according to esmini documentation
-	SE_ReportObjectPos(esminiObjectId, timestamp, pos.x, pos.y, pos.z, yaw, pitch, roll);
+	SE_ReportObjectPos(esminiObjectId, pos.x, pos.y, pos.z, yaw, pitch, roll);
 	SE_ReportObjectSpeed(esminiObjectId, speed.x);
 }
 
@@ -230,16 +240,14 @@ void EsminiAdapter::reportObjectPosition(const Monitor::message_type::SharedPtr
  * \brief Callback for MONR messages, reports the object position to esmini and advances the simulation time
  * \param monr ROS Monitor message of an object
  * \param id The object ID to which the monr belongs
- */
+*/
 void EsminiAdapter::onMonitorMessage(const Monitor::message_type::SharedPtr monr, uint32_t ATOSObjectId) {
 	if (auto idMapping = atosIdToEsminiId.find(ATOSObjectId); idMapping != atosIdToEsminiId.end()) {
 		reportObjectPosition(monr, idMapping->second); // Report object position to esmini
-		SE_Step();									   // Advance the "simulation world"-time
-	} else {
-		RCLCPP_WARN(
-		  me->get_logger(),
-		  "Received MONR message for object with ATOS Object ID %d, but no such object exists in the scenario",
-		  ATOSObjectId);
+		SE_Step(); // Advance the "simulation world"-time
+	}
+	else {
+		RCLCPP_WARN(me->get_logger(), "Received MONR message for object with ATOS Object ID %d, but no such object exists in the scenario", ATOSObjectId);
 	}
 }
 
@@ -251,7 +259,10 @@ void EsminiAdapter::onMonitorMessage(const Monitor::message_type::SharedPtr monr
  * \param states A vector of object states
  * \return A trajectory consisting of trajectory points, one for each state.
  */
-ATOS::Trajectory EsminiAdapter::getTrajectoryFromObjectState(uint32_t id, std::vector<SE_ScenarioObjectState>& states) {
+ATOS::Trajectory EsminiAdapter::getTrajectoryFromObjectState(
+	uint32_t id,
+	std::vector<SE_ScenarioObjectState>& states)
+{
 	ATOS::Trajectory trajectory(me->get_logger());
 	trajectory.name = "Esmini Trajectory for object " + std::to_string(id);
 	if (states.empty()) {
@@ -277,7 +288,8 @@ ATOS::Trajectory EsminiAdapter::getTrajectoryFromObjectState(uint32_t id, std::v
 		if (state.timestamp != prevState.timestamp) {
 			tp.setLongitudinalAcceleration((currLonVel - prevLonVel) / (state.timestamp - prevState.timestamp));
 			tp.setLateralAcceleration((currLatVel - prevLatVel) / (state.timestamp - prevState.timestamp));
-		} else {
+		}
+		else {
 			tp.setLongitudinalAcceleration(0);
 			tp.setLateralAcceleration(0);
 		}
@@ -286,12 +298,12 @@ ATOS::Trajectory EsminiAdapter::getTrajectoryFromObjectState(uint32_t id, std::v
 	};
 
 	if (states.size() > 1) {
-		for (auto it = states.begin() + 1; it != states.end(); ++it) {
-			if (it->x == (it - 1)->x && it->y == (it - 1)->y && // Nothing interesting happens within 1 timestep, skip
-				it->z == (it - 1)->z && it->h == (it - 1)->h) {
+		for (auto it = states.begin()+1; it != states.end(); ++it) {
+			if (it->x == (it-1)->x && it->y == (it-1)->y && // Nothing interesting happens within 1 timestep, skip
+				it->z == (it-1)->z && it->h == (it-1)->h) {
 				continue;
 			}
-			saveTp(*it, *(it - 1)); // Next timestep is different, save current one.
+			saveTp(*it,*(it-1)); // Next timestep is different, save current one.
 		}
 	}
 	if (trajectory.points.size() == 0) {
@@ -300,7 +312,7 @@ ATOS::Trajectory EsminiAdapter::getTrajectoryFromObjectState(uint32_t id, std::v
 	auto startTime = trajectory.points.front().getTime();
 
 	// Subtract start time from all timesteps
-	for (auto& tp : trajectory.points) {
+	for (auto& tp : trajectory.points){
 		tp.setTime(tp.getTime() - startTime);
 	}
 	return trajectory;
@@ -315,7 +327,8 @@ std::string EsminiAdapter::projStrFromGeoReference(RM_GeoReference& geoRef) {
 	std::string projStringFrom = "+proj=";
 	if (strlen(geoRef.proj_) != 0) {
 		projStringFrom += std::string(geoRef.proj_) + " ";
-	} else {
+	}
+	else {
 		throw std::runtime_error("No projection found in geo reference");
 	}
 	if (!std::isnan(geoRef.lat_0_)) {
@@ -385,11 +398,14 @@ std::string EsminiAdapter::projStrFromGeoReference(RM_GeoReference& geoRef) {
  * \param states The return map of ids mapping to the respective object states at different timesteps
  * \return A map of object states, where the key is the object ID and the value is a vector of states
  */
-void EsminiAdapter::getObjectStates(double timeStep, std::map<uint32_t, std::vector<SE_ScenarioObjectState>>& states) {
-	double accumTime	  = 0.0;
+void EsminiAdapter::getObjectStates(
+	double timeStep,
+	std::map<uint32_t,std::vector<SE_ScenarioObjectState>>& states)
+{
+	double accumTime = 0.0;
 	auto pushCurrentState = [&](auto& st, auto& index) {
 		auto id = SE_GetId(index);
-		// SE_SetAlignModeZ(id, 0); // Disable Z-alignment, not implemented in esmini yet
+		//SE_SetAlignModeZ(id, 0); // Disable Z-alignment, not implemented in esmini yet
 		SE_ScenarioObjectState s;
 		SE_GetObjectState(id, &s);
 		s.timestamp = accumTime;
@@ -399,13 +415,13 @@ void EsminiAdapter::getObjectStates(double timeStep, std::map<uint32_t, std::vec
 	// Populate States map with vector for each object containing the initial state
 	SE_StepDT(timeStep);
 	accumTime += timeStep;
-	for (int j = 0; j < SE_GetNumberOfObjects(); j++) {
+	for (int j = 0; j < SE_GetNumberOfObjects(); j++){
 		states[SE_GetId(j)] = std::vector<SE_ScenarioObjectState>();
 		pushCurrentState(states, j);
 	}
 	constexpr double MIN_SCENARIO_TIME = 10.0;
 	constexpr double MAX_SCENARIO_TIME = 3600.0;
-	bool stopSimulation				   = false;
+	bool stopSimulation = false;
 	while (!stopSimulation) {
 		if (SE_GetQuitFlag() != 0) {
 			break;
@@ -413,48 +429,51 @@ void EsminiAdapter::getObjectStates(double timeStep, std::map<uint32_t, std::vec
 
 		SE_StepDT(timeStep);
 		accumTime += timeStep;
-		for (int j = 0; j < SE_GetNumberOfObjects(); j++) {
+		for (int j = 0; j < SE_GetNumberOfObjects(); j++){
 			pushCurrentState(states, j);
 		}
-		bool noMovement =
-		  std::all_of(states.begin(), states.end(), [&](auto& pair) { return pair.second.back().speed < 0.1; });
-		bool atLeastMinTimePassed  = accumTime > MIN_SCENARIO_TIME;
+		bool noMovement = std::all_of(states.begin(), states.end(), [&](auto& pair) {
+			return pair.second.back().speed < 0.1;
+		});
+		bool atLeastMinTimePassed = accumTime > MIN_SCENARIO_TIME;
 		bool moreThanMaxTimePassed = accumTime > MAX_SCENARIO_TIME;
-		stopSimulation			   = (noMovement && atLeastMinTimePassed) || moreThanMaxTimePassed;
+		stopSimulation = (noMovement && atLeastMinTimePassed) || moreThanMaxTimePassed;
 	}
 	if (accumTime > MAX_SCENARIO_TIME) {
 		RCLCPP_WARN(me->get_logger(), "Scenario time limit reached, stopping simulation");
-	} else if (accumTime < MIN_SCENARIO_TIME + timeStep) {
-		RCLCPP_WARN(me->get_logger(),
-					"Ran scenario for the minimum time %.2f, possibly no movement in scenario",
-					MIN_SCENARIO_TIME);
+	}
+	else if (accumTime < MIN_SCENARIO_TIME + timeStep) {
+		RCLCPP_WARN(me->get_logger(), "Ran scenario for the minimum time %.2f, possibly no movement in scenario", MIN_SCENARIO_TIME);
 	}
 	RCLCPP_INFO(me->get_logger(), "Finished %f s simulation", accumTime);
 }
 
+
 /*!
  * \brief Runs the esmini simulator with the xosc file and returns the trajectories for each object
  * \param timeStep Time step to use for generating the trajectories
  * \return A map of ids mapping to the respective trajectories
  */
-std::map<uint32_t, ATOS::Trajectory> EsminiAdapter::extractTrajectories(double timeStep) {
-	std::map<uint32_t, ATOS::Trajectory> esminiObjectIdToTraj = std::map<uint32_t, ATOS::Trajectory>();
+std::map<uint32_t, ATOS::Trajectory> EsminiAdapter::extractTrajectories(
+	double timeStep)
+{
+	std::map<uint32_t,ATOS::Trajectory> esminiObjectIdToTraj = std::map<uint32_t,ATOS::Trajectory>();
 
 	// Get object states
-	std::map<uint32_t, std::vector<SE_ScenarioObjectState>> esminiIdToStates;
+	std::map<uint32_t,std::vector<SE_ScenarioObjectState>> esminiIdToStates;
 	getObjectStates(timeStep, esminiIdToStates);
 
 	// Extract trajectories
 	for (auto& os : esminiIdToStates) {
-		auto id			  = os.first;
+		auto id = os.first;
 		auto objectStates = os.second;
-		auto traj		  = getTrajectoryFromObjectState(id, objectStates);
+		auto traj = getTrajectoryFromObjectState(id, objectStates);
 		// Apply CRS transform if OpenDrive CRS Transformation is defined
-		if (me->applyTrajTransform) {
+		if (me->applyTrajTransform){
 			RCLCPP_DEBUG(me->get_logger(), "Applying CRS transformation to trajectory for object %d", id);
 			me->crsTransformation->apply(traj.points);
 		}
-		esminiObjectIdToTraj.insert(std::pair<uint32_t, ATOS::Trajectory>(id, traj));
+		esminiObjectIdToTraj.insert(std::pair<uint32_t,ATOS::Trajectory>(id, traj));
 	}
 	return esminiObjectIdToTraj;
 }
@@ -463,7 +482,8 @@ std::map<uint32_t, ATOS::Trajectory> EsminiAdapter::extractTrajectories(double t
  * \brief Initialize the esmini simulator and perform subsequent setup tasks.
  * Can be called many times, each time the test is initialized.
  */
-void EsminiAdapter::runEsminiSimulation() {
+void EsminiAdapter::runEsminiSimulation()
+{
 	me->atosObjectIdToTraj.clear();
 	me->atosIdToEsminiId.clear();
 	me->atosIDToObjectName.clear();
@@ -476,36 +496,37 @@ void EsminiAdapter::runEsminiSimulation() {
 	RM_Close(); // Stop RoadManager in case it is running
 
 	RCLCPP_INFO(me->get_logger(), "Initializing esmini with scenario file %s", me->oscFilePath.c_str());
-	if (SE_Init(me->oscFilePath.c_str(), 1, 0, 0, 0) < 0) { // Disable controllers, let DefaultController be used
-		throw std::runtime_error("Failed to initialize esmini with scenario file " + me->oscFilePath.string() +
-								 ". For more information, see " + logFilePath + ".");
+	if (SE_Init(me->oscFilePath.c_str(),1,0,0,0) < 0) { // Disable controllers, let DefaultController be used
+		throw std::runtime_error("Failed to initialize esmini with scenario file " + me->oscFilePath.string() + ". For more information, see " + logFilePath + ".");
 	}
 	auto odrFile = getOpenDriveFile();
 	if (RM_Init(odrFile.c_str()) < 0) {
 		throw std::runtime_error(std::string("Failed to initialize with odr file ").append(odrFile));
 	}
 
+
 	// Call RM_GetOpenDriveGeoReference to get the RM_GeoReference struct
 	RM_GeoReference geoRef;
 	if (RM_GetOpenDriveGeoReference(&geoRef) == 0) {
 		try {
 			std::string projStringFrom = projStrFromGeoReference(geoRef);
-			std::string toDatum		   = "WGS84";
-			auto llh_0				   = CRSTransformation::projToLLH(projStringFrom, toDatum);
+			std::string toDatum = "WGS84";
+			auto llh_0 = CRSTransformation::projToLLH(projStringFrom, toDatum);
 			RCLCPP_INFO(me->get_logger(), "llh origin: %lf, %lf, %lf", llh_0[0], llh_0[1], llh_0[2]);
-			me->testOrigin.position.latitude  = llh_0[0];
+			me->testOrigin.position.latitude = llh_0[0];
 			me->testOrigin.position.longitude = llh_0[1];
-			me->testOrigin.position.altitude  = llh_0[2];
-			me->testOriginSet				  = true;
+			me->testOrigin.position.altitude = llh_0[2];
+			me->testOriginSet = true;
 
 			std::string projStringTo = "+proj=tmerc +lat_0=" + std::to_string(llh_0[0]) +
-									   " +lon_0=" + std::to_string(llh_0[1]) + " +datum=" + toDatum +
-									   " +units=m +no_defs";
+													" +lon_0=" + std::to_string(llh_0[1]) +
+													" +datum="+ toDatum + " +units=m +no_defs";
 
-			me->crsTransformation  = std::make_shared<CRSTransformation>(projStringFrom, projStringTo);
+			me->crsTransformation = std::make_shared<CRSTransformation>(projStringFrom, projStringTo);
 			me->applyTrajTransform = true;
-		} catch (std::exception& e) {
-			RCLCPP_ERROR(me->get_logger(), e.what());
+		}
+		catch (std::exception& e) {
+			RCLCPP_ERROR(me->get_logger(), "%s", e.what());
 			return;
 		}
 	} else {
@@ -514,18 +535,17 @@ void EsminiAdapter::runEsminiSimulation() {
 	RM_Close();
 
 	auto response = std::make_shared<atos_interfaces::srv::GetObjectIds::Response>();
-	auto request  = std::make_shared<atos_interfaces::srv::GetObjectIds::Request>();
+	auto request = std::make_shared<atos_interfaces::srv::GetObjectIds::Request>();
 
 	std::promise<void> idsFetched;
-	auto objectNameAndAtosIDsCallback =
-	  [&](rclcpp::Client<atos_interfaces::srv::GetObjectIds>::SharedFutureWithRequest future) {
-		  auto response = future.get();
-		  for (int i = 0; i < response.second->ids.size(); i++) {
-			  me->atosIDToObjectName[response.second->ids[i]]	= response.second->names[i];
-			  me->objectNameToAtosId[response.second->names[i]] = response.second->ids[i];
-		  }
-		  idsFetched.set_value();
-	  };
+	auto objectNameAndAtosIDsCallback = [&](rclcpp::Client<atos_interfaces::srv::GetObjectIds>::SharedFutureWithRequest future) {
+		auto response = future.get();
+		for (size_t i = 0; i < response.second->ids.size(); ++i) {
+			me->atosIDToObjectName[response.second->ids[i]] = response.second->names[i];
+			me->objectNameToAtosId[response.second->names[i]] = response.second->ids[i];
+		}
+		idsFetched.set_value();
+	};
 
 	auto future = me->objectIdsClient_->async_send_request(request, std::move(objectNameAndAtosIDsCallback));
 	if (idsFetched.get_future().wait_for(250ms) == std::future_status::timeout) {
@@ -534,46 +554,41 @@ void EsminiAdapter::runEsminiSimulation() {
 	}
 
 	RCLCPP_INFO(me->get_logger(), "Starting extracting trajectories");
-	double timeStep										= me->get_parameter("timestep").as_double();
-	std::map<uint32_t, ATOS::Trajectory> esminiIdToTraj = me->extractTrajectories(timeStep);
+	double timeStep = me->get_parameter("timestep").as_double();
+	std::map<uint32_t,ATOS::Trajectory> esminiIdToTraj =  me->extractTrajectories(timeStep);
 	// Fill atosIdToTraj with the extracted trajectories
 	for (auto& it : esminiIdToTraj) {
-		auto esminiId	= it.first;
-		auto traj		= it.second;
+		auto esminiId = it.first;
+		auto traj = it.second;
 		auto objectName = SE_GetObjectName(esminiId);
-		if (auto idMapping = me->objectNameToAtosId.find(objectName); idMapping != me->objectNameToAtosId.end()) {
-			auto atos_id = idMapping->second;
-			me->atosObjectIdToTraj.emplace(atos_id, traj);
-			me->atosIdToEsminiId.emplace(atos_id, esminiId);
-			RCLCPP_INFO(
-			  me->get_logger(), "Extracted trajectory for object %s with size %d", objectName, traj.points.size());
-
-			me->pathPublishers.emplace(atos_id, ROSChannels::Path::Pub(*me, atos_id));
-			me->pathPublishers.at(atos_id).publish(traj.toPath());
-			std::array<double, 3> llh_0 = {
-			  me->testOrigin.position.latitude, me->testOrigin.position.longitude, me->testOrigin.position.altitude};
-			me->gnssPathPublishers.emplace(atos_id, ROSChannels::GNSSPath::Pub(*me, atos_id));
-			me->gnssPathPublishers.at(atos_id).publish(traj.toGeoJSON(llh_0));
-		} else {
-			RCLCPP_DEBUG(me->get_logger(), "Object %s is not an active object in the scenario", objectName);
-		}
+			if (auto idMapping = me->objectNameToAtosId.find(objectName); idMapping != me->objectNameToAtosId.end()) {
+				auto atos_id = idMapping->second;
+				me->atosObjectIdToTraj.emplace(atos_id, traj);
+				me->atosIdToEsminiId.emplace(atos_id, esminiId);
+				RCLCPP_INFO(
+				  me->get_logger(), "Extracted trajectory for object %s with size %zu", objectName, traj.points.size());
+
+				me->pathPublishers.emplace(atos_id, ROSChannels::Path::Pub(*me, atos_id));
+				me->pathPublishers.at(atos_id).publish(traj.toPath());
+				std::array<double,3> llh_0 = {me->testOrigin.position.latitude, me->testOrigin.position.longitude, me->testOrigin.position.altitude};
+				me->gnssPathPublishers.emplace(atos_id, ROSChannels::GNSSPath::Pub(*me, atos_id));
+				me->gnssPathPublishers.at(atos_id).publish(traj.toGeoJSON(llh_0));
+			}
+			else {
+				RCLCPP_DEBUG(me->get_logger(), "Object %s is not an active object in the scenario", objectName);
+			}
 
-		for (auto& tp : traj.points) {
-			RCLCPP_DEBUG(me->get_logger(),
-						 "Trajectory point: %lf, %lf, %lf, %lf, %ld",
-						 tp.getXCoord(),
-						 tp.getYCoord(),
-						 tp.getZCoord(),
-						 tp.getHeading(),
-						 tp.getTime().count());
+		for (auto& tp : traj.points){
+			RCLCPP_DEBUG(me->get_logger(), "Trajectory point: %lf, %lf, %lf, %lf, %ld", tp.getXCoord(), tp.getYCoord(), tp.getZCoord(), tp.getHeading(), tp.getTime().count());
 		}
 	}
 	SE_Close(); // Stop ScenarioEngine
 }
 
-void EsminiAdapter::onRequestObjectTrajectory(const std::shared_ptr<ObjectTrajectorySrv::Request> req,
-											  std::shared_ptr<ObjectTrajectorySrv::Response> res) {
-	res->id;
+void EsminiAdapter::onRequestObjectTrajectory(
+	const std::shared_ptr<ObjectTrajectorySrv::Request> req,
+	std::shared_ptr<ObjectTrajectorySrv::Response> res)
+{
 	me->fetchOSCFilePath();
 	if (me->runSimulation || me->atosObjectIdToTraj.find(req->id) == me->atosObjectIdToTraj.end()) {
 		me->runEsminiSimulation();
@@ -582,22 +597,25 @@ void EsminiAdapter::onRequestObjectTrajectory(const std::shared_ptr<ObjectTrajec
 
 	try {
 		res->trajectory = me->atosObjectIdToTraj.at(req->id).toCartesianTrajectory();
-		res->success	= true;
-	} catch (std::out_of_range& e) {
+		res->success = true;
+	}
+	catch (std::out_of_range& e){
 		RCLCPP_ERROR(me->get_logger(), "Esmini trajectory service called, no trajectory found for object %d", req->id);
 		res->success = false;
 	}
 }
 
-void EsminiAdapter::onRequestTestOrigin(const std::shared_ptr<atos_interfaces::srv::GetTestOrigin::Request>,
-										std::shared_ptr<atos_interfaces::srv::GetTestOrigin::Response> res) {
-	while (me->testOriginSet == false) {
+void EsminiAdapter::onRequestTestOrigin(
+	const std::shared_ptr<atos_interfaces::srv::GetTestOrigin::Request>,
+	std::shared_ptr<atos_interfaces::srv::GetTestOrigin::Response> res)
+{
+	while (me->testOriginSet == false){
 		RCLCPP_DEBUG(me->get_logger(), "Waiting for test origin to be available");
 		std::this_thread::sleep_for(std::chrono::milliseconds(20));
 	}
-	res->origin.position.latitude  = me->testOrigin.position.latitude;
+	res->origin.position.latitude = me->testOrigin.position.latitude;
 	res->origin.position.longitude = me->testOrigin.position.longitude;
-	res->origin.position.altitude  = me->testOrigin.position.altitude;
+	res->origin.position.altitude = me->testOrigin.position.altitude;
 }
 
 /*!
@@ -609,10 +627,10 @@ void EsminiAdapter::onRequestTestOrigin(const std::shared_ptr<atos_interfaces::s
 int EsminiAdapter::initializeModule() {
 	int retval = 0;
 
-	me->objectTrajectoryService = me->create_service<ObjectTrajectorySrv>(
-	  ServiceNames::getObjectTrajectory, std::bind(&EsminiAdapter::onRequestObjectTrajectory, _1, _2));
-	me->testOriginService = me->create_service<atos_interfaces::srv::GetTestOrigin>(
-	  ServiceNames::getTestOrigin, std::bind(&EsminiAdapter::onRequestTestOrigin, _1, _2));
+	me->objectTrajectoryService = me->create_service<ObjectTrajectorySrv>(ServiceNames::getObjectTrajectory,
+		std::bind(&EsminiAdapter::onRequestObjectTrajectory, _1, _2));
+	me->testOriginService = me->create_service<atos_interfaces::srv::GetTestOrigin>(ServiceNames::getTestOrigin,
+		std::bind(&EsminiAdapter::onRequestTestOrigin, _1, _2));
 
 	return retval;
 }
diff --git a/atos/modules/IntegrationTesting/src/scenarioexecution.cpp b/atos/modules/IntegrationTesting/src/scenarioexecution.cpp
index 61192f41a..7a62cd7a2 100644
--- a/atos/modules/IntegrationTesting/src/scenarioexecution.cpp
+++ b/atos/modules/IntegrationTesting/src/scenarioexecution.cpp
@@ -3,36 +3,36 @@
  * License, v. 2.0. If a copy of the MPL was not distributed with this
  * file, You can obtain one at https://mozilla.org/MPL/2.0/.
  */
+#include <iomanip>
 #include "scenarioexecution.hpp"
 #include "rclcpp/wait_for_message.hpp"
-#include <iomanip>
 
 using namespace std::chrono_literals;
 
 /**
  * @brief An integration test for scenario execution. This test will run a scenario execution for one object,
  * and check that all states are correct and that it follows the trajectory.
- *
+ * 
  */
-ScenarioExecution::ScenarioExecution() :
-  IntegrationTesting(testName) {
+ScenarioExecution::ScenarioExecution() : IntegrationTesting(testName) {
 	RCLCPP_INFO(get_logger(), "Started integration test: %s", testName.c_str());
-	getObjectTrajectoryClient =
-	  this->create_client<atos_interfaces::srv::GetObjectTrajectory>(atosNamespace + ServiceNames::getObjectTrajectory);
+	getObjectTrajectoryClient = this->create_client<atos_interfaces::srv::GetObjectTrajectory>(atosNamespace + ServiceNames::getObjectTrajectory);
 	runIntegrationTest();
 }
 
+
 /**
  * @brief Destructor.
- *
+ * 
  */
 ScenarioExecution::~ScenarioExecution() {}
 
+
 /**
  * @brief Run the integration test. This integration test will initialize a scenario, connect to object 1,
  * arm the object, and then start it. It will check that all states are correct, and that the object follows
  * the trajectory.
- *
+ * 
  */
 void ScenarioExecution::runIntegrationTest() {
 	RCLCPP_INFO(get_logger(), "Running scenario");
@@ -41,7 +41,7 @@ void ScenarioExecution::runIntegrationTest() {
 	initPub->publish(msg);
 	std::this_thread::sleep_for(1s); // sleep to allow the object to initialize
 	checkState(initTopic);
-
+	
 	connectPub->publish(msg);
 	std::this_thread::sleep_for(1s); // sleep to allow the object to connect
 	checkState(connectTopic);
@@ -56,16 +56,17 @@ void ScenarioExecution::runIntegrationTest() {
 
 	checkObjectStoppedAtLastPoint();
 	printResult();
-}
+}	
+
 
 /**
  * @brief Get the x- and y-coordinates of the trajectory points for object 1.
- *
+ * 
  * @return std::vector<std::pair<double, double>> Trajectory points.
  */
 std::vector<std::pair<double, double>> ScenarioExecution::getTrajectoryPoints() {
 	auto request = std::make_shared<atos_interfaces::srv::GetObjectTrajectory::Request>();
-	request->id	 = 1;
+	request->id = 1;
 	std::shared_ptr<atos_interfaces::srv::GetObjectTrajectory::Response> response;
 	this->callService(1000ms, getObjectTrajectoryClient, response, request);
 
@@ -76,47 +77,43 @@ std::vector<std::pair<double, double>> ScenarioExecution::getTrajectoryPoints()
 	return trajectory;
 }
 
+
 /**
  * @brief Check that the object ends up near the end point of the trajectory.
- *
+ * 
  */
 void ScenarioExecution::checkObjectStoppedAtLastPoint() {
 	auto trajectory = getTrajectoryPoints();
 	std::pair<double, double> lastPoint;
 	auto isObjectMoving = true;
-	while (isObjectMoving) {
+	while(isObjectMoving) {
 		atos_interfaces::msg::Monitor monr;
-		monitorSub = this->create_subscription<atos_interfaces::msg::Monitor>(
-		  "/atos/object_1/object_monitor",
-		  10,
-		  std::bind(&ScenarioExecution::placeholderCallback, this, std::placeholders::_1));
+		monitorSub = this->create_subscription<atos_interfaces::msg::Monitor>("/atos/object_1/object_monitor", 10, std::bind(&ScenarioExecution::placeholderCallback, this, std::placeholders::_1));
 		rclcpp::wait_for_message(monr, monitorSub, this->get_node_base_interface()->get_context(), 50ms);
 		double speedThreshold = 0.1;
 		if (abs(monr.velocity.twist.linear.x) < speedThreshold && abs(monr.velocity.twist.linear.y) < speedThreshold) {
-			lastPoint	   = std::make_pair(monr.pose.pose.position.x, monr.pose.pose.position.y);
+			lastPoint = std::make_pair(monr.pose.pose.position.x, monr.pose.pose.position.y);
 			isObjectMoving = false;
 		}
 	}
 
-	auto distanceX		   = lastPoint.first - trajectory.back().first;
-	auto distanceY		   = lastPoint.second - trajectory.back().second;
+	auto distanceX = lastPoint.first - trajectory.back().first;
+	auto distanceY = lastPoint.second - trajectory.back().second;
 	auto distanceThreshold = 1.0;
 	if (abs(distanceX) < distanceThreshold && abs(distanceY) < distanceThreshold) {
 		followedTrajectory = true;
 		RCLCPP_INFO(get_logger(), "Object followed trajectory succesfully");
-	} else {
+	}
+	else {
 		followedTrajectory = false;
-		RCLCPP_ERROR(
-		  get_logger(),
-		  "Object did not follow trajectory succesfully. Distance from end point of trajectory is x: %f, y: %f",
-		  distanceX,
-		  distanceY);
+		RCLCPP_ERROR(get_logger(), "Object did not follow trajectory succesfully. Distance from end point of trajectory is x: %f, y: %f", distanceX, distanceY);
 	}
 }
 
+
 /**
  * @brief Print the result of the integration test.
- *
+ * 
  */
 void ScenarioExecution::printResult() {
 	std::stringstream ss;
@@ -124,18 +121,21 @@ void ScenarioExecution::printResult() {
 	ss << "\nIntegration test - Scenario Excecution results:\n";
 	ss << "State change results table:\n";
 	ss << std::setfill('-') << std::setw(width * 3) << "-" << std::endl;
-	ss << std::left << std::setfill(' ') << std::setw(width) << "State" << std::setw(width) << "Expected state"
-	   << std::setw(width) << "Pass" << std::endl;
+	ss << std::left << std::setfill(' ') << std::setw(width) << "State" 
+		 << std::setw(width) << "Expected state" 
+		 << std::setw(width) << "Pass" << std::endl;
 	ss << std::setfill('-') << std::setw(width * 3) << "-" << std::endl;
 
 	bool allStatesCorrect = true;
 	for (auto const& [state, expectedState] : stateResult) {
-		auto pass = (state == expectedState) ? "OK" : "NOT OK";
-		if (pass == "NOT OK") {
+		const bool passed = (state == expectedState);
+		const char *pass = passed ? "OK" : "NOT OK";
+		if (!passed) {
 			allStatesCorrect = false;
 		}
-		ss << std::left << std::setfill(' ') << std::setw(width) << state << std::setw(width) << expectedState
-		   << std::setw(width) << pass << std::endl;
+		ss << std::left << std::setfill(' ') << std::setw(width) << state 
+			 << std::setw(width) << expectedState 
+			 << std::setw(width) << pass << std::endl;
 	}
 	ss << std::setfill('-') << std::setw(width * 3) << "-" << std::endl;
 	ss << std::setfill(' ');
@@ -144,12 +144,16 @@ void ScenarioExecution::printResult() {
 	ss << ((allStatesCorrect) ? "OK" : "NOT OK");
 	ss << "\nTrajectory following result: ";
 	ss << ((followedTrajectory) ? "OK" : "NOT OK");
-	RCLCPP_INFO(get_logger(), ss.str().c_str());
+	const auto result = ss.str();
+	RCLCPP_INFO(get_logger(), "%s", result.c_str());
 }
 
+
 /**
  * @brief This is a placeholder callback function. It is needed in order to create a topic subscriber.
- *
+ * 
  * @param msg Message.
  */
-void ScenarioExecution::placeholderCallback(const atos_interfaces::msg::Monitor::SharedPtr msg) {}
+void ScenarioExecution::placeholderCallback(const atos_interfaces::msg::Monitor::SharedPtr msg) {
+	(void)msg;
+}
diff --git a/atos/modules/MQTTBridge/src/mqttbridge.cpp b/atos/modules/MQTTBridge/src/mqttbridge.cpp
index 09896c6c3..5f109f168 100644
--- a/atos/modules/MQTTBridge/src/mqttbridge.cpp
+++ b/atos/modules/MQTTBridge/src/mqttbridge.cpp
@@ -4,158 +4,148 @@
  * file, You can obtain one at https://mozilla.org/MPL/2.0/.
  */
 #include "mqttbridge.hpp"
-
 #include <random>
 
-#include <rclcpp/serialization.hpp>
-#include <sensor_msgs/msg/nav_sat_fix.hpp>
-#include <std_msgs/msg/empty.hpp>
-
-#include "mqtt2ros_utils.hpp"
-
 using namespace ROSChannels;
 
 using std::placeholders::_1;
 
-MqttBridge::MqttBridge() :
-  Module(MqttBridge::moduleName),
-  customCommandActionMsgSub(*this, std::bind(&MqttBridge::onCustomCommandActionMsg, this, _1)),
-  obcStateChangeSub(*this, std::bind(&MqttBridge::onObcStateChangeMsg, this, _1)) {
-	this->loadParameters();
-	this->initialize();
+MqttBridge::MqttBridge()
+    : Module(MqttBridge::moduleName),
+      customCommandActionMsgSub(
+          *this, std::bind(&MqttBridge::onCustomCommandActionMsg, this, _1)),
+      obcStateChangeSub(*this,
+                        std::bind(&MqttBridge::onObcStateChangeMsg, this, _1)) {
+  this->loadParameters();
+  this->initialize();
 }
 
 void MqttBridge::loadParameters() {
-	declare_parameter("broker.host", "");
-	declare_parameter("broker.port", 1883);
-	declare_parameter("client.username", "");
-	declare_parameter("client.password", "");
-	declare_parameter("client.id", "");
-	declare_parameter("topic_prefix", "atos");
-
-	get_parameter("broker.host", brokerIP);
-	get_parameter("broker.port", port);
-	get_parameter("client.username", username);
-	get_parameter("client.password", password);
-	get_parameter("client.id", clientId);
-	get_parameter("topic_prefix", topic_prefix);
-
-	rcl_interfaces::msg::ParameterDescriptor param_desc;
-	param_desc.description = "The list of topics to bridge from MQTT to ROS";
-	const auto mqtt2ros_mqtt_topics =
-	  declare_parameter<std::vector<std::string>>("mqtt2ros.mqtt_topics", std::vector<std::string>(), param_desc);
-	for (const auto& mqtt_topic : mqtt2ros_mqtt_topics) {
-		param_desc.description = "ROS topic on which corresponding MQTT messages are published";
-		declare_parameter(
-		  fmt::format("mqtt2ros.{}.ros_topic", mqtt_topic), rclcpp::ParameterType::PARAMETER_STRING, param_desc);
-		param_desc.description = "ROS message type for this bridge";
-		declare_parameter(
-		  fmt::format("mqtt2ros.{}.msg_type", mqtt_topic), rclcpp::ParameterType::PARAMETER_STRING, param_desc);
-		param_desc.description = "MQTT QoS value";
-		declare_parameter(fmt::format("mqtt2ros.{}.advanced.mqtt.qos", mqtt_topic),
-						  rclcpp::ParameterType::PARAMETER_INTEGER,
-						  param_desc);
-		param_desc.description = "ROS publisher queue size";
-		declare_parameter(fmt::format("mqtt2ros.{}.advanced.ros.queue_size", mqtt_topic),
-						  rclcpp::ParameterType::PARAMETER_INTEGER,
-						  param_desc);
-	}
-
-	param_desc.description = "The list of topics to bridge from ROS to MQTT";
-	const auto ros2mqtt_ros_topics =
-	  declare_parameter<std::vector<std::string>>("ros2mqtt.ros_topics", std::vector<std::string>(), param_desc);
-	for (const auto& ros_topic : ros2mqtt_ros_topics) {
-		param_desc.description = "MQTT topic on which the corresponding ROS "
-								 "messages are sent to the broker";
-		declare_parameter(
-		  fmt::format("ros2mqtt.{}.mqtt_topic", ros_topic), rclcpp::ParameterType::PARAMETER_STRING, param_desc);
-		param_desc.description = "ROS subscriber queue size";
-		declare_parameter(fmt::format("ros2mqtt.{}.advanced.ros.queue_size", ros_topic),
-						  rclcpp::ParameterType::PARAMETER_INTEGER,
-						  param_desc);
-		param_desc.description = "MQTT QoS value";
-		declare_parameter(fmt::format("ros2mqtt.{}.advanced.mqtt.qos", ros_topic),
-						  rclcpp::ParameterType::PARAMETER_INTEGER,
-						  param_desc);
-	}
-
-	// mqtt2ros
-	for (const auto& mqtt_topic : mqtt2ros_mqtt_topics) {
-
-		rclcpp::Parameter ros_topic_param;
-		if (get_parameter(fmt::format("mqtt2ros.{}.ros_topic", mqtt_topic), ros_topic_param)) {
-
-			// mqtt2ros[k]/mqtt_topic and mqtt2ros[k]/ros_topic
-			const std::string ros_topic = ros_topic_param.as_string();
-			Mqtt2RosInterface& mqtt2ros = mqtt2ros_[mqtt_topic];
-			mqtt2ros.ros.topic			= ros_topic;
-
-			rclcpp::Parameter msg_type_param;
-			if (get_parameter(fmt::format("mqtt2ros.{}.msg_type", mqtt_topic), msg_type_param)) {
-				mqtt2ros.ros.msg_type = msg_type_param.as_string();
-			} else {
-				mqtt2ros.ros.msg_type = "std_msgs/msg/Empty"; // default if no parameter is set
-			}
-
-			// mqtt2ros[k]/advanced/mqtt/qos
-			rclcpp::Parameter qos_param;
-			if (get_parameter(fmt::format("mqtt2ros.{}.advanced.mqtt.qos", mqtt_topic), qos_param)) {
-				mqtt2ros.mqtt.qos = qos_param.as_int();
-			}
-
-			// mqtt2ros[k]/advanced/ros/queue_size
-			rclcpp::Parameter queue_size_param;
-			if (get_parameter(fmt::format("mqtt2ros.{}.advanced.ros.queue_size", mqtt_topic), queue_size_param)) {
-				mqtt2ros.ros.queue_size = queue_size_param.as_int();
-			}
-
-			RCLCPP_INFO(get_logger(),
-						"Bridging MQTT topic '%s' to ROS topic '%s' with message type '%s'",
-						mqtt_topic.c_str(),
-						mqtt2ros.ros.topic.c_str(),
-						mqtt2ros.ros.msg_type.c_str());
-		} else {
-			RCLCPP_WARN(get_logger(),
-						fmt::format("Parameter 'ros2mqtt.{}' is missing subparameter "
-									"'ros_topic', will be ignored",
-									mqtt_topic)
-						  .c_str());
-		}
-	}
-
-	// ros2mqtt
-	for (const auto& ros_topic : ros2mqtt_ros_topics) {
-
-		rclcpp::Parameter mqtt_topic_param;
-		if (get_parameter(fmt::format("ros2mqtt.{}.mqtt_topic", ros_topic), mqtt_topic_param)) {
-
-			// ros2mqtt[k]/ros_topic and ros2mqtt[k]/mqtt_topic
-			const std::string mqtt_topic = mqtt_topic_param.as_string();
-			Ros2MqttInterface& ros2mqtt	 = ros2mqtt_[ros_topic];
-			ros2mqtt.mqtt.topic			 = mqtt_topic;
-
-			// ros2mqtt[k]/advanced/ros/queue_size
-			rclcpp::Parameter queue_size_param;
-			if (get_parameter(fmt::format("ros2mqtt.{}.advanced.ros.queue_size", ros_topic), queue_size_param))
-				ros2mqtt.ros.queue_size = queue_size_param.as_int();
-
-			// ros2mqtt[k]/advanced/mqtt/qos
-			rclcpp::Parameter qos_param;
-			if (get_parameter(fmt::format("ros2mqtt.{}.advanced.mqtt.qos", ros_topic), qos_param))
-				ros2mqtt.mqtt.qos = qos_param.as_int();
-
-			RCLCPP_INFO(get_logger(),
-						"Bridging ROS topic '%s' to MQTT topic '%s'",
-						ros_topic.c_str(),
-						ros2mqtt.mqtt.topic.c_str());
-		} else {
-			RCLCPP_WARN(get_logger(),
-						fmt::format("Parameter 'ros2mqtt.{}' is missing subparameter "
-									"'mqtt_topic', will be ignored",
-									ros_topic)
-						  .c_str());
-		}
-	}
+  declare_parameter("broker.host", "");
+  declare_parameter("broker.port", 1883);
+  declare_parameter("client.username", "");
+  declare_parameter("client.password", "");
+  declare_parameter("client.id", "");
+  declare_parameter("topic_prefix", "atos");
+
+  get_parameter("broker.host", brokerIP);
+  get_parameter("broker.port", port);
+  get_parameter("client.username", username);
+  get_parameter("client.password", password);
+  get_parameter("client.id", clientId);
+  get_parameter("topic_prefix", topic_prefix);
+
+  rcl_interfaces::msg::ParameterDescriptor param_desc;
+  param_desc.description = "The list of topics to bridge from MQTT to ROS";
+  const auto mqtt2ros_mqtt_topics = declare_parameter<std::vector<std::string>>(
+      "mqtt2ros.mqtt_topics", std::vector<std::string>(), param_desc);
+  for (const auto &mqtt_topic : mqtt2ros_mqtt_topics) {
+    param_desc.description =
+        "ROS topic on which corresponding MQTT messages are published";
+    declare_parameter(fmt::format("mqtt2ros.{}.ros_topic", mqtt_topic),
+                      rclcpp::ParameterType::PARAMETER_STRING, param_desc);
+    param_desc.description = "MQTT QoS value";
+    declare_parameter(fmt::format("mqtt2ros.{}.advanced.mqtt.qos", mqtt_topic),
+                      rclcpp::ParameterType::PARAMETER_INTEGER, param_desc);
+    param_desc.description = "ROS publisher queue size";
+    declare_parameter(
+        fmt::format("mqtt2ros.{}.advanced.ros.queue_size", mqtt_topic),
+        rclcpp::ParameterType::PARAMETER_INTEGER, param_desc);
+  }
+
+  param_desc.description = "The list of topics to bridge from ROS to MQTT";
+  const auto ros2mqtt_ros_topics = declare_parameter<std::vector<std::string>>(
+      "ros2mqtt.ros_topics", std::vector<std::string>(), param_desc);
+  for (const auto &ros_topic : ros2mqtt_ros_topics) {
+    param_desc.description = "MQTT topic on which the corresponding ROS "
+                             "messages are sent to the broker";
+    declare_parameter(fmt::format("ros2mqtt.{}.mqtt_topic", ros_topic),
+                      rclcpp::ParameterType::PARAMETER_STRING, param_desc);
+    param_desc.description = "ROS subscriber queue size";
+    declare_parameter(
+        fmt::format("ros2mqtt.{}.advanced.ros.queue_size", ros_topic),
+        rclcpp::ParameterType::PARAMETER_INTEGER, param_desc);
+    param_desc.description = "MQTT QoS value";
+    declare_parameter(fmt::format("ros2mqtt.{}.advanced.mqtt.qos", ros_topic),
+                      rclcpp::ParameterType::PARAMETER_INTEGER, param_desc);
+  }
+
+  // mqtt2ros
+  for (const auto &mqtt_topic : mqtt2ros_mqtt_topics) {
+
+    rclcpp::Parameter ros_topic_param;
+    if (get_parameter(fmt::format("mqtt2ros.{}.ros_topic", mqtt_topic),
+                      ros_topic_param)) {
+
+      // mqtt2ros[k]/mqtt_topic and mqtt2ros[k]/ros_topic
+      const std::string ros_topic = ros_topic_param.as_string();
+      Mqtt2RosInterface &mqtt2ros = mqtt2ros_[mqtt_topic];
+      mqtt2ros.ros.topic = ros_topic;
+
+      // mqtt2ros[k]/advanced/mqtt/qos
+      rclcpp::Parameter qos_param;
+      if (get_parameter(
+              fmt::format("mqtt2ros.{}.advanced.mqtt.qos", mqtt_topic),
+              qos_param)) {
+        mqtt2ros.mqtt.qos = qos_param.as_int();
+      }
+
+      // mqtt2ros[k]/advanced/ros/queue_size
+      rclcpp::Parameter queue_size_param;
+      if (get_parameter(
+              fmt::format("mqtt2ros.{}.advanced.ros.queue_size", mqtt_topic),
+              queue_size_param)) {
+        mqtt2ros.ros.queue_size = queue_size_param.as_int();
+      }
+
+      RCLCPP_INFO(get_logger(), "Bridging MQTT topic '%s' to ROS topic '%s'",
+                  mqtt_topic.c_str(), mqtt2ros.ros.topic.c_str());
+    } else {
+      const auto warning = fmt::format(
+          "Parameter 'mqtt2ros.{}' is missing subparameter 'ros_topic', will "
+          "be ignored",
+          mqtt_topic);
+      RCLCPP_WARN(get_logger(),
+                  "%s", warning.c_str());
+    }
+  }
+
+  // ros2mqtt
+  for (const auto &ros_topic : ros2mqtt_ros_topics) {
+
+    rclcpp::Parameter mqtt_topic_param;
+    if (get_parameter(fmt::format("ros2mqtt.{}.mqtt_topic", ros_topic),
+                      mqtt_topic_param)) {
+
+      // ros2mqtt[k]/ros_topic and ros2mqtt[k]/mqtt_topic
+      const std::string mqtt_topic = mqtt_topic_param.as_string();
+      Ros2MqttInterface &ros2mqtt = ros2mqtt_[ros_topic];
+      ros2mqtt.mqtt.topic = mqtt_topic;
+
+      // ros2mqtt[k]/advanced/ros/queue_size
+      rclcpp::Parameter queue_size_param;
+      if (get_parameter(
+              fmt::format("ros2mqtt.{}.advanced.ros.queue_size", ros_topic),
+              queue_size_param))
+        ros2mqtt.ros.queue_size = queue_size_param.as_int();
+
+      // ros2mqtt[k]/advanced/mqtt/qos
+      rclcpp::Parameter qos_param;
+      if (get_parameter(fmt::format("ros2mqtt.{}.advanced.mqtt.qos", ros_topic),
+                        qos_param))
+        ros2mqtt.mqtt.qos = qos_param.as_int();
+
+      RCLCPP_INFO(get_logger(), "Bridging ROS topic '%s' to MQTT topic '%s'",
+                  ros_topic.c_str(), ros2mqtt.mqtt.topic.c_str());
+    } else {
+      const auto warning = fmt::format(
+          "Parameter 'ros2mqtt.{}' is missing subparameter 'mqtt_topic', will "
+          "be ignored",
+          ros_topic);
+      RCLCPP_WARN(get_logger(),
+                  "%s", warning.c_str());
+    }
+  }
 }
 
 /*!
@@ -163,294 +153,323 @@ void MqttBridge::loadParameters() {
  * with ros parameter settings.
  */
 void MqttBridge::initialize() {
-	if (this->brokerIP.empty()) {
-		RCLCPP_INFO(this->get_logger(), "No Broker IP provided in configuration. Shutting down...");
-		rclcpp::shutdown();
-	} else {
-		this->setupClient();
-		this->connect();
-		// Wait for all ros topics to be announced
-		rclcpp::sleep_for(std::chrono::seconds(1));
-		this->setupMqtt2RosBridge();
-		this->setupRos2MqttBridge();
-	}
+  if (this->brokerIP.empty()) {
+    RCLCPP_INFO(this->get_logger(),
+                "No Broker IP provided in configuration. Shutting down...");
+    rclcpp::shutdown();
+  } else {
+    this->setupClient();
+    this->connect();
+    // Wait for all ros topics to be announced
+    rclcpp::sleep_for(std::chrono::seconds(1));
+    this->setupMqtt2RosBridge();
+    this->setupRos2MqttBridge();
+  }
 }
 
 void MqttBridge::setupMqtt2RosBridge() {
-	new_mqtt2ros_bridge_service_ = create_service<atos_interfaces::srv::NewMqtt2RosBridge>(
-	  "~/new_mqtt2ros_bridge",
-	  std::bind(&MqttBridge::newMqtt2RosBridge, this, std::placeholders::_1, std::placeholders::_2));
-
-	// Create a request and response for each mqtt2ros bridge and put into a
-	// map
-	auto serviceCallMap = std::map<std::shared_ptr<atos_interfaces::srv::NewMqtt2RosBridge::Response>,
-								   std::shared_ptr<atos_interfaces::srv::NewMqtt2RosBridge::Request>>();
-	for (const auto& mqtt2ros : mqtt2ros_) {
-		atos_interfaces::srv::NewMqtt2RosBridge::Request::SharedPtr request =
-		  std::make_shared<atos_interfaces::srv::NewMqtt2RosBridge::Request>();
-		request->mqtt_topic		= mqtt2ros.first;
-		request->ros_topic		= mqtt2ros.second.ros.topic;
-		request->mqtt_qos		= mqtt2ros.second.mqtt.qos;
-		request->ros_queue_size = mqtt2ros.second.ros.queue_size;
-		atos_interfaces::srv::NewMqtt2RosBridge::Response::SharedPtr response =
-		  std::make_shared<atos_interfaces::srv::NewMqtt2RosBridge::Response>();
-		serviceCallMap[response] = request;
-	}
-
-	// Loop through the map until all response objects are true
-	while (std::any_of(
-	  serviceCallMap.begin(), serviceCallMap.end(), [](const auto& pair) { return !pair.first->success; })) {
-		// Get all unsuccesful responses
-		auto failedResponses = std::vector<std::shared_ptr<atos_interfaces::srv::NewMqtt2RosBridge::Response>>();
-		for (const auto& pair : serviceCallMap) {
-			if (!pair.first->success) {
-				failedResponses.push_back(pair.first);
-			}
-		}
-		// Retry all failed responses
-		for (const auto& response : failedResponses) {
-			newMqtt2RosBridge(serviceCallMap[response], response);
-		}
-		// Wait for a second before retrying
-		rclcpp::sleep_for(std::chrono::seconds(1));
-	}
+  new_mqtt2ros_bridge_service_ =
+      create_service<atos_interfaces::srv::NewMqtt2RosBridge>(
+          "~/new_mqtt2ros_bridge",
+          std::bind(&MqttBridge::newMqtt2RosBridge, this, std::placeholders::_1,
+                    std::placeholders::_2));
+
+  // Create a request and response for each mqtt2ros bridge and put into a
+  // map
+  auto serviceCallMap = std::map<
+      std::shared_ptr<atos_interfaces::srv::NewMqtt2RosBridge::Response>,
+      std::shared_ptr<atos_interfaces::srv::NewMqtt2RosBridge::Request>>();
+  for (const auto &mqtt2ros : mqtt2ros_) {
+    atos_interfaces::srv::NewMqtt2RosBridge::Request::SharedPtr request =
+        std::make_shared<atos_interfaces::srv::NewMqtt2RosBridge::Request>();
+    request->mqtt_topic = mqtt2ros.first;
+    request->ros_topic = mqtt2ros.second.ros.topic;
+    request->mqtt_qos = mqtt2ros.second.mqtt.qos;
+    request->ros_queue_size = mqtt2ros.second.ros.queue_size;
+    atos_interfaces::srv::NewMqtt2RosBridge::Response::SharedPtr response =
+        std::make_shared<atos_interfaces::srv::NewMqtt2RosBridge::Response>();
+    serviceCallMap[response] = request;
+  }
+
+  // Loop through the map until all response objects are true
+  while (std::any_of(serviceCallMap.begin(), serviceCallMap.end(),
+                     [](const auto &pair) { return !pair.first->success; })) {
+    // Get all unsuccesful responses
+    auto failedResponses = std::vector<
+        std::shared_ptr<atos_interfaces::srv::NewMqtt2RosBridge::Response>>();
+    for (const auto &pair : serviceCallMap) {
+      if (!pair.first->success) {
+        failedResponses.push_back(pair.first);
+      }
+    }
+    // Retry all failed responses
+    for (const auto &response : failedResponses) {
+      newMqtt2RosBridge(serviceCallMap[response], response);
+    }
+    // Wait for a second before retrying
+    rclcpp::sleep_for(std::chrono::seconds(1));
+  }
 }
 
 void MqttBridge::setupRos2MqttBridge() {
-	new_ros2mqtt_bridge_service_ = create_service<atos_interfaces::srv::NewRos2MqttBridge>(
-	  "~/new_ros2mqtt_bridge",
-	  std::bind(&MqttBridge::newRos2MqttBridge, this, std::placeholders::_1, std::placeholders::_2));
-
-	// setup subscribers
-	this->setupSubscriptions();
+  new_ros2mqtt_bridge_service_ =
+      create_service<atos_interfaces::srv::NewRos2MqttBridge>(
+          "~/new_ros2mqtt_bridge",
+          std::bind(&MqttBridge::newRos2MqttBridge, this, std::placeholders::_1,
+                    std::placeholders::_2));
+
+  // setup subscribers
+  this->setupSubscriptions();
 }
 
 void MqttBridge::setupSubscriptions() {
 
-	// get info of all topics
-	const auto all_topics_and_types = get_topic_names_and_types();
-	// check for ros2mqtt topics
-	for (auto& [ros_topic, ros2mqtt] : ros2mqtt_) {
-		if (all_topics_and_types.count(ros_topic)) {
-			// check if message type has changed or if mapping is stale
-			const std::string& msg_type = all_topics_and_types.at(ros_topic)[0];
-			if (msg_type == ros2mqtt.ros.msg_type && !ros2mqtt.ros.is_stale)
-				continue;
-			ros2mqtt.ros.is_stale = false;
-			ros2mqtt.ros.msg_type = msg_type;
-
-			// create new generic subscription, if message type has changed
-			std::function<void(const std::shared_ptr<rclcpp::SerializedMessage> msg)> bound_callback_func =
-			  std::bind(&MqttBridge::ros2mqtt, this, std::placeholders::_1, ros_topic);
-			try {
-				ros2mqtt.ros.subscriber =
-				  create_generic_subscription(ros_topic, msg_type, ros2mqtt.ros.queue_size, bound_callback_func);
-			} catch (rclcpp::exceptions::RCLError& e) {
-				RCLCPP_ERROR(get_logger(), "Failed to create generic subscriber: %s", e.what());
-				return;
-			}
-			RCLCPP_INFO(get_logger(), "Subscribed to ROS topic '%s' of type '%s'", ros_topic.c_str(), msg_type.c_str());
-		}
-	}
+  // get info of all topics
+  const auto all_topics_and_types = get_topic_names_and_types();
+  // check for ros2mqtt topics
+  for (auto &[ros_topic, ros2mqtt] : ros2mqtt_) {
+    if (all_topics_and_types.count(ros_topic)) {
+      // check if message type has changed or if mapping is stale
+      const std::string &msg_type = all_topics_and_types.at(ros_topic)[0];
+      if (msg_type == ros2mqtt.ros.msg_type && !ros2mqtt.ros.is_stale)
+        continue;
+      ros2mqtt.ros.is_stale = false;
+      ros2mqtt.ros.msg_type = msg_type;
+
+      // create new generic subscription, if message type has changed
+      std::function<void(const std::shared_ptr<rclcpp::SerializedMessage> msg)>
+          bound_callback_func = std::bind(&MqttBridge::ros2mqtt, this,
+                                          std::placeholders::_1, ros_topic);
+      try {
+        ros2mqtt.ros.subscriber = create_generic_subscription(
+            ros_topic, msg_type, ros2mqtt.ros.queue_size, bound_callback_func);
+      } catch (rclcpp::exceptions::RCLError &e) {
+        RCLCPP_ERROR(get_logger(), "Failed to create generic subscriber: %s",
+                     e.what());
+        return;
+      }
+      RCLCPP_INFO(get_logger(), "Subscribed to ROS topic '%s' of type '%s'",
+                  ros_topic.c_str(), msg_type.c_str());
+    }
+  }
 }
 
-void MqttBridge::ros2mqtt(const std::shared_ptr<rclcpp::SerializedMessage>& serialized_msg,
-						  const std::string& ros_topic) {
-
-	Ros2MqttInterface& ros2mqtt = ros2mqtt_[ros_topic];
-	std::string mqtt_topic		= ros2mqtt.mqtt.topic;
-	std::vector<uint8_t> payload_buffer;
-
-	RCLCPP_INFO(get_logger(), "Received ROS message on topic '%s'", ros_topic.c_str());
-
-	try {
-		mqtt::message_ptr mqtt_msg =
-		  mqtt::make_message(mqtt_topic, payload_buffer.data(), payload_buffer.size(), ros2mqtt.mqtt.qos, true);
-		client_->publish(mqtt_msg);
-		RCLCPP_INFO(get_logger(), "Published ROS message to MQTT topic '%s'", mqtt_topic.c_str());
-	} catch (const mqtt::exception& e) {
-		RCLCPP_WARN(get_logger(),
-					"Publishing ROS message type information to MQTT topic '%s' failed: %s",
-					mqtt_topic.c_str(),
-					e.what());
-	}
+void MqttBridge::ros2mqtt(
+    const std::shared_ptr<rclcpp::SerializedMessage> &serialized_msg,
+    const std::string &ros_topic) {
+  (void)serialized_msg;
+
+  Ros2MqttInterface &ros2mqtt = ros2mqtt_[ros_topic];
+  std::string mqtt_topic = ros2mqtt.mqtt.topic;
+  std::vector<uint8_t> payload_buffer;
+
+  RCLCPP_INFO(get_logger(), "Received ROS message on topic '%s'",
+              ros_topic.c_str());
+
+  try {
+    mqtt::message_ptr mqtt_msg =
+        mqtt::make_message(mqtt_topic, payload_buffer.data(),
+                           payload_buffer.size(), ros2mqtt.mqtt.qos, true);
+    client_->publish(mqtt_msg);
+    RCLCPP_INFO(get_logger(), "Published ROS message to MQTT topic '%s'",
+                mqtt_topic.c_str());
+  } catch (const mqtt::exception &e) {
+    RCLCPP_WARN(
+        get_logger(),
+        "Publishing ROS message type information to MQTT topic '%s' failed: %s",
+        mqtt_topic.c_str(), e.what());
+  }
 }
 
 void MqttBridge::setupClient() {
-	RCLCPP_INFO(this->get_logger(),
-				"Setting up connection with clientID: %s, and broker IP: %s",
-				clientId.c_str(),
-				brokerIP.c_str());
-
-	// basic client connection options
-	connect_options_.set_automatic_reconnect(true);
-	connect_options_.set_clean_session(true);
-	connect_options_.set_keep_alive_interval(5);
-
-	// user authentication
-	if (!username.empty()) {
-		connect_options_.set_user_name(username);
-		connect_options_.set_password(password);
-	}
-
-	auto timeNanoseconds =
-	  std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
-	auto id = clientId + "_" + std::to_string(timeNanoseconds);
-
-	const std::string uri = fmt::format("{}://{}:{}", "tcp", brokerIP, port);
-	try {
-		client_ = std::shared_ptr<mqtt::async_client>(new mqtt::async_client(uri, id));
-	} catch (const mqtt::exception& e) {
-		RCLCPP_ERROR(get_logger(), "Client could not be initialized: %s", e.what());
-		exit(EXIT_FAILURE);
-	}
-
-	// setup MQTT callbacks
-	client_->set_callback(*this);
+  RCLCPP_INFO(this->get_logger(),
+              "Setting up connection with clientID: %s, and broker IP: %s",
+              clientId.c_str(), brokerIP.c_str());
+
+  // basic client connection options
+  connect_options_.set_automatic_reconnect(true);
+  connect_options_.set_clean_session(true);
+  connect_options_.set_keep_alive_interval(5);
+
+  // user authentication
+  if (!username.empty()) {
+    connect_options_.set_user_name(username);
+    connect_options_.set_password(password);
+  }
+
+  auto timeNanoseconds =
+      std::chrono::duration_cast<std::chrono::nanoseconds>(
+          std::chrono::system_clock::now().time_since_epoch())
+          .count();
+  auto id = clientId + "_" + std::to_string(timeNanoseconds);
+
+  const std::string uri = fmt::format("{}://{}:{}", "tcp", brokerIP, port);
+  try {
+    client_ =
+        std::shared_ptr<mqtt::async_client>(new mqtt::async_client(uri, id));
+  } catch (const mqtt::exception &e) {
+    RCLCPP_ERROR(get_logger(), "Client could not be initialized: %s", e.what());
+    exit(EXIT_FAILURE);
+  }
+
+  // setup MQTT callbacks
+  client_->set_callback(*this);
 }
 
 void MqttBridge::connect() {
 
-	std::string as_client = clientId.empty() ? "" : std::string(" as '") + clientId + std::string("'");
-	RCLCPP_INFO(
-	  get_logger(), "Connecting to broker at '%s'%s ...", client_->get_server_uri().c_str(), as_client.c_str());
-
-	try {
-		client_->connect(connect_options_, nullptr, *this);
-	} catch (const mqtt::exception& e) {
-		RCLCPP_ERROR(get_logger(), "Connection to broker failed: %s", e.what());
-		exit(EXIT_FAILURE);
-	}
+  std::string as_client =
+      clientId.empty() ? ""
+                       : std::string(" as '") + clientId + std::string("'");
+  RCLCPP_INFO(get_logger(), "Connecting to broker at '%s'%s ...",
+              client_->get_server_uri().c_str(), as_client.c_str());
+
+  try {
+    client_->connect(connect_options_, nullptr, *this);
+  } catch (const mqtt::exception &e) {
+    RCLCPP_ERROR(get_logger(), "Connection to broker failed: %s", e.what());
+    exit(EXIT_FAILURE);
+  }
 }
 
-void MqttBridge::newMqtt2RosBridge(atos_interfaces::srv::NewMqtt2RosBridge::Request::SharedPtr request,
-								   atos_interfaces::srv::NewMqtt2RosBridge::Response::SharedPtr response) {
-
-	// add mapping definition to mqtt2ros_
-	Mqtt2RosInterface& mqtt2ros = mqtt2ros_[request->mqtt_topic];
-	mqtt2ros.ros.is_stale		= true;
-	mqtt2ros.ros.topic			= request->ros_topic;
-	mqtt2ros.mqtt.qos			= request->mqtt_qos;
-	mqtt2ros.ros.publisher =
-	  this->create_generic_publisher(mqtt2ros.ros.topic, mqtt2ros.ros.msg_type, mqtt2ros.ros.queue_size);
-	mqtt2ros.ros.queue_size = request->ros_queue_size;
-
-	RCLCPP_DEBUG(get_logger(),
-				 "Bridging MQTT topic '%s' to ROS topic '%s'",
-				 request->mqtt_topic.c_str(),
-				 mqtt2ros.ros.topic.c_str());
-
-	// subscribe to the MQTT topic
-	std::string mqtt_topic_to_subscribe = request->mqtt_topic;
-	try {
-		client_->subscribe(mqtt_topic_to_subscribe, mqtt2ros.mqtt.qos);
-		RCLCPP_INFO(get_logger(), "Subscribed to MQTT topic '%s'", mqtt_topic_to_subscribe.c_str());
-		response->success = true;
-	}
-	// Catch exception if the topic is already subscribed
-	catch (const mqtt::exception& e) {
-		RCLCPP_WARN(get_logger(), "Failed to subscribe MQTT topic '%s': %s", mqtt_topic_to_subscribe.c_str(), e.what());
-		response->success = false;
-	}
+void MqttBridge::newMqtt2RosBridge(
+    atos_interfaces::srv::NewMqtt2RosBridge::Request::SharedPtr request,
+    atos_interfaces::srv::NewMqtt2RosBridge::Response::SharedPtr response) {
+
+  // add mapping definition to mqtt2ros_
+  Mqtt2RosInterface &mqtt2ros = mqtt2ros_[request->mqtt_topic];
+  mqtt2ros.ros.is_stale = true;
+  mqtt2ros.ros.topic = request->ros_topic;
+  mqtt2ros.mqtt.qos = request->mqtt_qos;
+  mqtt2ros.ros.publisher = this->create_publisher<std_msgs::msg::Empty>(
+      mqtt2ros.ros.topic, request->ros_queue_size);
+  mqtt2ros.ros.queue_size = request->ros_queue_size;
+
+  RCLCPP_DEBUG(get_logger(), "Bridging MQTT topic '%s' to ROS topic '%s'",
+               request->mqtt_topic.c_str(), mqtt2ros.ros.topic.c_str());
+
+  // subscribe to the MQTT topic
+  std::string mqtt_topic_to_subscribe = request->mqtt_topic;
+  try {
+    client_->subscribe(mqtt_topic_to_subscribe, mqtt2ros.mqtt.qos);
+    RCLCPP_INFO(get_logger(), "Subscribed to MQTT topic '%s'",
+                mqtt_topic_to_subscribe.c_str());
+    response->success = true;
+  }
+  // Catch exception if the topic is already subscribed
+  catch (const mqtt::exception &e) {
+    RCLCPP_WARN(get_logger(), "Failed to subscribe MQTT topic '%s': %s",
+                mqtt_topic_to_subscribe.c_str(), e.what());
+    response->success = false;
+  }
 }
 
-void MqttBridge::newRos2MqttBridge(atos_interfaces::srv::NewRos2MqttBridge::Request::SharedPtr request,
-								   atos_interfaces::srv::NewRos2MqttBridge::Response::SharedPtr response) {
+void MqttBridge::newRos2MqttBridge(
+    atos_interfaces::srv::NewRos2MqttBridge::Request::SharedPtr request,
+    atos_interfaces::srv::NewRos2MqttBridge::Response::SharedPtr response) {
 
-	// add mapping definition to ros2mqtt_
-	Ros2MqttInterface& ros2mqtt = ros2mqtt_[request->ros_topic];
-	ros2mqtt.ros.is_stale		= true;
-	ros2mqtt.ros.topic			= request->ros_topic;
-	ros2mqtt.mqtt.topic			= request->mqtt_topic;
-	ros2mqtt.mqtt.qos			= request->mqtt_qos;
+  // add mapping definition to ros2mqtt_
+  Ros2MqttInterface &ros2mqtt = ros2mqtt_[request->ros_topic];
+  ros2mqtt.ros.is_stale = true;
+  ros2mqtt.ros.topic = request->ros_topic;
+  ros2mqtt.mqtt.topic = request->mqtt_topic;
+  ros2mqtt.mqtt.qos = request->mqtt_qos;
 
-	RCLCPP_DEBUG(get_logger(),
-				 "Bridging ROS topic '%s' to MQTT topic '%s'",
-				 ros2mqtt.ros.topic.c_str(),
-				 ros2mqtt.mqtt.topic.c_str());
+  RCLCPP_DEBUG(get_logger(), "Bridging ROS topic '%s' to MQTT topic '%s'",
+               ros2mqtt.ros.topic.c_str(), ros2mqtt.mqtt.topic.c_str());
 
-	// setup ROS subscriptions
-	setupSubscriptions();
+  // setup ROS subscriptions
+  setupSubscriptions();
 
-	response->success = true;
+  response->success = true;
 }
 
 void MqttBridge::onCustomCommandActionMsg(
-  const CustomCommandAction::message_type::SharedPtr custom_command_action_msg) {
-	if (custom_command_action_msg->type == "v2x") {
-		RCLCPP_INFO(this->get_logger(), "Received V2X message on %s topic", CustomCommandAction::topicName.c_str());
-		this->onMessage<std::string>(custom_command_action_msg->content, "v2x", v2xToJson);
-	}
+    const CustomCommandAction::message_type::SharedPtr
+        custom_command_action_msg) {
+  if (custom_command_action_msg->type == "v2x") {
+    RCLCPP_INFO(this->get_logger(), "Received V2X message on %s topic",
+                CustomCommandAction::topicName.c_str());
+    this->onMessage<std::string>(custom_command_action_msg->content, "v2x",
+                                 v2xToJson);
+  }
 }
 
-void MqttBridge::onObcStateChangeMsg(const StateChange::message_type::SharedPtr obc_msg) {
-	this->onMessage<StateChange::message_type::SharedPtr>(obc_msg, "state", obcStateChangeToJson);
+void MqttBridge::onObcStateChangeMsg(
+    const StateChange::message_type::SharedPtr obc_msg) {
+  this->onMessage<StateChange::message_type::SharedPtr>(obc_msg, "state",
+                                                        obcStateChangeToJson);
 }
 
 void MqttBridge::message_arrived(mqtt::const_message_ptr mqtt_msg) {
-	std::string mqtt_topic = mqtt_msg->get_topic();
-	RCLCPP_DEBUG(get_logger(), "Received MQTT message on topic '%s'", mqtt_topic.c_str());
-	Mqtt2RosInterface& mqtt2ros = mqtt2ros_[mqtt_topic];
-
-	const auto msg = Mqtt2RosUtils::get_serialized_msg(mqtt2ros.ros.msg_type, mqtt_msg->get_payload_str());
-	mqtt2ros.ros.publisher->publish(msg);
-	RCLCPP_DEBUG(get_logger(), "Published MQTT message to ROS topic '%s'", mqtt2ros.ros.topic.c_str());
+  std::string mqtt_topic = mqtt_msg->get_topic();
+  RCLCPP_DEBUG(get_logger(), "Received MQTT message on topic '%s'",
+               mqtt_topic.c_str());
+  Mqtt2RosInterface &mqtt2ros = mqtt2ros_[mqtt_topic];
+
+  // Publish empty message to ROS topic
+  mqtt2ros.ros.publisher->publish(std_msgs::msg::Empty());
+  RCLCPP_DEBUG(get_logger(), "Published empty message to ROS topic '%s'",
+               mqtt2ros.ros.topic.c_str());
 }
 
-template<typename T>
-void MqttBridge::onMessage(T msg, std::string mqtt_topic, std::function<json(T)> convertFunc) {
-	json payload = convertFunc(msg);
-	try {
-		RCLCPP_DEBUG(this->get_logger(), "Publishing MQTT msg to broker %s", payload.dump().c_str());
-		client_->publish(mqtt_topic, payload.dump().c_str(), payload.dump().size());
-	} catch (std::runtime_error&) {
-		RCLCPP_ERROR(this->get_logger(), "Failed to publish MQTT message");
-	}
+template <typename T>
+void MqttBridge::onMessage(T msg, std::string mqtt_topic,
+                           std::function<json(T)> convertFunc) {
+  json payload = convertFunc(msg);
+  try {
+    RCLCPP_DEBUG(this->get_logger(), "Publishing MQTT msg to broker %s",
+                 payload.dump().c_str());
+    client_->publish(mqtt_topic, payload.dump().c_str(), payload.dump().size());
+  } catch (std::runtime_error &) {
+    RCLCPP_ERROR(this->get_logger(), "Failed to publish MQTT message");
+  }
 }
 
 json MqttBridge::v2xToJson(std::string msg_content) {
-	std::replace(msg_content.begin(),
-				 msg_content.end(),
-				 '\'',
-				 '"'); // Replace ROS single quotes string with double quotes to
-					   // make it a valid JSON string
-	json j;
-	// Parse the string to a json object
-	try {
-		j = json::parse(msg_content);
-	} catch (json::parse_error& e) {
-		std::cerr << "Failed to parse JSON object: " << e.what() << std::endl;
-	}
-
-	if (j.find("message_type") == j.end()) {
-		std::cerr << "No message_type field in JSON object" << std::endl;
-		return j;
-	}
-	if (j["message_type"] == "DENM") {
-		j["detection_time"] = std::chrono::system_clock::now().time_since_epoch().count();
-	}
-	return j;
+  std::replace(msg_content.begin(), msg_content.end(), '\'',
+               '"'); // Replace ROS single quotes string with double quotes to
+                     // make it a valid JSON string
+  json j;
+  // Parse the string to a json object
+  try {
+    j = json::parse(msg_content);
+  } catch (json::parse_error &e) {
+    std::cerr << "Failed to parse JSON object: " << e.what() << std::endl;
+  }
+
+  if (j.find("message_type") == j.end()) {
+    std::cerr << "No message_type field in JSON object" << std::endl;
+    return j;
+  }
+  if (j["message_type"] == "DENM") {
+    j["detection_time"] =
+        std::chrono::system_clock::now().time_since_epoch().count();
+  }
+  return j;
 }
 
-json MqttBridge::obcStateChangeToJson(const StateChange::message_type::SharedPtr obc_msg) {
-	json j;
-	j["current_state"] = obc_msg->current_state;
-	j["prev_state"]	   = obc_msg->prev_state;
-	return j;
+json MqttBridge::obcStateChangeToJson(
+    const StateChange::message_type::SharedPtr obc_msg) {
+  json j;
+  j["current_state"] = obc_msg->current_state;
+  j["prev_state"] = obc_msg->prev_state;
+  return j;
 }
 
-void MqttBridge::on_success(const mqtt::token& token) {
+void MqttBridge::on_success(const mqtt::token &token) {
 
-	(void)token; // Avoid compiler warning for unused parameter.
-	RCLCPP_INFO(get_logger(), "Connected to broker successfully");
-	is_connected_ = true;
+  (void)token; // Avoid compiler warning for unused parameter.
+  RCLCPP_INFO(get_logger(), "Connected to broker successfully");
+  is_connected_ = true;
 }
 
-void MqttBridge::on_failure(const mqtt::token& token) {
+void MqttBridge::on_failure(const mqtt::token &token) {
 
-	RCLCPP_ERROR(get_logger(),
-				 "Connection to broker failed (return code %d), will automatically "
-				 "retry...",
-				 token.get_return_code());
-	is_connected_ = false;
+  RCLCPP_ERROR(
+      get_logger(),
+      "Connection to broker failed (return code %d), will automatically "
+      "retry...",
+      token.get_return_code());
+  is_connected_ = false;
 }
diff --git a/atos/modules/ObjectControl/inc/relativeanchor.hpp b/atos/modules/ObjectControl/inc/relativeanchor.hpp
index ac75d09fd..885e5abeb 100644
--- a/atos/modules/ObjectControl/inc/relativeanchor.hpp
+++ b/atos/modules/ObjectControl/inc/relativeanchor.hpp
@@ -15,10 +15,10 @@ class RelativeAnchor : public TestObject {
 	RelativeAnchor(RelativeAnchor&&);
 
 	RelativeAnchor& operator=(const RelativeAnchor&) = delete;
-	RelativeAnchor& operator=(RelativeAnchor&&)		 = default;
+	RelativeAnchor& operator=(RelativeAnchor&&) = delete;
 
-	virtual void publishMonr(const ROSChannels::Monitor::message_type) override;
+    virtual void publishMonr(const ROSChannels::Monitor::message_type) override;
 
 private:
-	ROSChannels::Monitor::AnchorPub anchorPub;
+    ROSChannels::Monitor::AnchorPub anchorPub;
 };
diff --git a/atos/modules/ObjectControl/inc/relativetestobject.hpp b/atos/modules/ObjectControl/inc/relativetestobject.hpp
index 44d3bd1ff..72ada9bef 100644
--- a/atos/modules/ObjectControl/inc/relativetestobject.hpp
+++ b/atos/modules/ObjectControl/inc/relativetestobject.hpp
@@ -5,9 +5,9 @@
  */
 #pragma once
 
-#include "positioning.h"
-#include "roschannels/monitorchannel.hpp"
 #include "testobject.hpp"
+#include "roschannels/monitorchannel.hpp"
+#include "positioning.h"
 
 class RelativeTestObject : public TestObject {
 public:
@@ -16,15 +16,15 @@ class RelativeTestObject : public TestObject {
 	RelativeTestObject(RelativeTestObject&&);
 
 	RelativeTestObject& operator=(const RelativeTestObject&) = delete;
-	RelativeTestObject& operator=(RelativeTestObject&&)		 = default;
+	RelativeTestObject& operator=(RelativeTestObject&&) = delete;
 
 private:
-	virtual ObjectMonitorType transformCoordinate(const ObjectMonitorType& point,
-												  const ObjectMonitorType& anchor,
-												  const bool debug);
-	virtual MonitorMessage readMonitorMessage() override;
-
-	ROSChannels::Monitor::AnchorSub anchorSub;
-	ObjectMonitorType lastAnchorMonr;
-	void updateAnchor(const ROSChannels::Monitor::message_type::SharedPtr);
+    virtual ObjectMonitorType transformCoordinate(const ObjectMonitorType& point,
+        const ObjectMonitorType& anchor,
+        const bool debug);
+    virtual MonitorMessage readMonitorMessage() override;
+    
+    ROSChannels::Monitor::AnchorSub anchorSub;
+    ObjectMonitorType lastAnchorMonr;
+    void updateAnchor(const ROSChannels::Monitor::message_type::SharedPtr);
 };
diff --git a/atos/modules/ObjectControl/inc/testobject.hpp b/atos/modules/ObjectControl/inc/testobject.hpp
index 16adeb8e5..903480f78 100644
--- a/atos/modules/ObjectControl/inc/testobject.hpp
+++ b/atos/modules/ObjectControl/inc/testobject.hpp
@@ -41,7 +41,7 @@ class TestObject : public rclcpp::Node {
 	TestObject(TestObject&&);
 
 	TestObject& operator=(const TestObject&) = delete;
-	TestObject& operator=(TestObject&&)		 = default;
+	TestObject& operator=(TestObject&&)		 = delete;
 
 	virtual void parseConfigurationFile(const fs::path& file);
 
diff --git a/atos/modules/ObjectControl/src/objectcontrol.cpp b/atos/modules/ObjectControl/src/objectcontrol.cpp
index 27cd4a550..0d1b44b71 100644
--- a/atos/modules/ObjectControl/src/objectcontrol.cpp
+++ b/atos/modules/ObjectControl/src/objectcontrol.cpp
@@ -53,20 +53,16 @@ ObjectControl::ObjectControl(std::shared_ptr<rclcpp::executors::MultiThreadedExe
 	traj_client_cb_group_	= this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 	ip_client_cb_group_		= this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 	origin_client_cb_group_ = this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-
 	this->declare_parameter("max_missing_heartbeats", 100);
-	this->declare_parameter("max_missing_monr", 100);
-	this->declare_parameter("monr_timeout_period_ms", 1000);
-
 	objectsConnectedTimer = create_wall_timer(1000ms, std::bind(&ObjectControl::publishObjectIds, this));
 	idClient			  = create_client<atos_interfaces::srv::GetObjectIds>(
-	   ServiceNames::getObjectIds, rmw_qos_profile_services_default, id_client_cb_group_);
+	   ServiceNames::getObjectIds, rclcpp::ServicesQoS(), id_client_cb_group_);
 	originClient = create_client<atos_interfaces::srv::GetTestOrigin>(
-	  ServiceNames::getTestOrigin, rmw_qos_profile_services_default, origin_client_cb_group_);
+	  ServiceNames::getTestOrigin, rclcpp::ServicesQoS(), origin_client_cb_group_);
 	trajectoryClient = create_client<atos_interfaces::srv::GetObjectTrajectory>(
-	  ServiceNames::getObjectTrajectory, rmw_qos_profile_services_default, traj_client_cb_group_);
+	  ServiceNames::getObjectTrajectory, rclcpp::ServicesQoS(), traj_client_cb_group_);
 	ipClient = create_client<atos_interfaces::srv::GetObjectIp>(
-	  ServiceNames::getObjectIp, rmw_qos_profile_services_default, ip_client_cb_group_);
+	  ServiceNames::getObjectIp, rclcpp::ServicesQoS(), ip_client_cb_group_);
 	returnTrajectoryClient =
 	  create_client<atos_interfaces::srv::GetObjectReturnTrajectory>(ServiceNames::getObjectReturnTrajectory);
 	stateService = create_service<atos_interfaces::srv::GetObjectControlState>(
@@ -207,8 +203,6 @@ bool ObjectControl::loadScenario() {
 			exec->add_node(object);
 			objects.emplace(id, object);
 			objects.at(id)->setTransmitterID(id);
-			objects.at(id)->setMaxAllowedMonitorPeriod(
-			  std::chrono::milliseconds(this->get_parameter("monr_timeout_period_ms").as_int()));
 
 			std::promise<bool> trajLoaded;
 			auto trajectoryCallback =
@@ -295,17 +289,17 @@ bool ObjectControl::loadScenario() {
 			std::future<bool> trajLoadedFuture	 = trajLoaded.get_future();
 			std::future<bool> ipLoadedFuture	 = ipLoaded.get_future();
 			std::future<bool> originLoadedFuture = originLoaded.get_future();
-			if (auto status = trajLoadedFuture.wait_for(20s);
+			if (auto status = trajLoadedFuture.wait_for(5s);
 				status != std::future_status::ready || !trajLoadedFuture.get()) {
 				RCLCPP_ERROR(get_logger(), "Trajectory loading failed for object ID %u", id);
 				successful = false;
 			}
-			if (auto status = ipLoadedFuture.wait_for(2s);
+			if (auto status = ipLoadedFuture.wait_for(250ms);
 				status != std::future_status::ready || !ipLoadedFuture.get()) {
 				RCLCPP_ERROR(get_logger(), "IP loading failed for object ID %u", id);
 				successful = false;
 			}
-			if (auto status = originLoadedFuture.wait_for(2s);
+			if (auto status = originLoadedFuture.wait_for(250ms);
 				status != std::future_status::ready || !originLoadedFuture.get()) {
 				RCLCPP_ERROR(get_logger(), "Origin loading failed for object ID %u", id);
 				successful = false;
@@ -326,7 +320,7 @@ bool ObjectControl::loadScenario() {
 	auto future	 = idClient->async_send_request(request, idsCallback);
 	// Wait for all objects to load
 	std::future scenarioLoadedFuture = scenarioLoaded.get_future();
-	if (auto status = scenarioLoadedFuture.wait_for(30s); status == std::future_status::ready) {
+	if (auto status = scenarioLoadedFuture.wait_for(10s); status == std::future_status::ready) {
 		return scenarioLoadedFuture.get(); // Get the status value
 	} else if (status == std::future_status::timeout) {
 		RCLCPP_ERROR(get_logger(), "Scenario loading timed out");
@@ -341,6 +335,63 @@ bool ObjectControl::loadScenario() {
 	return false;
 }
 
+void ObjectControl::loadObjectFiles() {
+	char path[MAX_FILE_PATH];
+	std::vector<std::invalid_argument> errors;
+
+	UtilGetObjectDirectoryPath(path, sizeof(path));
+	fs::path objectDir(path);
+	if (!fs::exists(objectDir)) {
+		throw std::ios_base::failure("Object directory does not exist");
+	}
+
+	for (const auto& entry : fs::directory_iterator(objectDir)) {
+		if (fs::is_regular_file(entry.status())) {
+			const auto inputFile = entry.path();
+			ObjectConfig conf(get_logger());
+			try {
+				conf.parseConfigurationFile(inputFile);
+				uint32_t id = conf.getTransmitterID();
+				RCLCPP_INFO(get_logger(), "Loaded configuration: %s", conf.toString().c_str());
+				// Check preexisting
+				auto foundObject = objects.find(id);
+				if (foundObject == objects.end()) {
+					std::shared_ptr<TestObject> object = std::make_shared<TestObject>(id);
+					object->parseConfigurationFile(inputFile);
+					objects.emplace(id, object);
+				} else {
+					auto badID		   = conf.getTransmitterID();
+					std::string errMsg = "Duplicate object ID " + std::to_string(badID) + " detected in files " +
+										 objects.at(badID)->getTrajectoryFileName() + " and " +
+										 conf.getTrajectoryFileName();
+					throw std::invalid_argument(errMsg);
+				}
+			} catch (std::invalid_argument& e) {
+				RCLCPP_ERROR(get_logger(), "%s", e.what());
+				errors.push_back(e);
+			}
+		}
+	}
+
+	// Fix injector ID maps - reverse their direction
+	for (const auto& id : getVehicleIDs()) {
+		auto injMap = objects.at(id)->getObjectConfig().getInjectionMap();
+		for (const auto& sourceID : injMap.sourceIDs) {
+			auto conf = objects.at(sourceID)->getObjectConfig();
+			conf.addInjectionTarget(id);
+			objects.at(sourceID)->setObjectConfig(conf);
+		}
+	}
+
+	if (!errors.empty()) {
+		objects.clear();
+		std::ostringstream ostr;
+		auto append = [&ostr](const std::invalid_argument& e) { ostr << e.what() << std::endl; };
+		std::for_each(errors.begin(), errors.end(), append);
+		throw std::invalid_argument("Failed to parse object file(s):\n" + ostr.str());
+	}
+}
+
 uint32_t ObjectControl::getAnchorObjectID() const {
 	for (auto& object : objects) {
 		if (object.second->isAnchor()) {
@@ -468,7 +519,7 @@ void ObjectControl::heartbeat() {
 					objects.at(id)->sendHeartbeat(controlCenterStatus());
 				}
 			} catch (std::exception& e) {
-				RCLCPP_WARN(get_logger(), e.what());
+				RCLCPP_WARN(get_logger(), "%s", e.what());
 				objects.at(id)->disconnect();
 				sm.process_event(state_machine::events::DisconnectedFromObject{id});
 			}
@@ -536,8 +587,8 @@ void ObjectControl::notifyObjectsConnected() {
 }
 
 void ObjectControl::connectToObject(std::shared_ptr<TestObject> obj, std::shared_future<void>& connStopReq) {
-	const int maxConnHeabs = this->get_parameter("max_missing_heartbeats").as_int();
-	const int maxConnMonrs = this->get_parameter("max_missing_monr").as_int();
+	const int maxConnHeabs	   = this->get_parameter("max_missing_heartbeats").as_int();
+	constexpr int maxConnMonrs = 100;
 	try {
 		if (!obj->isConnected()) {
 			try {
diff --git a/atos/modules/ObjectControl/src/objectlistener.cpp b/atos/modules/ObjectControl/src/objectlistener.cpp
index 69426a3b9..e67a05cee 100644
--- a/atos/modules/ObjectControl/src/objectlistener.cpp
+++ b/atos/modules/ObjectControl/src/objectlistener.cpp
@@ -6,10 +6,10 @@
 #include "objectlistener.hpp"
 #include "objectcontrol.hpp"
 
-ObjectListener::ObjectListener(ObjectControl* sh, std::shared_ptr<TestObject> ob, rclcpp::Logger log) :
-  Loggable(log),
-  obj(ob),
-  handler(sh) {
+ObjectListener::ObjectListener(ObjectControl* sh,	std::shared_ptr<TestObject> ob,	rclcpp::Logger log) :
+	Loggable(log),
+	obj(ob),
+	handler(sh) {
 
 	if (!obj->isConnected()) {
 		throw std::invalid_argument("Attempted to start listener for disconnected object");
@@ -31,15 +31,15 @@ ObjectListener::~ObjectListener() {
 void ObjectListener::listen() {
 	try {
 		while (!this->quit) {
-			// handle incoming iso22133 messages
+			//handle incoming iso22133 messages
 			obj->handleISOMessage(true);
 		}
 	} catch (std::invalid_argument& e) {
-		RCLCPP_ERROR(get_logger(), e.what()); // TODO: add comment explaining this case..
-	} catch (std::range_error& e) {
-		RCLCPP_DEBUG(get_logger(), e.what()); // Socket was interrupted intentionally, exit gracefully
+		RCLCPP_ERROR(get_logger(), "%s", e.what()); // TODO: add comment explaining this case..
+	} catch (std::range_error& e){
+		RCLCPP_DEBUG(get_logger(), "%s", e.what()); // Socket was interrupted intentionally, exit gracefully
 	} catch (std::runtime_error& e) {
-		RCLCPP_ERROR(get_logger(), e.what());
+		RCLCPP_ERROR(get_logger(), "%s", e.what());
 		obj->disconnect();
 		handler->sm.process_event(state_machine::events::DisconnectedFromObject{obj->getTransmitterID()});
 	}
diff --git a/atos/modules/TrajectoryletStreamer/inc/trajectoryletstreamer.hpp b/atos/modules/TrajectoryletStreamer/inc/trajectoryletstreamer.hpp
index 3e2cfc281..98114f1a8 100644
--- a/atos/modules/TrajectoryletStreamer/inc/trajectoryletstreamer.hpp
+++ b/atos/modules/TrajectoryletStreamer/inc/trajectoryletstreamer.hpp
@@ -23,8 +23,8 @@ class TrajectoryletStreamer : public Module {
 
 private:
 	static inline std::string const moduleName = "trajectorylet_streamer";
-	void onInitMessage(const ROSChannels::Init::message_type::SharedPtr);
-	void onObjectsConnectedMessage(const ROSChannels::ObjectsConnected::message_type::SharedPtr);
+	void onInitMessage(const ROSChannels::Init::message_type::SharedPtr) override;
+	void onObjectsConnectedMessage(const ROSChannels::ObjectsConnected::message_type::SharedPtr) override;
 	void onAbortMessage(const ROSChannels::Abort::message_type::SharedPtr) override;
 	void onStopMessage(const ROSChannels::Stop::message_type::SharedPtr) override;
 
diff --git a/docs/Installation/installation.md b/docs/Installation/installation.md
index 196c3a0df..8ec4a020b 100644
--- a/docs/Installation/installation.md
+++ b/docs/Installation/installation.md
@@ -17,7 +17,7 @@ sudo chown -R $USER:$USER ~/.astazero/ATOS/
 ```
 
 ## <a name="Installation script"></a> Running natively
-ATOS comes with an installation script that automates the installation process. It is intended for use on Ubuntu 22.04. The script will install ROS 2, ATOS dependencies, and ATOS itself. It will also create a workspace and build ATOS. The script can be executed using the following command:
+ATOS comes with an installation script that automates the installation process. Native installation is supported on Ubuntu 20.04 with ROS 2 Foxy, Ubuntu 22.04 with ROS 2 Humble, and Ubuntu 24.04 with ROS 2 Jazzy. The script will install ROS 2, ATOS dependencies, and ATOS itself. It will also create a workspace and build ATOS. The script can be executed using the following command:
 ```bash
 ./setup_atos.sh
 ```
diff --git a/scripts/installation/install_atos.sh b/scripts/installation/install_atos.sh
index 6f48442e6..2bf37acef 100755
--- a/scripts/installation/install_atos.sh
+++ b/scripts/installation/install_atos.sh
@@ -13,6 +13,21 @@ ATOS_REPO_PATH="$1"
 source "${ATOS_REPO_PATH}/scripts/installation/install_functions.sh"
 check_command_failed $? "Failed to source ${ATOS_REPO_PATH}/scripts/installation/install_functions.sh"
 
+ROS_DISTRO="${ROS_DISTRO:-$(get_supported_ros_distro)}"
+check_command_failed $? "Failed to determine ROS 2 distribution for this Ubuntu release."
+ATOS_VENV_PATH="$(get_atos_venv_path)"
+
+if [ -z "${ROS_DISTRO}" ]; then
+    echo "Failed to determine a supported ROS 2 distribution for this Ubuntu release."
+    exit 1
+fi
+
+if [ ! -f "${ATOS_VENV_PATH}/bin/activate" ]; then
+    echo "ATOS Python virtual environment was not found at ${ATOS_VENV_PATH}."
+    echo "Run setup_atos.sh again to recreate Python dependencies."
+    exit 1
+fi
+
 ################################################
 ############## Install ATOS ####################
 ################################################
@@ -42,6 +57,8 @@ cd -
 # temporarily cd into the workspace and build with colcon
 echo "Building ATOS..."
 cd $HOME/atos_ws
+# shellcheck disable=SC1090
+source "${ATOS_VENV_PATH}/bin/activate"
 source /opt/ros/$ROS_DISTRO/setup.bash
 MAKEFLAGS=-j4 colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
 check_command_failed $? "Failed to build ATOS."
@@ -51,15 +68,23 @@ cd -
 ###### Configure setup scripts ######
 #####################################
 
+atos_venv_setup_script="source $ATOS_VENV_PATH/bin/activate"
+atos_python_site_packages="$(python -c 'import site; print(site.getsitepackages()[0])')"
+check_command_failed $? "Failed to determine ATOS Python site-packages path."
+atos_pythonpath_script="export PYTHONPATH=$atos_python_site_packages:\$PYTHONPATH"
 atos_setup_script="source $HOME/atos_ws/install/setup."
 ros2_setup_script="source /opt/ros/$ROS_DISTRO/setup."
 
 case "$SHELL" in
     */bash)
+        add_source_line_if_needed $HOME/.bashrc "bash" "${atos_venv_setup_script}"
+        add_source_line_if_needed $HOME/.bashrc "bash" "${atos_pythonpath_script}"
         add_source_line_if_needed $HOME/.bashrc "bash" "${ros2_setup_script}"
         add_source_line_if_needed $HOME/.bashrc "bash" "${atos_setup_script}"
     ;;
     */zsh)
+        add_source_line_if_needed $HOME/.zshrc "zsh" "${atos_venv_setup_script}"
+        add_source_line_if_needed $HOME/.zshrc "zsh" "${atos_pythonpath_script}"
         add_source_line_if_needed $HOME/.zshrc "zsh" "${ros2_setup_script}"
         add_source_line_if_needed $HOME/.zshrc "zsh" "${atos_setup_script}"
     ;;
diff --git a/scripts/installation/install_functions.sh b/scripts/installation/install_functions.sh
index 4b85d6876..da9b9dae5 100755
--- a/scripts/installation/install_functions.sh
+++ b/scripts/installation/install_functions.sh
@@ -3,7 +3,59 @@
 # Function to get Ubuntu distribution codename
 get_ubuntu_codename() {
     source /etc/os-release
-    echo $UBUNTU_CODENAME
+
+    if [ -n "${UBUNTU_CODENAME:-}" ]; then
+        echo "$UBUNTU_CODENAME"
+        return 0
+    fi
+
+    if [ -n "${VERSION_CODENAME:-}" ]; then
+        echo "$VERSION_CODENAME"
+        return 0
+    fi
+
+    case "${VERSION_ID:-}" in
+        "20.04"|"20")
+            echo "focal"
+        ;;
+        "22.04"|"22")
+            echo "jammy"
+        ;;
+        "24.04"|"24")
+            echo "noble"
+        ;;
+    esac
+}
+
+is_standard_ubuntu() {
+    source /etc/os-release
+    [ "${ID:-}" = "ubuntu" ]
+}
+
+is_ubuntu_core() {
+    source /etc/os-release
+    [ "${ID:-}" = "ubuntu-core" ]
+}
+
+get_supported_ros_distro() {
+    case "$(get_ubuntu_codename)" in
+        "focal")
+            echo "foxy"
+        ;;
+        "jammy")
+            echo "humble"
+        ;;
+        "noble")
+            echo "jazzy"
+        ;;
+        *)
+            return 1
+        ;;
+    esac
+}
+
+get_atos_venv_path() {
+    echo "$HOME/.local/share/atos/venv"
 }
 
 # Function that checks if command failed
@@ -39,7 +91,7 @@ update_symlink() {
 add_source_line_if_needed() {
     local file="$1"
     local shell_type="$2"
-    local source_line="$3$shell_type"
+    local source_line="$3"
 
     if ! grep -qF "$source_line" "$file"; then
         # Ask the user only for interactive local shells.
diff --git a/setup_atos.sh b/setup_atos.sh
index 91ef83090..6ada7c3eb 100755
--- a/setup_atos.sh
+++ b/setup_atos.sh
@@ -9,28 +9,38 @@ source "scripts/installation/install_functions.sh"
 # Get this file location
 REPO_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" &> /dev/null && pwd)"
 
-# Check if running on Ubuntu
-if ! grep -q "Ubuntu" /etc/os-release; then
-    echo "This script is designed for Ubuntu systems only."
+# Check if running on a supported Ubuntu variant
+if is_ubuntu_core; then
+    echo "Ubuntu Core is not supported for native ATOS installation."
+    echo "Use Docker instead, or run this script on Ubuntu 20.04, 22.04, or 24.04 with apt available."
     exit 1
 fi
 
-# Set ROS_DISTRO based on Ubuntu distribution
-case "$(get_ubuntu_codename)" in
-    "focal")
-    ;;
-    "jammy")
-    ;;
-    *)
-    echo "Unsupported Ubuntu distribution. Only 20.04 (focal) and 22.04 (jammy) are supported."
+if ! is_standard_ubuntu; then
+    echo "This script is designed for standard Ubuntu systems only."
     exit 1
-    ;;
-esac
+fi
+
+UBUNTU_CODENAME="$(get_ubuntu_codename)"
+ROS_DISTRO="$(get_supported_ros_distro)"
+
+if [ -z "${UBUNTU_CODENAME}" ] || [ -z "${ROS_DISTRO}" ]; then
+    echo "Unsupported Ubuntu distribution. Supported releases are 20.04 (focal), 22.04 (jammy), and 24.04 (noble)."
+    exit 1
+fi
+
+if ! command -v apt-get >/dev/null 2>&1; then
+    echo "apt-get is required for native ATOS installation but was not found on this system."
+    exit 1
+fi
+
+export ROS_DISTRO
 
 # Add -h/--help option
 if [ "$1" == "-h" ] || [ "$1" == "--help" ]; then
     echo "Usage: ./setup_atos.sh [single option]"
-    echo "This script will install all necessary dependencies, setup the ROS workspace at ~/atos_ws and install ATOS. Please open and inspect this script for further details."
+    echo "This script will install all necessary dependencies, setup the ROS workspace at ~/atos_ws and install ATOS."
+    echo "Supported native targets: Ubuntu 20.04 with ROS 2 Foxy, Ubuntu 22.04 with ROS 2 Humble, and Ubuntu 24.04 with ROS 2 Jazzy."
     echo "Options:"
     echo "  -h, --help      Show this help message and exit"
     echo "  -r              Reinstall dependencies"              

From cc20e84a17075377d38092698e6a21f389596e91 Mon Sep 17 00:00:00 2001
From: Sebastian Loh Lindholm <sll@sebart.net>
Date: Mon, 11 May 2026 13:09:00 +0200
Subject: [PATCH 23/33] Timestep to esminiadapter

---
 .../EsminiAdapter/src/esminiadapter.cpp       | 21 ++++++++++++++++---
 .../ObjectControl/src/objectcontrol.cpp       |  8 +++----
 2 files changed, 22 insertions(+), 7 deletions(-)

diff --git a/atos/modules/EsminiAdapter/src/esminiadapter.cpp b/atos/modules/EsminiAdapter/src/esminiadapter.cpp
index 72691b879..9f2702ff8 100644
--- a/atos/modules/EsminiAdapter/src/esminiadapter.cpp
+++ b/atos/modules/EsminiAdapter/src/esminiadapter.cpp
@@ -12,6 +12,7 @@
 #include <cmath>
 #include <chrono>
 #include <regex>
+#include <type_traits>
 
 #include "atos_interfaces/msg/cartesian_trajectory.hpp"
 #include "rclcpp/wait_for_message.hpp"
@@ -27,6 +28,20 @@ using std::placeholders::_1;
 using std::placeholders::_2;
 using namespace std::chrono_literals;
 
+namespace
+{
+template <typename ReportObjectPosFn>
+int reportObjectPos(ReportObjectPosFn reportFn, int objectId, double timestamp, double x, double y, double z, double h, double p, double r)
+{
+	if constexpr (std::is_invocable_v<ReportObjectPosFn, int, float, float, float, float, float, float, float>) {
+		return reportFn(objectId, static_cast<float>(timestamp), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z),
+						static_cast<float>(h), static_cast<float>(p), static_cast<float>(r));
+	} else {
+		return reportFn(objectId, x, y, z, h, p, r);
+	}
+}
+}
+
 
 
 
@@ -52,9 +67,9 @@ EsminiAdapter::EsminiAdapter() : Module(moduleName),
 	oscFilePathClient_cb_group_ = this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 	objectIdsClient_cb_group_ = this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 	oscFilePathClient_ = create_client<atos_interfaces::srv::GetOpenScenarioFilePath>(
-	  ServiceNames::getOpenScenarioFilePath, rclcpp::ServicesQoS(), oscFilePathClient_cb_group_);
+	  ServiceNames::getOpenScenarioFilePath, rmw_qos_profile_services_default, oscFilePathClient_cb_group_);
 	objectIdsClient_ = create_client<atos_interfaces::srv::GetObjectIds>(
-	  ServiceNames::getObjectIds, rclcpp::ServicesQoS(), objectIdsClient_cb_group_);
+	  ServiceNames::getObjectIds, rmw_qos_profile_services_default, objectIdsClient_cb_group_);
 	declare_parameter("timestep", 0.1);
 
 }
@@ -232,7 +247,7 @@ void EsminiAdapter::reportObjectPosition(const Monitor::message_type::SharedPtr
 	auto speed = monr->velocity.twist.linear;
 
 	// Reporting to Esmini
-	SE_ReportObjectPos(esminiObjectId, pos.x, pos.y, pos.z, yaw, pitch, roll);
+	reportObjectPos(&SE_ReportObjectPos, esminiObjectId, SE_GetSimulationTime(), pos.x, pos.y, pos.z, yaw, pitch, roll);
 	SE_ReportObjectSpeed(esminiObjectId, speed.x);
 }
 
diff --git a/atos/modules/ObjectControl/src/objectcontrol.cpp b/atos/modules/ObjectControl/src/objectcontrol.cpp
index 0d1b44b71..35f761f8e 100644
--- a/atos/modules/ObjectControl/src/objectcontrol.cpp
+++ b/atos/modules/ObjectControl/src/objectcontrol.cpp
@@ -56,13 +56,13 @@ ObjectControl::ObjectControl(std::shared_ptr<rclcpp::executors::MultiThreadedExe
 	this->declare_parameter("max_missing_heartbeats", 100);
 	objectsConnectedTimer = create_wall_timer(1000ms, std::bind(&ObjectControl::publishObjectIds, this));
 	idClient			  = create_client<atos_interfaces::srv::GetObjectIds>(
-	   ServiceNames::getObjectIds, rclcpp::ServicesQoS(), id_client_cb_group_);
+	   ServiceNames::getObjectIds, rmw_qos_profile_services_default, id_client_cb_group_);
 	originClient = create_client<atos_interfaces::srv::GetTestOrigin>(
-	  ServiceNames::getTestOrigin, rclcpp::ServicesQoS(), origin_client_cb_group_);
+	  ServiceNames::getTestOrigin, rmw_qos_profile_services_default, origin_client_cb_group_);
 	trajectoryClient = create_client<atos_interfaces::srv::GetObjectTrajectory>(
-	  ServiceNames::getObjectTrajectory, rclcpp::ServicesQoS(), traj_client_cb_group_);
+	  ServiceNames::getObjectTrajectory, rmw_qos_profile_services_default, traj_client_cb_group_);
 	ipClient = create_client<atos_interfaces::srv::GetObjectIp>(
-	  ServiceNames::getObjectIp, rclcpp::ServicesQoS(), ip_client_cb_group_);
+	  ServiceNames::getObjectIp, rmw_qos_profile_services_default, ip_client_cb_group_);
 	returnTrajectoryClient =
 	  create_client<atos_interfaces::srv::GetObjectReturnTrajectory>(ServiceNames::getObjectReturnTrajectory);
 	stateService = create_service<atos_interfaces::srv::GetObjectControlState>(

From 630f5aad4b8ea2511a26ffa9600a4bc58f69dfd5 Mon Sep 17 00:00:00 2001
From: Sebastian Loh Lindholm <sll@sebart.net>
Date: Thu, 4 Jun 2026 12:40:39 +0200
Subject: [PATCH 24/33] NiceGUI running in normal single server process

---
 atos_gui/atos_gui/main.py | 48 +++++++++++++++++++++++----------------
 1 file changed, 28 insertions(+), 20 deletions(-)

diff --git a/atos_gui/atos_gui/main.py b/atos_gui/atos_gui/main.py
index eb1cd5e85..adfdabdf0 100644
--- a/atos_gui/atos_gui/main.py
+++ b/atos_gui/atos_gui/main.py
@@ -28,13 +28,13 @@
 FLEET_STATE_LOCK = threading.Lock()
 FLEET_TRUCK_STATES: dict[str, dict] = {}
 FLEET_GEOJSON_CACHE: dict[str, dict] = {}
+APP_CONFIGURED = False
 
 
 
 def main() -> None:
-    # NOTE: This function is defined as the ROS entry point in setup.py,
-    # but it's empty to enable NiceGUI auto-reloading.
-    pass
+    configure_app()
+    ui.run(**build_ui_run_args())
 
 
 def _candidate_conf_dirs() -> list[Path]:
@@ -273,25 +273,33 @@ def print_access_hint() -> None:
     print(f"TruckObjectGUI ready. Open {scheme}://localhost:8420", flush=True)
 
 
-# Start the ROS node logic in a thread managed by nicegui.
-app.on_startup(lambda: threading.Thread(target=ros_main, daemon=True).start())
-app.on_startup(print_access_hint)
+def configure_app() -> None:
+    global APP_CONFIGURED
+    if APP_CONFIGURED:
+        return
 
-ui_run.APP_IMPORT_STRING = f"{__name__}:app"  # ROS2 uses non-standard module naming.
+    app.on_startup(lambda: threading.Thread(target=ros_main, daemon=True).start())
+    app.on_startup(print_access_hint)
+    APP_CONFIGURED = True
 
-uvicorn_args = {
-    "uvicorn_reload_dirs": str(Path(__file__).parent.resolve()),
-    "host": "0.0.0.0",
-    "port": 8420,
-    "show": False,
-    "title": "TruckObjectGUI" if FLEET_MODE else "ATOS GUI",
-}
 
-if USE_SSL:
-    uvicorn_args["ssl_keyfile"] = Path.home() / ".astazero/ATOS/certs/selfsigned.key"
-    uvicorn_args["ssl_certfile"] = Path.home() / ".astazero/ATOS/certs/selfsigned.crt"
+def build_ui_run_args() -> dict:
+    ui_run.APP_IMPORT_STRING = f"{__name__}:app"
+
+    uvicorn_args = {
+        "host": "0.0.0.0",
+        "port": 8420,
+        "reload": False,
+        "show": False,
+        "title": "TruckObjectGUI" if FLEET_MODE else "ATOS GUI",
+    }
+
+    if USE_SSL:
+        uvicorn_args["ssl_keyfile"] = Path.home() / ".astazero/ATOS/certs/selfsigned.key"
+        uvicorn_args["ssl_certfile"] = Path.home() / ".astazero/ATOS/certs/selfsigned.crt"
+
+    return uvicorn_args
 
-ui.run(**uvicorn_args)
 
-if USE_SSL:
-    print("ATTENTION: Using SSL, use https://localhost:8420 to access the GUI instead", flush=True)
+if __name__ in {"__main__", "__mp_main__"}:
+    main()

From 2c6db55eb4cf53f57c3d679a9f1cd210d89b5dd4 Mon Sep 17 00:00:00 2001
From: Sebastian Loh Lindholm <sll@sebart.net>
Date: Thu, 18 Jun 2026 14:11:55 +0200
Subject: [PATCH 25/33] Compile error fixed after rebasing

---
 atos/modules/MQTTBridge/inc/Imqtt2ros.hpp        | 2 +-
 atos/modules/ObjectControl/inc/objectcontrol.hpp | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/atos/modules/MQTTBridge/inc/Imqtt2ros.hpp b/atos/modules/MQTTBridge/inc/Imqtt2ros.hpp
index 52daa363f..cb619d830 100644
--- a/atos/modules/MQTTBridge/inc/Imqtt2ros.hpp
+++ b/atos/modules/MQTTBridge/inc/Imqtt2ros.hpp
@@ -15,7 +15,7 @@ struct Mqtt2RosInterface {
 	struct {
 		std::string topic;	  ///< ROS topic
 		std::string msg_type; ///< message type of publisher
-		rclcpp::GenericPublisher::SharedPtr publisher;
+		rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr publisher;
 		int queue_size = 1;		///< ROS publisher queue size
 		bool is_stale  = false; ///< whether a new generic publisher/subscriber is required
 	} ros;						///< ROS-related variables
diff --git a/atos/modules/ObjectControl/inc/objectcontrol.hpp b/atos/modules/ObjectControl/inc/objectcontrol.hpp
index 88347aee3..d7ac83641 100644
--- a/atos/modules/ObjectControl/inc/objectcontrol.hpp
+++ b/atos/modules/ObjectControl/inc/objectcontrol.hpp
@@ -270,6 +270,7 @@ class ObjectControl : public Module {
 	//! \brief Read the configured object and trajectory files and load related data
 	//!			into the ScenarioHandler.
 	bool loadScenario();
+	void loadObjectFiles();
 	//! \brief Transform the scenario trajectories relative to the trajectory of the
 	//!			specified object.
 	void transformScenarioRelativeTo(const uint32_t objectID);

From 1a1b46cdc52de4d1c00c03f20e1cb05ffc716cac Mon Sep 17 00:00:00 2001
From: Sebastian Loh Lindholm <sll@sebart.net>
Date: Thu, 18 Jun 2026 14:12:29 +0200
Subject: [PATCH 26/33] format

---
 atos/common/module.hpp                        | 128 ++-
 atos/common/roschannels/roschannel.hpp        |  35 +-
 atos/launch/launch_atosfleetmanagement.py     | 330 ++++----
 .../DirectControl/src/directcontrol.cpp       | 186 ++---
 .../EsminiAdapter/src/esminiadapter.cpp       | 380 +++++----
 .../src/scenarioexecution.cpp                 |  68 +-
 atos/modules/MQTTBridge/src/mqttbridge.cpp    | 769 +++++++++---------
 .../ObjectControl/inc/relativeanchor.hpp      |   6 +-
 .../ObjectControl/inc/relativetestobject.hpp  |  22 +-
 .../ObjectControl/src/objectlistener.cpp      |  12 +-
 atos_gui/atos_gui/main.py                     |  39 +-
 atos_gui/atos_gui/objectpanel/objectpanel.py  |  42 +-
 12 files changed, 1010 insertions(+), 1007 deletions(-)

diff --git a/atos/common/module.hpp b/atos/common/module.hpp
index ff62b2e27..a2ba23ffe 100644
--- a/atos/common/module.hpp
+++ b/atos/common/module.hpp
@@ -8,27 +8,27 @@
 #include <functional>
 #include <string>
 
-#include <rclcpp/rclcpp.hpp>
 #include "roschannels/commandchannels.hpp"
+#include <rclcpp/rclcpp.hpp>
 
 namespace ServiceNames {
-const std::string initDataDict = "init_data_dictionary";
-const std::string getObjectIds = "get_object_ids";
-const std::string getObjectIp = "get_object_ip";
-const std::string getTestOrigin = "get_test_origin";
-const std::string getObjectTrajectory = "get_object_trajectory";
-const std::string getObjectTriggerStart = "get_object_trigger_start";
-const std::string getObjectControlState = "get_object_control_state";
+const std::string initDataDict				= "init_data_dictionary";
+const std::string getObjectIds				= "get_object_ids";
+const std::string getObjectIp				= "get_object_ip";
+const std::string getTestOrigin				= "get_test_origin";
+const std::string getObjectTrajectory		= "get_object_trajectory";
+const std::string getObjectTriggerStart		= "get_object_trigger_start";
+const std::string getObjectControlState		= "get_object_control_state";
 const std::string getObjectReturnTrajectory = "get_object_return_trajectory";
-const std::string getOpenScenarioFilePath = "get_open_scenario_file_path";
-}
+const std::string getOpenScenarioFilePath	= "get_open_scenario_file_path";
+} // namespace ServiceNames
 
 // TODO move somewhere else? also make generic to allow more args (variadic template)?
 /*!
  * \brief Facilitates one-line intialization
  * of a ros message with one argument.
  */
-template <typename Msg_T, typename MsgData_T>
+template<typename Msg_T, typename MsgData_T>
 Msg_T msgCtr1(MsgData_T data) {
 	Msg_T ret;
 	ret.data = data;
@@ -43,51 +43,51 @@ Msg_T msgCtr1(MsgData_T data) {
  * \param name name of the module. Is passed to the ROS node.
  */
 class Module : public rclcpp::Node {
-   public:
-	Module(const std::string name) : Node(name), getStatusResponsePub(*this) {};
+public:
+	Module(const std::string name) :
+	  Node(name),
+	  getStatusResponsePub(*this) {};
 	Module() = delete;
 	bool shouldExit();
 
-   protected:
-	bool quit=false;
+protected:
+	bool quit = false;
 
 	ROSChannels::GetStatusResponse::Pub getStatusResponsePub;
 
-	virtual void onFailureMessage(const ROSChannels::Failure::message_type::SharedPtr){};
-	virtual void onGetStatusResponse(const ROSChannels::GetStatusResponse::message_type::SharedPtr){};
+	virtual void onFailureMessage(const ROSChannels::Failure::message_type::SharedPtr) {};
+	virtual void onGetStatusResponse(const ROSChannels::GetStatusResponse::message_type::SharedPtr) {};
 	virtual void onGetStatusMessage(const ROSChannels::GetStatus::message_type::SharedPtr) {
 		auto msg = std_msgs::msg::String();
 		msg.data = this->get_name();
 		getStatusResponsePub.publish(msg);
 	};
 
-	virtual void onInitMessage(const ROSChannels::Init::message_type::SharedPtr){};
-	virtual void onConnectMessage(const ROSChannels::Connect::message_type::SharedPtr){};
-	virtual void onDisconnectMessage(const ROSChannels::Disconnect::message_type::SharedPtr){};
-	virtual void onArmMessage(const ROSChannels::Arm::message_type::SharedPtr){};
-	virtual void onDisarmMessage(const ROSChannels::Disarm::message_type::SharedPtr){};
-	virtual void onObjectsConnectedMessage(const ROSChannels::ObjectsConnected::message_type::SharedPtr){};
-	virtual void onAllClearMessage(const ROSChannels::AllClear::message_type::SharedPtr){};
-	virtual void onStartMessage(const ROSChannels::Start::message_type::SharedPtr){};
-	virtual void onStartObjectMessage(const ROSChannels::StartObject::message_type::SharedPtr){};
-	virtual void onStopMessage(const ROSChannels::Stop::message_type::SharedPtr){};
-	virtual void onAbortMessage(const ROSChannels::Abort::message_type::SharedPtr){};
-	virtual void onReplayMessage(const ROSChannels::Replay::message_type::SharedPtr){};
+	virtual void onInitMessage(const ROSChannels::Init::message_type::SharedPtr) {};
+	virtual void onConnectMessage(const ROSChannels::Connect::message_type::SharedPtr) {};
+	virtual void onDisconnectMessage(const ROSChannels::Disconnect::message_type::SharedPtr) {};
+	virtual void onArmMessage(const ROSChannels::Arm::message_type::SharedPtr) {};
+	virtual void onDisarmMessage(const ROSChannels::Disarm::message_type::SharedPtr) {};
+	virtual void onObjectsConnectedMessage(const ROSChannels::ObjectsConnected::message_type::SharedPtr) {};
+	virtual void onAllClearMessage(const ROSChannels::AllClear::message_type::SharedPtr) {};
+	virtual void onStartMessage(const ROSChannels::Start::message_type::SharedPtr) {};
+	virtual void onStartObjectMessage(const ROSChannels::StartObject::message_type::SharedPtr) {};
+	virtual void onStopMessage(const ROSChannels::Stop::message_type::SharedPtr) {};
+	virtual void onAbortMessage(const ROSChannels::Abort::message_type::SharedPtr) {};
+	virtual void onReplayMessage(const ROSChannels::Replay::message_type::SharedPtr) {};
 	virtual void onExitMessage(const ROSChannels::Exit::message_type::SharedPtr);
-	virtual void onResetTestObjectsMessage(const ROSChannels::ResetTestObjects::message_type::SharedPtr){};
-	virtual void onReloadObjectSettingsMessage(const ROSChannels::ReloadObjectSettings::message_type::SharedPtr){};
-
+	virtual void onResetTestObjectsMessage(const ROSChannels::ResetTestObjects::message_type::SharedPtr) {};
+	virtual void onReloadObjectSettingsMessage(const ROSChannels::ReloadObjectSettings::message_type::SharedPtr) {};
 
 	static void tryHandleMessage(std::function<void()> tryExecute,
 								 std::function<void()> executeIfFail,
 								 const std::string& topic,
 								 const rclcpp::Logger& logger);
-	
 
 	/**
 	 * @brief This helper function performs a service call given a client and yields a response. This
 	 * function is used when you want to specify the request instead of sending an empty request.
-	 * 
+	 *
 	 * @tparam Srv Srv The name of the service to request.
 	 * @param timeout The timeout for the service call.
 	 * @param client The client to use to request the service.
@@ -95,12 +95,11 @@ class Module : public rclcpp::Node {
 	 * @param request The request of the service, with the data to be sent. Defaults to an empty request.
 	 * @return The response of the service.
 	 */
-	template <typename Srv>
-	bool callService( const std::chrono::duration< double > &timeout,
-						std::shared_ptr<rclcpp::Client<Srv>> &client,
-						std::shared_ptr<typename Srv::Response> &response,
-						std::shared_ptr<typename Srv::Request> request = std::make_shared<typename Srv::Request>())
-{
+	template<typename Srv>
+	bool callService(const std::chrono::duration<double>& timeout,
+					 std::shared_ptr<rclcpp::Client<Srv>>& client,
+					 std::shared_ptr<typename Srv::Response>& response,
+					 std::shared_ptr<typename Srv::Request> request = std::make_shared<typename Srv::Request>()) {
 		auto promise = client->async_send_request(request);
 		if (rclcpp::spin_until_future_complete(get_node_base_interface(), promise, timeout) ==
 			rclcpp::FutureReturnCode::SUCCESS) {
@@ -113,17 +112,16 @@ class Module : public rclcpp::Node {
 	}
 
 	/*! \brief This helper function waits for a service to become available and returns a client.
-	*  \tparam Srv The name of the service to request.
-	*  \param n The number of times to retry.
-	*  \param timeout The timeout to wait for the service.
-	*  \param serviceName The name of the service to request.
-	* 	\return The response of the service.
-	*/
-	template <typename Srv>
+	 *  \tparam Srv The name of the service to request.
+	 *  \param n The number of times to retry.
+	 *  \param timeout The timeout to wait for the service.
+	 *  \param serviceName The name of the service to request.
+	 * 	\return The response of the service.
+	 */
+	template<typename Srv>
 	typename std::shared_ptr<rclcpp::Client<Srv>> nTimesWaitForService(int n,
-							const std::chrono::duration< double > &timeout,
-							const std::string &serviceName)
-{
+																	   const std::chrono::duration<double>& timeout,
+																	   const std::string& serviceName) {
 		int retries = 0;
 		auto client = create_client<Srv>(serviceName);
 
@@ -140,25 +138,23 @@ class Module : public rclcpp::Node {
 		throw std::runtime_error("Failed to initialize service " + serviceName);
 	}
 
-
 	/*! \brief This helper function is used by rosnodes to request a service.
-	*  \tparam Srv The name of the service to request.
-	*  \param n Number of times to retry until accepting the service is not available.
-	*  \param timeout The timeout to wait for the service.
-	*  \param serviceName The name of the service to request.
-	*  \param response Response of the service, to be returned.
-	* 	\return The response of the service.
-	*/
-	template <typename Srv>
-	bool nShotServiceRequest(int n, 
-							const std::chrono::duration< double > &timeout,
-							const std::string &serviceName,
-							std::shared_ptr<typename Srv::Response> &response) {
+	 *  \tparam Srv The name of the service to request.
+	 *  \param n Number of times to retry until accepting the service is not available.
+	 *  \param timeout The timeout to wait for the service.
+	 *  \param serviceName The name of the service to request.
+	 *  \param response Response of the service, to be returned.
+	 * 	\return The response of the service.
+	 */
+	template<typename Srv>
+	bool nShotServiceRequest(int n,
+							 const std::chrono::duration<double>& timeout,
+							 const std::string& serviceName,
+							 std::shared_ptr<typename Srv::Response>& response) {
 		std::shared_ptr<rclcpp::Client<Srv>> client;
-		try{
+		try {
 			client = nTimesWaitForService<Srv>(n, timeout, serviceName);
-		}
-		catch (std::runtime_error &e){
+		} catch (std::runtime_error& e) {
 			RCLCPP_ERROR(get_logger(), "Failed to initialize service %s", serviceName.c_str());
 			return false;
 		}
diff --git a/atos/common/roschannels/roschannel.hpp b/atos/common/roschannels/roschannel.hpp
index 8e608f4aa..adb4399ef 100644
--- a/atos/common/roschannels/roschannel.hpp
+++ b/atos/common/roschannels/roschannel.hpp
@@ -5,36 +5,37 @@
  */
 #pragma once
 
+#include <functional>
 #include <rclcpp/rclcpp.hpp>
 #include <string>
-#include <functional>
 
 namespace ROSChannels {
 
 template<typename T>
 class BasePub {
 public:
-    BasePub(rclcpp::Node& node,
-        const std::string& topicName,
-        const rclcpp::QoS& qos = rclcpp::QoS(rclcpp::KeepAll()))
-        : pub(node.create_publisher<T>(topicName, qos)) {}
-    BasePub() = delete;
-    virtual ~BasePub() = default;
-    typename rclcpp::Publisher<T>::SharedPtr pub;
-    inline virtual void publish(const T& msg) { assert(pub); pub->publish(msg); };
+	BasePub(rclcpp::Node& node, const std::string& topicName, const rclcpp::QoS& qos = rclcpp::QoS(rclcpp::KeepAll())) :
+	  pub(node.create_publisher<T>(topicName, qos)) {}
+	BasePub()		   = delete;
+	virtual ~BasePub() = default;
+	typename rclcpp::Publisher<T>::SharedPtr pub;
+	inline virtual void publish(const T& msg) {
+		assert(pub);
+		pub->publish(msg);
+	};
 };
 
 template<typename T>
 class BaseSub {
 public:
-    BaseSub(rclcpp::Node& node,
-        const std::string& topicName,
-        std::function<void(const typename T::SharedPtr)> callback,
-        const rclcpp::QoS& qos = rclcpp::QoS(rclcpp::KeepAll()))
-        : sub(node.create_subscription<T>(topicName, qos, callback)) {}
-    BaseSub() = delete;
-    virtual ~BaseSub() = default;
-    typename rclcpp::Subscription<T>::SharedPtr sub;
+	BaseSub(rclcpp::Node& node,
+			const std::string& topicName,
+			std::function<void(const typename T::SharedPtr)> callback,
+			const rclcpp::QoS& qos = rclcpp::QoS(rclcpp::KeepAll())) :
+	  sub(node.create_subscription<T>(topicName, qos, callback)) {}
+	BaseSub()		   = delete;
+	virtual ~BaseSub() = default;
+	typename rclcpp::Subscription<T>::SharedPtr sub;
 };
 
 } // namespace ROSChannels
diff --git a/atos/launch/launch_atosfleetmanagement.py b/atos/launch/launch_atosfleetmanagement.py
index 72bf26486..0d2c1054a 100644
--- a/atos/launch/launch_atosfleetmanagement.py
+++ b/atos/launch/launch_atosfleetmanagement.py
@@ -9,169 +9,193 @@
 from launch_ros.actions import Node
 
 # Need to modify sys.path since we launch from the ros2 installed path.
-sys.path.insert(0, os.path.join(get_package_prefix('atos'), 'share', 'atos', 'launch'))
+sys.path.insert(0, os.path.join(get_package_prefix("atos"), "share", "atos", "launch"))
 
 
 def generate_launch_description():
-    insecure_websockets = LaunchConfiguration('insecure')
-    foxbridge = LaunchConfiguration('foxbridge')
-    with_simulator = LaunchConfiguration('with_truck_simulator')
-    cot_tls_require_client_cert = LaunchConfiguration('cot_tls_require_client_cert')
-    cot_tls_cert_path = LaunchConfiguration('cot_tls_cert_path')
-    cot_tls_key_path = LaunchConfiguration('cot_tls_key_path')
-    cot_tls_ca_path = LaunchConfiguration('cot_tls_ca_path')
+    insecure_websockets = LaunchConfiguration("insecure")
+    foxbridge = LaunchConfiguration("foxbridge")
+    with_simulator = LaunchConfiguration("with_truck_simulator")
+    cot_tls_require_client_cert = LaunchConfiguration("cot_tls_require_client_cert")
+    cot_tls_cert_path = LaunchConfiguration("cot_tls_cert_path")
+    cot_tls_key_path = LaunchConfiguration("cot_tls_key_path")
+    cot_tls_ca_path = LaunchConfiguration("cot_tls_ca_path")
 
-    insecure_launch_arg = DeclareLaunchArgument('insecure', default_value='False')
-    foxbridge_launch_arg = DeclareLaunchArgument('foxbridge', default_value='True')
-    simulator_launch_arg = DeclareLaunchArgument('with_truck_simulator', default_value='False')
-    cot_tls_require_client_cert_launch_arg = DeclareLaunchArgument('cot_tls_require_client_cert', default_value='False')
-    cot_tls_cert_path_launch_arg = DeclareLaunchArgument('cot_tls_cert_path', default_value='')
-    cot_tls_key_path_launch_arg = DeclareLaunchArgument('cot_tls_key_path', default_value='')
-    cot_tls_ca_path_launch_arg = DeclareLaunchArgument('cot_tls_ca_path', default_value='')
+    insecure_launch_arg = DeclareLaunchArgument("insecure", default_value="False")
+    foxbridge_launch_arg = DeclareLaunchArgument("foxbridge", default_value="True")
+    simulator_launch_arg = DeclareLaunchArgument(
+        "with_truck_simulator", default_value="False"
+    )
+    cot_tls_require_client_cert_launch_arg = DeclareLaunchArgument(
+        "cot_tls_require_client_cert", default_value="False"
+    )
+    cot_tls_cert_path_launch_arg = DeclareLaunchArgument(
+        "cot_tls_cert_path", default_value=""
+    )
+    cot_tls_key_path_launch_arg = DeclareLaunchArgument(
+        "cot_tls_key_path", default_value=""
+    )
+    cot_tls_ca_path_launch_arg = DeclareLaunchArgument(
+        "cot_tls_ca_path", default_value=""
+    )
 
     fox_tls_bridge_params = [
-        {'port': 8765},
-        {'retry_startup_delay': 5.0},
-        {'tls': True},
-        {'fragment_timeout': 600},
-        {'max_message_size': 10000000},
-        {'unregister_timeout': 10.0},
-        {'use_compression': False},
+        {"port": 8765},
+        {"retry_startup_delay": 5.0},
+        {"tls": True},
+        {"fragment_timeout": 600},
+        {"max_message_size": 10000000},
+        {"unregister_timeout": 10.0},
+        {"use_compression": False},
     ]
     ros_tls_bridge_params = [
-        {'port': 9090},
-        {'retry_startup_delay': 5.0},
-        {'tls': True},
-        {'fragment_timeout': 600},
-        {'max_message_size': 10000000},
-        {'unregister_timeout': 10.0},
-        {'use_compression': False},
+        {"port": 9090},
+        {"retry_startup_delay": 5.0},
+        {"tls": True},
+        {"fragment_timeout": 600},
+        {"max_message_size": 10000000},
+        {"unregister_timeout": 10.0},
+        {"use_compression": False},
     ]
 
     fox_bridge_params = [dict(item) for item in fox_tls_bridge_params]
-    fox_bridge_params[2] = {'tls': False}
+    fox_bridge_params[2] = {"tls": False}
     ros_bridge_params = [dict(item) for item in ros_tls_bridge_params]
-    ros_bridge_params[1] = {'retry_startup_delay': 5.0}
-    ros_bridge_params[2] = {'tls': False}
+    ros_bridge_params[1] = {"retry_startup_delay": 5.0}
+    ros_bridge_params[2] = {"tls": False}
 
-    return LaunchDescription([
-        foxbridge_launch_arg,
-        insecure_launch_arg,
-        simulator_launch_arg,
-        cot_tls_require_client_cert_launch_arg,
-        cot_tls_cert_path_launch_arg,
-        cot_tls_key_path_launch_arg,
-        cot_tls_ca_path_launch_arg,
-        Node(
-            condition=IfCondition(PythonExpression(['not ', LaunchConfiguration('insecure')])),
-            package='atos_gui',
-            namespace='atos',
-            executable='truck_object_gui',
-            name='truck_object_gui',
-            output='screen',
-            arguments=['True', 'atosfleetmanagement'],
-        ),
-        Node(
-            condition=IfCondition(LaunchConfiguration('insecure')),
-            package='atos_gui',
-            namespace='atos',
-            executable='truck_object_gui',
-            name='truck_object_gui',
-            output='screen',
-            arguments=['False', 'atosfleetmanagement'],
-        ),
-        Node(
-            package='atos',
-            namespace='atos',
-            executable='truck_object_control',
-            name='truck_object_control',
-            output='screen',
-            parameters=[
-                {'cot_tls_require_client_cert': cot_tls_require_client_cert},
-                {'cot_tls_cert_path': cot_tls_cert_path},
-                {'cot_tls_key_path': cot_tls_key_path},
-                {'cot_tls_ca_path': cot_tls_ca_path},
-            ],
-        ),
-        Node(
-            condition=IfCondition(with_simulator),
-            package='atos',
-            namespace='atos',
-            executable='atos_truck_simulator',
-            name='atos_truck_simulator_1',
-            output='screen',
-            parameters=[
-                {'uid': 'L5S-TRUCK-SIM-1'},
-                {'start_index': 0},
-                {'target_speed_kmh': 80.0},
-                {'acceleration_mps2': 2.0},
-                {'ignore_warning_speed_commands': True},
-            ],
-        ),
-        Node(
-            condition=IfCondition(with_simulator),
-            package='atos',
-            namespace='atos',
-            executable='atos_truck_simulator',
-            name='atos_truck_simulator_2',
-            output='screen',
-            parameters=[
-                {'uid': 'L5S-TRUCK-SIM-2'},
-                {'start_index': 250},
-                {'target_speed_kmh': 40.0},
-                {'acceleration_mps2': 2.0},
-            ],
-        ),
-        Node(
-            condition=IfCondition(with_simulator),
-            package='atos',
-            namespace='atos',
-            executable='atos_truck_simulator',
-            name='atos_truck_simulator_3',
-            output='screen',
-            parameters=[
-                {'uid': 'L5S-TRUCK-SIM-3'},
-                {'start_index': 500},
-                {'target_speed_kmh': 40.0},
-                {'acceleration_mps2': 2.0},
-            ],
-        ),
-        Node(
-            condition=IfCondition(PythonExpression(['not ', foxbridge])),
-            name='rosapi',
-            package='rosapi',
-            executable='rosapi_node',
-        ),
-        Node(
-            condition=IfCondition(PythonExpression([insecure_websockets, ' and ', foxbridge])),
-            package='foxglove_bridge',
-            executable='foxglove_bridge',
-            name='foxglove_bridge',
-            output={'both': 'log'},
-            parameters=fox_bridge_params,
-        ),
-        Node(
-            condition=IfCondition(PythonExpression(['not ', insecure_websockets, ' and ', foxbridge])),
-            package='foxglove_bridge',
-            executable='foxglove_bridge',
-            name='foxglove_bridge',
-            output={'both': 'log'},
-            parameters=fox_tls_bridge_params,
-        ),
-        Node(
-            condition=IfCondition(PythonExpression([insecure_websockets, ' and not ', foxbridge])),
-            package='rosbridge_server',
-            executable='rosbridge_websocket',
-            name='ros_bridge',
-            output={'both': 'log'},
-            parameters=ros_bridge_params,
-        ),
-        Node(
-            condition=IfCondition(PythonExpression(['not ', insecure_websockets, ' and not ', foxbridge])),
-            package='rosbridge_server',
-            executable='rosbridge_websocket',
-            name='ros_bridge',
-            output={'both': 'log'},
-            parameters=ros_tls_bridge_params,
-        ),
-    ])
+    return LaunchDescription(
+        [
+            foxbridge_launch_arg,
+            insecure_launch_arg,
+            simulator_launch_arg,
+            cot_tls_require_client_cert_launch_arg,
+            cot_tls_cert_path_launch_arg,
+            cot_tls_key_path_launch_arg,
+            cot_tls_ca_path_launch_arg,
+            Node(
+                condition=IfCondition(
+                    PythonExpression(["not ", LaunchConfiguration("insecure")])
+                ),
+                package="atos_gui",
+                namespace="atos",
+                executable="truck_object_gui",
+                name="truck_object_gui",
+                output="screen",
+                arguments=["True", "atosfleetmanagement"],
+            ),
+            Node(
+                condition=IfCondition(LaunchConfiguration("insecure")),
+                package="atos_gui",
+                namespace="atos",
+                executable="truck_object_gui",
+                name="truck_object_gui",
+                output="screen",
+                arguments=["False", "atosfleetmanagement"],
+            ),
+            Node(
+                package="atos",
+                namespace="atos",
+                executable="truck_object_control",
+                name="truck_object_control",
+                output="screen",
+                parameters=[
+                    {"cot_tls_require_client_cert": cot_tls_require_client_cert},
+                    {"cot_tls_cert_path": cot_tls_cert_path},
+                    {"cot_tls_key_path": cot_tls_key_path},
+                    {"cot_tls_ca_path": cot_tls_ca_path},
+                ],
+            ),
+            Node(
+                condition=IfCondition(with_simulator),
+                package="atos",
+                namespace="atos",
+                executable="atos_truck_simulator",
+                name="atos_truck_simulator_1",
+                output="screen",
+                parameters=[
+                    {"uid": "L5S-TRUCK-SIM-1"},
+                    {"start_index": 0},
+                    {"target_speed_kmh": 80.0},
+                    {"acceleration_mps2": 2.0},
+                    {"ignore_warning_speed_commands": True},
+                ],
+            ),
+            Node(
+                condition=IfCondition(with_simulator),
+                package="atos",
+                namespace="atos",
+                executable="atos_truck_simulator",
+                name="atos_truck_simulator_2",
+                output="screen",
+                parameters=[
+                    {"uid": "L5S-TRUCK-SIM-2"},
+                    {"start_index": 250},
+                    {"target_speed_kmh": 40.0},
+                    {"acceleration_mps2": 2.0},
+                ],
+            ),
+            Node(
+                condition=IfCondition(with_simulator),
+                package="atos",
+                namespace="atos",
+                executable="atos_truck_simulator",
+                name="atos_truck_simulator_3",
+                output="screen",
+                parameters=[
+                    {"uid": "L5S-TRUCK-SIM-3"},
+                    {"start_index": 500},
+                    {"target_speed_kmh": 40.0},
+                    {"acceleration_mps2": 2.0},
+                ],
+            ),
+            Node(
+                condition=IfCondition(PythonExpression(["not ", foxbridge])),
+                name="rosapi",
+                package="rosapi",
+                executable="rosapi_node",
+            ),
+            Node(
+                condition=IfCondition(
+                    PythonExpression([insecure_websockets, " and ", foxbridge])
+                ),
+                package="foxglove_bridge",
+                executable="foxglove_bridge",
+                name="foxglove_bridge",
+                output={"both": "log"},
+                parameters=fox_bridge_params,
+            ),
+            Node(
+                condition=IfCondition(
+                    PythonExpression(["not ", insecure_websockets, " and ", foxbridge])
+                ),
+                package="foxglove_bridge",
+                executable="foxglove_bridge",
+                name="foxglove_bridge",
+                output={"both": "log"},
+                parameters=fox_tls_bridge_params,
+            ),
+            Node(
+                condition=IfCondition(
+                    PythonExpression([insecure_websockets, " and not ", foxbridge])
+                ),
+                package="rosbridge_server",
+                executable="rosbridge_websocket",
+                name="ros_bridge",
+                output={"both": "log"},
+                parameters=ros_bridge_params,
+            ),
+            Node(
+                condition=IfCondition(
+                    PythonExpression(
+                        ["not ", insecure_websockets, " and not ", foxbridge]
+                    )
+                ),
+                package="rosbridge_server",
+                executable="rosbridge_websocket",
+                name="ros_bridge",
+                output={"both": "log"},
+                parameters=ros_tls_bridge_params,
+            ),
+        ]
+    )
diff --git a/atos/modules/DirectControl/src/directcontrol.cpp b/atos/modules/DirectControl/src/directcontrol.cpp
index 52f15125f..6525e0aa3 100644
--- a/atos/modules/DirectControl/src/directcontrol.cpp
+++ b/atos/modules/DirectControl/src/directcontrol.cpp
@@ -3,12 +3,12 @@
  * License, v. 2.0. If a copy of the MPL was not distributed with this
  * file, You can obtain one at https://mozilla.org/MPL/2.0/.
  */
-#include <vector>
 #include "directcontrol.hpp"
-#include "util.h"
-#include "tcphandler.hpp"
 #include "atosTime.h"
 #include "atos_interfaces/msg/control_signal_percentage.hpp"
+#include "tcphandler.hpp"
+#include "util.h"
+#include <vector>
 
 using atos_interfaces::msg::ControlSignalPercentage;
 using namespace ROSChannels;
@@ -19,39 +19,41 @@ using namespace ROSChannels;
  *  @brief Driver Model message, used in esmini to send
  * control signals to a vehicle from a driver model.
  */
-class DmMsg{
+class DmMsg {
 public:
-	DmMsg(){};
+	DmMsg() {};
 
-	ControlSignalPercentage toATOSMsg(){
+	ControlSignalPercentage toATOSMsg() {
 		ControlSignalPercentage cspmsg = ControlSignalPercentage();
-		cspmsg.atos_header.object_id = this->objectId;
-		// Convert throttle brake and steering angle to integers between 0,100 and -100,100 respectively.  
-		cspmsg.throttle = round(this->throttle * 100);
-		cspmsg.brake = round(this->brake * 100);
+		cspmsg.atos_header.object_id   = this->objectId;
+		// Convert throttle brake and steering angle to integers between 0,100 and -100,100 respectively.
+		cspmsg.throttle		  = round(this->throttle * 100);
+		cspmsg.brake		  = round(this->brake * 100);
 		cspmsg.steering_angle = round(this->steeringAngle * 100);
 		return cspmsg;
 	}
 
 	/*!
-	* \brief Decodes a DM message from esmini compatible sender. 
-	*			if the message is not of type inputMode=1 (DRIVER_INPUT)
-	*			the function returns
-	*
-	* \param bytes vector of (char) bytes
-	* \param DMMsg the data structure to be populated with contents of the message 
-	* \return number of bytes on successfully parsed message, -1 otherwise
-	*/
-	int parseFromBytes(const std::vector<char>& bytes){
-		int idx=0;
-		decodeNextXBytes(4,this->version,idx,bytes);
-		decodeNextXBytes(4,this->inputMode,idx,bytes);
-		if (this->inputMode != 1) { return 0;}
-		decodeNextXBytes(4,this->objectId,idx,bytes);
-		decodeNextXBytes(4,this->frameNumber,idx,bytes);
-		decodeNextXBytes(8,this->throttle,idx,bytes);
-		decodeNextXBytes(8,this->brake,idx,bytes);
-		decodeNextXBytes(8,this->steeringAngle,idx,bytes);
+	 * \brief Decodes a DM message from esmini compatible sender.
+	 *			if the message is not of type inputMode=1 (DRIVER_INPUT)
+	 *			the function returns
+	 *
+	 * \param bytes vector of (char) bytes
+	 * \param DMMsg the data structure to be populated with contents of the message
+	 * \return number of bytes on successfully parsed message, -1 otherwise
+	 */
+	int parseFromBytes(const std::vector<char>& bytes) {
+		int idx = 0;
+		decodeNextXBytes(4, this->version, idx, bytes);
+		decodeNextXBytes(4, this->inputMode, idx, bytes);
+		if (this->inputMode != 1) {
+			return 0;
+		}
+		decodeNextXBytes(4, this->objectId, idx, bytes);
+		decodeNextXBytes(4, this->frameNumber, idx, bytes);
+		decodeNextXBytes(8, this->throttle, idx, bytes);
+		decodeNextXBytes(8, this->brake, idx, bytes);
+		decodeNextXBytes(8, this->steeringAngle, idx, bytes);
 		return idx;
 	}
 
@@ -60,34 +62,31 @@ class DmMsg{
 	unsigned int inputMode;
 	unsigned int objectId;
 	unsigned int frameNumber;
-	double throttle;       // range [0, 1]
-	double brake;          // range [0, 1]
-	double steeringAngle;  // range [-pi/2, pi/2]
+	double throttle;	  // range [0, 1]
+	double brake;		  // range [0, 1]
+	double steeringAngle; // range [-pi/2, pi/2]
 
 	/*!
-	* \brief transfers x bytes, on the interval from idx to idx+x, 
-	*			from a vector of bytes into a variable
-	*
-	* \param x number of bytes to transfer
-	* \param field variable to receive bytes
-	* \param idx starting byte
-	* \param bytes vector of (char) bytes
-	*/
+	 * \brief transfers x bytes, on the interval from idx to idx+x,
+	 *			from a vector of bytes into a variable
+	 *
+	 * \param x number of bytes to transfer
+	 * \param field variable to receive bytes
+	 * \param idx starting byte
+	 * \param bytes vector of (char) bytes
+	 */
 	template<typename T>
-	void decodeNextXBytes(int x, T& field, int& idx, const std::vector<char>& bytes){
+	void decodeNextXBytes(int x, T& field, int& idx, const std::vector<char>& bytes) {
 		std::memcpy(&field, &(bytes[idx]), sizeof(T));
-		if (sizeof(T) == 2){
+		if (sizeof(T) == 2) {
 			le16toh(field);
-		}
-		else if (sizeof(T) == 4){
+		} else if (sizeof(T) == 4) {
 			le32toh(field);
-		}
-		else if (sizeof(T) == 8){
+		} else if (sizeof(T) == 8) {
 			le64toh(field);
-		} 
-		idx+=x;
+		}
+		idx += x;
 	}
-
 };
 
 //! Message queue callbacks
@@ -99,82 +98,80 @@ void DirectControl::onAllClearMessage(const AllClear::message_type::SharedPtr) {
 //! Class methods
 
 DirectControl::DirectControl() :
-	Module(moduleName),
-	controlSignalPub(*this),
-	tcpHandler(TCPPort, "", "off", 1, O_NONBLOCK), 
-	udpServer("0.0.0.0",UDPPort) {}
+  Module(moduleName),
+  controlSignalPub(*this),
+  tcpHandler(TCPPort, "", "off", 1, O_NONBLOCK),
+  udpServer("0.0.0.0", UDPPort) {}
 
 void DirectControl::startThreads() {
-	receiveThread=std::make_unique<std::thread>(&DirectControl::readTCPSocketData, this);
-	receiveThreadUDP=std::make_unique<std::thread>(&DirectControl::readUDPSocketData, this);
+	receiveThread	 = std::make_unique<std::thread>(&DirectControl::readTCPSocketData, this);
+	receiveThreadUDP = std::make_unique<std::thread>(&DirectControl::readUDPSocketData, this);
 }
 
-void DirectControl::joinThreads(){
-	//Tear down connections
-	if(this->tcpHandler.isConnected()) this->tcpHandler.TCPHandlerclose();
+void DirectControl::joinThreads() {
+	// Tear down connections
+	if (this->tcpHandler.isConnected())
+		this->tcpHandler.TCPHandlerclose();
 	this->udpServer.close();
-	//Join threads
+	// Join threads
 	receiveThread->join();
 	receiveThreadUDP->join();
 }
 
-
 /*!
  * \brief Listens for UDP data and sends a control signal on ros topic when recevied
  */
 void DirectControl::readUDPSocketData() {
-	RCLCPP_INFO(get_logger(),"Listening on UDP port %d",UDPPort);
-	
-	while (!this->quit){
-		try{
+	RCLCPP_INFO(get_logger(), "Listening on UDP port %d", UDPPort);
+
+	while (!this->quit) {
+		try {
 			auto [data, remote] = udpServer.recvfrom();
 			DmMsg dmMsg;
 
 			auto bytesParsed = dmMsg.parseFromBytes(data);
-			// TODO: add re-ordering with frame numbers? 
-			// Have to think abt if/what kind of re-ordering makes sense for 
+			// TODO: add re-ordering with frame numbers?
+			// Have to think abt if/what kind of re-ordering makes sense for
 			// the application (driver model).
-			if (bytesParsed != -1){
+			if (bytesParsed != -1) {
 				ControlSignalPercentage cspmsg = dmMsg.toATOSMsg();
 				controlSignalPub.publish(cspmsg);
 			}
-		}
-		catch(const SocketErrors::DisconnectedError& error){
-			//If we get a disconnected exception when we do not intend to exit, propagate said exception
-			if (!this->quit){
+		} catch (const SocketErrors::DisconnectedError& error) {
+			// If we get a disconnected exception when we do not intend to exit, propagate said exception
+			if (!this->quit) {
 				throw error;
 			}
 		}
 	}
 }
 
-
 void DirectControl::readTCPSocketData() {
 	std::vector<char> data(TCP_BUFFER_SIZE);
 	int recvData = 0;
 
-	RCLCPP_INFO(get_logger(),"Awaiting TCP connection...");
+	RCLCPP_INFO(get_logger(), "Awaiting TCP connection...");
 	this->tcpHandler.CreateServer();
 
 	while (!this->quit) {
 		// TODO set up TCP connection (wait until connected before continue)
 		this->tcpHandler.TCPHandlerAccept(1000);
 
-		if (this->tcpHandler.isConnected()){
-			RCLCPP_INFO(get_logger(),"Connected");
-		
+		if (this->tcpHandler.isConnected()) {
+			RCLCPP_INFO(get_logger(), "Connected");
+
 			while (!this->quit && tcpHandler.isConnected()) {
 				data.resize(TCP_BUFFER_SIZE);
 				std::fill(data.begin(), data.end(), 0);
 				recvData = tcpHandler.receiveTCP(data, 0);
 				if (recvData == TCPHandler::FAILURE) {
 					this->tcpHandler.TCPHandlerclose();
-					RCLCPP_INFO(get_logger(),"TCP connection closed unexpectedly...");
-					RCLCPP_INFO(get_logger(),"Awaiting new TCP connection...");;
+					RCLCPP_INFO(get_logger(), "TCP connection closed unexpectedly...");
+					RCLCPP_INFO(get_logger(), "Awaiting new TCP connection...");
+					;
 					this->tcpHandler.CreateServer();
 					break;
-				}
-				else if (recvData > 0) {
+				} else if (recvData > 0) {
 					try {
 						this->handleISOMessage(data, static_cast<size_t>(recvData));
 					} catch (std::invalid_argument& e) {
@@ -187,45 +184,40 @@ void DirectControl::readTCPSocketData() {
 	}
 }
 
-void DirectControl::handleISOMessage(
-		std::vector<char>& byteData,
-		size_t receivedBytes) {
+void DirectControl::handleISOMessage(std::vector<char>& byteData, size_t receivedBytes) {
 	while (receivedBytes > 0) {
 		ISOMessageID recvMessage = getISOMessageType(byteData.data(), byteData.size(), false);
 		// TODO check for RDCI (optional)
 		// TODO if RDCI, respond with DCTI (optional)
 		switch (recvMessage) {
-		case MESSAGE_ID_INVALID:
-			throw std::invalid_argument("Received invalid ISO message");
-		case MESSAGE_ID_VENDOR_SPECIFIC_ASTAZERO_RDCA:
-			receivedBytes -= this->handleRDCAMessage(byteData);
-			break;
-		default:
-			throw std::invalid_argument("Received unhandled ISO message");
+			case MESSAGE_ID_INVALID:
+				throw std::invalid_argument("Received invalid ISO message");
+			case MESSAGE_ID_VENDOR_SPECIFIC_ASTAZERO_RDCA:
+				receivedBytes -= this->handleRDCAMessage(byteData);
+				break;
+			default:
+				throw std::invalid_argument("Received unhandled ISO message");
 		}
 	}
 }
 
-size_t DirectControl::handleRDCAMessage(
-		std::vector<char> &byteData) {
+size_t DirectControl::handleRDCAMessage(std::vector<char>& byteData) {
 	RequestControlActionType recvMessage;
 	struct timeval currentTime;
 	TimeSetToCurrentSystemTime(&currentTime);
 	ssize_t bytesRead = decodeRDCAMessage(byteData.data(), &recvMessage, byteData.size(), currentTime, false);
 	if (bytesRead >= 0) {
 		byteData.erase(byteData.begin(), byteData.begin() + bytesRead);
-		//TODO: Implement equivalent of below line in using ROS2.
-		//DataDictionarySetRequestedControlAction(recvMessage.executingID, &recvMessage);
+		// TODO: Implement equivalent of below line in using ROS2.
+		// DataDictionarySetRequestedControlAction(recvMessage.executingID, &recvMessage);
 		return static_cast<size_t>(bytesRead);
-	}
-	else {
+	} else {
 		// TODO respond with error (optional)
 		throw std::invalid_argument("Failed to decode RDCA message");
 	}
 }
 
-size_t DirectControl::handleUnknownMessage(
-		std::vector<char> &byteData) {
+size_t DirectControl::handleUnknownMessage(std::vector<char>& byteData) {
 	std::fill(byteData.begin(), byteData.end(), 0);
 	return byteData.size();
 }
diff --git a/atos/modules/EsminiAdapter/src/esminiadapter.cpp b/atos/modules/EsminiAdapter/src/esminiadapter.cpp
index 9f2702ff8..46321a5b0 100644
--- a/atos/modules/EsminiAdapter/src/esminiadapter.cpp
+++ b/atos/modules/EsminiAdapter/src/esminiadapter.cpp
@@ -4,107 +4,111 @@
  * file, You can obtain one at https://mozilla.org/MPL/2.0/.
  */
 #include "esminiadapter.hpp"
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/LinearMath/Matrix3x3.h>
 #include <algorithm>
-#include <functional>
 #include <chrono>
 #include <cmath>
-#include <chrono>
+#include <functional>
 #include <regex>
+#include <tf2/LinearMath/Matrix3x3.h>
+#include <tf2/LinearMath/Quaternion.h>
 #include <type_traits>
 
 #include "atos_interfaces/msg/cartesian_trajectory.hpp"
 #include "rclcpp/wait_for_message.hpp"
-#include "trajectory.hpp"
 #include "string_utility.hpp"
-
+#include "trajectory.hpp"
 
 using namespace ROSChannels;
-using TestOriginSrv = atos_interfaces::srv::GetTestOrigin;
+using TestOriginSrv		  = atos_interfaces::srv::GetTestOrigin;
 using ObjectTrajectorySrv = atos_interfaces::srv::GetObjectTrajectory;
-using ObjectTriggerSrv = atos_interfaces::srv::GetObjectTriggerStart;
+using ObjectTriggerSrv	  = atos_interfaces::srv::GetObjectTriggerStart;
 using std::placeholders::_1;
 using std::placeholders::_2;
 using namespace std::chrono_literals;
 
-namespace
-{
-template <typename ReportObjectPosFn>
-int reportObjectPos(ReportObjectPosFn reportFn, int objectId, double timestamp, double x, double y, double z, double h, double p, double r)
-{
+namespace {
+template<typename ReportObjectPosFn>
+int reportObjectPos(ReportObjectPosFn reportFn,
+					int objectId,
+					double timestamp,
+					double x,
+					double y,
+					double z,
+					double h,
+					double p,
+					double r) {
 	if constexpr (std::is_invocable_v<ReportObjectPosFn, int, float, float, float, float, float, float, float>) {
-		return reportFn(objectId, static_cast<float>(timestamp), static_cast<float>(x), static_cast<float>(y), static_cast<float>(z),
-						static_cast<float>(h), static_cast<float>(p), static_cast<float>(r));
+		return reportFn(objectId,
+						static_cast<float>(timestamp),
+						static_cast<float>(x),
+						static_cast<float>(y),
+						static_cast<float>(z),
+						static_cast<float>(h),
+						static_cast<float>(p),
+						static_cast<float>(r));
 	} else {
 		return reportFn(objectId, x, y, z, h, p, r);
 	}
 }
-}
+} // namespace
 
-
-
-
-std::shared_ptr<EsminiAdapter> EsminiAdapter::me = nullptr;
+std::shared_ptr<EsminiAdapter> EsminiAdapter::me					   = nullptr;
 std::unordered_map<int, std::string> EsminiAdapter::atosIDToObjectName = std::unordered_map<int, std::string>();
 std::unordered_map<std::string, int> EsminiAdapter::objectNameToAtosId = std::unordered_map<std::string, int>();
-std::map<uint32_t,ATOS::Trajectory> EsminiAdapter::atosObjectIdToTraj = std::map<uint32_t,ATOS::Trajectory>();
-std::unordered_map<int, int> EsminiAdapter::atosIdToEsminiId = std::unordered_map<int, int>();
-
-std::unordered_map<uint32_t,std::shared_ptr<ROSChannels::Monitor::Sub>> EsminiAdapter::monrSubscribers = std::unordered_map<uint32_t,std::shared_ptr<Monitor::Sub>>();
-std::shared_ptr<rclcpp::Service<ObjectTrajectorySrv>> EsminiAdapter::objectTrajectoryService = std::shared_ptr<rclcpp::Service<ObjectTrajectorySrv>>();
-std::shared_ptr<rclcpp::Service<TestOriginSrv>> EsminiAdapter::testOriginService = std::shared_ptr<rclcpp::Service<TestOriginSrv>>();
+std::map<uint32_t, ATOS::Trajectory> EsminiAdapter::atosObjectIdToTraj = std::map<uint32_t, ATOS::Trajectory>();
+std::unordered_map<int, int> EsminiAdapter::atosIdToEsminiId		   = std::unordered_map<int, int>();
+
+std::unordered_map<uint32_t, std::shared_ptr<ROSChannels::Monitor::Sub>> EsminiAdapter::monrSubscribers =
+  std::unordered_map<uint32_t, std::shared_ptr<Monitor::Sub>>();
+std::shared_ptr<rclcpp::Service<ObjectTrajectorySrv>> EsminiAdapter::objectTrajectoryService =
+  std::shared_ptr<rclcpp::Service<ObjectTrajectorySrv>>();
+std::shared_ptr<rclcpp::Service<TestOriginSrv>> EsminiAdapter::testOriginService =
+  std::shared_ptr<rclcpp::Service<TestOriginSrv>>();
 geographic_msgs::msg::GeoPose EsminiAdapter::testOrigin = geographic_msgs::msg::GeoPose();
 
-EsminiAdapter::EsminiAdapter() : Module(moduleName),
-	storyBoardElementStateChangePub(*this),
-	connectedObjectIdsSub(*this, &EsminiAdapter::onConnectedObjectIdsMessage),
-	exitSub(*this, &EsminiAdapter::onStaticExitMessage),
-	stateChangeSub(*this, &EsminiAdapter::onStaticStateChangeMessage),
-	applyTrajTransform(false),
-	testOriginSet(false)
- {
+EsminiAdapter::EsminiAdapter() :
+  Module(moduleName),
+  storyBoardElementStateChangePub(*this),
+  connectedObjectIdsSub(*this, &EsminiAdapter::onConnectedObjectIdsMessage),
+  exitSub(*this, &EsminiAdapter::onStaticExitMessage),
+  stateChangeSub(*this, &EsminiAdapter::onStaticStateChangeMessage),
+  applyTrajTransform(false),
+  testOriginSet(false) {
 	oscFilePathClient_cb_group_ = this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-	objectIdsClient_cb_group_ = this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-	oscFilePathClient_ = create_client<atos_interfaces::srv::GetOpenScenarioFilePath>(
-	  ServiceNames::getOpenScenarioFilePath, rmw_qos_profile_services_default, oscFilePathClient_cb_group_);
+	objectIdsClient_cb_group_	= this->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
+	oscFilePathClient_			= create_client<atos_interfaces::srv::GetOpenScenarioFilePath>(
+	   ServiceNames::getOpenScenarioFilePath, rmw_qos_profile_services_default, oscFilePathClient_cb_group_);
 	objectIdsClient_ = create_client<atos_interfaces::srv::GetObjectIds>(
 	  ServiceNames::getObjectIds, rmw_qos_profile_services_default, objectIdsClient_cb_group_);
 	declare_parameter("timestep", 0.1);
-
 }
 
 /*!
  * \brief Fetches the open drive file path from the open scenario file parameter
  * \return Configured path
-*/
-std::filesystem::path EsminiAdapter::getOpenDriveFile()
-{
+ */
+std::filesystem::path EsminiAdapter::getOpenDriveFile() {
 	std::filesystem::path odrFilePath;
 	if (SE_GetODRFilename() != nullptr) {
 		odrFilePath = std::filesystem::path(SE_GetODRFilename());
 		RCLCPP_INFO(me->get_logger(), "Got ODR file %s from scenario", odrFilePath.string().c_str());
-	}
-	else {
+	} else {
 		RCLCPP_DEBUG(me->get_logger(), "No ODR file found");
 	}
 
 	if (odrFilePath.is_absolute()) {
 		return odrFilePath;
-	}
-	else {
+	} else {
 		// Look for the file relative the scenario file (ie root openx dir)
-		auto odrCatalog = std::filesystem::path(me->oscFilePath).parent_path();
+		auto odrCatalog					 = std::filesystem::path(me->oscFilePath).parent_path();
 		std::filesystem::path joinedPath = odrCatalog / odrFilePath;
 		if (!std::filesystem::exists(joinedPath)) {
 			throw std::runtime_error("ODR file " + joinedPath.string() + " does not exist");
-		}
-		else {
+		} else {
 			RCLCPP_INFO(me->get_logger(), "Found ODR file at %s", joinedPath.string().c_str());
 		}
 		return joinedPath;
 	}
-
 }
 
 /*!
@@ -115,22 +119,24 @@ std::shared_ptr<EsminiAdapter> EsminiAdapter::instance() {
 	if (me == nullptr) {
 		me = std::shared_ptr<EsminiAdapter>(new EsminiAdapter());
 		// Start listening to connected object ids
-		me->connectedObjectIdsSub = ROSChannels::ConnectedObjectIds::Sub(*me,&EsminiAdapter::onConnectedObjectIdsMessage);
-		me->exitSub = ROSChannels::Exit::Sub(*me,&EsminiAdapter::onStaticExitMessage);
-		me->stateChangeSub = ROSChannels::StateChange::Sub(*me,&EsminiAdapter::onStaticStateChangeMessage);
-
+		me->connectedObjectIdsSub =
+		  ROSChannels::ConnectedObjectIds::Sub(*me, &EsminiAdapter::onConnectedObjectIdsMessage);
+		me->exitSub		   = ROSChannels::Exit::Sub(*me, &EsminiAdapter::onStaticExitMessage);
+		me->stateChangeSub = ROSChannels::StateChange::Sub(*me, &EsminiAdapter::onStaticStateChangeMessage);
 	}
 	return me;
 }
 
 /*!
- * \brief This callback is executed when objects are connected, and creates Monitor subscribers for all connected objects.
+ * \brief This callback is executed when objects are connected, and creates Monitor subscribers for all connected
+ * objects.
  * \param msg Array of object IDs
  */
 void EsminiAdapter::onConnectedObjectIdsMessage(const ConnectedObjectIds::message_type::SharedPtr msg) {
 	for (uint32_t id : msg->ids) {
-		if (me->monrSubscribers.find(id) == me->monrSubscribers.end()){
-			me->monrSubscribers[id] = std::make_shared<Monitor::Sub>(*me, id, std::bind(&EsminiAdapter::onMonitorMessage, me, _1, id));
+		if (me->monrSubscribers.find(id) == me->monrSubscribers.end()) {
+			me->monrSubscribers[id] =
+			  std::make_shared<Monitor::Sub>(*me, id, std::bind(&EsminiAdapter::onMonitorMessage, me, _1, id));
 		}
 	}
 }
@@ -143,56 +149,50 @@ void EsminiAdapter::onConnectedObjectIdsMessage(const ConnectedObjectIds::messag
  * @param msg StateChange message
  */
 void EsminiAdapter::onStaticStateChangeMessage(const ROSChannels::StateChange::message_type::SharedPtr msg) {
-	int prevState = msg->prev_state;
+	int prevState	 = msg->prev_state;
 	int currentState = msg->current_state;
 
 	if (prevState == OBCState_t::OBC_STATE_ARMED && currentState == OBCState_t::OBC_STATE_RUNNING) {
 		me->handleStartCommand();
-	}
-	else if (currentState == OBCState_t::OBC_STATE_ABORTING) {
+	} else if (currentState == OBCState_t::OBC_STATE_ABORTING) {
 		me->handleAbortCommand();
 	}
 }
 
-
 void EsminiAdapter::handleAbortCommand() {
 	SE_Close();
 	RCLCPP_INFO(me->get_logger(), "Esmini ScenarioEngine stopped due to Abort");
 }
 
-void EsminiAdapter::fetchOSCFilePath()
-{
+void EsminiAdapter::fetchOSCFilePath() {
 	// Get the file path of xosc file
 	std::promise<bool> done;
 	auto callback = [&](rclcpp::Client<atos_interfaces::srv::GetOpenScenarioFilePath>::SharedFuture future) {
-		auto response = future.get();
+		auto response	= future.get();
 		me->oscFilePath = response->path;
 		if (response->md5hash != me->scenarioFileMd5hash) {
 			me->scenarioFileMd5hash = response->md5hash;
-			me->runSimulation = true;
+			me->runSimulation		= true;
 		}
 		me->scenarioFileMd5hash = response->md5hash;
 		done.set_value(true);
 	};
 
 	auto request = std::make_shared<atos_interfaces::srv::GetOpenScenarioFilePath::Request>();
-	auto future = me->oscFilePathClient_->async_send_request(request, std::move(callback));
+	auto future	 = me->oscFilePathClient_->async_send_request(request, std::move(callback));
 	if (done.get_future().wait_for(250ms) == std::future_status::timeout) {
 		RCLCPP_ERROR(me->get_logger(), "Failed to fetch open scenario file path");
 	}
-
 }
 
-void EsminiAdapter::onStaticExitMessage(const ROSChannels::Exit::message_type::SharedPtr)
-{
+void EsminiAdapter::onStaticExitMessage(const ROSChannels::Exit::message_type::SharedPtr) {
 	SE_Close();
-	RCLCPP_DEBUG(me->get_logger(),"Received exit command");
+	RCLCPP_DEBUG(me->get_logger(), "Received exit command");
 	rclcpp::shutdown();
 }
 
-void EsminiAdapter::handleStartCommand()
-{
-	if (SE_Init(me->oscFilePath.c_str(),0,0,0,0) < 0) {
+void EsminiAdapter::handleStartCommand() {
+	if (SE_Init(me->oscFilePath.c_str(), 0, 0, 0, 0) < 0) {
 		throw std::runtime_error("Failed to initialize esmini with scenario file " + me->oscFilePath.string());
 	}
 	// Handle triggers and story board element changes
@@ -206,21 +206,22 @@ void EsminiAdapter::handleStartCommand()
  * \brief Callback to be executed by esmini when story board state changes.
  * 		If story board element is an action, and the action is supported, the action is run.
  * \param name Name of the StoryBoardElement whose state has changed.
- * \param type Possible values: STORY_BOARD = 1, STORY = 2, ACT = 3, MANEUVER_GROUP = 4, MANEUVER = 5, EVENT = 6, ACTION = 7, UNDEFINED_ELEMENT_TYPE = 0.
+ * \param type Possible values: STORY_BOARD = 1, STORY = 2, ACT = 3, MANEUVER_GROUP = 4, MANEUVER = 5, EVENT = 6, ACTION
+ * = 7, UNDEFINED_ELEMENT_TYPE = 0.
  * \param state new state, possible values: STANDBY = 1, RUNNING = 2, COMPLETE = 3, UNDEFINED_ELEMENT_STATE = 0.
  */
-void EsminiAdapter::handleStoryBoardElementChange(
-	const char *name,
-	int type,
-	int state,
-	const char *full_path)
-{
-	RCLCPP_INFO(me->get_logger(), "Storyboard state changed! Name: %s, Type: %d, State: %d, Full path: %s", name, type, state, full_path);
+void EsminiAdapter::handleStoryBoardElementChange(const char* name, int type, int state, const char* full_path) {
+	RCLCPP_INFO(me->get_logger(),
+				"Storyboard state changed! Name: %s, Type: %d, State: %d, Full path: %s",
+				name,
+				type,
+				state,
+				full_path);
 
 	atos_interfaces::msg::StoryBoardElementStateChange msg;
-	msg.name = name;
-	msg.type = type;
-	msg.state = state;
+	msg.name	  = name;
+	msg.type	  = type;
+	msg.state	  = state;
 	msg.full_path = full_path;
 
 	me->storyBoardElementStateChangePub.publish(msg);
@@ -232,9 +233,9 @@ void EsminiAdapter::handleStoryBoardElementChange(
  * \param monr ROS Monitor message of an object
  * \param id The object ID to which the monr belongs
  */
-void EsminiAdapter::reportObjectPosition(const Monitor::message_type::SharedPtr monr, uint32_t esminiObjectId){
+void EsminiAdapter::reportObjectPosition(const Monitor::message_type::SharedPtr monr, uint32_t esminiObjectId) {
 	// Conversions from ROS to Esmini
-	auto ori = monr->pose.pose.orientation;
+	auto ori  = monr->pose.pose.orientation;
 	auto quat = tf2::Quaternion(ori.x, ori.y, ori.z, ori.w);
 	tf2::Matrix3x3 m(quat);
 	double roll, pitch, yaw;
@@ -255,14 +256,16 @@ void EsminiAdapter::reportObjectPosition(const Monitor::message_type::SharedPtr
  * \brief Callback for MONR messages, reports the object position to esmini and advances the simulation time
  * \param monr ROS Monitor message of an object
  * \param id The object ID to which the monr belongs
-*/
+ */
 void EsminiAdapter::onMonitorMessage(const Monitor::message_type::SharedPtr monr, uint32_t ATOSObjectId) {
 	if (auto idMapping = atosIdToEsminiId.find(ATOSObjectId); idMapping != atosIdToEsminiId.end()) {
 		reportObjectPosition(monr, idMapping->second); // Report object position to esmini
-		SE_Step(); // Advance the "simulation world"-time
-	}
-	else {
-		RCLCPP_WARN(me->get_logger(), "Received MONR message for object with ATOS Object ID %d, but no such object exists in the scenario", ATOSObjectId);
+		SE_Step();									   // Advance the "simulation world"-time
+	} else {
+		RCLCPP_WARN(
+		  me->get_logger(),
+		  "Received MONR message for object with ATOS Object ID %d, but no such object exists in the scenario",
+		  ATOSObjectId);
 	}
 }
 
@@ -274,10 +277,7 @@ void EsminiAdapter::onMonitorMessage(const Monitor::message_type::SharedPtr monr
  * \param states A vector of object states
  * \return A trajectory consisting of trajectory points, one for each state.
  */
-ATOS::Trajectory EsminiAdapter::getTrajectoryFromObjectState(
-	uint32_t id,
-	std::vector<SE_ScenarioObjectState>& states)
-{
+ATOS::Trajectory EsminiAdapter::getTrajectoryFromObjectState(uint32_t id, std::vector<SE_ScenarioObjectState>& states) {
 	ATOS::Trajectory trajectory(me->get_logger());
 	trajectory.name = "Esmini Trajectory for object " + std::to_string(id);
 	if (states.empty()) {
@@ -303,8 +303,7 @@ ATOS::Trajectory EsminiAdapter::getTrajectoryFromObjectState(
 		if (state.timestamp != prevState.timestamp) {
 			tp.setLongitudinalAcceleration((currLonVel - prevLonVel) / (state.timestamp - prevState.timestamp));
 			tp.setLateralAcceleration((currLatVel - prevLatVel) / (state.timestamp - prevState.timestamp));
-		}
-		else {
+		} else {
 			tp.setLongitudinalAcceleration(0);
 			tp.setLateralAcceleration(0);
 		}
@@ -313,12 +312,12 @@ ATOS::Trajectory EsminiAdapter::getTrajectoryFromObjectState(
 	};
 
 	if (states.size() > 1) {
-		for (auto it = states.begin()+1; it != states.end(); ++it) {
-			if (it->x == (it-1)->x && it->y == (it-1)->y && // Nothing interesting happens within 1 timestep, skip
-				it->z == (it-1)->z && it->h == (it-1)->h) {
+		for (auto it = states.begin() + 1; it != states.end(); ++it) {
+			if (it->x == (it - 1)->x && it->y == (it - 1)->y && // Nothing interesting happens within 1 timestep, skip
+				it->z == (it - 1)->z && it->h == (it - 1)->h) {
 				continue;
 			}
-			saveTp(*it,*(it-1)); // Next timestep is different, save current one.
+			saveTp(*it, *(it - 1)); // Next timestep is different, save current one.
 		}
 	}
 	if (trajectory.points.size() == 0) {
@@ -327,7 +326,7 @@ ATOS::Trajectory EsminiAdapter::getTrajectoryFromObjectState(
 	auto startTime = trajectory.points.front().getTime();
 
 	// Subtract start time from all timesteps
-	for (auto& tp : trajectory.points){
+	for (auto& tp : trajectory.points) {
 		tp.setTime(tp.getTime() - startTime);
 	}
 	return trajectory;
@@ -342,8 +341,7 @@ std::string EsminiAdapter::projStrFromGeoReference(RM_GeoReference& geoRef) {
 	std::string projStringFrom = "+proj=";
 	if (strlen(geoRef.proj_) != 0) {
 		projStringFrom += std::string(geoRef.proj_) + " ";
-	}
-	else {
+	} else {
 		throw std::runtime_error("No projection found in geo reference");
 	}
 	if (!std::isnan(geoRef.lat_0_)) {
@@ -413,14 +411,11 @@ std::string EsminiAdapter::projStrFromGeoReference(RM_GeoReference& geoRef) {
  * \param states The return map of ids mapping to the respective object states at different timesteps
  * \return A map of object states, where the key is the object ID and the value is a vector of states
  */
-void EsminiAdapter::getObjectStates(
-	double timeStep,
-	std::map<uint32_t,std::vector<SE_ScenarioObjectState>>& states)
-{
-	double accumTime = 0.0;
+void EsminiAdapter::getObjectStates(double timeStep, std::map<uint32_t, std::vector<SE_ScenarioObjectState>>& states) {
+	double accumTime	  = 0.0;
 	auto pushCurrentState = [&](auto& st, auto& index) {
 		auto id = SE_GetId(index);
-		//SE_SetAlignModeZ(id, 0); // Disable Z-alignment, not implemented in esmini yet
+		// SE_SetAlignModeZ(id, 0); // Disable Z-alignment, not implemented in esmini yet
 		SE_ScenarioObjectState s;
 		SE_GetObjectState(id, &s);
 		s.timestamp = accumTime;
@@ -430,13 +425,13 @@ void EsminiAdapter::getObjectStates(
 	// Populate States map with vector for each object containing the initial state
 	SE_StepDT(timeStep);
 	accumTime += timeStep;
-	for (int j = 0; j < SE_GetNumberOfObjects(); j++){
+	for (int j = 0; j < SE_GetNumberOfObjects(); j++) {
 		states[SE_GetId(j)] = std::vector<SE_ScenarioObjectState>();
 		pushCurrentState(states, j);
 	}
 	constexpr double MIN_SCENARIO_TIME = 10.0;
 	constexpr double MAX_SCENARIO_TIME = 3600.0;
-	bool stopSimulation = false;
+	bool stopSimulation				   = false;
 	while (!stopSimulation) {
 		if (SE_GetQuitFlag() != 0) {
 			break;
@@ -444,51 +439,48 @@ void EsminiAdapter::getObjectStates(
 
 		SE_StepDT(timeStep);
 		accumTime += timeStep;
-		for (int j = 0; j < SE_GetNumberOfObjects(); j++){
+		for (int j = 0; j < SE_GetNumberOfObjects(); j++) {
 			pushCurrentState(states, j);
 		}
-		bool noMovement = std::all_of(states.begin(), states.end(), [&](auto& pair) {
-			return pair.second.back().speed < 0.1;
-		});
-		bool atLeastMinTimePassed = accumTime > MIN_SCENARIO_TIME;
+		bool noMovement =
+		  std::all_of(states.begin(), states.end(), [&](auto& pair) { return pair.second.back().speed < 0.1; });
+		bool atLeastMinTimePassed  = accumTime > MIN_SCENARIO_TIME;
 		bool moreThanMaxTimePassed = accumTime > MAX_SCENARIO_TIME;
-		stopSimulation = (noMovement && atLeastMinTimePassed) || moreThanMaxTimePassed;
+		stopSimulation			   = (noMovement && atLeastMinTimePassed) || moreThanMaxTimePassed;
 	}
 	if (accumTime > MAX_SCENARIO_TIME) {
 		RCLCPP_WARN(me->get_logger(), "Scenario time limit reached, stopping simulation");
-	}
-	else if (accumTime < MIN_SCENARIO_TIME + timeStep) {
-		RCLCPP_WARN(me->get_logger(), "Ran scenario for the minimum time %.2f, possibly no movement in scenario", MIN_SCENARIO_TIME);
+	} else if (accumTime < MIN_SCENARIO_TIME + timeStep) {
+		RCLCPP_WARN(me->get_logger(),
+					"Ran scenario for the minimum time %.2f, possibly no movement in scenario",
+					MIN_SCENARIO_TIME);
 	}
 	RCLCPP_INFO(me->get_logger(), "Finished %f s simulation", accumTime);
 }
 
-
 /*!
  * \brief Runs the esmini simulator with the xosc file and returns the trajectories for each object
  * \param timeStep Time step to use for generating the trajectories
  * \return A map of ids mapping to the respective trajectories
  */
-std::map<uint32_t, ATOS::Trajectory> EsminiAdapter::extractTrajectories(
-	double timeStep)
-{
-	std::map<uint32_t,ATOS::Trajectory> esminiObjectIdToTraj = std::map<uint32_t,ATOS::Trajectory>();
+std::map<uint32_t, ATOS::Trajectory> EsminiAdapter::extractTrajectories(double timeStep) {
+	std::map<uint32_t, ATOS::Trajectory> esminiObjectIdToTraj = std::map<uint32_t, ATOS::Trajectory>();
 
 	// Get object states
-	std::map<uint32_t,std::vector<SE_ScenarioObjectState>> esminiIdToStates;
+	std::map<uint32_t, std::vector<SE_ScenarioObjectState>> esminiIdToStates;
 	getObjectStates(timeStep, esminiIdToStates);
 
 	// Extract trajectories
 	for (auto& os : esminiIdToStates) {
-		auto id = os.first;
+		auto id			  = os.first;
 		auto objectStates = os.second;
-		auto traj = getTrajectoryFromObjectState(id, objectStates);
+		auto traj		  = getTrajectoryFromObjectState(id, objectStates);
 		// Apply CRS transform if OpenDrive CRS Transformation is defined
-		if (me->applyTrajTransform){
+		if (me->applyTrajTransform) {
 			RCLCPP_DEBUG(me->get_logger(), "Applying CRS transformation to trajectory for object %d", id);
 			me->crsTransformation->apply(traj.points);
 		}
-		esminiObjectIdToTraj.insert(std::pair<uint32_t,ATOS::Trajectory>(id, traj));
+		esminiObjectIdToTraj.insert(std::pair<uint32_t, ATOS::Trajectory>(id, traj));
 	}
 	return esminiObjectIdToTraj;
 }
@@ -497,8 +489,7 @@ std::map<uint32_t, ATOS::Trajectory> EsminiAdapter::extractTrajectories(
  * \brief Initialize the esmini simulator and perform subsequent setup tasks.
  * Can be called many times, each time the test is initialized.
  */
-void EsminiAdapter::runEsminiSimulation()
-{
+void EsminiAdapter::runEsminiSimulation() {
 	me->atosObjectIdToTraj.clear();
 	me->atosIdToEsminiId.clear();
 	me->atosIDToObjectName.clear();
@@ -511,36 +502,35 @@ void EsminiAdapter::runEsminiSimulation()
 	RM_Close(); // Stop RoadManager in case it is running
 
 	RCLCPP_INFO(me->get_logger(), "Initializing esmini with scenario file %s", me->oscFilePath.c_str());
-	if (SE_Init(me->oscFilePath.c_str(),1,0,0,0) < 0) { // Disable controllers, let DefaultController be used
-		throw std::runtime_error("Failed to initialize esmini with scenario file " + me->oscFilePath.string() + ". For more information, see " + logFilePath + ".");
+	if (SE_Init(me->oscFilePath.c_str(), 1, 0, 0, 0) < 0) { // Disable controllers, let DefaultController be used
+		throw std::runtime_error("Failed to initialize esmini with scenario file " + me->oscFilePath.string() +
+								 ". For more information, see " + logFilePath + ".");
 	}
 	auto odrFile = getOpenDriveFile();
 	if (RM_Init(odrFile.c_str()) < 0) {
 		throw std::runtime_error(std::string("Failed to initialize with odr file ").append(odrFile));
 	}
 
-
 	// Call RM_GetOpenDriveGeoReference to get the RM_GeoReference struct
 	RM_GeoReference geoRef;
 	if (RM_GetOpenDriveGeoReference(&geoRef) == 0) {
 		try {
 			std::string projStringFrom = projStrFromGeoReference(geoRef);
-			std::string toDatum = "WGS84";
-			auto llh_0 = CRSTransformation::projToLLH(projStringFrom, toDatum);
+			std::string toDatum		   = "WGS84";
+			auto llh_0				   = CRSTransformation::projToLLH(projStringFrom, toDatum);
 			RCLCPP_INFO(me->get_logger(), "llh origin: %lf, %lf, %lf", llh_0[0], llh_0[1], llh_0[2]);
-			me->testOrigin.position.latitude = llh_0[0];
+			me->testOrigin.position.latitude  = llh_0[0];
 			me->testOrigin.position.longitude = llh_0[1];
-			me->testOrigin.position.altitude = llh_0[2];
-			me->testOriginSet = true;
+			me->testOrigin.position.altitude  = llh_0[2];
+			me->testOriginSet				  = true;
 
 			std::string projStringTo = "+proj=tmerc +lat_0=" + std::to_string(llh_0[0]) +
-													" +lon_0=" + std::to_string(llh_0[1]) +
-													" +datum="+ toDatum + " +units=m +no_defs";
+									   " +lon_0=" + std::to_string(llh_0[1]) + " +datum=" + toDatum +
+									   " +units=m +no_defs";
 
-			me->crsTransformation = std::make_shared<CRSTransformation>(projStringFrom, projStringTo);
+			me->crsTransformation  = std::make_shared<CRSTransformation>(projStringFrom, projStringTo);
 			me->applyTrajTransform = true;
-		}
-		catch (std::exception& e) {
+		} catch (std::exception& e) {
 			RCLCPP_ERROR(me->get_logger(), "%s", e.what());
 			return;
 		}
@@ -550,17 +540,18 @@ void EsminiAdapter::runEsminiSimulation()
 	RM_Close();
 
 	auto response = std::make_shared<atos_interfaces::srv::GetObjectIds::Response>();
-	auto request = std::make_shared<atos_interfaces::srv::GetObjectIds::Request>();
+	auto request  = std::make_shared<atos_interfaces::srv::GetObjectIds::Request>();
 
 	std::promise<void> idsFetched;
-	auto objectNameAndAtosIDsCallback = [&](rclcpp::Client<atos_interfaces::srv::GetObjectIds>::SharedFutureWithRequest future) {
-		auto response = future.get();
-		for (size_t i = 0; i < response.second->ids.size(); ++i) {
-			me->atosIDToObjectName[response.second->ids[i]] = response.second->names[i];
-			me->objectNameToAtosId[response.second->names[i]] = response.second->ids[i];
-		}
-		idsFetched.set_value();
-	};
+	auto objectNameAndAtosIDsCallback =
+	  [&](rclcpp::Client<atos_interfaces::srv::GetObjectIds>::SharedFutureWithRequest future) {
+		  auto response = future.get();
+		  for (size_t i = 0; i < response.second->ids.size(); ++i) {
+			  me->atosIDToObjectName[response.second->ids[i]]	= response.second->names[i];
+			  me->objectNameToAtosId[response.second->names[i]] = response.second->ids[i];
+		  }
+		  idsFetched.set_value();
+	  };
 
 	auto future = me->objectIdsClient_->async_send_request(request, std::move(objectNameAndAtosIDsCallback));
 	if (idsFetched.get_future().wait_for(250ms) == std::future_status::timeout) {
@@ -569,41 +560,45 @@ void EsminiAdapter::runEsminiSimulation()
 	}
 
 	RCLCPP_INFO(me->get_logger(), "Starting extracting trajectories");
-	double timeStep = me->get_parameter("timestep").as_double();
-	std::map<uint32_t,ATOS::Trajectory> esminiIdToTraj =  me->extractTrajectories(timeStep);
+	double timeStep										= me->get_parameter("timestep").as_double();
+	std::map<uint32_t, ATOS::Trajectory> esminiIdToTraj = me->extractTrajectories(timeStep);
 	// Fill atosIdToTraj with the extracted trajectories
 	for (auto& it : esminiIdToTraj) {
-		auto esminiId = it.first;
-		auto traj = it.second;
+		auto esminiId	= it.first;
+		auto traj		= it.second;
 		auto objectName = SE_GetObjectName(esminiId);
-			if (auto idMapping = me->objectNameToAtosId.find(objectName); idMapping != me->objectNameToAtosId.end()) {
-				auto atos_id = idMapping->second;
-				me->atosObjectIdToTraj.emplace(atos_id, traj);
-				me->atosIdToEsminiId.emplace(atos_id, esminiId);
-				RCLCPP_INFO(
-				  me->get_logger(), "Extracted trajectory for object %s with size %zu", objectName, traj.points.size());
-
-				me->pathPublishers.emplace(atos_id, ROSChannels::Path::Pub(*me, atos_id));
-				me->pathPublishers.at(atos_id).publish(traj.toPath());
-				std::array<double,3> llh_0 = {me->testOrigin.position.latitude, me->testOrigin.position.longitude, me->testOrigin.position.altitude};
-				me->gnssPathPublishers.emplace(atos_id, ROSChannels::GNSSPath::Pub(*me, atos_id));
-				me->gnssPathPublishers.at(atos_id).publish(traj.toGeoJSON(llh_0));
-			}
-			else {
-				RCLCPP_DEBUG(me->get_logger(), "Object %s is not an active object in the scenario", objectName);
-			}
+		if (auto idMapping = me->objectNameToAtosId.find(objectName); idMapping != me->objectNameToAtosId.end()) {
+			auto atos_id = idMapping->second;
+			me->atosObjectIdToTraj.emplace(atos_id, traj);
+			me->atosIdToEsminiId.emplace(atos_id, esminiId);
+			RCLCPP_INFO(
+			  me->get_logger(), "Extracted trajectory for object %s with size %zu", objectName, traj.points.size());
+
+			me->pathPublishers.emplace(atos_id, ROSChannels::Path::Pub(*me, atos_id));
+			me->pathPublishers.at(atos_id).publish(traj.toPath());
+			std::array<double, 3> llh_0 = {
+			  me->testOrigin.position.latitude, me->testOrigin.position.longitude, me->testOrigin.position.altitude};
+			me->gnssPathPublishers.emplace(atos_id, ROSChannels::GNSSPath::Pub(*me, atos_id));
+			me->gnssPathPublishers.at(atos_id).publish(traj.toGeoJSON(llh_0));
+		} else {
+			RCLCPP_DEBUG(me->get_logger(), "Object %s is not an active object in the scenario", objectName);
+		}
 
-		for (auto& tp : traj.points){
-			RCLCPP_DEBUG(me->get_logger(), "Trajectory point: %lf, %lf, %lf, %lf, %ld", tp.getXCoord(), tp.getYCoord(), tp.getZCoord(), tp.getHeading(), tp.getTime().count());
+		for (auto& tp : traj.points) {
+			RCLCPP_DEBUG(me->get_logger(),
+						 "Trajectory point: %lf, %lf, %lf, %lf, %ld",
+						 tp.getXCoord(),
+						 tp.getYCoord(),
+						 tp.getZCoord(),
+						 tp.getHeading(),
+						 tp.getTime().count());
 		}
 	}
 	SE_Close(); // Stop ScenarioEngine
 }
 
-void EsminiAdapter::onRequestObjectTrajectory(
-	const std::shared_ptr<ObjectTrajectorySrv::Request> req,
-	std::shared_ptr<ObjectTrajectorySrv::Response> res)
-{
+void EsminiAdapter::onRequestObjectTrajectory(const std::shared_ptr<ObjectTrajectorySrv::Request> req,
+											  std::shared_ptr<ObjectTrajectorySrv::Response> res) {
 	me->fetchOSCFilePath();
 	if (me->runSimulation || me->atosObjectIdToTraj.find(req->id) == me->atosObjectIdToTraj.end()) {
 		me->runEsminiSimulation();
@@ -612,25 +607,22 @@ void EsminiAdapter::onRequestObjectTrajectory(
 
 	try {
 		res->trajectory = me->atosObjectIdToTraj.at(req->id).toCartesianTrajectory();
-		res->success = true;
-	}
-	catch (std::out_of_range& e){
+		res->success	= true;
+	} catch (std::out_of_range& e) {
 		RCLCPP_ERROR(me->get_logger(), "Esmini trajectory service called, no trajectory found for object %d", req->id);
 		res->success = false;
 	}
 }
 
-void EsminiAdapter::onRequestTestOrigin(
-	const std::shared_ptr<atos_interfaces::srv::GetTestOrigin::Request>,
-	std::shared_ptr<atos_interfaces::srv::GetTestOrigin::Response> res)
-{
-	while (me->testOriginSet == false){
+void EsminiAdapter::onRequestTestOrigin(const std::shared_ptr<atos_interfaces::srv::GetTestOrigin::Request>,
+										std::shared_ptr<atos_interfaces::srv::GetTestOrigin::Response> res) {
+	while (me->testOriginSet == false) {
 		RCLCPP_DEBUG(me->get_logger(), "Waiting for test origin to be available");
 		std::this_thread::sleep_for(std::chrono::milliseconds(20));
 	}
-	res->origin.position.latitude = me->testOrigin.position.latitude;
+	res->origin.position.latitude  = me->testOrigin.position.latitude;
 	res->origin.position.longitude = me->testOrigin.position.longitude;
-	res->origin.position.altitude = me->testOrigin.position.altitude;
+	res->origin.position.altitude  = me->testOrigin.position.altitude;
 }
 
 /*!
@@ -642,10 +634,10 @@ void EsminiAdapter::onRequestTestOrigin(
 int EsminiAdapter::initializeModule() {
 	int retval = 0;
 
-	me->objectTrajectoryService = me->create_service<ObjectTrajectorySrv>(ServiceNames::getObjectTrajectory,
-		std::bind(&EsminiAdapter::onRequestObjectTrajectory, _1, _2));
-	me->testOriginService = me->create_service<atos_interfaces::srv::GetTestOrigin>(ServiceNames::getTestOrigin,
-		std::bind(&EsminiAdapter::onRequestTestOrigin, _1, _2));
+	me->objectTrajectoryService = me->create_service<ObjectTrajectorySrv>(
+	  ServiceNames::getObjectTrajectory, std::bind(&EsminiAdapter::onRequestObjectTrajectory, _1, _2));
+	me->testOriginService = me->create_service<atos_interfaces::srv::GetTestOrigin>(
+	  ServiceNames::getTestOrigin, std::bind(&EsminiAdapter::onRequestTestOrigin, _1, _2));
 
 	return retval;
 }
diff --git a/atos/modules/IntegrationTesting/src/scenarioexecution.cpp b/atos/modules/IntegrationTesting/src/scenarioexecution.cpp
index 7a62cd7a2..acea2bde8 100644
--- a/atos/modules/IntegrationTesting/src/scenarioexecution.cpp
+++ b/atos/modules/IntegrationTesting/src/scenarioexecution.cpp
@@ -3,36 +3,36 @@
  * License, v. 2.0. If a copy of the MPL was not distributed with this
  * file, You can obtain one at https://mozilla.org/MPL/2.0/.
  */
-#include <iomanip>
 #include "scenarioexecution.hpp"
 #include "rclcpp/wait_for_message.hpp"
+#include <iomanip>
 
 using namespace std::chrono_literals;
 
 /**
  * @brief An integration test for scenario execution. This test will run a scenario execution for one object,
  * and check that all states are correct and that it follows the trajectory.
- * 
+ *
  */
-ScenarioExecution::ScenarioExecution() : IntegrationTesting(testName) {
+ScenarioExecution::ScenarioExecution() :
+  IntegrationTesting(testName) {
 	RCLCPP_INFO(get_logger(), "Started integration test: %s", testName.c_str());
-	getObjectTrajectoryClient = this->create_client<atos_interfaces::srv::GetObjectTrajectory>(atosNamespace + ServiceNames::getObjectTrajectory);
+	getObjectTrajectoryClient =
+	  this->create_client<atos_interfaces::srv::GetObjectTrajectory>(atosNamespace + ServiceNames::getObjectTrajectory);
 	runIntegrationTest();
 }
 
-
 /**
  * @brief Destructor.
- * 
+ *
  */
 ScenarioExecution::~ScenarioExecution() {}
 
-
 /**
  * @brief Run the integration test. This integration test will initialize a scenario, connect to object 1,
  * arm the object, and then start it. It will check that all states are correct, and that the object follows
  * the trajectory.
- * 
+ *
  */
 void ScenarioExecution::runIntegrationTest() {
 	RCLCPP_INFO(get_logger(), "Running scenario");
@@ -41,7 +41,7 @@ void ScenarioExecution::runIntegrationTest() {
 	initPub->publish(msg);
 	std::this_thread::sleep_for(1s); // sleep to allow the object to initialize
 	checkState(initTopic);
-	
+
 	connectPub->publish(msg);
 	std::this_thread::sleep_for(1s); // sleep to allow the object to connect
 	checkState(connectTopic);
@@ -56,17 +56,16 @@ void ScenarioExecution::runIntegrationTest() {
 
 	checkObjectStoppedAtLastPoint();
 	printResult();
-}	
-
+}
 
 /**
  * @brief Get the x- and y-coordinates of the trajectory points for object 1.
- * 
+ *
  * @return std::vector<std::pair<double, double>> Trajectory points.
  */
 std::vector<std::pair<double, double>> ScenarioExecution::getTrajectoryPoints() {
 	auto request = std::make_shared<atos_interfaces::srv::GetObjectTrajectory::Request>();
-	request->id = 1;
+	request->id	 = 1;
 	std::shared_ptr<atos_interfaces::srv::GetObjectTrajectory::Response> response;
 	this->callService(1000ms, getObjectTrajectoryClient, response, request);
 
@@ -77,43 +76,47 @@ std::vector<std::pair<double, double>> ScenarioExecution::getTrajectoryPoints()
 	return trajectory;
 }
 
-
 /**
  * @brief Check that the object ends up near the end point of the trajectory.
- * 
+ *
  */
 void ScenarioExecution::checkObjectStoppedAtLastPoint() {
 	auto trajectory = getTrajectoryPoints();
 	std::pair<double, double> lastPoint;
 	auto isObjectMoving = true;
-	while(isObjectMoving) {
+	while (isObjectMoving) {
 		atos_interfaces::msg::Monitor monr;
-		monitorSub = this->create_subscription<atos_interfaces::msg::Monitor>("/atos/object_1/object_monitor", 10, std::bind(&ScenarioExecution::placeholderCallback, this, std::placeholders::_1));
+		monitorSub = this->create_subscription<atos_interfaces::msg::Monitor>(
+		  "/atos/object_1/object_monitor",
+		  10,
+		  std::bind(&ScenarioExecution::placeholderCallback, this, std::placeholders::_1));
 		rclcpp::wait_for_message(monr, monitorSub, this->get_node_base_interface()->get_context(), 50ms);
 		double speedThreshold = 0.1;
 		if (abs(monr.velocity.twist.linear.x) < speedThreshold && abs(monr.velocity.twist.linear.y) < speedThreshold) {
-			lastPoint = std::make_pair(monr.pose.pose.position.x, monr.pose.pose.position.y);
+			lastPoint	   = std::make_pair(monr.pose.pose.position.x, monr.pose.pose.position.y);
 			isObjectMoving = false;
 		}
 	}
 
-	auto distanceX = lastPoint.first - trajectory.back().first;
-	auto distanceY = lastPoint.second - trajectory.back().second;
+	auto distanceX		   = lastPoint.first - trajectory.back().first;
+	auto distanceY		   = lastPoint.second - trajectory.back().second;
 	auto distanceThreshold = 1.0;
 	if (abs(distanceX) < distanceThreshold && abs(distanceY) < distanceThreshold) {
 		followedTrajectory = true;
 		RCLCPP_INFO(get_logger(), "Object followed trajectory succesfully");
-	}
-	else {
+	} else {
 		followedTrajectory = false;
-		RCLCPP_ERROR(get_logger(), "Object did not follow trajectory succesfully. Distance from end point of trajectory is x: %f, y: %f", distanceX, distanceY);
+		RCLCPP_ERROR(
+		  get_logger(),
+		  "Object did not follow trajectory succesfully. Distance from end point of trajectory is x: %f, y: %f",
+		  distanceX,
+		  distanceY);
 	}
 }
 
-
 /**
  * @brief Print the result of the integration test.
- * 
+ *
  */
 void ScenarioExecution::printResult() {
 	std::stringstream ss;
@@ -121,21 +124,19 @@ void ScenarioExecution::printResult() {
 	ss << "\nIntegration test - Scenario Excecution results:\n";
 	ss << "State change results table:\n";
 	ss << std::setfill('-') << std::setw(width * 3) << "-" << std::endl;
-	ss << std::left << std::setfill(' ') << std::setw(width) << "State" 
-		 << std::setw(width) << "Expected state" 
-		 << std::setw(width) << "Pass" << std::endl;
+	ss << std::left << std::setfill(' ') << std::setw(width) << "State" << std::setw(width) << "Expected state"
+	   << std::setw(width) << "Pass" << std::endl;
 	ss << std::setfill('-') << std::setw(width * 3) << "-" << std::endl;
 
 	bool allStatesCorrect = true;
 	for (auto const& [state, expectedState] : stateResult) {
 		const bool passed = (state == expectedState);
-		const char *pass = passed ? "OK" : "NOT OK";
+		const char* pass  = passed ? "OK" : "NOT OK";
 		if (!passed) {
 			allStatesCorrect = false;
 		}
-		ss << std::left << std::setfill(' ') << std::setw(width) << state 
-			 << std::setw(width) << expectedState 
-			 << std::setw(width) << pass << std::endl;
+		ss << std::left << std::setfill(' ') << std::setw(width) << state << std::setw(width) << expectedState
+		   << std::setw(width) << pass << std::endl;
 	}
 	ss << std::setfill('-') << std::setw(width * 3) << "-" << std::endl;
 	ss << std::setfill(' ');
@@ -148,10 +149,9 @@ void ScenarioExecution::printResult() {
 	RCLCPP_INFO(get_logger(), "%s", result.c_str());
 }
 
-
 /**
  * @brief This is a placeholder callback function. It is needed in order to create a topic subscriber.
- * 
+ *
  * @param msg Message.
  */
 void ScenarioExecution::placeholderCallback(const atos_interfaces::msg::Monitor::SharedPtr msg) {
diff --git a/atos/modules/MQTTBridge/src/mqttbridge.cpp b/atos/modules/MQTTBridge/src/mqttbridge.cpp
index 5f109f168..aad5be3a4 100644
--- a/atos/modules/MQTTBridge/src/mqttbridge.cpp
+++ b/atos/modules/MQTTBridge/src/mqttbridge.cpp
@@ -10,142 +10,132 @@ using namespace ROSChannels;
 
 using std::placeholders::_1;
 
-MqttBridge::MqttBridge()
-    : Module(MqttBridge::moduleName),
-      customCommandActionMsgSub(
-          *this, std::bind(&MqttBridge::onCustomCommandActionMsg, this, _1)),
-      obcStateChangeSub(*this,
-                        std::bind(&MqttBridge::onObcStateChangeMsg, this, _1)) {
-  this->loadParameters();
-  this->initialize();
+MqttBridge::MqttBridge() :
+  Module(MqttBridge::moduleName),
+  customCommandActionMsgSub(*this, std::bind(&MqttBridge::onCustomCommandActionMsg, this, _1)),
+  obcStateChangeSub(*this, std::bind(&MqttBridge::onObcStateChangeMsg, this, _1)) {
+	this->loadParameters();
+	this->initialize();
 }
 
 void MqttBridge::loadParameters() {
-  declare_parameter("broker.host", "");
-  declare_parameter("broker.port", 1883);
-  declare_parameter("client.username", "");
-  declare_parameter("client.password", "");
-  declare_parameter("client.id", "");
-  declare_parameter("topic_prefix", "atos");
-
-  get_parameter("broker.host", brokerIP);
-  get_parameter("broker.port", port);
-  get_parameter("client.username", username);
-  get_parameter("client.password", password);
-  get_parameter("client.id", clientId);
-  get_parameter("topic_prefix", topic_prefix);
-
-  rcl_interfaces::msg::ParameterDescriptor param_desc;
-  param_desc.description = "The list of topics to bridge from MQTT to ROS";
-  const auto mqtt2ros_mqtt_topics = declare_parameter<std::vector<std::string>>(
-      "mqtt2ros.mqtt_topics", std::vector<std::string>(), param_desc);
-  for (const auto &mqtt_topic : mqtt2ros_mqtt_topics) {
-    param_desc.description =
-        "ROS topic on which corresponding MQTT messages are published";
-    declare_parameter(fmt::format("mqtt2ros.{}.ros_topic", mqtt_topic),
-                      rclcpp::ParameterType::PARAMETER_STRING, param_desc);
-    param_desc.description = "MQTT QoS value";
-    declare_parameter(fmt::format("mqtt2ros.{}.advanced.mqtt.qos", mqtt_topic),
-                      rclcpp::ParameterType::PARAMETER_INTEGER, param_desc);
-    param_desc.description = "ROS publisher queue size";
-    declare_parameter(
-        fmt::format("mqtt2ros.{}.advanced.ros.queue_size", mqtt_topic),
-        rclcpp::ParameterType::PARAMETER_INTEGER, param_desc);
-  }
-
-  param_desc.description = "The list of topics to bridge from ROS to MQTT";
-  const auto ros2mqtt_ros_topics = declare_parameter<std::vector<std::string>>(
-      "ros2mqtt.ros_topics", std::vector<std::string>(), param_desc);
-  for (const auto &ros_topic : ros2mqtt_ros_topics) {
-    param_desc.description = "MQTT topic on which the corresponding ROS "
-                             "messages are sent to the broker";
-    declare_parameter(fmt::format("ros2mqtt.{}.mqtt_topic", ros_topic),
-                      rclcpp::ParameterType::PARAMETER_STRING, param_desc);
-    param_desc.description = "ROS subscriber queue size";
-    declare_parameter(
-        fmt::format("ros2mqtt.{}.advanced.ros.queue_size", ros_topic),
-        rclcpp::ParameterType::PARAMETER_INTEGER, param_desc);
-    param_desc.description = "MQTT QoS value";
-    declare_parameter(fmt::format("ros2mqtt.{}.advanced.mqtt.qos", ros_topic),
-                      rclcpp::ParameterType::PARAMETER_INTEGER, param_desc);
-  }
-
-  // mqtt2ros
-  for (const auto &mqtt_topic : mqtt2ros_mqtt_topics) {
-
-    rclcpp::Parameter ros_topic_param;
-    if (get_parameter(fmt::format("mqtt2ros.{}.ros_topic", mqtt_topic),
-                      ros_topic_param)) {
-
-      // mqtt2ros[k]/mqtt_topic and mqtt2ros[k]/ros_topic
-      const std::string ros_topic = ros_topic_param.as_string();
-      Mqtt2RosInterface &mqtt2ros = mqtt2ros_[mqtt_topic];
-      mqtt2ros.ros.topic = ros_topic;
-
-      // mqtt2ros[k]/advanced/mqtt/qos
-      rclcpp::Parameter qos_param;
-      if (get_parameter(
-              fmt::format("mqtt2ros.{}.advanced.mqtt.qos", mqtt_topic),
-              qos_param)) {
-        mqtt2ros.mqtt.qos = qos_param.as_int();
-      }
-
-      // mqtt2ros[k]/advanced/ros/queue_size
-      rclcpp::Parameter queue_size_param;
-      if (get_parameter(
-              fmt::format("mqtt2ros.{}.advanced.ros.queue_size", mqtt_topic),
-              queue_size_param)) {
-        mqtt2ros.ros.queue_size = queue_size_param.as_int();
-      }
-
-      RCLCPP_INFO(get_logger(), "Bridging MQTT topic '%s' to ROS topic '%s'",
-                  mqtt_topic.c_str(), mqtt2ros.ros.topic.c_str());
-    } else {
-      const auto warning = fmt::format(
-          "Parameter 'mqtt2ros.{}' is missing subparameter 'ros_topic', will "
-          "be ignored",
-          mqtt_topic);
-      RCLCPP_WARN(get_logger(),
-                  "%s", warning.c_str());
-    }
-  }
-
-  // ros2mqtt
-  for (const auto &ros_topic : ros2mqtt_ros_topics) {
-
-    rclcpp::Parameter mqtt_topic_param;
-    if (get_parameter(fmt::format("ros2mqtt.{}.mqtt_topic", ros_topic),
-                      mqtt_topic_param)) {
-
-      // ros2mqtt[k]/ros_topic and ros2mqtt[k]/mqtt_topic
-      const std::string mqtt_topic = mqtt_topic_param.as_string();
-      Ros2MqttInterface &ros2mqtt = ros2mqtt_[ros_topic];
-      ros2mqtt.mqtt.topic = mqtt_topic;
-
-      // ros2mqtt[k]/advanced/ros/queue_size
-      rclcpp::Parameter queue_size_param;
-      if (get_parameter(
-              fmt::format("ros2mqtt.{}.advanced.ros.queue_size", ros_topic),
-              queue_size_param))
-        ros2mqtt.ros.queue_size = queue_size_param.as_int();
-
-      // ros2mqtt[k]/advanced/mqtt/qos
-      rclcpp::Parameter qos_param;
-      if (get_parameter(fmt::format("ros2mqtt.{}.advanced.mqtt.qos", ros_topic),
-                        qos_param))
-        ros2mqtt.mqtt.qos = qos_param.as_int();
-
-      RCLCPP_INFO(get_logger(), "Bridging ROS topic '%s' to MQTT topic '%s'",
-                  ros_topic.c_str(), ros2mqtt.mqtt.topic.c_str());
-    } else {
-      const auto warning = fmt::format(
-          "Parameter 'ros2mqtt.{}' is missing subparameter 'mqtt_topic', will "
-          "be ignored",
-          ros_topic);
-      RCLCPP_WARN(get_logger(),
-                  "%s", warning.c_str());
-    }
-  }
+	declare_parameter("broker.host", "");
+	declare_parameter("broker.port", 1883);
+	declare_parameter("client.username", "");
+	declare_parameter("client.password", "");
+	declare_parameter("client.id", "");
+	declare_parameter("topic_prefix", "atos");
+
+	get_parameter("broker.host", brokerIP);
+	get_parameter("broker.port", port);
+	get_parameter("client.username", username);
+	get_parameter("client.password", password);
+	get_parameter("client.id", clientId);
+	get_parameter("topic_prefix", topic_prefix);
+
+	rcl_interfaces::msg::ParameterDescriptor param_desc;
+	param_desc.description = "The list of topics to bridge from MQTT to ROS";
+	const auto mqtt2ros_mqtt_topics =
+	  declare_parameter<std::vector<std::string>>("mqtt2ros.mqtt_topics", std::vector<std::string>(), param_desc);
+	for (const auto& mqtt_topic : mqtt2ros_mqtt_topics) {
+		param_desc.description = "ROS topic on which corresponding MQTT messages are published";
+		declare_parameter(
+		  fmt::format("mqtt2ros.{}.ros_topic", mqtt_topic), rclcpp::ParameterType::PARAMETER_STRING, param_desc);
+		param_desc.description = "MQTT QoS value";
+		declare_parameter(fmt::format("mqtt2ros.{}.advanced.mqtt.qos", mqtt_topic),
+						  rclcpp::ParameterType::PARAMETER_INTEGER,
+						  param_desc);
+		param_desc.description = "ROS publisher queue size";
+		declare_parameter(fmt::format("mqtt2ros.{}.advanced.ros.queue_size", mqtt_topic),
+						  rclcpp::ParameterType::PARAMETER_INTEGER,
+						  param_desc);
+	}
+
+	param_desc.description = "The list of topics to bridge from ROS to MQTT";
+	const auto ros2mqtt_ros_topics =
+	  declare_parameter<std::vector<std::string>>("ros2mqtt.ros_topics", std::vector<std::string>(), param_desc);
+	for (const auto& ros_topic : ros2mqtt_ros_topics) {
+		param_desc.description = "MQTT topic on which the corresponding ROS "
+								 "messages are sent to the broker";
+		declare_parameter(
+		  fmt::format("ros2mqtt.{}.mqtt_topic", ros_topic), rclcpp::ParameterType::PARAMETER_STRING, param_desc);
+		param_desc.description = "ROS subscriber queue size";
+		declare_parameter(fmt::format("ros2mqtt.{}.advanced.ros.queue_size", ros_topic),
+						  rclcpp::ParameterType::PARAMETER_INTEGER,
+						  param_desc);
+		param_desc.description = "MQTT QoS value";
+		declare_parameter(fmt::format("ros2mqtt.{}.advanced.mqtt.qos", ros_topic),
+						  rclcpp::ParameterType::PARAMETER_INTEGER,
+						  param_desc);
+	}
+
+	// mqtt2ros
+	for (const auto& mqtt_topic : mqtt2ros_mqtt_topics) {
+
+		rclcpp::Parameter ros_topic_param;
+		if (get_parameter(fmt::format("mqtt2ros.{}.ros_topic", mqtt_topic), ros_topic_param)) {
+
+			// mqtt2ros[k]/mqtt_topic and mqtt2ros[k]/ros_topic
+			const std::string ros_topic = ros_topic_param.as_string();
+			Mqtt2RosInterface& mqtt2ros = mqtt2ros_[mqtt_topic];
+			mqtt2ros.ros.topic			= ros_topic;
+
+			// mqtt2ros[k]/advanced/mqtt/qos
+			rclcpp::Parameter qos_param;
+			if (get_parameter(fmt::format("mqtt2ros.{}.advanced.mqtt.qos", mqtt_topic), qos_param)) {
+				mqtt2ros.mqtt.qos = qos_param.as_int();
+			}
+
+			// mqtt2ros[k]/advanced/ros/queue_size
+			rclcpp::Parameter queue_size_param;
+			if (get_parameter(fmt::format("mqtt2ros.{}.advanced.ros.queue_size", mqtt_topic), queue_size_param)) {
+				mqtt2ros.ros.queue_size = queue_size_param.as_int();
+			}
+
+			RCLCPP_INFO(get_logger(),
+						"Bridging MQTT topic '%s' to ROS topic '%s'",
+						mqtt_topic.c_str(),
+						mqtt2ros.ros.topic.c_str());
+		} else {
+			const auto warning = fmt::format("Parameter 'mqtt2ros.{}' is missing subparameter 'ros_topic', will "
+											 "be ignored",
+											 mqtt_topic);
+			RCLCPP_WARN(get_logger(), "%s", warning.c_str());
+		}
+	}
+
+	// ros2mqtt
+	for (const auto& ros_topic : ros2mqtt_ros_topics) {
+
+		rclcpp::Parameter mqtt_topic_param;
+		if (get_parameter(fmt::format("ros2mqtt.{}.mqtt_topic", ros_topic), mqtt_topic_param)) {
+
+			// ros2mqtt[k]/ros_topic and ros2mqtt[k]/mqtt_topic
+			const std::string mqtt_topic = mqtt_topic_param.as_string();
+			Ros2MqttInterface& ros2mqtt	 = ros2mqtt_[ros_topic];
+			ros2mqtt.mqtt.topic			 = mqtt_topic;
+
+			// ros2mqtt[k]/advanced/ros/queue_size
+			rclcpp::Parameter queue_size_param;
+			if (get_parameter(fmt::format("ros2mqtt.{}.advanced.ros.queue_size", ros_topic), queue_size_param))
+				ros2mqtt.ros.queue_size = queue_size_param.as_int();
+
+			// ros2mqtt[k]/advanced/mqtt/qos
+			rclcpp::Parameter qos_param;
+			if (get_parameter(fmt::format("ros2mqtt.{}.advanced.mqtt.qos", ros_topic), qos_param))
+				ros2mqtt.mqtt.qos = qos_param.as_int();
+
+			RCLCPP_INFO(get_logger(),
+						"Bridging ROS topic '%s' to MQTT topic '%s'",
+						ros_topic.c_str(),
+						ros2mqtt.mqtt.topic.c_str());
+		} else {
+			const auto warning = fmt::format("Parameter 'ros2mqtt.{}' is missing subparameter 'mqtt_topic', will "
+											 "be ignored",
+											 ros_topic);
+			RCLCPP_WARN(get_logger(), "%s", warning.c_str());
+		}
+	}
 }
 
 /*!
@@ -153,323 +143,294 @@ void MqttBridge::loadParameters() {
  * with ros parameter settings.
  */
 void MqttBridge::initialize() {
-  if (this->brokerIP.empty()) {
-    RCLCPP_INFO(this->get_logger(),
-                "No Broker IP provided in configuration. Shutting down...");
-    rclcpp::shutdown();
-  } else {
-    this->setupClient();
-    this->connect();
-    // Wait for all ros topics to be announced
-    rclcpp::sleep_for(std::chrono::seconds(1));
-    this->setupMqtt2RosBridge();
-    this->setupRos2MqttBridge();
-  }
+	if (this->brokerIP.empty()) {
+		RCLCPP_INFO(this->get_logger(), "No Broker IP provided in configuration. Shutting down...");
+		rclcpp::shutdown();
+	} else {
+		this->setupClient();
+		this->connect();
+		// Wait for all ros topics to be announced
+		rclcpp::sleep_for(std::chrono::seconds(1));
+		this->setupMqtt2RosBridge();
+		this->setupRos2MqttBridge();
+	}
 }
 
 void MqttBridge::setupMqtt2RosBridge() {
-  new_mqtt2ros_bridge_service_ =
-      create_service<atos_interfaces::srv::NewMqtt2RosBridge>(
-          "~/new_mqtt2ros_bridge",
-          std::bind(&MqttBridge::newMqtt2RosBridge, this, std::placeholders::_1,
-                    std::placeholders::_2));
-
-  // Create a request and response for each mqtt2ros bridge and put into a
-  // map
-  auto serviceCallMap = std::map<
-      std::shared_ptr<atos_interfaces::srv::NewMqtt2RosBridge::Response>,
-      std::shared_ptr<atos_interfaces::srv::NewMqtt2RosBridge::Request>>();
-  for (const auto &mqtt2ros : mqtt2ros_) {
-    atos_interfaces::srv::NewMqtt2RosBridge::Request::SharedPtr request =
-        std::make_shared<atos_interfaces::srv::NewMqtt2RosBridge::Request>();
-    request->mqtt_topic = mqtt2ros.first;
-    request->ros_topic = mqtt2ros.second.ros.topic;
-    request->mqtt_qos = mqtt2ros.second.mqtt.qos;
-    request->ros_queue_size = mqtt2ros.second.ros.queue_size;
-    atos_interfaces::srv::NewMqtt2RosBridge::Response::SharedPtr response =
-        std::make_shared<atos_interfaces::srv::NewMqtt2RosBridge::Response>();
-    serviceCallMap[response] = request;
-  }
-
-  // Loop through the map until all response objects are true
-  while (std::any_of(serviceCallMap.begin(), serviceCallMap.end(),
-                     [](const auto &pair) { return !pair.first->success; })) {
-    // Get all unsuccesful responses
-    auto failedResponses = std::vector<
-        std::shared_ptr<atos_interfaces::srv::NewMqtt2RosBridge::Response>>();
-    for (const auto &pair : serviceCallMap) {
-      if (!pair.first->success) {
-        failedResponses.push_back(pair.first);
-      }
-    }
-    // Retry all failed responses
-    for (const auto &response : failedResponses) {
-      newMqtt2RosBridge(serviceCallMap[response], response);
-    }
-    // Wait for a second before retrying
-    rclcpp::sleep_for(std::chrono::seconds(1));
-  }
+	new_mqtt2ros_bridge_service_ = create_service<atos_interfaces::srv::NewMqtt2RosBridge>(
+	  "~/new_mqtt2ros_bridge",
+	  std::bind(&MqttBridge::newMqtt2RosBridge, this, std::placeholders::_1, std::placeholders::_2));
+
+	// Create a request and response for each mqtt2ros bridge and put into a
+	// map
+	auto serviceCallMap = std::map<std::shared_ptr<atos_interfaces::srv::NewMqtt2RosBridge::Response>,
+								   std::shared_ptr<atos_interfaces::srv::NewMqtt2RosBridge::Request>>();
+	for (const auto& mqtt2ros : mqtt2ros_) {
+		atos_interfaces::srv::NewMqtt2RosBridge::Request::SharedPtr request =
+		  std::make_shared<atos_interfaces::srv::NewMqtt2RosBridge::Request>();
+		request->mqtt_topic		= mqtt2ros.first;
+		request->ros_topic		= mqtt2ros.second.ros.topic;
+		request->mqtt_qos		= mqtt2ros.second.mqtt.qos;
+		request->ros_queue_size = mqtt2ros.second.ros.queue_size;
+		atos_interfaces::srv::NewMqtt2RosBridge::Response::SharedPtr response =
+		  std::make_shared<atos_interfaces::srv::NewMqtt2RosBridge::Response>();
+		serviceCallMap[response] = request;
+	}
+
+	// Loop through the map until all response objects are true
+	while (std::any_of(
+	  serviceCallMap.begin(), serviceCallMap.end(), [](const auto& pair) { return !pair.first->success; })) {
+		// Get all unsuccesful responses
+		auto failedResponses = std::vector<std::shared_ptr<atos_interfaces::srv::NewMqtt2RosBridge::Response>>();
+		for (const auto& pair : serviceCallMap) {
+			if (!pair.first->success) {
+				failedResponses.push_back(pair.first);
+			}
+		}
+		// Retry all failed responses
+		for (const auto& response : failedResponses) {
+			newMqtt2RosBridge(serviceCallMap[response], response);
+		}
+		// Wait for a second before retrying
+		rclcpp::sleep_for(std::chrono::seconds(1));
+	}
 }
 
 void MqttBridge::setupRos2MqttBridge() {
-  new_ros2mqtt_bridge_service_ =
-      create_service<atos_interfaces::srv::NewRos2MqttBridge>(
-          "~/new_ros2mqtt_bridge",
-          std::bind(&MqttBridge::newRos2MqttBridge, this, std::placeholders::_1,
-                    std::placeholders::_2));
-
-  // setup subscribers
-  this->setupSubscriptions();
+	new_ros2mqtt_bridge_service_ = create_service<atos_interfaces::srv::NewRos2MqttBridge>(
+	  "~/new_ros2mqtt_bridge",
+	  std::bind(&MqttBridge::newRos2MqttBridge, this, std::placeholders::_1, std::placeholders::_2));
+
+	// setup subscribers
+	this->setupSubscriptions();
 }
 
 void MqttBridge::setupSubscriptions() {
 
-  // get info of all topics
-  const auto all_topics_and_types = get_topic_names_and_types();
-  // check for ros2mqtt topics
-  for (auto &[ros_topic, ros2mqtt] : ros2mqtt_) {
-    if (all_topics_and_types.count(ros_topic)) {
-      // check if message type has changed or if mapping is stale
-      const std::string &msg_type = all_topics_and_types.at(ros_topic)[0];
-      if (msg_type == ros2mqtt.ros.msg_type && !ros2mqtt.ros.is_stale)
-        continue;
-      ros2mqtt.ros.is_stale = false;
-      ros2mqtt.ros.msg_type = msg_type;
-
-      // create new generic subscription, if message type has changed
-      std::function<void(const std::shared_ptr<rclcpp::SerializedMessage> msg)>
-          bound_callback_func = std::bind(&MqttBridge::ros2mqtt, this,
-                                          std::placeholders::_1, ros_topic);
-      try {
-        ros2mqtt.ros.subscriber = create_generic_subscription(
-            ros_topic, msg_type, ros2mqtt.ros.queue_size, bound_callback_func);
-      } catch (rclcpp::exceptions::RCLError &e) {
-        RCLCPP_ERROR(get_logger(), "Failed to create generic subscriber: %s",
-                     e.what());
-        return;
-      }
-      RCLCPP_INFO(get_logger(), "Subscribed to ROS topic '%s' of type '%s'",
-                  ros_topic.c_str(), msg_type.c_str());
-    }
-  }
+	// get info of all topics
+	const auto all_topics_and_types = get_topic_names_and_types();
+	// check for ros2mqtt topics
+	for (auto& [ros_topic, ros2mqtt] : ros2mqtt_) {
+		if (all_topics_and_types.count(ros_topic)) {
+			// check if message type has changed or if mapping is stale
+			const std::string& msg_type = all_topics_and_types.at(ros_topic)[0];
+			if (msg_type == ros2mqtt.ros.msg_type && !ros2mqtt.ros.is_stale)
+				continue;
+			ros2mqtt.ros.is_stale = false;
+			ros2mqtt.ros.msg_type = msg_type;
+
+			// create new generic subscription, if message type has changed
+			std::function<void(const std::shared_ptr<rclcpp::SerializedMessage> msg)> bound_callback_func =
+			  std::bind(&MqttBridge::ros2mqtt, this, std::placeholders::_1, ros_topic);
+			try {
+				ros2mqtt.ros.subscriber =
+				  create_generic_subscription(ros_topic, msg_type, ros2mqtt.ros.queue_size, bound_callback_func);
+			} catch (rclcpp::exceptions::RCLError& e) {
+				RCLCPP_ERROR(get_logger(), "Failed to create generic subscriber: %s", e.what());
+				return;
+			}
+			RCLCPP_INFO(get_logger(), "Subscribed to ROS topic '%s' of type '%s'", ros_topic.c_str(), msg_type.c_str());
+		}
+	}
 }
 
-void MqttBridge::ros2mqtt(
-    const std::shared_ptr<rclcpp::SerializedMessage> &serialized_msg,
-    const std::string &ros_topic) {
-  (void)serialized_msg;
-
-  Ros2MqttInterface &ros2mqtt = ros2mqtt_[ros_topic];
-  std::string mqtt_topic = ros2mqtt.mqtt.topic;
-  std::vector<uint8_t> payload_buffer;
-
-  RCLCPP_INFO(get_logger(), "Received ROS message on topic '%s'",
-              ros_topic.c_str());
-
-  try {
-    mqtt::message_ptr mqtt_msg =
-        mqtt::make_message(mqtt_topic, payload_buffer.data(),
-                           payload_buffer.size(), ros2mqtt.mqtt.qos, true);
-    client_->publish(mqtt_msg);
-    RCLCPP_INFO(get_logger(), "Published ROS message to MQTT topic '%s'",
-                mqtt_topic.c_str());
-  } catch (const mqtt::exception &e) {
-    RCLCPP_WARN(
-        get_logger(),
-        "Publishing ROS message type information to MQTT topic '%s' failed: %s",
-        mqtt_topic.c_str(), e.what());
-  }
+void MqttBridge::ros2mqtt(const std::shared_ptr<rclcpp::SerializedMessage>& serialized_msg,
+						  const std::string& ros_topic) {
+	(void)serialized_msg;
+
+	Ros2MqttInterface& ros2mqtt = ros2mqtt_[ros_topic];
+	std::string mqtt_topic		= ros2mqtt.mqtt.topic;
+	std::vector<uint8_t> payload_buffer;
+
+	RCLCPP_INFO(get_logger(), "Received ROS message on topic '%s'", ros_topic.c_str());
+
+	try {
+		mqtt::message_ptr mqtt_msg =
+		  mqtt::make_message(mqtt_topic, payload_buffer.data(), payload_buffer.size(), ros2mqtt.mqtt.qos, true);
+		client_->publish(mqtt_msg);
+		RCLCPP_INFO(get_logger(), "Published ROS message to MQTT topic '%s'", mqtt_topic.c_str());
+	} catch (const mqtt::exception& e) {
+		RCLCPP_WARN(get_logger(),
+					"Publishing ROS message type information to MQTT topic '%s' failed: %s",
+					mqtt_topic.c_str(),
+					e.what());
+	}
 }
 
 void MqttBridge::setupClient() {
-  RCLCPP_INFO(this->get_logger(),
-              "Setting up connection with clientID: %s, and broker IP: %s",
-              clientId.c_str(), brokerIP.c_str());
-
-  // basic client connection options
-  connect_options_.set_automatic_reconnect(true);
-  connect_options_.set_clean_session(true);
-  connect_options_.set_keep_alive_interval(5);
-
-  // user authentication
-  if (!username.empty()) {
-    connect_options_.set_user_name(username);
-    connect_options_.set_password(password);
-  }
-
-  auto timeNanoseconds =
-      std::chrono::duration_cast<std::chrono::nanoseconds>(
-          std::chrono::system_clock::now().time_since_epoch())
-          .count();
-  auto id = clientId + "_" + std::to_string(timeNanoseconds);
-
-  const std::string uri = fmt::format("{}://{}:{}", "tcp", brokerIP, port);
-  try {
-    client_ =
-        std::shared_ptr<mqtt::async_client>(new mqtt::async_client(uri, id));
-  } catch (const mqtt::exception &e) {
-    RCLCPP_ERROR(get_logger(), "Client could not be initialized: %s", e.what());
-    exit(EXIT_FAILURE);
-  }
-
-  // setup MQTT callbacks
-  client_->set_callback(*this);
+	RCLCPP_INFO(this->get_logger(),
+				"Setting up connection with clientID: %s, and broker IP: %s",
+				clientId.c_str(),
+				brokerIP.c_str());
+
+	// basic client connection options
+	connect_options_.set_automatic_reconnect(true);
+	connect_options_.set_clean_session(true);
+	connect_options_.set_keep_alive_interval(5);
+
+	// user authentication
+	if (!username.empty()) {
+		connect_options_.set_user_name(username);
+		connect_options_.set_password(password);
+	}
+
+	auto timeNanoseconds =
+	  std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
+	auto id = clientId + "_" + std::to_string(timeNanoseconds);
+
+	const std::string uri = fmt::format("{}://{}:{}", "tcp", brokerIP, port);
+	try {
+		client_ = std::shared_ptr<mqtt::async_client>(new mqtt::async_client(uri, id));
+	} catch (const mqtt::exception& e) {
+		RCLCPP_ERROR(get_logger(), "Client could not be initialized: %s", e.what());
+		exit(EXIT_FAILURE);
+	}
+
+	// setup MQTT callbacks
+	client_->set_callback(*this);
 }
 
 void MqttBridge::connect() {
 
-  std::string as_client =
-      clientId.empty() ? ""
-                       : std::string(" as '") + clientId + std::string("'");
-  RCLCPP_INFO(get_logger(), "Connecting to broker at '%s'%s ...",
-              client_->get_server_uri().c_str(), as_client.c_str());
-
-  try {
-    client_->connect(connect_options_, nullptr, *this);
-  } catch (const mqtt::exception &e) {
-    RCLCPP_ERROR(get_logger(), "Connection to broker failed: %s", e.what());
-    exit(EXIT_FAILURE);
-  }
+	std::string as_client = clientId.empty() ? "" : std::string(" as '") + clientId + std::string("'");
+	RCLCPP_INFO(
+	  get_logger(), "Connecting to broker at '%s'%s ...", client_->get_server_uri().c_str(), as_client.c_str());
+
+	try {
+		client_->connect(connect_options_, nullptr, *this);
+	} catch (const mqtt::exception& e) {
+		RCLCPP_ERROR(get_logger(), "Connection to broker failed: %s", e.what());
+		exit(EXIT_FAILURE);
+	}
 }
 
-void MqttBridge::newMqtt2RosBridge(
-    atos_interfaces::srv::NewMqtt2RosBridge::Request::SharedPtr request,
-    atos_interfaces::srv::NewMqtt2RosBridge::Response::SharedPtr response) {
-
-  // add mapping definition to mqtt2ros_
-  Mqtt2RosInterface &mqtt2ros = mqtt2ros_[request->mqtt_topic];
-  mqtt2ros.ros.is_stale = true;
-  mqtt2ros.ros.topic = request->ros_topic;
-  mqtt2ros.mqtt.qos = request->mqtt_qos;
-  mqtt2ros.ros.publisher = this->create_publisher<std_msgs::msg::Empty>(
-      mqtt2ros.ros.topic, request->ros_queue_size);
-  mqtt2ros.ros.queue_size = request->ros_queue_size;
-
-  RCLCPP_DEBUG(get_logger(), "Bridging MQTT topic '%s' to ROS topic '%s'",
-               request->mqtt_topic.c_str(), mqtt2ros.ros.topic.c_str());
-
-  // subscribe to the MQTT topic
-  std::string mqtt_topic_to_subscribe = request->mqtt_topic;
-  try {
-    client_->subscribe(mqtt_topic_to_subscribe, mqtt2ros.mqtt.qos);
-    RCLCPP_INFO(get_logger(), "Subscribed to MQTT topic '%s'",
-                mqtt_topic_to_subscribe.c_str());
-    response->success = true;
-  }
-  // Catch exception if the topic is already subscribed
-  catch (const mqtt::exception &e) {
-    RCLCPP_WARN(get_logger(), "Failed to subscribe MQTT topic '%s': %s",
-                mqtt_topic_to_subscribe.c_str(), e.what());
-    response->success = false;
-  }
+void MqttBridge::newMqtt2RosBridge(atos_interfaces::srv::NewMqtt2RosBridge::Request::SharedPtr request,
+								   atos_interfaces::srv::NewMqtt2RosBridge::Response::SharedPtr response) {
+
+	// add mapping definition to mqtt2ros_
+	Mqtt2RosInterface& mqtt2ros = mqtt2ros_[request->mqtt_topic];
+	mqtt2ros.ros.is_stale		= true;
+	mqtt2ros.ros.topic			= request->ros_topic;
+	mqtt2ros.mqtt.qos			= request->mqtt_qos;
+	mqtt2ros.ros.publisher	= this->create_publisher<std_msgs::msg::Empty>(mqtt2ros.ros.topic, request->ros_queue_size);
+	mqtt2ros.ros.queue_size = request->ros_queue_size;
+
+	RCLCPP_DEBUG(get_logger(),
+				 "Bridging MQTT topic '%s' to ROS topic '%s'",
+				 request->mqtt_topic.c_str(),
+				 mqtt2ros.ros.topic.c_str());
+
+	// subscribe to the MQTT topic
+	std::string mqtt_topic_to_subscribe = request->mqtt_topic;
+	try {
+		client_->subscribe(mqtt_topic_to_subscribe, mqtt2ros.mqtt.qos);
+		RCLCPP_INFO(get_logger(), "Subscribed to MQTT topic '%s'", mqtt_topic_to_subscribe.c_str());
+		response->success = true;
+	}
+	// Catch exception if the topic is already subscribed
+	catch (const mqtt::exception& e) {
+		RCLCPP_WARN(get_logger(), "Failed to subscribe MQTT topic '%s': %s", mqtt_topic_to_subscribe.c_str(), e.what());
+		response->success = false;
+	}
 }
 
-void MqttBridge::newRos2MqttBridge(
-    atos_interfaces::srv::NewRos2MqttBridge::Request::SharedPtr request,
-    atos_interfaces::srv::NewRos2MqttBridge::Response::SharedPtr response) {
+void MqttBridge::newRos2MqttBridge(atos_interfaces::srv::NewRos2MqttBridge::Request::SharedPtr request,
+								   atos_interfaces::srv::NewRos2MqttBridge::Response::SharedPtr response) {
 
-  // add mapping definition to ros2mqtt_
-  Ros2MqttInterface &ros2mqtt = ros2mqtt_[request->ros_topic];
-  ros2mqtt.ros.is_stale = true;
-  ros2mqtt.ros.topic = request->ros_topic;
-  ros2mqtt.mqtt.topic = request->mqtt_topic;
-  ros2mqtt.mqtt.qos = request->mqtt_qos;
+	// add mapping definition to ros2mqtt_
+	Ros2MqttInterface& ros2mqtt = ros2mqtt_[request->ros_topic];
+	ros2mqtt.ros.is_stale		= true;
+	ros2mqtt.ros.topic			= request->ros_topic;
+	ros2mqtt.mqtt.topic			= request->mqtt_topic;
+	ros2mqtt.mqtt.qos			= request->mqtt_qos;
 
-  RCLCPP_DEBUG(get_logger(), "Bridging ROS topic '%s' to MQTT topic '%s'",
-               ros2mqtt.ros.topic.c_str(), ros2mqtt.mqtt.topic.c_str());
+	RCLCPP_DEBUG(get_logger(),
+				 "Bridging ROS topic '%s' to MQTT topic '%s'",
+				 ros2mqtt.ros.topic.c_str(),
+				 ros2mqtt.mqtt.topic.c_str());
 
-  // setup ROS subscriptions
-  setupSubscriptions();
+	// setup ROS subscriptions
+	setupSubscriptions();
 
-  response->success = true;
+	response->success = true;
 }
 
 void MqttBridge::onCustomCommandActionMsg(
-    const CustomCommandAction::message_type::SharedPtr
-        custom_command_action_msg) {
-  if (custom_command_action_msg->type == "v2x") {
-    RCLCPP_INFO(this->get_logger(), "Received V2X message on %s topic",
-                CustomCommandAction::topicName.c_str());
-    this->onMessage<std::string>(custom_command_action_msg->content, "v2x",
-                                 v2xToJson);
-  }
+  const CustomCommandAction::message_type::SharedPtr custom_command_action_msg) {
+	if (custom_command_action_msg->type == "v2x") {
+		RCLCPP_INFO(this->get_logger(), "Received V2X message on %s topic", CustomCommandAction::topicName.c_str());
+		this->onMessage<std::string>(custom_command_action_msg->content, "v2x", v2xToJson);
+	}
 }
 
-void MqttBridge::onObcStateChangeMsg(
-    const StateChange::message_type::SharedPtr obc_msg) {
-  this->onMessage<StateChange::message_type::SharedPtr>(obc_msg, "state",
-                                                        obcStateChangeToJson);
+void MqttBridge::onObcStateChangeMsg(const StateChange::message_type::SharedPtr obc_msg) {
+	this->onMessage<StateChange::message_type::SharedPtr>(obc_msg, "state", obcStateChangeToJson);
 }
 
 void MqttBridge::message_arrived(mqtt::const_message_ptr mqtt_msg) {
-  std::string mqtt_topic = mqtt_msg->get_topic();
-  RCLCPP_DEBUG(get_logger(), "Received MQTT message on topic '%s'",
-               mqtt_topic.c_str());
-  Mqtt2RosInterface &mqtt2ros = mqtt2ros_[mqtt_topic];
-
-  // Publish empty message to ROS topic
-  mqtt2ros.ros.publisher->publish(std_msgs::msg::Empty());
-  RCLCPP_DEBUG(get_logger(), "Published empty message to ROS topic '%s'",
-               mqtt2ros.ros.topic.c_str());
+	std::string mqtt_topic = mqtt_msg->get_topic();
+	RCLCPP_DEBUG(get_logger(), "Received MQTT message on topic '%s'", mqtt_topic.c_str());
+	Mqtt2RosInterface& mqtt2ros = mqtt2ros_[mqtt_topic];
+
+	// Publish empty message to ROS topic
+	mqtt2ros.ros.publisher->publish(std_msgs::msg::Empty());
+	RCLCPP_DEBUG(get_logger(), "Published empty message to ROS topic '%s'", mqtt2ros.ros.topic.c_str());
 }
 
-template <typename T>
-void MqttBridge::onMessage(T msg, std::string mqtt_topic,
-                           std::function<json(T)> convertFunc) {
-  json payload = convertFunc(msg);
-  try {
-    RCLCPP_DEBUG(this->get_logger(), "Publishing MQTT msg to broker %s",
-                 payload.dump().c_str());
-    client_->publish(mqtt_topic, payload.dump().c_str(), payload.dump().size());
-  } catch (std::runtime_error &) {
-    RCLCPP_ERROR(this->get_logger(), "Failed to publish MQTT message");
-  }
+template<typename T>
+void MqttBridge::onMessage(T msg, std::string mqtt_topic, std::function<json(T)> convertFunc) {
+	json payload = convertFunc(msg);
+	try {
+		RCLCPP_DEBUG(this->get_logger(), "Publishing MQTT msg to broker %s", payload.dump().c_str());
+		client_->publish(mqtt_topic, payload.dump().c_str(), payload.dump().size());
+	} catch (std::runtime_error&) {
+		RCLCPP_ERROR(this->get_logger(), "Failed to publish MQTT message");
+	}
 }
 
 json MqttBridge::v2xToJson(std::string msg_content) {
-  std::replace(msg_content.begin(), msg_content.end(), '\'',
-               '"'); // Replace ROS single quotes string with double quotes to
-                     // make it a valid JSON string
-  json j;
-  // Parse the string to a json object
-  try {
-    j = json::parse(msg_content);
-  } catch (json::parse_error &e) {
-    std::cerr << "Failed to parse JSON object: " << e.what() << std::endl;
-  }
-
-  if (j.find("message_type") == j.end()) {
-    std::cerr << "No message_type field in JSON object" << std::endl;
-    return j;
-  }
-  if (j["message_type"] == "DENM") {
-    j["detection_time"] =
-        std::chrono::system_clock::now().time_since_epoch().count();
-  }
-  return j;
+	std::replace(msg_content.begin(),
+				 msg_content.end(),
+				 '\'',
+				 '"'); // Replace ROS single quotes string with double quotes to
+					   // make it a valid JSON string
+	json j;
+	// Parse the string to a json object
+	try {
+		j = json::parse(msg_content);
+	} catch (json::parse_error& e) {
+		std::cerr << "Failed to parse JSON object: " << e.what() << std::endl;
+	}
+
+	if (j.find("message_type") == j.end()) {
+		std::cerr << "No message_type field in JSON object" << std::endl;
+		return j;
+	}
+	if (j["message_type"] == "DENM") {
+		j["detection_time"] = std::chrono::system_clock::now().time_since_epoch().count();
+	}
+	return j;
 }
 
-json MqttBridge::obcStateChangeToJson(
-    const StateChange::message_type::SharedPtr obc_msg) {
-  json j;
-  j["current_state"] = obc_msg->current_state;
-  j["prev_state"] = obc_msg->prev_state;
-  return j;
+json MqttBridge::obcStateChangeToJson(const StateChange::message_type::SharedPtr obc_msg) {
+	json j;
+	j["current_state"] = obc_msg->current_state;
+	j["prev_state"]	   = obc_msg->prev_state;
+	return j;
 }
 
-void MqttBridge::on_success(const mqtt::token &token) {
+void MqttBridge::on_success(const mqtt::token& token) {
 
-  (void)token; // Avoid compiler warning for unused parameter.
-  RCLCPP_INFO(get_logger(), "Connected to broker successfully");
-  is_connected_ = true;
+	(void)token; // Avoid compiler warning for unused parameter.
+	RCLCPP_INFO(get_logger(), "Connected to broker successfully");
+	is_connected_ = true;
 }
 
-void MqttBridge::on_failure(const mqtt::token &token) {
+void MqttBridge::on_failure(const mqtt::token& token) {
 
-  RCLCPP_ERROR(
-      get_logger(),
-      "Connection to broker failed (return code %d), will automatically "
-      "retry...",
-      token.get_return_code());
-  is_connected_ = false;
+	RCLCPP_ERROR(get_logger(),
+				 "Connection to broker failed (return code %d), will automatically "
+				 "retry...",
+				 token.get_return_code());
+	is_connected_ = false;
 }
diff --git a/atos/modules/ObjectControl/inc/relativeanchor.hpp b/atos/modules/ObjectControl/inc/relativeanchor.hpp
index 885e5abeb..46e8197a1 100644
--- a/atos/modules/ObjectControl/inc/relativeanchor.hpp
+++ b/atos/modules/ObjectControl/inc/relativeanchor.hpp
@@ -15,10 +15,10 @@ class RelativeAnchor : public TestObject {
 	RelativeAnchor(RelativeAnchor&&);
 
 	RelativeAnchor& operator=(const RelativeAnchor&) = delete;
-	RelativeAnchor& operator=(RelativeAnchor&&) = delete;
+	RelativeAnchor& operator=(RelativeAnchor&&)		 = delete;
 
-    virtual void publishMonr(const ROSChannels::Monitor::message_type) override;
+	virtual void publishMonr(const ROSChannels::Monitor::message_type) override;
 
 private:
-    ROSChannels::Monitor::AnchorPub anchorPub;
+	ROSChannels::Monitor::AnchorPub anchorPub;
 };
diff --git a/atos/modules/ObjectControl/inc/relativetestobject.hpp b/atos/modules/ObjectControl/inc/relativetestobject.hpp
index 72ada9bef..3c1f33366 100644
--- a/atos/modules/ObjectControl/inc/relativetestobject.hpp
+++ b/atos/modules/ObjectControl/inc/relativetestobject.hpp
@@ -5,9 +5,9 @@
  */
 #pragma once
 
-#include "testobject.hpp"
-#include "roschannels/monitorchannel.hpp"
 #include "positioning.h"
+#include "roschannels/monitorchannel.hpp"
+#include "testobject.hpp"
 
 class RelativeTestObject : public TestObject {
 public:
@@ -16,15 +16,15 @@ class RelativeTestObject : public TestObject {
 	RelativeTestObject(RelativeTestObject&&);
 
 	RelativeTestObject& operator=(const RelativeTestObject&) = delete;
-	RelativeTestObject& operator=(RelativeTestObject&&) = delete;
+	RelativeTestObject& operator=(RelativeTestObject&&)		 = delete;
 
 private:
-    virtual ObjectMonitorType transformCoordinate(const ObjectMonitorType& point,
-        const ObjectMonitorType& anchor,
-        const bool debug);
-    virtual MonitorMessage readMonitorMessage() override;
-    
-    ROSChannels::Monitor::AnchorSub anchorSub;
-    ObjectMonitorType lastAnchorMonr;
-    void updateAnchor(const ROSChannels::Monitor::message_type::SharedPtr);
+	virtual ObjectMonitorType transformCoordinate(const ObjectMonitorType& point,
+												  const ObjectMonitorType& anchor,
+												  const bool debug);
+	virtual MonitorMessage readMonitorMessage() override;
+
+	ROSChannels::Monitor::AnchorSub anchorSub;
+	ObjectMonitorType lastAnchorMonr;
+	void updateAnchor(const ROSChannels::Monitor::message_type::SharedPtr);
 };
diff --git a/atos/modules/ObjectControl/src/objectlistener.cpp b/atos/modules/ObjectControl/src/objectlistener.cpp
index e67a05cee..54a286809 100644
--- a/atos/modules/ObjectControl/src/objectlistener.cpp
+++ b/atos/modules/ObjectControl/src/objectlistener.cpp
@@ -6,10 +6,10 @@
 #include "objectlistener.hpp"
 #include "objectcontrol.hpp"
 
-ObjectListener::ObjectListener(ObjectControl* sh,	std::shared_ptr<TestObject> ob,	rclcpp::Logger log) :
-	Loggable(log),
-	obj(ob),
-	handler(sh) {
+ObjectListener::ObjectListener(ObjectControl* sh, std::shared_ptr<TestObject> ob, rclcpp::Logger log) :
+  Loggable(log),
+  obj(ob),
+  handler(sh) {
 
 	if (!obj->isConnected()) {
 		throw std::invalid_argument("Attempted to start listener for disconnected object");
@@ -31,12 +31,12 @@ ObjectListener::~ObjectListener() {
 void ObjectListener::listen() {
 	try {
 		while (!this->quit) {
-			//handle incoming iso22133 messages
+			// handle incoming iso22133 messages
 			obj->handleISOMessage(true);
 		}
 	} catch (std::invalid_argument& e) {
 		RCLCPP_ERROR(get_logger(), "%s", e.what()); // TODO: add comment explaining this case..
-	} catch (std::range_error& e){
+	} catch (std::range_error& e) {
 		RCLCPP_DEBUG(get_logger(), "%s", e.what()); // Socket was interrupted intentionally, exit gracefully
 	} catch (std::runtime_error& e) {
 		RCLCPP_ERROR(get_logger(), "%s", e.what());
diff --git a/atos_gui/atos_gui/main.py b/atos_gui/atos_gui/main.py
index adfdabdf0..d69f53277 100644
--- a/atos_gui/atos_gui/main.py
+++ b/atos_gui/atos_gui/main.py
@@ -31,7 +31,6 @@
 APP_CONFIGURED = False
 
 
-
 def main() -> None:
     configure_app()
     ui.run(**build_ui_run_args())
@@ -128,13 +127,17 @@ def _fleet_map_payload_json() -> str:
 class FleetStateNode(Node):
     def __init__(self) -> None:
         super().__init__("truck_object_gui_state_bridge")
-        self._state_sub = self.create_subscription(String, "truck_objects/state", self._on_state, 100)
+        self._state_sub = self.create_subscription(
+            String, "truck_objects/state", self._on_state, 100
+        )
 
     def _on_state(self, msg: String) -> None:
         try:
             payload = json.loads(msg.data)
         except Exception:
-            self.get_logger().warning("Failed to parse truck_objects/state payload as JSON")
+            self.get_logger().warning(
+                "Failed to parse truck_objects/state payload as JSON"
+            )
             return
 
         uid = payload.get("uid")
@@ -154,7 +157,9 @@ def render_atosfleetmanagement_pages() -> None:
 
     @ui.page(path="/", title="TruckObjectGUI")
     def render_home() -> None:
-        ui.add_head_html(f'<script src="{FLEET_STATIC_ROUTE}/fleet_map.js?v={FLEET_MAP_JS_VERSION}"></script>')
+        ui.add_head_html(
+            f'<script src="{FLEET_STATIC_ROUTE}/fleet_map.js?v={FLEET_MAP_JS_VERSION}"></script>'
+        )
         ui.label("TruckObjectGUI (ATOSFleetManagement mode)").classes("text-h4")
 
         with ui.tabs().classes("w-full") as tabs:
@@ -190,13 +195,22 @@ def render_home() -> None:
                 ui.label("Path visualization by COT path_name").classes("text-h5")
 
                 if not default_geojson:
-                    ui.label("Could not load default geojson file.").classes("text-red-600")
-                    ui.markdown("Searched conf dirs:\n" + "\n".join([f"- `{p}`" for p in _candidate_conf_dirs()]))
+                    ui.label("Could not load default geojson file.").classes(
+                        "text-red-600"
+                    )
+                    ui.markdown(
+                        "Searched conf dirs:\n"
+                        + "\n".join([f"- `{p}`" for p in _candidate_conf_dirs()])
+                    )
                     return
 
-                ui.label(f"Default source: {source_path}").classes("text-sm text-gray-600")
+                ui.label(f"Default source: {source_path}").classes(
+                    "text-sm text-gray-600"
+                )
                 map_id = "fleet-road-map"
-                ui.html(f'<div id="{map_id}" style="height:75vh;width:100%;border-radius:8px;"></div>')
+                ui.html(
+                    f'<div id="{map_id}" style="height:75vh;width:100%;border-radius:8px;"></div>'
+                )
 
                 ui.timer(
                     0.2,
@@ -268,6 +282,7 @@ def ros_main() -> None:
             node.destroy_node()
         rclpy.shutdown()
 
+
 def print_access_hint() -> None:
     scheme = "https" if USE_SSL else "http"
     print(f"TruckObjectGUI ready. Open {scheme}://localhost:8420", flush=True)
@@ -295,8 +310,12 @@ def build_ui_run_args() -> dict:
     }
 
     if USE_SSL:
-        uvicorn_args["ssl_keyfile"] = Path.home() / ".astazero/ATOS/certs/selfsigned.key"
-        uvicorn_args["ssl_certfile"] = Path.home() / ".astazero/ATOS/certs/selfsigned.crt"
+        uvicorn_args["ssl_keyfile"] = (
+            Path.home() / ".astazero/ATOS/certs/selfsigned.key"
+        )
+        uvicorn_args["ssl_certfile"] = (
+            Path.home() / ".astazero/ATOS/certs/selfsigned.crt"
+        )
 
     return uvicorn_args
 
diff --git a/atos_gui/atos_gui/objectpanel/objectpanel.py b/atos_gui/atos_gui/objectpanel/objectpanel.py
index 111ec6d91..f12d1eb70 100644
--- a/atos_gui/atos_gui/objectpanel/objectpanel.py
+++ b/atos_gui/atos_gui/objectpanel/objectpanel.py
@@ -13,8 +13,8 @@ def _safe_notify(self, message: str) -> None:
         except RuntimeError:
             self.get_logger().warning(message)
 
-
     """This node is responsible for rendering the object panel and visualize the IP address for each object ID in the scenario."""
+
     def __init__(self) -> None:
         """Initializes the node, fetches all object IDs and their IPs in the current scenario and visualizes them."""
         super().__init__("object_panel")
@@ -55,8 +55,12 @@ def get_object_ids(self):
                 "Get object ID service not available, waiting again..."
             )
             if service_timeout_counter > MAX_TIMEOUT:
-                self._safe_notify(f'Get object ID service not available after {MAX_TIMEOUT} seconds')
-                self.get_logger().info(f'Get object ID service not available after {MAX_TIMEOUT} seconds')
+                self._safe_notify(
+                    f"Get object ID service not available after {MAX_TIMEOUT} seconds"
+                )
+                self.get_logger().info(
+                    f"Get object ID service not available after {MAX_TIMEOUT} seconds"
+                )
                 return
         future = self.get_id_client.call_async(self.object_ids_req)
         future.add_done_callback(
@@ -77,8 +81,12 @@ def get_object_ips(self, object_ids):
                 "Get object IP service not available, waiting again..."
             )
             if service_timeout_counter > MAX_TIMEOUT:
-                self._safe_notify(f'Get object IP service not available after {MAX_TIMEOUT} seconds')
-                self.get_logger().info(f'Get object IP service not available after {MAX_TIMEOUT} seconds')
+                self._safe_notify(
+                    f"Get object IP service not available after {MAX_TIMEOUT} seconds"
+                )
+                self.get_logger().info(
+                    f"Get object IP service not available after {MAX_TIMEOUT} seconds"
+                )
                 return
         for object_id in object_ids:
             self.object_id_ip_map[object_id] = ""
@@ -105,15 +113,19 @@ def update_object_ip(self, object_id, object_ip):
             object_ip (str): New IP address for the given object ID.
 
         """
-        self._safe_notify(f'Setting object {object_id} IP: {object_ip}')
+        self._safe_notify(f"Setting object {object_id} IP: {object_ip}")
         service_timeout_counter = 0
         while not self.set_ip_client.wait_for_service(timeout_sec=1.0):
             self.get_logger().debug(
                 "Set object IP service not available, waiting again..."
             )
             if service_timeout_counter > MAX_TIMEOUT:
-                self._safe_notify(f'Set object IP service not available after {MAX_TIMEOUT} seconds')
-                self.get_logger().info(f'Set object IP service not available after {MAX_TIMEOUT} seconds')
+                self._safe_notify(
+                    f"Set object IP service not available after {MAX_TIMEOUT} seconds"
+                )
+                self.get_logger().info(
+                    f"Set object IP service not available after {MAX_TIMEOUT} seconds"
+                )
                 return
         future = self.set_ip_client.call_async(
             SetObjectIp.Request(id=object_id, ip=object_ip)
@@ -131,13 +143,19 @@ def update_object_ip_result(self, result):
         """
         if result.success:
             with self.refresh_row:
-                self._safe_notify(f'IP set to {result.ip} for object {result.id} was successful')
-            self.get_logger().info(f'IP set to {result.ip} for object {result.id} was successful')
+                self._safe_notify(
+                    f"IP set to {result.ip} for object {result.id} was successful"
+                )
+            self.get_logger().info(
+                f"IP set to {result.ip} for object {result.id} was successful"
+            )
             self.object_id_ip_map[result.id] = result.ip
         else:
             with self.refresh_row:
-                self._safe_notify(f'Failed to set object {result.id} IP to {result.ip}')
-            self.get_logger().info(f'Failed to set object {result.id} IP to {result.ip}')
+                self._safe_notify(f"Failed to set object {result.id} IP to {result.ip}")
+            self.get_logger().info(
+                f"Failed to set object {result.id} IP to {result.ip}"
+            )
 
     def refresh(self):
         """Refreshes the object panel by fetching all object IDs and their IPs in the current scenario."""

From 67543087bea70572a95fbb53530cee3d49217852 Mon Sep 17 00:00:00 2001
From: Sebastian Loh Lindholm <sll@sebart.net>
Date: Thu, 18 Jun 2026 14:25:04 +0200
Subject: [PATCH 27/33] fix venv for CI

---
 Dockerfile | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 75a805678..c4ecc4431 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -19,11 +19,9 @@ COPY ./atos_gui/requirements.txt ./atos_gui/requirements.txt
 COPY ./atos_gui/package.xml ./atos_gui/package.xml
 COPY ./atos_interfaces/package.xml ./atos_interfaces/package.xml
 COPY ./atos/package.xml ./atos/package.xml
-
-RUN --mount=type=cache,target=/var/cache/apt \ 
-        ./scripts/installation/install_deps.sh ${REPO_DIR}
 COPY . .
-RUN ./scripts/installation/install_atos.sh ${REPO_DIR}
+RUN --mount=type=cache,target=/var/cache/apt \
+        ./setup_atos.sh
 WORKDIR /root/atos_ws
 RUN chmod +x /root/atos_git/scripts/run_atosfleetmanagement.sh
 

From 3253226643cac0ea000fa74279a165b1740b07f3 Mon Sep 17 00:00:00 2001
From: Sebastian Loh Lindholm <sll@sebart.net>
Date: Thu, 18 Jun 2026 14:36:38 +0200
Subject: [PATCH 28/33] recreating venv in ci

---
 scripts/installation/install_deps.sh | 25 ++++++++++++++++++-------
 1 file changed, 18 insertions(+), 7 deletions(-)

diff --git a/scripts/installation/install_deps.sh b/scripts/installation/install_deps.sh
index 32787af0c..72b8e112f 100755
--- a/scripts/installation/install_deps.sh
+++ b/scripts/installation/install_deps.sh
@@ -23,6 +23,8 @@ if [ -z "${ROS_DISTRO:-}" ]; then
     echo "ROS_DISTRO is not set. Source /opt/ros/<distro>/setup.bash before running this script."
     exit 1
 fi
+
+ATOS_VENV_PATH="$(get_atos_venv_path)"
 apt_update_retry() {
     local attempts=5
     local delay=5
@@ -55,18 +57,27 @@ apt_install_retry() {
     return 1
 }
 
-PIP_INSTALL_CMD=(python3 -m pip install)
-if python3 -m pip help install 2>/dev/null | grep -q -- "--break-system-packages"; then
-    PIP_INSTALL_CMD+=(--break-system-packages)
-fi
-
 # Update and install required dependencies specified in dependencies.txt and requirements.txt file
 apt_deps=$(cat ${ATOS_REPO_PATH}/scripts/installation/dependencies.txt | tr '\n' ' ')
 echo "Installing dependencies... $apt_deps"
 apt_update_retry
 apt_install_retry ${apt_deps}
 apt_install_retry python3-pip
-"${PIP_INSTALL_CMD[@]}" -r ${ATOS_REPO_PATH}/scripts/installation/requirements.txt
+apt_install_retry python3-venv
+
+if [ -d "${ATOS_VENV_PATH}" ] && [ "$REINSTALL" = true ]; then
+    echo "Removing existing ATOS Python virtual environment at ${ATOS_VENV_PATH}..."
+    rm -rf "${ATOS_VENV_PATH}"
+fi
+
+if [ ! -f "${ATOS_VENV_PATH}/bin/activate" ]; then
+    echo "Creating ATOS Python virtual environment at ${ATOS_VENV_PATH}..."
+    mkdir -p "$(dirname "${ATOS_VENV_PATH}")"
+    python3 -m venv "${ATOS_VENV_PATH}"
+fi
+
+"${ATOS_VENV_PATH}/bin/python" -m pip install --upgrade pip
+"${ATOS_VENV_PATH}/bin/python" -m pip install -r ${ATOS_REPO_PATH}/scripts/installation/requirements.txt
 
 # Check if apt failed to install dependencies
 check_command_failed $? "Failed to install dependencies."
@@ -110,7 +121,7 @@ check_command_failed $? "Failed to install ROS2 dependencies."
 ######## Install ATOS GUI dependencies ########
 ###############################################
 
-"${PIP_INSTALL_CMD[@]}" -r ${ATOS_REPO_PATH}/atos_gui/requirements.txt 
+"${ATOS_VENV_PATH}/bin/python" -m pip install -r ${ATOS_REPO_PATH}/atos_gui/requirements.txt
 
 ###########################################
 ###### Install some deps from source ######

From ee7c228752b1663cb8eb70ec8ccfdf5630620015 Mon Sep 17 00:00:00 2001
From: Sebastian Loh Lindholm <sll@sebart.net>
Date: Thu, 18 Jun 2026 14:44:14 +0200
Subject: [PATCH 29/33] fix for error in CI: ModuleNotFoundError: No module
 named 'em

---
 scripts/installation/install_deps.sh | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/scripts/installation/install_deps.sh b/scripts/installation/install_deps.sh
index 72b8e112f..dd54c26da 100755
--- a/scripts/installation/install_deps.sh
+++ b/scripts/installation/install_deps.sh
@@ -73,7 +73,9 @@ fi
 if [ ! -f "${ATOS_VENV_PATH}/bin/activate" ]; then
     echo "Creating ATOS Python virtual environment at ${ATOS_VENV_PATH}..."
     mkdir -p "$(dirname "${ATOS_VENV_PATH}")"
-    python3 -m venv "${ATOS_VENV_PATH}"
+    # ROS Python tooling depends on distro packages such as `empy` being importable
+    # while the ATOS venv is active during colcon builds.
+    python3 -m venv --system-site-packages "${ATOS_VENV_PATH}"
 fi
 
 "${ATOS_VENV_PATH}/bin/python" -m pip install --upgrade pip

From d2cac02f37650213b3e27f2a5063cd06c541c81c Mon Sep 17 00:00:00 2001
From: Sebastian Loh Lindholm <sll@sebart.net>
Date: Thu, 18 Jun 2026 21:21:36 +0200
Subject: [PATCH 30/33] trying to fix ModuleNotFoundError: No module named
 'OpenSSL'

---
 docker-compose-bridge.yml          | 4 ++--
 docker-compose-test.yml            | 2 +-
 docker-compose.yml                 | 4 ++--
 scripts/run_atosfleetmanagement.sh | 1 +
 4 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/docker-compose-bridge.yml b/docker-compose-bridge.yml
index 79fc37b52..36b4c68e9 100644
--- a/docker-compose-bridge.yml
+++ b/docker-compose-bridge.yml
@@ -28,7 +28,7 @@ services:
       - "9090:9090"
       - "8765:8765"
       - "8000:8000"
-    command: bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
+    command: bash -c "source /root/.local/share/atos/venv/bin/activate ; source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
   foxglove-studio:
     image: ghcr.io/foxglove/studio:1.76
     networks:
@@ -36,4 +36,4 @@ services:
     ports:
       - 8080:8080
     volumes:
-      - ./plugins/foxglove/Map, 3D and control layout.json:/foxglove/default-layout.json
\ No newline at end of file
+      - ./plugins/foxglove/Map, 3D and control layout.json:/foxglove/default-layout.json
diff --git a/docker-compose-test.yml b/docker-compose-test.yml
index 254ece545..640a45fcb 100644
--- a/docker-compose-test.yml
+++ b/docker-compose-test.yml
@@ -15,7 +15,7 @@ services:
       - ./conf/conf/:/root/.astazero/ATOS/conf
       - ./conf/odr/:/root/.astazero/ATOS/odr
       - ./conf/osc/:/root/.astazero/ATOS/osc
-    command: bash -c "source /root/atos_ws/install/setup.sh ; python3 -m pytest /root/atos_ws/src/atos/scripts/integration_testing/run_scenario_test.py"
+    command: bash -c "source /root/.local/share/atos/venv/bin/activate ; source /root/atos_ws/install/setup.sh ; python3 -m pytest /root/atos_ws/src/atos/scripts/integration_testing/run_scenario_test.py"
   isoObject:
     image: astazero/iso_object_demo:latest
     networks:
diff --git a/docker-compose.yml b/docker-compose.yml
index 50b53ca8c..14c7370f0 100644
--- a/docker-compose.yml
+++ b/docker-compose.yml
@@ -14,9 +14,9 @@ services:
     volumes:
       - ~/.astazero/ATOS/:/root/.astazero/ATOS/
     network_mode: "host"
-    command: bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
+    command: bash -c "source /root/.local/share/atos/venv/bin/activate ; source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
   foxglove-studio:
     image: ghcr.io/foxglove/studio:1.76
     network_mode: "host"
     volumes:
-      - ./plugins/foxglove/Map, 3D and control layout.json:/foxglove/default-layout.json
\ No newline at end of file
+      - ./plugins/foxglove/Map, 3D and control layout.json:/foxglove/default-layout.json
diff --git a/scripts/run_atosfleetmanagement.sh b/scripts/run_atosfleetmanagement.sh
index f3534925a..3d5e60068 100644
--- a/scripts/run_atosfleetmanagement.sh
+++ b/scripts/run_atosfleetmanagement.sh
@@ -12,6 +12,7 @@ COT_TLS_CA_PATH="${COT_TLS_CA_PATH:-}"
 
 # setup.sh from colcon references vars that may be unset; avoid nounset during sourcing.
 set +u
+source /root/.local/share/atos/venv/bin/activate
 source /root/atos_ws/install/setup.sh
 set -u
 

From d8395b4dbb5693dc1f666763f558f6b5275641dd Mon Sep 17 00:00:00 2001
From: Sebastian Loh Lindholm <sll@sebart.net>
Date: Thu, 18 Jun 2026 21:38:01 +0200
Subject: [PATCH 31/33] trying to fix ModuleNotFoundError: No module named
 'OpenSSL'

---
 scripts/installation/dependencies.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/scripts/installation/dependencies.txt b/scripts/installation/dependencies.txt
index 15765b353..976e58269 100644
--- a/scripts/installation/dependencies.txt
+++ b/scripts/installation/dependencies.txt
@@ -11,6 +11,7 @@
     gnupg2
     lsb-release
     python3-pip
+    python3-openssl
     proj-bin
     clang
     libstdc++-12-dev

From f324bc7094ce30d17842db0f98ab82fb6c8c1de8 Mon Sep 17 00:00:00 2001
From: Sebastian Loh Lindholm <sll@sebart.net>
Date: Thu, 18 Jun 2026 22:57:55 +0200
Subject: [PATCH 32/33] Skip GUI in integration test launch

---
 atos/launch/launch_integration_testing.py |  2 +-
 atos/launch/launch_utils/launch_base.py   | 21 ++++++++++++++-------
 2 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/atos/launch/launch_integration_testing.py b/atos/launch/launch_integration_testing.py
index 875357b7f..28979e33e 100644
--- a/atos/launch/launch_integration_testing.py
+++ b/atos/launch/launch_integration_testing.py
@@ -27,7 +27,7 @@ def get_integration_test_nodes():
 
 
 def generate_launch_description():
-    base_nodes = launch_base.get_base_nodes()
+    base_nodes = launch_base.get_base_nodes(include_gui=False)
 
     integration_test_nodes = get_integration_test_nodes()
 
diff --git a/atos/launch/launch_utils/launch_base.py b/atos/launch/launch_utils/launch_base.py
index 9cedf320f..3a6faccf8 100644
--- a/atos/launch/launch_utils/launch_base.py
+++ b/atos/launch/launch_utils/launch_base.py
@@ -24,7 +24,7 @@ def get_files():
     return validate_atos_dir()
 
 
-def get_base_nodes():
+def get_base_nodes(include_gui=True):
     files = get_files()
 
     insecure_websockets = LaunchConfiguration("insecure")
@@ -52,14 +52,9 @@ def get_base_nodes():
     ros_bridge_params = copy.deepcopy(fox_bridge_params)
     ros_bridge_params[0] = {"port": 9090}
 
-    return [
+    base_nodes = [
         foxbridge_launch_arg,
         insecure_launch_arg,
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(get_package_share_directory("atos_gui"), "launch/gui.py")
-            )
-        ),
         Node(
             package="atos",
             namespace="atos",
@@ -135,3 +130,15 @@ def get_base_nodes():
             parameters=ros_tls_bridge_params,
         ),
     ]
+
+    if include_gui:
+        base_nodes.insert(
+            2,
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(get_package_share_directory("atos_gui"), "launch/gui.py")
+                )
+            ),
+        )
+
+    return base_nodes

From 8d5438c4aa4656b8b0cb1a2da46b3cf5258f31c3 Mon Sep 17 00:00:00 2001
From: Sebastian Loh Lindholm <sll@sebart.net>
Date: Thu, 18 Jun 2026 22:59:02 +0200
Subject: [PATCH 33/33] format

---
 atos/launch/launch_utils/launch_base.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/atos/launch/launch_utils/launch_base.py b/atos/launch/launch_utils/launch_base.py
index 3a6faccf8..0b8ea4c58 100644
--- a/atos/launch/launch_utils/launch_base.py
+++ b/atos/launch/launch_utils/launch_base.py
@@ -136,7 +136,9 @@ def get_base_nodes(include_gui=True):
             2,
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
-                    os.path.join(get_package_share_directory("atos_gui"), "launch/gui.py")
+                    os.path.join(
+                        get_package_share_directory("atos_gui"), "launch/gui.py"
+                    )
                 )
             ),
         )