diff --git a/.gitignore b/.gitignore
index 69422fc5..c5c1284e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,4 +5,4 @@ build
 *~
 \#*#
 .\#*
-
+.vscode/
diff --git a/.gitmodules b/.gitmodules
index f1574eb8..e69de29b 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +0,0 @@
-[submodule "2ndparty/spencer_messages"]
-	path = 2ndparty/spencer_messages
-	url = https://github.com/spencer-project/spencer_messages.git
-[submodule "2ndparty/spencer_tracking_rviz_plugin"]
-	path = 2ndparty/spencer_tracking_rviz_plugin
-	url = https://github.com/srl-freiburg/spencer_tracking_rviz_plugin.git
diff --git a/2ndparty/spencer_messages b/2ndparty/spencer_messages
deleted file mode 160000
index 3b392e7e..00000000
--- a/2ndparty/spencer_messages
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 3b392e7e5ba367dd23a3cc07e934e558229437d4
diff --git a/2ndparty/spencer_tracking_rviz_plugin b/2ndparty/spencer_tracking_rviz_plugin
deleted file mode 160000
index 9433aae7..00000000
--- a/2ndparty/spencer_tracking_rviz_plugin
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 9433aae7f99cd7b395281ee3af9ff3b629a53b09
diff --git a/3rdparty/CMakeLists.txt b/3rdparty/CMakeLists.txt
deleted file mode 100644
index 8b2229fc..00000000
--- a/3rdparty/CMakeLists.txt
+++ /dev/null
@@ -1 +0,0 @@
-add_subdirectory(libpedsim)
diff --git a/3rdparty/libpedsim/CMakeLists.txt b/3rdparty/libpedsim/CMakeLists.txt
index b7c18cf3..873b3fc9 100644
--- a/3rdparty/libpedsim/CMakeLists.txt
+++ b/3rdparty/libpedsim/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(pedsim)
 
 #------------------ Configuration ------------------#
@@ -15,27 +15,21 @@ if(SHALL_DEBUG)
   message("Debugging activated")
   add_definitions(-O0 -DDEBUG -ggdb -g3 -rdynamic)
 else(SHALL_DEBUG)
-  message("Debugging deactivated")
+  # message("Debugging deactivated")
   add_definitions(-Os)
 endif(SHALL_DEBUG)
 
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-)
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+
 find_package(Boost REQUIRED)
 
-catkin_package(
-  CATKIN_DEPENDS  roscpp
-  INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include/
-  LIBRARIES pedsim
+set(dependencies
+  rclcpp
 )
 
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-  ${PROJECT_SOURCE_DIR}/include/pedsim/
-  ${roscpp_INCLUDE_DIRS}
-)
+include_directories(include)
 
 set(SOURCES
   src/ped_agent.cpp
@@ -52,3 +46,20 @@ add_library(pedsim ${SOURCES})
 target_link_libraries(pedsim
   ${BOOST_LIBRARIES}
 )
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+install(TARGETS
+  pedsim
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_export_include_directories(include)
+ament_export_libraries(pedsim)
+ament_export_dependencies(${dependencies})
+ament_package()
+
diff --git a/3rdparty/libpedsim/include/pedsim/ped_agent.h b/3rdparty/libpedsim/include/pedsim/ped_agent.h
index 60bb6599..71693def 100644
--- a/3rdparty/libpedsim/include/pedsim/ped_agent.h
+++ b/3rdparty/libpedsim/include/pedsim/ped_agent.h
@@ -12,7 +12,7 @@
 #define LIBEXPORT
 #endif
 
-#include "ped_vector.h"
+#include "pedsim/ped_vector.h"
 
 #include <deque>
 #include <set>
diff --git a/3rdparty/libpedsim/include/pedsim/ped_includes.h b/3rdparty/libpedsim/include/pedsim/ped_includes.h
index 0150353f..3029d4c5 100644
--- a/3rdparty/libpedsim/include/pedsim/ped_includes.h
+++ b/3rdparty/libpedsim/include/pedsim/ped_includes.h
@@ -1,10 +1,10 @@
 #ifndef _ped_includes_h_
 #define _ped_includes_h_ 1
 
-#include "ped_agent.h"
-#include "ped_obstacle.h"
-#include "ped_scene.h"
-#include "ped_waypoint.h"
+#include "pedsim/ped_agent.h"
+#include "pedsim/ped_obstacle.h"
+#include "pedsim/ped_scene.h"
+#include "pedsim/ped_waypoint.h"
 
 namespace Ped {
 const double LIBEXPORT LIBPEDSIM_VERSION = 2.2;
diff --git a/3rdparty/libpedsim/include/pedsim/ped_obstacle.h b/3rdparty/libpedsim/include/pedsim/ped_obstacle.h
index ed8d2f56..109e42b6 100644
--- a/3rdparty/libpedsim/include/pedsim/ped_obstacle.h
+++ b/3rdparty/libpedsim/include/pedsim/ped_obstacle.h
@@ -12,7 +12,7 @@
 #define LIBEXPORT
 #endif
 
-#include "ped_vector.h"
+#include "pedsim/ped_vector.h"
 
 namespace Ped {
 
diff --git a/3rdparty/libpedsim/include/pedsim/ped_vector.h b/3rdparty/libpedsim/include/pedsim/ped_vector.h
index 4c232ed3..969fa058 100644
--- a/3rdparty/libpedsim/include/pedsim/ped_vector.h
+++ b/3rdparty/libpedsim/include/pedsim/ped_vector.h
@@ -13,7 +13,7 @@
 #endif
 
 #include <cmath>
-#include "ped_angle.h"
+#include "pedsim/ped_angle.h"
 
 namespace Ped {
 /// Vector helper class. This is basically a struct with some related functions
diff --git a/3rdparty/libpedsim/include/pedsim/ped_waypoint.h b/3rdparty/libpedsim/include/pedsim/ped_waypoint.h
index 4e9ddd93..faa34add 100644
--- a/3rdparty/libpedsim/include/pedsim/ped_waypoint.h
+++ b/3rdparty/libpedsim/include/pedsim/ped_waypoint.h
@@ -13,7 +13,7 @@
 #endif
 
 #include <cstddef>
-#include "ped_vector.h"
+#include "pedsim/ped_vector.h"
 
 using namespace std;
 
diff --git a/3rdparty/libpedsim/package.xml b/3rdparty/libpedsim/package.xml
index 1f3bcfba..f6173abb 100644
--- a/3rdparty/libpedsim/package.xml
+++ b/3rdparty/libpedsim/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format ="3">
   <name>pedsim</name>
   <version>0.2.0</version>
   <description>The pedsim package</description>
@@ -7,8 +7,10 @@
   <maintainer email="palmieri@cs.uni-freiburg.de">Luigi Palmieri</maintainer>
   <license>BSD</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
 
-  <run_depend>roscpp</run_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>
diff --git a/3rdparty/libpedsim/src/ped_agent.cpp b/3rdparty/libpedsim/src/ped_agent.cpp
index b36aa4c7..1448d037 100644
--- a/3rdparty/libpedsim/src/ped_agent.cpp
+++ b/3rdparty/libpedsim/src/ped_agent.cpp
@@ -3,10 +3,10 @@
 // Copyright (c) 2003 - 20012 by Christian Gloor
 //
 
-#include "ped_agent.h"
-#include "ped_obstacle.h"
-#include "ped_scene.h"
-#include "ped_waypoint.h"
+#include "pedsim/ped_agent.h"
+#include "pedsim/ped_obstacle.h"
+#include "pedsim/ped_scene.h"
+#include "pedsim/ped_waypoint.h"
 
 #include <algorithm>
 #include <cmath>
@@ -52,12 +52,13 @@ Ped::Tagent::~Tagent() {}
 /// \warning Bad things will happen if the agent is not assigned to a scene. But
 /// usually, Tscene takes care of that.
 /// \param   *s A valid Tscene initialized earlier.
-void Ped::Tagent::assignScene(Ped::Tscene* sceneIn) { scene = sceneIn; }
+void Ped::Tagent::assignScene(Ped::Tscene *sceneIn) { scene = sceneIn; }
 
-void Ped::Tagent::removeAgentFromNeighbors(const Ped::Tagent* agentIn) {
+void Ped::Tagent::removeAgentFromNeighbors(const Ped::Tagent *agentIn) {
   // search agent in neighbors, and remove him
-  set<const Ped::Tagent*>::iterator foundNeighbor = neighbors.find(agentIn);
-  if (foundNeighbor != neighbors.end()) neighbors.erase(foundNeighbor);
+  set<const Ped::Tagent *>::iterator foundNeighbor = neighbors.find(agentIn);
+  if (foundNeighbor != neighbors.end())
+    neighbors.erase(foundNeighbor);
 }
 
 /// Sets the maximum velocity of an agent (vmax). Even if pushed by other
@@ -99,7 +100,7 @@ void Ped::Tagent::setForceFactorObstacle(double f) { forceFactorObstacle = f; }
 /// \return  Tvector: the calculated force
 Ped::Tvector Ped::Tagent::desiredForce() {
   // get destination
-  Twaypoint* waypoint = getCurrentWaypoint();
+  Twaypoint *waypoint = getCurrentWaypoint();
 
   // if there is no destination, don't move
   if (waypoint == NULL) {
@@ -140,9 +141,10 @@ Ped::Tvector Ped::Tagent::socialForce() const {
   const double n_prime = 3;
 
   Tvector force;
-  for (const Ped::Tagent* other : neighbors) {
+  for (const Ped::Tagent *other : neighbors) {
     // don't compute social force to yourself
-    if (other->id == id) continue;
+    if (other->id == id)
+      continue;
 
     // compute difference between both agents' positions
     Tvector diff = other->p - p;
@@ -193,10 +195,10 @@ Ped::Tvector Ped::Tagent::obstacleForce() const {
   Ped::Tvector minDiff;
   double minDistanceSquared = INFINITY;
 
-  for (const Tobstacle* obstacle : scene->obstacles) {
+  for (const Tobstacle *obstacle : scene->obstacles) {
     Ped::Tvector closestPoint = obstacle->closestPoint(p);
     Ped::Tvector diff = p - closestPoint;
-    double distanceSquared = diff.lengthSquared();  // use squared distance to
+    double distanceSquared = diff.lengthSquared(); // use squared distance to
     // avoid computing square
     // root
     if (distanceSquared < minDistanceSquared) {
@@ -229,8 +231,10 @@ void Ped::Tagent::computeForces() {
 
   // update forces
   desiredforce = desiredForce();
-  if (forceFactorSocial > 0) socialforce = socialForce();
-  if (forceFactorObstacle > 0) obstacleforce = obstacleForce();
+  if (forceFactorSocial > 0)
+    socialforce = socialForce();
+  if (forceFactorObstacle > 0)
+    obstacleforce = obstacleForce();
   myforce = myForce(desiredDirection);
 }
 
@@ -253,7 +257,8 @@ void Ped::Tagent::move(double stepSizeIn) {
 
   // don't exceed maximal speed
   double speed = v.length();
-  if (speed > vmax) v = v.normalized() * vmax;
+  if (speed > vmax)
+    v = v.normalized() * vmax;
 
   // internal position update = actual move
   p += stepSizeIn * v;
diff --git a/3rdparty/libpedsim/src/ped_angle.cpp b/3rdparty/libpedsim/src/ped_angle.cpp
index b4e4cdc9..31722960 100644
--- a/3rdparty/libpedsim/src/ped_angle.cpp
+++ b/3rdparty/libpedsim/src/ped_angle.cpp
@@ -3,28 +3,28 @@
 // Copyright (c) 2003 - 2012 by Christian Gloor
 //
 
-#include "ped_angle.h"
+#include "pedsim/ped_angle.h"
 
-bool Ped::Tangle::operator==(const Ped::Tangle& otherIn) const {
+bool Ped::Tangle::operator==(const Ped::Tangle &otherIn) const {
   return value == otherIn.value;
 }
 
-bool Ped::Tangle::operator!=(const Ped::Tangle& otherIn) const {
+bool Ped::Tangle::operator!=(const Ped::Tangle &otherIn) const {
   return value != otherIn.value;
 }
 
-bool Ped::Tangle::operator<(const Ped::Tangle& otherIn) const {
+bool Ped::Tangle::operator<(const Ped::Tangle &otherIn) const {
   return value < otherIn.value;
 }
 
-bool Ped::Tangle::operator<=(const Ped::Tangle& otherIn) const {
+bool Ped::Tangle::operator<=(const Ped::Tangle &otherIn) const {
   return value <= otherIn.value;
 }
 
-bool Ped::Tangle::operator>(const Ped::Tangle& otherIn) const {
+bool Ped::Tangle::operator>(const Ped::Tangle &otherIn) const {
   return value > otherIn.value;
 }
 
-bool Ped::Tangle::operator>=(const Ped::Tangle& otherIn) const {
+bool Ped::Tangle::operator>=(const Ped::Tangle &otherIn) const {
   return value >= otherIn.value;
 }
diff --git a/3rdparty/libpedsim/src/ped_obstacle.cpp b/3rdparty/libpedsim/src/ped_obstacle.cpp
index d652be9a..21d7ba39 100644
--- a/3rdparty/libpedsim/src/ped_obstacle.cpp
+++ b/3rdparty/libpedsim/src/ped_obstacle.cpp
@@ -3,7 +3,7 @@
 // Copyright (c) 2003 - 2012 by Christian Gloor
 //
 
-#include "ped_obstacle.h"
+#include "pedsim/ped_obstacle.h"
 
 #include <cmath>
 #include <vector>
@@ -42,7 +42,7 @@ Ped::Tobstacle::Tobstacle(double pax, double pay, double pbx, double pby) {
 /// \date    2013-08-02
 /// \param startIn The first corner of the obstacle.
 /// \param endIn The second corner of the obstacle.
-Ped::Tobstacle::Tobstacle(const Tvector& startIn, const Tvector& endIn) {
+Ped::Tobstacle::Tobstacle(const Tvector &startIn, const Tvector &endIn) {
   id = staticid++;
   ax = startIn.x;
   ay = startIn.y;
@@ -75,21 +75,21 @@ void Ped::Tobstacle::setPosition(double pax, double pay, double pbx,
   by = pby;
 }
 
-void Ped::Tobstacle::setPosition(const Tvector& startIn, const Tvector& endIn) {
+void Ped::Tobstacle::setPosition(const Tvector &startIn, const Tvector &endIn) {
   setPosition(startIn.x, startIn.y, endIn.x, endIn.y);
 }
 
-void Ped::Tobstacle::setStartPoint(const Tvector& startIn) {
+void Ped::Tobstacle::setStartPoint(const Tvector &startIn) {
   ax = startIn.x;
   ay = startIn.y;
 }
 
-void Ped::Tobstacle::setEndPoint(const Tvector& endIn) {
+void Ped::Tobstacle::setEndPoint(const Tvector &endIn) {
   bx = endIn.x;
   by = endIn.y;
 }
 
-Ped::Tvector Ped::Tobstacle::closestPoint(const Tvector& pointIn) const {
+Ped::Tvector Ped::Tobstacle::closestPoint(const Tvector &pointIn) const {
   Tvector startPoint(ax, ay);
   Tvector endPoint(bx, by);
   Tvector relativeEndPoint = endPoint - startPoint;
@@ -124,8 +124,8 @@ Ped::Tvector Ped::Tobstacle::closestPoint(double p1, double p2) const {
 /// \param   rotationCenterIn The point the obstacle will be rotated around.
 /// \param   angleIn The angle the obstacle will be rotated, where phi is given
 /// in radians
-void Ped::Tobstacle::rotate(const Ped::Tvector& rotationCenterIn,
-                            const Ped::Tangle& angleIn) {
+void Ped::Tobstacle::rotate(const Ped::Tvector &rotationCenterIn,
+                            const Ped::Tangle &angleIn) {
   double angleValue = angleIn.toRadian();
   double sinPhi = sin(angleValue);
   double cosPhi = cos(angleValue);
diff --git a/3rdparty/libpedsim/src/ped_scene.cpp b/3rdparty/libpedsim/src/ped_scene.cpp
index 9e8317e7..959af9f1 100644
--- a/3rdparty/libpedsim/src/ped_scene.cpp
+++ b/3rdparty/libpedsim/src/ped_scene.cpp
@@ -3,11 +3,11 @@
 // Copyright (c) 2003 - 2012 by Christian Gloor
 //
 
-#include "ped_scene.h"
-#include "ped_agent.h"
-#include "ped_obstacle.h"
-#include "ped_tree.h"
-#include "ped_waypoint.h"
+#include "pedsim/ped_scene.h"
+#include "pedsim/ped_agent.h"
+#include "pedsim/ped_obstacle.h"
+#include "pedsim/ped_tree.h"
+#include "pedsim/ped_waypoint.h"
 
 #include <algorithm>
 #include <cstddef>
@@ -48,15 +48,18 @@ void Ped::Tscene::clear() {
   tree->clear();
 
   // remove all agents
-  for (Ped::Tagent* currentAgent : agents) delete currentAgent;
+  for (Ped::Tagent *currentAgent : agents)
+    delete currentAgent;
   agents.clear();
 
   // remove all obstacles
-  for (Ped::Tobstacle* currentObstacle : obstacles) delete currentObstacle;
+  for (Ped::Tobstacle *currentObstacle : obstacles)
+    delete currentObstacle;
   obstacles.clear();
 
   // remove all waypoints
-  for (Ped::Twaypoint* currentWaypoint : waypoints) delete currentWaypoint;
+  for (Ped::Twaypoint *currentWaypoint : waypoints)
+    delete currentWaypoint;
   waypoints.clear();
 }
 
@@ -64,12 +67,13 @@ void Ped::Tscene::clear() {
 /// \warning addAgent() does call Tagent::assignScene() to assign itself to the
 /// agent.
 /// \param   *a A pointer to the Tagent to add.
-void Ped::Tscene::addAgent(Ped::Tagent* a) {
+void Ped::Tscene::addAgent(Ped::Tagent *a) {
   // add agent to scene
   // (take responsibility for object deletion)
   agents.push_back(a);
   a->assignScene(this);
-  if (tree != NULL) tree->addAgent(a);
+  if (tree != NULL)
+    tree->addAgent(a);
 }
 
 /// Used to add a Tobstacle to the Tscene.
@@ -77,30 +81,33 @@ void Ped::Tscene::addAgent(Ped::Tagent* a) {
 /// \note    Obstacles added to the Scene are not deleted if the Scene is
 /// destroyed. The reason for this is because they could be member of another
 /// Scene theoretically.
-void Ped::Tscene::addObstacle(Ped::Tobstacle* o) {
+void Ped::Tscene::addObstacle(Ped::Tobstacle *o) {
   // add obstacle to scene
   // (take responsibility for object deletion)
   obstacles.push_back(o);
 }
 
-void Ped::Tscene::addWaypoint(Ped::Twaypoint* w) {
+void Ped::Tscene::addWaypoint(Ped::Twaypoint *w) {
   // add waypoint to scene
   // (take responsibility for object deletion)
   waypoints.push_back(w);
 }
 
-bool Ped::Tscene::removeAgent(Ped::Tagent* a) {
+bool Ped::Tscene::removeAgent(Ped::Tagent *a) {
   // find position of agent in agent vector
-  vector<Tagent*>::iterator agentIter = find(agents.begin(), agents.end(), a);
+  vector<Tagent *>::iterator agentIter = find(agents.begin(), agents.end(), a);
 
   // check whether the agent was found
-  if (agentIter == agents.end()) return false;
+  if (agentIter == agents.end())
+    return false;
 
   // remove agent as potential neighbor
-  for (Tagent* currentAgent : agents) currentAgent->removeAgentFromNeighbors(a);
+  for (Tagent *currentAgent : agents)
+    currentAgent->removeAgentFromNeighbors(a);
 
   // remove agent from the tree
-  if (tree != NULL) tree->removeAgent(a);
+  if (tree != NULL)
+    tree->removeAgent(a);
 
   // remove agent from the scene and delete it, report succesful removal
   agents.erase(agentIter);
@@ -108,13 +115,14 @@ bool Ped::Tscene::removeAgent(Ped::Tagent* a) {
   return true;
 }
 
-bool Ped::Tscene::removeObstacle(Ped::Tobstacle* o) {
+bool Ped::Tscene::removeObstacle(Ped::Tobstacle *o) {
   // find position of obstacle in obstacle vector
-  vector<Tobstacle*>::iterator obstacleIter =
+  vector<Tobstacle *>::iterator obstacleIter =
       find(obstacles.begin(), obstacles.end(), o);
 
   // check whether the obstacle was found
-  if (obstacleIter == obstacles.end()) return false;
+  if (obstacleIter == obstacles.end())
+    return false;
 
   // remove obstacle from the scene and delete it, report succesful removal
   obstacles.erase(obstacleIter);
@@ -122,13 +130,14 @@ bool Ped::Tscene::removeObstacle(Ped::Tobstacle* o) {
   return true;
 }
 
-bool Ped::Tscene::removeWaypoint(Ped::Twaypoint* w) {
+bool Ped::Tscene::removeWaypoint(Ped::Twaypoint *w) {
   // find position of waypoint in waypoint vector
-  vector<Twaypoint*>::iterator waypointIter =
+  vector<Twaypoint *>::iterator waypointIter =
       find(waypoints.begin(), waypoints.end(), w);
 
   // check whether the waypoint was found
-  if (waypointIter == waypoints.end()) return false;
+  if (waypointIter == waypoints.end())
+    return false;
 
   // remove waypoint from the scene and delete it, report succesful removal
   waypoints.erase(waypointIter);
@@ -143,18 +152,22 @@ bool Ped::Tscene::removeWaypoint(Ped::Twaypoint* w) {
 /// \see     Ped::Tagent::move(double h)
 void Ped::Tscene::moveAgents(double h) {
   // first update states
-  for (Tagent* agent : agents) agent->updateState();
+  for (Tagent *agent : agents)
+    agent->updateState();
 
   // then update forces
-  for (Tagent* agent : agents) agent->computeForces();
+  for (Tagent *agent : agents)
+    agent->computeForces();
 
   // finally move agents according to their forces
-  for (Tagent* agent : agents) agent->move(h);
+  for (Tagent *agent : agents)
+    agent->move(h);
 }
 
 /// Internally used to update the quadtree.
-void Ped::Tscene::placeAgent(const Ped::Tagent* agentIn) {
-  if (tree != NULL) tree->addAgent(agentIn);
+void Ped::Tscene::placeAgent(const Ped::Tagent *agentIn) {
+  if (tree != NULL)
+    tree->addAgent(agentIn);
 }
 
 /// Moves a Tagent within the tree structure. The new position is taken from the
@@ -163,8 +176,9 @@ void Ped::Tscene::placeAgent(const Ped::Tagent* agentIn) {
 /// Ped::Tagent::move(double h) calls
 /// this method automatically.
 /// \param   *agentIn the agent to move.
-void Ped::Tscene::moveAgent(const Ped::Tagent* agentIn) {
-  if (tree != NULL) treehash[agentIn]->moveAgent(agentIn);
+void Ped::Tscene::moveAgent(const Ped::Tagent *agentIn) {
+  if (tree != NULL)
+    treehash[agentIn]->moveAgent(agentIn);
 }
 
 /// This triggers a cleanup of the tree structure. Unused leaf nodes are
@@ -173,7 +187,8 @@ void Ped::Tscene::moveAgent(const Ped::Tagent* agentIn) {
 /// timestep.
 /// \date    2012-01-28
 void Ped::Tscene::cleanup() {
-  if (tree != NULL) tree->cut();
+  if (tree != NULL)
+    tree->cut();
 }
 
 /// Returns the list of neighbors within dist of the point x/y. This
@@ -184,35 +199,39 @@ void Ped::Tscene::cleanup() {
 /// \param   y the y coordinate
 /// \param   dist the distance around x/y that will be searched for agents
 /// (search field is a square in the current implementation)
-set<const Ped::Tagent*> Ped::Tscene::getNeighbors(double x, double y,
-                                                  double dist) const {
+set<const Ped::Tagent *> Ped::Tscene::getNeighbors(double x, double y,
+                                                   double dist) const {
   // if there is no tree, return all agents
   if (tree == NULL)
-    return set<const Ped::Tagent*>(agents.begin(), agents.end());
+    return set<const Ped::Tagent *>(agents.begin(), agents.end());
 
   // create the output list
-  vector<const Ped::Tagent*> neighborList;
+  vector<const Ped::Tagent *> neighborList;
   getNeighbors(neighborList, x, y, dist);
 
   // copy the neighbors to a set
-  return set<const Ped::Tagent*>(neighborList.begin(), neighborList.end());
+  return set<const Ped::Tagent *>(neighborList.begin(), neighborList.end());
 }
 
-void Ped::Tscene::getNeighbors(vector<const Ped::Tagent*>& neighborList,
+void Ped::Tscene::getNeighbors(vector<const Ped::Tagent *> &neighborList,
                                double x, double y, double dist) const {
-  stack<Ped::Ttree*> treestack;
+  stack<Ped::Ttree *> treestack;
 
   treestack.push(tree);
   while (!treestack.empty()) {
-    Ped::Ttree* t = treestack.top();
+    Ped::Ttree *t = treestack.top();
     treestack.pop();
     if (t->isleaf) {
       t->getAgents(neighborList);
     } else {
-      if (t->tree1->intersects(x, y, dist)) treestack.push(t->tree1);
-      if (t->tree2->intersects(x, y, dist)) treestack.push(t->tree2);
-      if (t->tree3->intersects(x, y, dist)) treestack.push(t->tree3);
-      if (t->tree4->intersects(x, y, dist)) treestack.push(t->tree4);
+      if (t->tree1->intersects(x, y, dist))
+        treestack.push(t->tree1);
+      if (t->tree2->intersects(x, y, dist))
+        treestack.push(t->tree2);
+      if (t->tree3->intersects(x, y, dist))
+        treestack.push(t->tree3);
+      if (t->tree4->intersects(x, y, dist))
+        treestack.push(t->tree4);
     }
   }
 }
diff --git a/3rdparty/libpedsim/src/ped_tree.cpp b/3rdparty/libpedsim/src/ped_tree.cpp
index b7d1ce4b..134be4b9 100644
--- a/3rdparty/libpedsim/src/ped_tree.cpp
+++ b/3rdparty/libpedsim/src/ped_tree.cpp
@@ -3,9 +3,9 @@
 // Copyright (c) 2003 - 2004 by Christian Gloor
 //
 
-#include "ped_tree.h"
-#include "ped_agent.h"
-#include "ped_scene.h"
+#include "pedsim/ped_tree.h"
+#include "pedsim/ped_agent.h"
+#include "pedsim/ped_scene.h"
 
 #include <cassert>
 #include <cstddef>
@@ -15,7 +15,7 @@ using namespace std;
 /// Description: set intial values
 /// \author  chgloor
 /// \date    2012-01-28
-Ped::Ttree::Ttree(Ped::Tscene* pscene, int pdepth, double px, double py,
+Ped::Ttree::Ttree(Ped::Tscene *pscene, int pdepth, double px, double py,
                   double pw, double ph)
     : scene(pscene) {
   // more initializations here. not really necessary to put them into the
@@ -59,34 +59,34 @@ void Ped::Ttree::clear() {
 /// \author  chgloor
 /// \date    2012-01-28
 /// \param   *a The agent to add
-void Ped::Ttree::addAgent(const Ped::Tagent* a) {
+void Ped::Ttree::addAgent(const Ped::Tagent *a) {
   if (isleaf) {
     agents.insert(a);
     scene->treehash[a] = this;
   } else {
     if ((a->getx() >= x + w / 2) && (a->gety() >= y + h / 2))
-      tree3->addAgent(a);  // 3
+      tree3->addAgent(a); // 3
     if ((a->getx() <= x + w / 2) && (a->gety() <= y + h / 2))
-      tree1->addAgent(a);  // 1
+      tree1->addAgent(a); // 1
     if ((a->getx() >= x + w / 2) && (a->gety() <= y + h / 2))
-      tree2->addAgent(a);  // 2
+      tree2->addAgent(a); // 2
     if ((a->getx() <= x + w / 2) && (a->gety() >= y + h / 2))
-      tree4->addAgent(a);  // 4
+      tree4->addAgent(a); // 4
   }
 
   if (agents.size() > 8) {
     isleaf = false;
     addChildren();
     while (!agents.empty()) {
-      const Ped::Tagent* a = (*agents.begin());
+      const Ped::Tagent *a = (*agents.begin());
       if ((a->getx() >= x + w / 2) && (a->gety() >= y + h / 2))
-        tree3->addAgent(a);  // 3
+        tree3->addAgent(a); // 3
       if ((a->getx() <= x + w / 2) && (a->gety() <= y + h / 2))
-        tree1->addAgent(a);  // 1
+        tree1->addAgent(a); // 1
       if ((a->getx() >= x + w / 2) && (a->gety() <= y + h / 2))
-        tree2->addAgent(a);  // 2
+        tree2->addAgent(a); // 2
       if ((a->getx() <= x + w / 2) && (a->gety() >= y + h / 2))
-        tree4->addAgent(a);  // 4
+        tree4->addAgent(a); // 4
       agents.erase(a);
     }
   }
@@ -102,11 +102,15 @@ void Ped::Ttree::addChildren() {
   tree4 = new Ped::Ttree(scene, depth + 1, x, y + h / 2, w / 2, h / 2);
 }
 
-Ped::Ttree* Ped::Ttree::getChildByPosition(double xIn, double yIn) {
-  if ((xIn <= x + w / 2) && (yIn <= y + h / 2)) return tree1;
-  if ((xIn >= x + w / 2) && (yIn <= y + h / 2)) return tree2;
-  if ((xIn >= x + w / 2) && (yIn >= y + h / 2)) return tree3;
-  if ((xIn <= x + w / 2) && (yIn >= y + h / 2)) return tree4;
+Ped::Ttree *Ped::Ttree::getChildByPosition(double xIn, double yIn) {
+  if ((xIn <= x + w / 2) && (yIn <= y + h / 2))
+    return tree1;
+  if ((xIn >= x + w / 2) && (yIn <= y + h / 2))
+    return tree2;
+  if ((xIn >= x + w / 2) && (yIn >= y + h / 2))
+    return tree3;
+  if ((xIn <= x + w / 2) && (yIn >= y + h / 2))
+    return tree4;
 
   // this should never happen
   return NULL;
@@ -118,7 +122,7 @@ Ped::Ttree* Ped::Ttree::getChildByPosition(double xIn, double yIn) {
 /// \author  chgloor
 /// \date    2012-01-28
 /// \param   *a the agent to update
-void Ped::Ttree::moveAgent(const Ped::Tagent* a) {
+void Ped::Ttree::moveAgent(const Ped::Tagent *a) {
   if ((a->getx() < x) || (a->getx() > (x + w)) || (a->gety() < y) ||
       (a->gety() > (y + h))) {
     scene->placeAgent(a);
@@ -126,7 +130,7 @@ void Ped::Ttree::moveAgent(const Ped::Tagent* a) {
   }
 }
 
-bool Ped::Ttree::removeAgent(const Ped::Tagent* a) {
+bool Ped::Ttree::removeAgent(const Ped::Tagent *a) {
   if (isleaf) {
     size_t removedCount = agents.erase(a);
     return (removedCount > 0);
@@ -143,7 +147,8 @@ bool Ped::Ttree::removeAgent(const Ped::Tagent* a) {
 /// \date    2012-01-28
 /// \return  the number of agents in this and all child nodes.
 int Ped::Ttree::cut() {
-  if (isleaf) return agents.size();
+  if (isleaf)
+    return agents.size();
 
   int count = 0;
   count += tree1->cut();
@@ -160,7 +165,8 @@ int Ped::Ttree::cut() {
     agents.insert(tree3->agents.begin(), tree3->agents.end());
     agents.insert(tree4->agents.begin(), tree4->agents.end());
     isleaf = true;
-    for (const Tagent* agent : agents) scene->treehash[agent] = this;
+    for (const Tagent *agent : agents)
+      scene->treehash[agent] = this;
 
     delete tree1;
     delete tree2;
@@ -176,20 +182,21 @@ int Ped::Ttree::cut() {
 /// \return  The set of agents
 /// \todo This might be not very efficient, since all childs are checked, too.
 /// And then the set (set of pointer, but still) is being copied around.
-set<const Ped::Tagent*> Ped::Ttree::getAgents() const {
-  if (isleaf) return agents;
+set<const Ped::Tagent *> Ped::Ttree::getAgents() const {
+  if (isleaf)
+    return agents;
 
   // fill a temporary output list with the agents
-  vector<const Ped::Tagent*> tempList;
+  vector<const Ped::Tagent *> tempList;
   getAgents(tempList);
 
   // convert list to set
-  return set<const Ped::Tagent*>(tempList.begin(), tempList.end());
+  return set<const Ped::Tagent *>(tempList.begin(), tempList.end());
 }
 
-void Ped::Ttree::getAgents(vector<const Ped::Tagent*>& outputList) const {
+void Ped::Ttree::getAgents(vector<const Ped::Tagent *> &outputList) const {
   if (isleaf) {
-    for (const Ped::Tagent* currentAgent : agents)
+    for (const Ped::Tagent *currentAgent : agents)
       outputList.push_back(currentAgent);
   } else {
     tree1->getAgents(outputList);
@@ -210,7 +217,7 @@ void Ped::Ttree::getAgents(vector<const Ped::Tagent*>& outputList) const {
 bool Ped::Ttree::intersects(double px, double py, double pr) const {
   if (((px + pr) > x) && ((px - pr) < (x + w)) && ((py + pr) > y) &&
       ((py - pr) < (y + h)))
-    return true;  // x+-r/y+-r is inside
+    return true; // x+-r/y+-r is inside
   else
     return false;
 }
diff --git a/3rdparty/libpedsim/src/ped_vector.cpp b/3rdparty/libpedsim/src/ped_vector.cpp
index 002021b6..a1953177 100644
--- a/3rdparty/libpedsim/src/ped_vector.cpp
+++ b/3rdparty/libpedsim/src/ped_vector.cpp
@@ -3,12 +3,12 @@
 // Copyright (c) 2003 - 2012 by Christian Gloor
 //
 
-#include "ped_vector.h"
+#include "pedsim/ped_vector.h"
 
 /// Default constructor, which makes sure that all the values are set to 0.
 Ped::Tvector::Tvector() : x(0), y(0), z(0) {}
 
-Ped::Tvector Ped::Tvector::fromPolar(const Tangle& angleIn, double radiusIn) {
+Ped::Tvector Ped::Tvector::fromPolar(const Tangle &angleIn, double radiusIn) {
   double x = radiusIn * cos(angleIn.toRadian());
   double y = radiusIn * sin(angleIn.toRadian());
 
@@ -28,7 +28,8 @@ void Ped::Tvector::normalize() {
   double len = length();
 
   // null vectors cannot be normalized
-  if (len == 0) return;
+  if (len == 0)
+    return;
 
   x /= len;
   y /= len;
@@ -41,7 +42,8 @@ Ped::Tvector Ped::Tvector::normalized() const {
   double len = length();
 
   // null vectors cannot be normalized
-  if (len == 0) return *this;
+  if (len == 0)
+    return *this;
 
   return Ped::Tvector(x / len, y / len, z / len);
 }
@@ -51,7 +53,7 @@ Ped::Tvector Ped::Tvector::normalized() const {
 /// \return  The scalar product.
 /// \param   &a The first vector
 /// \param   &b The second vector
-double Ped::Tvector::scalar(const Ped::Tvector& a, const Ped::Tvector& b) {
+double Ped::Tvector::scalar(const Ped::Tvector &a, const Ped::Tvector &b) {
   return acos(Ped::Tvector::dotProduct(a, b) / (a.length() * b.length()));
 }
 
@@ -60,7 +62,7 @@ double Ped::Tvector::scalar(const Ped::Tvector& a, const Ped::Tvector& b) {
 /// \return  The scalar product.
 /// \param   &a The first vector
 /// \param   &b The second vector
-double Ped::Tvector::dotProduct(const Ped::Tvector& a, const Ped::Tvector& b) {
+double Ped::Tvector::dotProduct(const Ped::Tvector &a, const Ped::Tvector &b) {
   return (a.x * b.x + a.y * b.y + a.z * b.z);
 }
 
@@ -68,8 +70,8 @@ double Ped::Tvector::dotProduct(const Ped::Tvector& a, const Ped::Tvector& b) {
 /// \date    2010-02-12
 /// \param   &a The first vector
 /// \param   &b The second vector
-Ped::Tvector Ped::Tvector::crossProduct(const Ped::Tvector& a,
-                                        const Ped::Tvector& b) {
+Ped::Tvector Ped::Tvector::crossProduct(const Ped::Tvector &a,
+                                        const Ped::Tvector &b) {
   return Ped::Tvector(a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z,
                       a.x * b.y - a.y * b.x);
 }
@@ -106,7 +108,7 @@ Ped::Tangle Ped::Tvector::polarAngle() const {
   return Tangle::fromRadian(atan2(y, x));
 }
 
-Ped::Tangle Ped::Tvector::angleTo(const Tvector& other) const {
+Ped::Tangle Ped::Tvector::angleTo(const Tvector &other) const {
   Ped::Tangle angleThis = polarAngle();
   Ped::Tangle angleOther = other.polarAngle();
 
@@ -116,11 +118,11 @@ Ped::Tangle Ped::Tvector::angleTo(const Tvector& other) const {
   return diffAngle;
 }
 
-Ped::Tvector Ped::Tvector::operator+(const Tvector& other) const {
+Ped::Tvector Ped::Tvector::operator+(const Tvector &other) const {
   return Ped::Tvector(x + other.x, y + other.y, z + other.z);
 }
 
-Ped::Tvector Ped::Tvector::operator-(const Tvector& other) const {
+Ped::Tvector Ped::Tvector::operator-(const Tvector &other) const {
   return Ped::Tvector(x - other.x, y - other.y, z - other.z);
 }
 
@@ -132,63 +134,63 @@ Ped::Tvector Ped::Tvector::operator/(double divisor) const {
   return scaled(1 / divisor);
 }
 
-Ped::Tvector& Ped::Tvector::operator+=(const Tvector& vectorIn) {
+Ped::Tvector &Ped::Tvector::operator+=(const Tvector &vectorIn) {
   x += vectorIn.x;
   y += vectorIn.y;
   z += vectorIn.z;
   return *this;
 }
 
-Ped::Tvector& Ped::Tvector::operator-=(const Tvector& vectorIn) {
+Ped::Tvector &Ped::Tvector::operator-=(const Tvector &vectorIn) {
   x -= vectorIn.x;
   y -= vectorIn.y;
   z -= vectorIn.z;
   return *this;
 }
 
-Ped::Tvector& Ped::Tvector::operator*=(double factor) {
+Ped::Tvector &Ped::Tvector::operator*=(double factor) {
   scale(factor);
   return *this;
 }
 
-Ped::Tvector& Ped::Tvector::operator*=(const Tvector& vectorIn) {
+Ped::Tvector &Ped::Tvector::operator*=(const Tvector &vectorIn) {
   x *= vectorIn.x;
   y *= vectorIn.y;
   z *= vectorIn.z;
   return *this;
 }
 
-Ped::Tvector& Ped::Tvector::operator/=(double divisor) {
+Ped::Tvector &Ped::Tvector::operator/=(double divisor) {
   scale(1 / divisor);
   return *this;
 }
 
-bool operator==(const Ped::Tvector& vector1In, const Ped::Tvector& vector2In) {
+bool operator==(const Ped::Tvector &vector1In, const Ped::Tvector &vector2In) {
   return (vector1In.x == vector2In.x) && (vector1In.y == vector2In.y) &&
          (vector1In.z == vector2In.z);
 }
 
-bool operator!=(const Ped::Tvector& vector1In, const Ped::Tvector& vector2In) {
+bool operator!=(const Ped::Tvector &vector1In, const Ped::Tvector &vector2In) {
   return (vector1In.x != vector2In.x) || (vector1In.y != vector2In.y) ||
          (vector1In.z != vector2In.z);
 }
 
-Ped::Tvector operator+(const Ped::Tvector& vector1In,
-                       const Ped::Tvector& vector2In) {
+Ped::Tvector operator+(const Ped::Tvector &vector1In,
+                       const Ped::Tvector &vector2In) {
   return Ped::Tvector(vector1In.x + vector2In.x, vector1In.y + vector2In.y,
                       vector1In.z + vector2In.z);
 }
 
-Ped::Tvector operator-(const Ped::Tvector& vector1In,
-                       const Ped::Tvector& vector2In) {
+Ped::Tvector operator-(const Ped::Tvector &vector1In,
+                       const Ped::Tvector &vector2In) {
   return Ped::Tvector(vector1In.x - vector2In.x, vector1In.y - vector2In.y,
                       vector1In.z - vector2In.z);
 }
 
-Ped::Tvector operator-(const Ped::Tvector& vectorIn) {
+Ped::Tvector operator-(const Ped::Tvector &vectorIn) {
   return Ped::Tvector(-vectorIn.x, -vectorIn.y, -vectorIn.z);
 }
 
-Ped::Tvector operator*(double factor, const Ped::Tvector& vector) {
+Ped::Tvector operator*(double factor, const Ped::Tvector &vector) {
   return vector.scaled(factor);
 }
diff --git a/3rdparty/libpedsim/src/ped_waypoint.cpp b/3rdparty/libpedsim/src/ped_waypoint.cpp
index d777443e..8d1cee71 100644
--- a/3rdparty/libpedsim/src/ped_waypoint.cpp
+++ b/3rdparty/libpedsim/src/ped_waypoint.cpp
@@ -3,8 +3,8 @@
 // Copyright (c) 2003 - 2012 by Christian Gloor
 //
 
-#include "ped_waypoint.h"
-#include "ped_agent.h"
+#include "pedsim/ped_waypoint.h"
+#include "pedsim/ped_agent.h"
 
 // initialize static variables
 int Ped::Twaypoint::staticid = 0;
@@ -17,7 +17,7 @@ Ped::Twaypoint::Twaypoint(double xIn, double yIn)
 
 /// Constructor: Sets some intial values.
 /// \param   posIn The position of the waypoint
-Ped::Twaypoint::Twaypoint(const Ped::Tvector& posIn)
+Ped::Twaypoint::Twaypoint(const Ped::Tvector &posIn)
     : id(staticid++), position(posIn), type(Ped::Twaypoint::AreaWaypoint) {}
 
 /// Destructor
@@ -29,12 +29,14 @@ Ped::Twaypoint::~Twaypoint() {}
 /// \param   *reached Set to true if the agent has reached the waypoint in this
 /// call.
 /// \return  Tvector The calculated force
-Ped::Tvector Ped::Twaypoint::getForce(const Ped::Tagent& agent,
-                                      Ped::Tvector* desiredDirectionOut,
-                                      bool* reachedOut) const {
+Ped::Tvector Ped::Twaypoint::getForce(const Ped::Tagent &agent,
+                                      Ped::Tvector *desiredDirectionOut,
+                                      bool *reachedOut) const {
   // set default output parameters
-  if (reachedOut != NULL) *reachedOut = false;
-  if (desiredDirectionOut != NULL) *desiredDirectionOut = Ped::Tvector();
+  if (reachedOut != NULL)
+    *reachedOut = false;
+  if (desiredDirectionOut != NULL)
+    *desiredDirectionOut = Ped::Tvector();
 
   Ped::Tvector agentPos = agent.getPosition();
   Ped::Tvector destination = closestPoint(agentPos, reachedOut);
@@ -44,12 +46,13 @@ Ped::Tvector Ped::Twaypoint::getForce(const Ped::Tagent& agent,
   Tvector force = (desiredDirection * agent.getVmax() - agent.getVelocity()) /
                   agent.getRelaxationTime();
 
-  if (desiredDirectionOut != NULL) *desiredDirectionOut = desiredDirection;
+  if (desiredDirectionOut != NULL)
+    *desiredDirectionOut = desiredDirection;
 
   return force;
 }
 
-Ped::Tvector Ped::Twaypoint::closestPoint(const Ped::Tvector& p,
-                                          bool* withinWaypoint) const {
+Ped::Tvector Ped::Twaypoint::closestPoint(const Ped::Tvector &p,
+                                          bool *withinWaypoint) const {
   return position;
 }
diff --git a/pedsim_gazebo_plugin/CMakeLists.txt b/pedsim_gazebo_plugin/CMakeLists.txt
index 0f6ef189..d56fbf2c 100644
--- a/pedsim_gazebo_plugin/CMakeLists.txt
+++ b/pedsim_gazebo_plugin/CMakeLists.txt
@@ -1,67 +1,94 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(pedsim_gazebo_plugin)
 
-## Compile as C++11, supported in ROS Kinetic and newer
- add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  gazebo_ros
-  geometry_msgs
-  roscpp
-  rospy
-  gazebo_msgs
-  pedsim_msgs
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # we dont use add_compile_options with pedantic in message packages
+  # because the Python C extensions dont comply with it
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(gazebo_dev REQUIRED)
+find_package(gazebo_ros REQUIRED)
+find_package(gazebo_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(pedsim_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(rcl REQUIRED)
+find_package(rclcpp REQUIRED)
+
+include_directories(include
+  ${gazebo_dev_INCLUDE_DIRS}
+  ${gazebo_ros_INCLUDE_DIRS}
+  ${geometry_msgs_INCLUDE_DIRS}
+  ${pedsim_msgs_INCLUDE_DIRS}
+  ${tf2_INCLUDE_DIRS}
 )
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
- find_package(gazebo REQUIRED )
- link_directories(${GAZEBO_LIBRARY_DIRS})
+link_directories(${gazebo_dev_LIBRARY_DIRS})
 
 
-################################################
-## Declare ROS messages, services and actions ##
-################################################
+ament_python_install_package(scripts/)
 
-
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-
-###################################
-## catkin specific configuration ##
-###################################
-
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES gzb_vel_plugin
-  CATKIN_DEPENDS gazebo_ros roscpp  geometry_msgs pedsim_msgs
-#  DEPENDS system_lib
+# ActorPosesPlugin
+add_library(gazebo_ros_actor_poses SHARED
+  src/actor_poses_plugin.cpp
 )
 
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  ${GAZEBO_INCLUDE_DIRS}
+ament_target_dependencies(gazebo_ros_actor_poses
+  "gazebo_dev"
+  "gazebo_ros"
+  "rclcpp"
+  "pedsim_msgs"
+  "tf2"
+  "tf2_geometry_msgs"
+)
+ament_export_libraries(gazebo_ros_actor_poses)
+
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(gazebo_dev)
+ament_export_dependencies(gazebo_msgs)
+ament_export_dependencies(gazebo_ros)
+ament_export_dependencies(pedsim_msgs)
+
+if(NOT WIN32)
+  if(NOT APPLE)
+    set(
+      AMENT_CMAKE_ENVIRONMENT_HOOKS_DESC_gazebo_plugins
+      "prepend-non-duplicate;LD_LIBRARY_PATH;${GAZEBO_PLUGIN_PATH}")
+  else()
+    set(
+      AMENT_CMAKE_ENVIRONMENT_HOOKS_DESC_gazebo_plugins
+      "prepend-non-duplicate;DYLD_LIBRARY_PATH;${GAZEBO_PLUGIN_PATH}")
+  endif()
+endif()
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/gazebo_plugins.sh.in")
+
+ament_package()
+
+
+install(
+  PROGRAMS
+    scripts/pedsim_to_gazebo_world.py
+    scripts/spawn_pedsim_agents.py
+    scripts/spawn_single_agent.py
+    DESTINATION lib/${PROJECT_NAME}/
 )
 
+install(
+  TARGETS
+  gazebo_ros_actor_poses
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
 
-add_library(ActorPosesPlugin src/actor_poses_plugin.cpp)
-target_link_libraries(ActorPosesPlugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
-
-
-#############
-## Install ##
-#############
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
+install(DIRECTORY worlds DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY models DESTINATION share/${PROJECT_NAME})
 
diff --git a/pedsim_gazebo_plugin/env-hooks/gazebo_plugins.sh.in b/pedsim_gazebo_plugin/env-hooks/gazebo_plugins.sh.in
new file mode 100644
index 00000000..0f52c814
--- /dev/null
+++ b/pedsim_gazebo_plugin/env-hooks/gazebo_plugins.sh.in
@@ -0,0 +1,17 @@
+# generated from pedsim_gazebo_plugin/env-hooks/gazebo_plugins.sh.in
+
+# detect if running on Darwin platform
+_UNAME=`uname -s`
+_IS_DARWIN=0
+if [ "$_UNAME" = "Darwin" ]; then
+  _IS_DARWIN=1
+fi
+unset _UNAME
+
+if [ $_IS_DARWIN -eq 0 ]; then
+  ament_prepend_unique_value LD_LIBRARY_PATH @PEDSIM_GAZEBO_PLUGIN_PATH@
+else
+  ament_prepend_unique_value DYLD_LIBRARY_PATH @PEDSIM_GAZEBO_PLUGIN_PATH@
+fi
+unset _IS_DARWIN
+
diff --git a/pedsim_gazebo_plugin/launch/airport.launch b/pedsim_gazebo_plugin/launch/airport.launch
deleted file mode 100644
index 296fa278..00000000
--- a/pedsim_gazebo_plugin/launch/airport.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-<launch>
-
-        <!-- this file is auto generated using pedsim_gazebo_plugin pkg -->  
-        
-        <include file="$(find gazebo_ros)/launch/empty_world.launch">
-             <arg name="world_name" value="$(find pedsim_gazebo_plugin)/worlds/airport.world"/>
-         </include>
-         
-         <!-- this node spawn pedsim actors to gazebo once, then the plugin updates their pose -->  
-         <node pkg="pedsim_gazebo_plugin" type="spawn_pedsim_agents.py" name="spawn_pedsim_agents"  output="screen">
-         </node>
-
-
-</launch>
-
diff --git a/pedsim_gazebo_plugin/launch/house_demo_launch.py b/pedsim_gazebo_plugin/launch/house_demo_launch.py
new file mode 100644
index 00000000..8ddd2ac8
--- /dev/null
+++ b/pedsim_gazebo_plugin/launch/house_demo_launch.py
@@ -0,0 +1,144 @@
+# Copyright (c) 2018 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#!/usr/bin/env python3
+
+"""Test gazebo_plugins for pedsim."""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Get the launch directory
+    pedsim_dir = get_package_share_directory('pedsim_gazebo_plugin')
+
+    #bringup_dir = get_package_share_directory('nav2_bringup')
+
+    launch_dir = os.path.join(pedsim_dir, 'launch')
+    gazebo_dir = get_package_share_directory('gazebo_ros')
+    gazebo_launch_dir = os.path.join(gazebo_dir, 'launch')
+
+
+    # Create the launch configuration variables
+    namespace = LaunchConfiguration('namespace')
+    use_namespace = LaunchConfiguration('use_namespace')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+
+    # Launch configuration variables specific to simulation
+    use_simulator = LaunchConfiguration('use_simulator')
+    use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
+    headless = LaunchConfiguration('headless')
+    world = LaunchConfiguration('world')
+    remappings = [('/tf', 'tf'),
+                  ('/tf_static', 'tf_static')]
+
+    # Declare the launch arguments
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Top-level namespace')
+
+    declare_use_namespace_cmd = DeclareLaunchArgument(
+        'use_namespace',
+        default_value='false',
+        description='Whether to apply a namespace to the navigation stack')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='true',
+        description='Use simulation (Gazebo) clock if true')
+
+    declare_use_simulator_cmd = DeclareLaunchArgument(
+        'use_simulator',
+        default_value='True',
+        description='Whether to start the simulator')
+
+    declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
+        'use_robot_state_pub',
+        default_value='True',
+        description='Whether to start the robot state publisher')
+
+    declare_simulator_cmd = DeclareLaunchArgument(
+        'headless',
+        default_value='False',
+        description='Whether to execute gzclient)')
+
+    declare_world_cmd = DeclareLaunchArgument(
+        'world',
+        default_value=os.path.join(pedsim_dir, 'worlds', 'house.world'),
+        description='Full path to world model file to load')
+
+    # Specify the actions
+    start_gazebo_server_cmd = ExecuteProcess(
+        condition=IfCondition(use_simulator),
+        cmd=['gzserver', 
+        '-s', 'libgazebo_ros_init.so',
+        '-s', 'libgazebo_ros_factory.so',
+        world],
+        cwd=[launch_dir], output='screen')
+
+
+    start_gazebo_client_cmd = ExecuteProcess(
+        condition=IfCondition(PythonExpression([use_simulator, ' and not ', headless])),
+        cmd=['gzclient'],
+        cwd=[launch_dir], output='screen')
+    
+    agent_spawner_cmd = Node(
+        package='pedsim_gazebo_plugin',
+        node_executable='spawn_pedsim_agents.py',
+        node_name='spawn_pedsim_agents',
+        output='screen')
+
+    # urdf = os.path.join(bringup_dir, 'urdf', 'turtlebot3_waffle.urdf')
+
+    #start_robot_state_publisher_cmd = Node(
+    #    condition=IfCondition(use_robot_state_pub),
+    #    package='robot_state_publisher',
+    #    node_executable='robot_state_publisher',
+    #    node_name='robot_state_publisher',
+    #    node_namespace=namespace,
+    #    output='screen',
+    #    parameters=[{'use_sim_time': use_sim_time}],
+    #    remappings=remappings,
+    #    arguments=[urdf])
+
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_namespace_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+
+    ld.add_action(declare_use_simulator_cmd)
+    ld.add_action(declare_use_robot_state_pub_cmd)
+    ld.add_action(declare_simulator_cmd)
+    ld.add_action(declare_world_cmd)
+
+    # Add any conditioned actions
+    ld.add_action(start_gazebo_server_cmd)
+    ld.add_action(start_gazebo_client_cmd)
+    ld.add_action(agent_spawner_cmd)
+    # Add the actions to launch all of the navigation nodes
+    #ld.add_action(start_robot_state_publisher_cmd)
+
+    return ld
diff --git a/pedsim_gazebo_plugin/launch/social_contexts.launch b/pedsim_gazebo_plugin/launch/social_contexts.launch
deleted file mode 100644
index 554eea4c..00000000
--- a/pedsim_gazebo_plugin/launch/social_contexts.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-<launch>
-
-        <!-- this file is auto generated using pedsim_gazebo_plugin pkg -->  
-        
-        <include file="$(find gazebo_ros)/launch/empty_world.launch">
-             <arg name="world_name" value="$(find pedsim_gazebo_plugin)/worlds/social_contexts.world"/>
-         </include>
-         
-         <!-- this node spawn pedsim actors to gazebo once, then the plugin updates their pose -->  
-         <node pkg="pedsim_gazebo_plugin" type="spawn_pedsim_agents.py" name="spawn_pedsim_agents"  output="screen">
-         </node>
-
-
-</launch>
-
diff --git a/pedsim_gazebo_plugin/models/actor_model.sdf b/pedsim_gazebo_plugin/models/actor_model.sdf
index fd20c79b..1e281698 100644
--- a/pedsim_gazebo_plugin/models/actor_model.sdf
+++ b/pedsim_gazebo_plugin/models/actor_model.sdf
@@ -2,7 +2,7 @@
 <sdf version="1.5">
 
 
-<model name="actor_model">
+<!--<model name="actor_model">
   <pose>0 0 0 0 0 0</pose>
   <link name="link">
     <collision name="collision">
@@ -22,10 +22,10 @@
     </visual>
 
   </link>
-</model>
+</model>-->
 
 
-<!--<model name="actor_model">
+<model name="actor_model">
   <link name="link">
     <collision name="collision">
       <pose>0 0 0 1.5708 0 0</pose>
@@ -45,7 +45,7 @@
       </geometry>
     </visual>
   </link>
-</model>-->
+</model>
 
 
 
diff --git a/pedsim_gazebo_plugin/models/person_standing/materials/textures/eyebrow001-unmodified.png b/pedsim_gazebo_plugin/models/person_standing/materials/textures/eyebrow001-unmodified.png
new file mode 100644
index 00000000..25410f9d
Binary files /dev/null and b/pedsim_gazebo_plugin/models/person_standing/materials/textures/eyebrow001-unmodified.png differ
diff --git a/pedsim_gazebo_plugin/models/person_standing/materials/textures/eyebrow001.png b/pedsim_gazebo_plugin/models/person_standing/materials/textures/eyebrow001.png
new file mode 100644
index 00000000..b881f60a
Binary files /dev/null and b/pedsim_gazebo_plugin/models/person_standing/materials/textures/eyebrow001.png differ
diff --git a/pedsim_gazebo_plugin/models/person_standing/materials/textures/green_eye.png b/pedsim_gazebo_plugin/models/person_standing/materials/textures/green_eye.png
new file mode 100644
index 00000000..e68426cf
Binary files /dev/null and b/pedsim_gazebo_plugin/models/person_standing/materials/textures/green_eye.png differ
diff --git a/pedsim_gazebo_plugin/models/person_standing/materials/textures/jeans01_normals.png b/pedsim_gazebo_plugin/models/person_standing/materials/textures/jeans01_normals.png
new file mode 100644
index 00000000..2da1eede
Binary files /dev/null and b/pedsim_gazebo_plugin/models/person_standing/materials/textures/jeans01_normals.png differ
diff --git a/pedsim_gazebo_plugin/models/person_standing/materials/textures/jeans_basic_diffuse.png b/pedsim_gazebo_plugin/models/person_standing/materials/textures/jeans_basic_diffuse.png
new file mode 100644
index 00000000..559b6027
Binary files /dev/null and b/pedsim_gazebo_plugin/models/person_standing/materials/textures/jeans_basic_diffuse.png differ
diff --git a/pedsim_gazebo_plugin/models/person_standing/materials/textures/male02_diffuse_black-unmodified.png b/pedsim_gazebo_plugin/models/person_standing/materials/textures/male02_diffuse_black-unmodified.png
new file mode 100644
index 00000000..b1f3b4a0
Binary files /dev/null and b/pedsim_gazebo_plugin/models/person_standing/materials/textures/male02_diffuse_black-unmodified.png differ
diff --git a/pedsim_gazebo_plugin/models/person_standing/materials/textures/male02_diffuse_black.png b/pedsim_gazebo_plugin/models/person_standing/materials/textures/male02_diffuse_black.png
new file mode 100644
index 00000000..c81a83e5
Binary files /dev/null and b/pedsim_gazebo_plugin/models/person_standing/materials/textures/male02_diffuse_black.png differ
diff --git a/pedsim_gazebo_plugin/models/person_standing/materials/textures/teeth.png b/pedsim_gazebo_plugin/models/person_standing/materials/textures/teeth.png
new file mode 100644
index 00000000..338b9e2c
Binary files /dev/null and b/pedsim_gazebo_plugin/models/person_standing/materials/textures/teeth.png differ
diff --git a/pedsim_gazebo_plugin/models/person_standing/materials/textures/tshirt02_normals.png b/pedsim_gazebo_plugin/models/person_standing/materials/textures/tshirt02_normals.png
new file mode 100644
index 00000000..11af253a
Binary files /dev/null and b/pedsim_gazebo_plugin/models/person_standing/materials/textures/tshirt02_normals.png differ
diff --git a/pedsim_gazebo_plugin/models/person_standing/materials/textures/tshirt02_texture.png b/pedsim_gazebo_plugin/models/person_standing/materials/textures/tshirt02_texture.png
new file mode 100644
index 00000000..6710e6de
Binary files /dev/null and b/pedsim_gazebo_plugin/models/person_standing/materials/textures/tshirt02_texture.png differ
diff --git a/pedsim_gazebo_plugin/models/person_standing/materials/textures/young_lightskinned_male_diffuse.png b/pedsim_gazebo_plugin/models/person_standing/materials/textures/young_lightskinned_male_diffuse.png
new file mode 100644
index 00000000..15df3828
Binary files /dev/null and b/pedsim_gazebo_plugin/models/person_standing/materials/textures/young_lightskinned_male_diffuse.png differ
diff --git a/pedsim_gazebo_plugin/models/person_standing/meshes/standing.dae b/pedsim_gazebo_plugin/models/person_standing/meshes/standing.dae
new file mode 100644
index 00000000..1cc0576f
--- /dev/null
+++ b/pedsim_gazebo_plugin/models/person_standing/meshes/standing.dae
@@ -0,0 +1,1195 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Marina Kollmitz</author>
+      <authoring_tool>Blender 2.73.0 commit date:2015-01-07, commit time:13:17, hash:b4d8fb5</authoring_tool>
+    </contributor>
+    <created>2015-01-16T21:12:30</created>
+    <modified>2015-01-16T21:12:30</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images>
+    <image id="young_lightskinned_male_diffuse_png" name="young_lightskinned_male_diffuse_png">
+      <init_from>../materials/textures/young_lightskinned_male_diffuse.png</init_from>
+    </image>
+    <image id="jeans_basic_diffuse_png" name="jeans_basic_diffuse_png">
+      <init_from>../materials/textures/jeans_basic_diffuse.png</init_from>
+    </image>
+    <image id="jeans01_normals_png" name="jeans01_normals_png">
+      <init_from>../materials/textures/jeans01_normals.png</init_from>
+    </image>
+    <image id="tshirt02_texture_png" name="tshirt02_texture_png">
+      <init_from>../materials/textures/tshirt02_texture.png</init_from>
+    </image>
+    <image id="tshirt02_normals_png" name="tshirt02_normals_png">
+      <init_from>../materials/textures/tshirt02_normals.png</init_from>
+    </image>
+    <image id="male02_diffuse_black_png" name="male02_diffuse_black_png">
+      <init_from>../materials/textures/male02_diffuse_black.png</init_from>
+    </image>
+    <image id="green_eye_png" name="green_eye_png">
+      <init_from>../materials/textures/green_eye.png</init_from>
+    </image>
+    <image id="eyebrow001_png" name="eyebrow001_png">
+      <init_from>../materials/textures/eyebrow001.png</init_from>
+    </image>
+    <image id="teeth_png" name="teeth_png">
+      <init_from>../materials/textures/teeth.png</init_from>
+    </image>
+  </library_images>
+  <library_effects>
+    <effect id="v2_Skin-effect">
+      <profile_COMMON>
+        <newparam sid="young_lightskinned_male_diffuse_png-surface">
+          <surface type="2D">
+            <init_from>young_lightskinned_male_diffuse_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="young_lightskinned_male_diffuse_png-sampler">
+          <sampler2D>
+            <source>young_lightskinned_male_diffuse_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="young_lightskinned_male_diffuse_png-sampler" texcoord="UVTex"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.02745 0.02745 0.02745 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">256</float>
+            </shininess>
+            <transparent>
+              <texture texture="young_lightskinned_male_diffuse_png-sampler" texcoord="UVTex"/>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0</float>
+            </transparency>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="v2_Invisio-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0.8 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <transparency>
+              <float sid="transparency">0</float>
+            </transparency>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="v2_Red-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8 0 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <transparency>
+              <float sid="transparency">0</float>
+            </transparency>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="v2_Green-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0.8 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <transparency>
+              <float sid="transparency">0</float>
+            </transparency>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="v2_Blue-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0 0.8 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <transparency>
+              <float sid="transparency">0</float>
+            </transparency>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="v2_Yellow-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.8 0.8 0 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <transparency>
+              <float sid="transparency">0</float>
+            </transparency>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="v2_jeans01_jeans01Material-effect">
+      <profile_COMMON>
+        <newparam sid="jeans_basic_diffuse_png-surface">
+          <surface type="2D">
+            <init_from>jeans_basic_diffuse_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="jeans_basic_diffuse_png-sampler">
+          <sampler2D>
+            <source>jeans_basic_diffuse_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <newparam sid="jeans01_normals_png-surface">
+          <surface type="2D">
+            <init_from>jeans01_normals_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="jeans01_normals_png-sampler">
+          <sampler2D>
+            <source>jeans01_normals_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="jeans_basic_diffuse_png-sampler" texcoord="Texture"/>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.02745 0.02745 0.02745 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">100</float>
+            </shininess>
+            <transparent>
+              <texture texture="jeans_basic_diffuse_png-sampler" texcoord="Texture"/>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0</float>
+            </transparency>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+          <extra>
+            <technique profile="FCOLLADA">
+              <bump>
+                <texture texture="jeans01_normals_png-sampler" texcoord="Texture"/>
+              </bump>
+            </technique>
+          </extra>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="v2_tshirt02_tshirt02Material-effect">
+      <profile_COMMON>
+        <newparam sid="tshirt02_texture_png-surface">
+          <surface type="2D">
+            <init_from>tshirt02_texture_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="tshirt02_texture_png-sampler">
+          <sampler2D>
+            <source>tshirt02_texture_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <newparam sid="tshirt02_normals_png-surface">
+          <surface type="2D">
+            <init_from>tshirt02_normals_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="tshirt02_normals_png-sampler">
+          <sampler2D>
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+            <technique_common>
+              <instance_material symbol="v2_jeans01_jeans01Material-material" target="#v2_jeans01_jeans01Material-material">
+                <bind_vertex_input semantic="Texture" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="v2_tshirt02" name="v2_tshirt02" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#v2_tshirt02-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="v2_tshirt02_tshirt02Material-material" target="#v2_tshirt02_tshirt02Material-material">
+                <bind_vertex_input semantic="Texture" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="v2_mhair02" name="v2_mhair02" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#v2_mhair02-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="v2_mhair02_mhair02black-material" target="#v2_mhair02_mhair02black-material">
+                <bind_vertex_input semantic="Texture" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="v2_Low-Poly" name="v2_Low-Poly" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#v2_Low-Poly-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="v2_Low-Poly_eyegreen-material" target="#v2_Low-Poly_eyegreen-material">
+                <bind_vertex_input semantic="Texture" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="v2_Eyebrow001" name="v2_Eyebrow001" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#v2_Eyebrow001-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="v2_Eyebrow001_eyebrow001-material" target="#v2_Eyebrow001_eyebrow001-material">
+                <bind_vertex_input semantic="Texture" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="v2_Teeth_Base" name="v2_Teeth_Base" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#v2_Teeth_Base-mesh">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="v2_Teeth_Base_teethMaterial-material" target="#v2_Teeth_Base_teethMaterial-material">
+                <bind_vertex_input semantic="Texture" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/pedsim_gazebo_plugin/models/person_standing/model.config b/pedsim_gazebo_plugin/models/person_standing/model.config
new file mode 100644
index 00000000..2ddfc464
--- /dev/null
+++ b/pedsim_gazebo_plugin/models/person_standing/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>Standing person</name>
+  <version>1.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>Marina Kollmitz</name>
+    <email>kollmitz@cs.uni-freiburg.de</email>
+  </author>
+
+  <description>
+    A standing person. Model created with Makehuman (http://www.makehuman.org/)
+  </description>
+</model>
diff --git a/pedsim_gazebo_plugin/models/person_standing/model.sdf b/pedsim_gazebo_plugin/models/person_standing/model.sdf
new file mode 100644
index 00000000..4fce9ce7
--- /dev/null
+++ b/pedsim_gazebo_plugin/models/person_standing/model.sdf
@@ -0,0 +1,46 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="person_standing">
+    <link name="link">
+      <inertial>
+        <pose>0 -0.1 0.95 0 0 0</pose>
+        <mass>80.0</mass>
+        <inertia>
+          <ixx>24.88</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>25.73</iyy>
+          <iyz>0</iyz>
+          <izz>2.48</izz>
+        </inertia>
+      </inertial>
+
+      <collision name="bottom">
+        <pose>0 -0.1 0.01 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.5 0.35 0.02</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <collision name="person">
+        <pose>0 0 0.02 0.04 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://person_standing/meshes/standing.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+
+      <visual name="visual">
+        <pose>0 0 0.02 0.04 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://person_standing/meshes/standing.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/pedsim_gazebo_plugin/models/tb3_house/model.config b/pedsim_gazebo_plugin/models/tb3_house/model.config
new file mode 100644
index 00000000..63ead700
--- /dev/null
+++ b/pedsim_gazebo_plugin/models/tb3_house/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Turtlebot3 House</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Taehun Lim(Darby)</name>
+    <email>thlim@robotis.com</email>
+  </author>
+
+  <description>
+    Turtlebot3 House
+  </description>
+</model>
diff --git a/pedsim_gazebo_plugin/models/tb3_house/model.sdf b/pedsim_gazebo_plugin/models/tb3_house/model.sdf
new file mode 100644
index 00000000..d60d9722
--- /dev/null
+++ b/pedsim_gazebo_plugin/models/tb3_house/model.sdf
@@ -0,0 +1,5424 @@
+<sdf version='1.6'>
+  <model name='turtlebot3_house'>
+    <link name='Wall_101'>
+      <pose frame=''>-0.05 3.1 0 0 0 -1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_101_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_101_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <link name='Wall_104'>
+      <pose frame=''>2.3 3.1 0 0 -0 1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_104_Visual_1'>
+        <pose frame=''>2.11625 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.267504 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_104_Visual_2'>
+        <pose frame=''>1.5325 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_104_Visual_0'>
+        <pose frame=''>-0.583752 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.3325 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_104_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>2.11625 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.267504 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_104_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.5325 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_104_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.583752 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.3325 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <link name='Wall_106'>
+      <pose frame=''>6.2 -0.175 0 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_106_Visual_1'>
+        <pose frame=''>0.922235 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.905529 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_106_Visual_2'>
+        <pose frame=''>0.019471 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_106_Visual_0'>
+        <pose frame=''>-0.902765 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.944471 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_106_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.922235 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.905529 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
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+        <pose frame=''>-0.902765 0 1.25 0 -0 0</pose>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.019471 0 2.25 0 -0 0</pose>
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+          <box>
+            <size>0.9 0.15 0.5</size>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
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+              <kp>1e+13</kp>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <kinematic>0</kinematic>
+      <visual name='Wall_108_Visual_0'>
+        <pose frame=''>-0.856324 0 0.5 0 -0 0</pose>
+        <geometry>
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+            <size>5.78735 0.15 1</size>
+          </box>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_108_Visual_1'>
+        <pose frame=''>3.34368 0 0.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.812647 0.15 1</size>
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+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>3.34368 0 0.5 0 -0 0</pose>
+        <geometry>
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+              <mu2>1</mu2>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <kp>1e+13</kp>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.856324 0 0.5 0 -0 0</pose>
+        <geometry>
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+              <fdir1>0 0 0</fdir1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <pose frame=''>5.07752 5.2688 0 0 -0 3.14159</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_81_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_81_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+          <contact>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <pose frame=''>1.25 5.26876 0 0 -0 3.14159</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_82_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_82_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <pose frame=''>-2.475 5.275 0 0 -0 3.14159</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_83_Visual_2'>
+        <pose frame=''>0.110246 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.37052 0.15 2</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_83_Visual_6'>
+        <pose frame=''>1.39775 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.20449 0.15 0.8</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_83_Visual_3'>
+        <pose frame=''>0.110246 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.37052 0.15 2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_83_Visual_1'>
+        <pose frame=''>0.080993 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.83801 0.15 0.5</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_83_Visual_4'>
+        <pose frame=''>-1.20651 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.263 0.15 0.8</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_83_Visual_5'>
+        <pose frame=''>1.39775 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <visual name='Wall_83_Visual_0'>
+        <pose frame=''>-2.41901 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.161986 0.15 2.5</size>
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+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
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+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
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+      <collision name='Wall_83_Collision_4'>
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+        <max_contacts>10</max_contacts>
+        <pose frame=''>-1.20651 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
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+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+          <contact>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <kp>1e+13</kp>
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+      <collision name='Wall_83_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.110246 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.37052 0.15 2</size>
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+        <surface>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_83_Collision_6'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.39775 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.20449 0.15 0.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-2.41901 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.161986 0.15 2.5</size>
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+        <surface>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_83_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.080993 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.83801 0.15 0.5</size>
+          </box>
+        </geometry>
+        <surface>
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+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_83_Collision_3'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.110246 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.37052 0.15 2</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_83_Collision_5'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.39775 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.20449 0.15 0.8</size>
+          </box>
+        </geometry>
+        <surface>
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+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <link name='Wall_84'>
+      <pose frame=''>-6.2 5.275 0 0 -0 3.14159</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_84_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_84_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
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+    </link>
+    <link name='Wall_85'>
+      <pose frame=''>-7.5 3.1 0 0 0 -1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_85_Visual_3'>
+        <pose frame=''>0.62212 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.332 0.15 0.8</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_85_Visual_2'>
+        <pose frame=''>1.76906 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.96188 0.15 2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_85_Visual_0'>
+        <pose frame=''>-1.14694 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.20612 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_85_Visual_1'>
+        <pose frame=''>1.10306 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.29388 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_85_Collision_3'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.62212 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.332 0.15 0.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_85_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.76906 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.96188 0.15 2</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_85_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.10306 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.29388 0.15 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_85_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-1.14694 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.20612 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <link name='Wall_86'>
+      <pose frame=''>-7.5 -1.5 0 0 0 -1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_86_Visual_1'>
+        <pose frame=''>0.28462 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.43076 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_86_Visual_4'>
+        <pose frame=''>-1.22476 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.412 0.15 0.8</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_86_Visual_0'>
+        <pose frame=''>-2.21538 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.569241 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_86_Visual_5'>
+        <pose frame=''>1.22246 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.199 0.15 0.8</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_86_Visual_2'>
+        <pose frame=''>0.0521 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.14172 0.15 2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_86_Visual_3'>
+        <pose frame=''>2.16098 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.678041 0.15 2</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_86_Collision_4'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-1.22476 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.412 0.15 0.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_86_Collision_5'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.22246 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.199 0.15 0.8</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_86_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.0521 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.14172 0.15 2</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_86_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.28462 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.43076 0.15 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_86_Collision_3'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>2.16098 0 1.5 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.678041 0.15 2</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_86_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-2.21538 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.569241 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <link name='Wall_87'>
+      <pose frame=''>-6.325 -3.925 0 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_87_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_87_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
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+      <kinematic>0</kinematic>
+      <visual name='Wall_88_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
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+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_88_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <pose frame=''>1.125 0.925 0 0 -0 0</pose>
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+      <kinematic>0</kinematic>
+      <visual name='Wall_90_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_90_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.5 0.15 2.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
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+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+      <pose frame=''>2.29994 0.37506 0 0 0 -1.57091</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_91_Visual_0'>
+        <pose frame=''>-0.551501 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.146998 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_91_Visual_2'>
+        <pose frame=''>-0.028002 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_91_Visual_1'>
+        <pose frame=''>0.523499 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.203002 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_91_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.551501 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.146998 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
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+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.523499 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.203002 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_91_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.028002 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+    <link name='Wall_92'>
+      <pose frame=''>3.59994 -0.17494 0 0 0 -4.6e-05</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_92_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_92_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
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+    <link name='Wall_93'>
+      <pose frame=''>4.9 -2.725 0 0 0 -1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_93_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_93_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+            <bullet>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
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+    <link name='Wall_94'>
+      <pose frame=''>6.2 -5.275 0 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_94_Visual'>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Wood</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_94_Collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
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+        <surface>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
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+          <bounce>
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+            <threshold>1e+06</threshold>
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+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.070981 0 2.1 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.635 0.15 0.8</size>
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+        <surface>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
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+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.75174 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.99652 0.15 0.5</size>
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+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
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+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
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+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
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+      <pose frame=''>-6.325 0.925 0 0 -0 0</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_98_Visual_2'>
+        <pose frame=''>0.015777 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_98_Visual_1'>
+        <pose frame=''>0.857889 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.784223 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_98_Visual_0'>
+        <pose frame=''>-0.842111 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.815777 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_98_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-0.842111 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.815777 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
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+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
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+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_98_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.857889 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.784223 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_98_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.015777 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.9 0.15 0.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
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+    </link>
+    <link name='Wall_99'>
+      <pose frame=''>-5.15 3.1 0 0 -0 1.5708</pose>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <visual name='Wall_99_Visual_0'>
+        <pose frame=''>-1.62116 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.25768 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_99_Visual_2'>
+        <pose frame=''>0.215786 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.41621 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <visual name='Wall_99_Visual_1'>
+        <pose frame=''>1.83695 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.826108 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Bricks</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>0.2 0.2 0.2 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <transparency>0</transparency>
+      </visual>
+      <collision name='Wall_99_Collision_0'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>-1.62116 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.25768 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+      <collision name='Wall_99_Collision_1'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>1.83695 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>0.826108 0.15 2.5</size>
+          </box>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
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+      </collision>
+      <collision name='Wall_99_Collision_2'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose frame=''>0.215786 0 2.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.41621 0.15 0.5</size>
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+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
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+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <model name='Mailbox'>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://mailbox/meshes/mailbox.dae</uri>
+            </mesh>
+          </geometry>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://mailbox/meshes/mailbox.dae</uri>
+            </mesh>
+          </geometry>
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+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
+          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
+          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
+          <pose frame=''>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
+          <pose frame=''>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
+          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
+          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
+          <pose frame=''>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
+          <pose frame=''>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+      <pose frame=''>-5.47289 -2.06545 0 0 -0 0</pose>
+    </model>
+    <model name='cabinet_1'>
+      <static>1</static>
+      <link name='cabinet_bottom_plate'>
+        <inertial>
+          <pose frame=''>0 0 -1 0 -0 0</pose>
+          <inertia>
+            <ixx>2.05</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>2.05</iyy>
+            <iyz>0</iyz>
+            <izz>2.05</izz>
+          </inertia>
+          <mass>25</mass>
+        </inertial>
+        <collision name='cabinet_bottom_plate_geom'>
+          <pose frame=''>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_visual'>
+          <pose frame=''>0 0 0.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_back_plate'>
+          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_back_plate_visual'>
+          <pose frame=''>0.235 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.02 0.45 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_left_plate'>
+          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_left_plate_visual'>
+          <pose frame=''>0 0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_middle_plate'>
+          <pose frame=''>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_middle_plate_visual'>
+          <pose frame=''>0 0 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_right_plate'>
+          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_right_plate_visual'>
+          <pose frame=''>0 -0.235 0.51 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.02 1.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='cabinet_bottom_plate_geom_cabinet_top_plate'>
+          <pose frame=''>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='cabinet_bottom_plate_geom_cabinet_top_plate_visual'>
+          <pose frame=''>0 0 1.01 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.45 0.45 0.02</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+      <pose frame=''>-7.18363 1.24799 0 0 0 -1.5708</pose>
+    </model>
+    <model name='cafe_table'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='surface'>
+          <pose frame=''>0 0 0.755 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.913 0.913 0.04</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name='column'>
+          <pose frame=''>0 0 0.37 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.042 0.042 0.74</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name='base'>
+          <pose frame=''>0 0 0.02 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.56 0.56 0.04</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://cafe_table/meshes/cafe_table.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+      <pose frame=''>6.35919 -3.19202 0 0 -0 0</pose>
+    </model>
+    <model name='cafe_table_0'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='surface'>
+          <pose frame=''>0 0 0.755 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.913 0.913 0.04</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name='column'>
+          <pose frame=''>0 0 0.37 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.042 0.042 0.74</size>
+            </box>
+          </geometry>
+        </collision>
+        <collision name='base'>
+          <pose frame=''>0 0 0.02 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>0.56 0.56 0.04</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://cafe_table/meshes/cafe_table.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+      <pose frame=''>6.35903 -2.27759 0 0 -0 0</pose>
+    </model>
+    <model name='first_2015_trash_can'>
+      <link name='link'>
+        <inertial>
+          <pose frame=''>0 0 0.3683 0 -0 0</pose>
+          <mass>4.83076</mass>
+          <inertia>
+            <ixx>0.281534</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.281534</iyy>
+            <iyz>0</iyz>
+            <izz>0.126223</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://first_2015_trash_can/meshes/trash_can.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://first_2015_trash_can/meshes/trash_can.dae</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+      <pose frame=''>1.88346 1.91193 0 0 -0 0</pose>
+    </model>
+    <model name='first_2015_trash_can_0'>
+      <link name='link'>
+        <inertial>
+          <pose frame=''>0 0 0.3683 0 -0 0</pose>
+          <mass>4.83076</mass>
+          <inertia>
+            <ixx>0.281534</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.281534</iyy>
+            <iyz>0</iyz>
+            <izz>0.126223</izz>
+          </inertia>
+        </inertial>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://first_2015_trash_can/meshes/trash_can.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://first_2015_trash_can/meshes/trash_can.dae</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+      <pose frame=''>-4.69354 4.89439 0 0 -0 0</pose>
+    </model>
+    <model name='table'>
+      <static>0</static>
+      <link name='link'>
+        <collision name='surface'>
+          <pose frame=''>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.5 0.8 0.03</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.6</mu>
+                <mu2>0.6</mu2>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='visual1'>
+          <pose frame=''>0 0 1 0 -0 0</pose>
+          <geometry>
+            <box>
+              <size>1.4 0.8 0.04</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Wood</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_left_leg'>
+          <pose frame=''>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name='front_left_leg'>
+          <pose frame=''>0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='front_right_leg'>
+          <pose frame=''>0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name='front_right_leg'>
+          <pose frame=''>0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='back_right_leg'>
+          <pose frame=''>-0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name='back_right_leg'>
+          <pose frame=''>-0.68 -0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <collision name='back_left_leg'>
+          <pose frame=''>-0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name='back_left_leg'>
+          <pose frame=''>-0.68 0.38 0.5 0 -0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.02</radius>
+              <length>1</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+      <pose frame=''>-2.65728 2.42376 0 0 -0 0</pose>
+    </model>
+    <model name='table_marble'>
+      <static>1</static>
+      <pose frame=''>4.88346 2.92577 0.648 0 -0 0</pose>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model:///table_marble/meshes/table_lightmap.dae</uri>
+              <scale>0.25 0.25 0.25</scale>
+            </mesh>
+          </geometry>
+        </collision>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://table_marble/meshes/table_lightmap.dae</uri>
+              <scale>0.25 0.25 0.25</scale>
+            </mesh>
+          </geometry>
+          <material>
+            <script>
+              <uri>model://table_marble/materials/scripts</uri>
+              <uri>model://table_marble/materials/textures</uri>
+              <name>Table/Marble_Lightmap</name>
+            </script>
+            <lighting>0</lighting>
+          </material>
+        </visual>
+      </link>
+    </model>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+  </model>
+</sdf>
\ No newline at end of file
diff --git a/pedsim_gazebo_plugin/package.xml b/pedsim_gazebo_plugin/package.xml
index 9d1ab011..bdaf3cbb 100644
--- a/pedsim_gazebo_plugin/package.xml
+++ b/pedsim_gazebo_plugin/package.xml
@@ -1,36 +1,33 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>pedsim_gazebo_plugin</name>
-  <version>0.0.0</version>
+  <version>0.0.1</version>
   <description>The pedsim_gazebo_plugin package</description>
+  <maintainer email="jonatan.gines@urjc.es">jginesclavero</maintainer>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <maintainer email="mahmoud@todo.todo">mahmoud</maintainer>
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
+  <license>Apache 2.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>gazebo_ros</build_depend>
-  <build_depend>roscpp</build_depend>
-
-
-<build_depend>pedsim_msgs</build_depend>
-<build_depend>geometry_msgs</build_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>builtin_interfaces</depend>
+  <depend>pedsim_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
 
-  <build_export_depend>gazebo_ros</build_export_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>pedsim_msgs</build_export_depend>
-
+  <build_depend>gazebo_dev</build_depend>
+  <build_depend>gazebo_msgs</build_depend>
+  <build_depend>gazebo_ros</build_depend>
+  <build_depend>rclcpp</build_depend>
 
+  <exec_depend>gazebo_dev</exec_depend>
+  <exec_depend>gazebo_msgs</exec_depend>
   <exec_depend>gazebo_ros</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>pedsim_msgs</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
 
   <export>
-
+    <build_type>ament_cmake</build_type>
   </export>
 </package>
diff --git a/pedsim_gazebo_plugin/scripts/__init__.py b/pedsim_gazebo_plugin/scripts/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/pedsim_gazebo_plugin/scripts/pedsim_to_gazbo_world.py b/pedsim_gazebo_plugin/scripts/pedsim_to_gazebo_world.py
similarity index 99%
rename from pedsim_gazebo_plugin/scripts/pedsim_to_gazbo_world.py
rename to pedsim_gazebo_plugin/scripts/pedsim_to_gazebo_world.py
index b5d3d342..5103f563 100755
--- a/pedsim_gazebo_plugin/scripts/pedsim_to_gazbo_world.py
+++ b/pedsim_gazebo_plugin/scripts/pedsim_to_gazebo_world.py
@@ -5,8 +5,8 @@
 @author: mahmoud
 """
 import math
+import xml.etree.ElementTree as ET
 from rospkg import RosPack
-import xml.etree.ElementTree as ET 
 
 global gzb_world
 def generate_pose(x1, y1, x2, y2):
diff --git a/pedsim_gazebo_plugin/scripts/spawn_pedsim_agents.py b/pedsim_gazebo_plugin/scripts/spawn_pedsim_agents.py
index 0bd09af1..b767fa8d 100755
--- a/pedsim_gazebo_plugin/scripts/spawn_pedsim_agents.py
+++ b/pedsim_gazebo_plugin/scripts/spawn_pedsim_agents.py
@@ -1,52 +1,75 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 """
-Created on Mon Dec  2 17:03:34 2019
-
 @author: mahmoud
+@mantainer: jginesclavero
+
 """
 
-import rospy
-from gazebo_msgs.srv import SpawnModel
-from geometry_msgs.msg import *
-from rospkg import RosPack
-from pedsim_msgs.msg  import AgentStates
+import rclpy
+from ament_index_python.packages import get_package_share_directory
+from gazebo_msgs.srv import SpawnEntity
+from geometry_msgs.msg import Pose
+from pedsim_msgs.msg import AgentStates
+from rclpy.node import Node
+from rclpy.qos import qos_profile_sensor_data
 
-# xml file containing a gazebo model to represent agent, currently is represented by a cubic but can be changed
-global xml_file
 
-def actor_poses_callback(actors):
-    for actor in actors.agent_states:
-        actor_id = str( actor.id )
-        actor_pose = actor.pose
-        rospy.loginfo("Spawning model: actor_id = %s", actor_id)
+class AgentSpawner(Node):
 
-        model_pose = Pose(Point(x= actor_pose.position.x,
-                               y= actor_pose.position.y,
-                               z= actor_pose.position.z),
-                         Quaternion(actor_pose.orientation.x,
-                                    actor_pose.orientation.y,
-                                    actor_pose.orientation.z,
-                                    actor_pose.orientation.w) )
+    def __init__(self):
+        super().__init__('agent_spawner')
+        qos_profile = qos_profile_sensor_data
+        self.sub = self.create_subscription(AgentStates, 
+                                            'pedsim_simulator/simulated_agents',
+                                            self.actor_poses_callback,
+                                            qos_profile = qos_profile)
+        self.sub  # prevent unused variable warning
+        pedsim_dir = get_package_share_directory('pedsim_gazebo_plugin')
+        file_xml = open(pedsim_dir + "/models/person_standing/model.sdf")
+        self.xml_string = file_xml.read()
 
-        spawn_model(actor_id, xml_string, "", model_pose, "world")
-    rospy.signal_shutdown("all agents have been spawned !")
+        self.get_logger().info("Waiting for gazebo services...")
+        self.spawn_cli = self.create_client(SpawnEntity, 'spawn_entity')
 
+        while not self.spawn_cli.wait_for_service(timeout_sec=1.0):
+            self.get_logger().warn('service not available, waiting again...')
+        self.get_logger().info("service: spawn_sdf_model is available ....")
 
+    def actor_poses_callback(self, actors):
+        req = SpawnEntity.Request()
+        for actor in actors.agent_states:
+            actor_id = str(actor.id)
+            actor_pose = actor.pose
+            print("Spawning model: actor_id = %s", actor_id)
+            model_pose = Pose()
+            model_pose.position.x = actor_pose.position.x
+            model_pose.position.y = actor_pose.position.y
+            model_pose.position.z = actor_pose.position.z
 
+            model_pose.orientation.x = actor_pose.orientation.x
+            model_pose.orientation.y = actor_pose.orientation.y
+            model_pose.orientation.z = actor_pose.orientation.z
+            model_pose.orientation.w = actor_pose.orientation.w
+            
+            req.name = actor_id
+            req.xml = self.xml_string
+            req.robot_namespace = ""
+            req.initial_pose = model_pose
+            req.reference_frame = "world"
+            
+            future = self.spawn_cli.call_async(req)
+        print("all agents have been spawned !")
+        rclpy.shutdown()
 
-if __name__ == '__main__':
 
-    rospy.init_node("spawn_pedsim_agents")
-    
-    rospack1 = RosPack()
-    pkg_path = rospack1.get_path('pedsim_gazebo_plugin')
-    file_xml = open(pkg_path + "/models/actor_model.sdf")
-    xml_string = file_xml.read()
+def main(args=None):
+    rclpy.init(args=args)
 
-    print("Waiting for gazebo services...")
-    rospy.wait_for_service("gazebo/spawn_sdf_model")
-    spawn_model = rospy.ServiceProxy("gazebo/spawn_sdf_model", SpawnModel)
-    print("service: spawn_sdf_model is available ....")
-    rospy.Subscriber("/pedsim_simulator/simulated_agents", AgentStates, actor_poses_callback)
+    agent_spawner = AgentSpawner()
 
-    rospy.spin()
+    rclpy.spin(agent_spawner)
+    agent_spawner.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/pedsim_gazebo_plugin/scripts/spawn_single_agent.py b/pedsim_gazebo_plugin/scripts/spawn_single_agent.py
new file mode 100755
index 00000000..69de60f2
--- /dev/null
+++ b/pedsim_gazebo_plugin/scripts/spawn_single_agent.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+"""
+@author: mahmoud
+@mantainer: jginesclavero
+
+"""
+
+import rclpy
+from ament_index_python.packages import get_package_share_directory
+from gazebo_msgs.srv import SpawnEntity
+from geometry_msgs.msg import Pose
+from rclpy.node import Node
+from rclpy.qos import qos_profile_sensor_data
+
+
+class AgentSpawner(Node):
+
+    def __init__(self):
+        super().__init__('agent_spawner')
+        qos_profile = qos_profile_sensor_data
+        
+        pedsim_dir = get_package_share_directory('pedsim_gazebo_plugin')
+        file_xml = open(pedsim_dir + "/models/person_standing/model.sdf")
+        self.xml_string = file_xml.read()
+        self.get_logger().info("Waiting for gazebo services...")
+        self.spawn_cli = self.create_client(SpawnEntity, 'spawn_entity')
+
+        while not self.spawn_cli.wait_for_service(timeout_sec=1.0):
+            self.get_logger().warn('service not available, waiting again...')
+        self.get_logger().info("service: spawn_sdf_model is available ....")
+
+    def spawn(self):
+        req = SpawnEntity.Request()
+        actor_id = "3"
+        print("Spawning single model: actor_id = %s", actor_id)
+        model_pose = Pose()
+        model_pose.position.x = 2.4
+        model_pose.position.y = -3.0
+        model_pose.position.z = 0.0
+
+        model_pose.orientation.x = 0.0
+        model_pose.orientation.y = 0.0
+        model_pose.orientation.z = -0.707
+        model_pose.orientation.w = -0.707
+            
+        req.name = actor_id
+        req.xml = self.xml_string
+        req.robot_namespace = ""
+        req.initial_pose = model_pose
+        req.reference_frame = "world"
+        
+        future = self.spawn_cli.call_async(req)
+
+        print("agent has been spawned !")
+        rclpy.shutdown()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    agent_spawner = AgentSpawner()
+    agent_spawner.spawn()
+    # rclpy.spin(agent_spawner)
+    agent_spawner.destroy_node()
+    # rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
\ No newline at end of file
diff --git a/pedsim_gazebo_plugin/src/actor_poses_plugin.cpp b/pedsim_gazebo_plugin/src/actor_poses_plugin.cpp
index 1e144b64..1ce7defb 100644
--- a/pedsim_gazebo_plugin/src/actor_poses_plugin.cpp
+++ b/pedsim_gazebo_plugin/src/actor_poses_plugin.cpp
@@ -1,98 +1,110 @@
-/*
-Created on Mon Dec  2
-
-@author: mahmoud
-*/
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
+/*
+ * \brief  Change actor position based on pedsim output
+ *
+ * \author  mahmoud
+ * \mantainer jginesclavero
+ *
+ * \date  6 March 2020
+ */
+#include <gazebo/common/Events.hh>
 #include <gazebo/common/Plugin.hh>
-#include <gazebo-9/gazebo/physics/physics.hh>
-#include <gazebo-9/gazebo/util/system.hh>
-
-#include <ros/ros.h>
-#include "ros/callback_queue.h"
-#include "ros/subscribe_options.h"
-#include <thread>
-
-#include<pedsim_msgs/TrackedPersons.h>
-#include<pedsim_msgs/AgentStates.h>
-
-
-
-namespace gazebo
-{
-    class ActorPosesPlugin : public WorldPlugin{
-        public:
-            ActorPosesPlugin() : WorldPlugin(){}
-
-        void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf){
-            this->world_ = _world;
-            if (!ros::isInitialized()){
-                ROS_ERROR("ROS not initialized");
-                return;
-            }
-            rosNode.reset(new ros::NodeHandle("gazebo_client"));
-            ros::SubscribeOptions so = ros::SubscribeOptions::create<pedsim_msgs::AgentStates>("/pedsim_simulator/simulated_agents", 1,boost::bind(&ActorPosesPlugin::OnRosMsg, this, _1), ros::VoidPtr(),&rosQueue);
-            rosSub = rosNode->subscribe(so);
-            rosQueueThread =std::thread(std::bind(&ActorPosesPlugin::QueueThread, this));
-            // in case you need to change/modify model on update
-            // this->updateConnection_ = event::Events::ConnectWorldUpdateBegin(std::bind(&ActorPosesPlugin::OnUpdate, this));
-        }
-
-
-        public:
-            // call back function when receive rosmsg
-            void OnRosMsg( const pedsim_msgs::AgentStatesConstPtr msg) {
-//              ROS_INFO ("OnRosMsg ... ");
-                std::string model_name;
-                for(unsigned int mdl = 0; mdl < world_->ModelCount(); mdl++) {
-                    physics::ModelPtr  tmp_model;
-                    tmp_model = world_->ModelByIndex(mdl);
-                    std::string frame_id;
-                    frame_id = tmp_model->GetName();
-
-                    for (uint actor =0; actor< msg->agent_states.size() ; actor++) {
-                        if(frame_id == std::to_string( msg->agent_states[actor].id)  ){
-//                            ROS_INFO_STREAM("actor_id: "<< std::to_string( msg->tracks[actor].track_id) );
-                            ignition::math::Pose3d gzb_pose;
-                            gzb_pose.Pos().Set( msg->agent_states[actor].pose.position.x,
-                                                msg->agent_states[actor].pose.position.y,
-                                                msg->agent_states[actor].pose.position.z);
-                            gzb_pose.Rot().Set(msg->agent_states[actor].pose.orientation.w,
-                                               msg->agent_states[actor].pose.orientation.x,
-                                               msg->agent_states[actor].pose.orientation.y,
-                                               msg->agent_states[actor].pose.orientation.z);
-                            try{
-                                tmp_model->SetWorldPose(gzb_pose);
-                            }
-                            catch(gazebo::common::Exception gz_ex){
-                                ROS_ERROR("Error setting pose %s - %s", frame_id.c_str(), gz_ex.GetErrorStr().c_str());
-                            }
-
-                        }
-                    }
-               }
-
+#include <gazebo/physics/Model.hh>
+#include <gazebo/physics/World.hh>
+#include <gazebo_ros/conversions/builtin_interfaces.hpp>
+#include <gazebo_ros/conversions/geometry_msgs.hpp>
+#include <gazebo_ros/node.hpp>
+#include <geometry_msgs/msg/twist.hpp>
+#include <pedsim_msgs/msg/agent_states.hpp>
+#include <pedsim_msgs/msg/tracked_person.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+#include <memory>
+#include <string>
+
+namespace gazebo_plugins {
+class ActorPosesPlugin : public gazebo::ModelPlugin {
+public:
+  ActorPosesPlugin() {}
+
+  void Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr _sdf) {
+    model_ = _model;
+    world_ = _model->GetWorld();
+    // Initialize ROS node
+    ros_node_ = gazebo_ros::Node::Get(_sdf);
+
+    pedsim_sub_ = ros_node_->create_subscription<pedsim_msgs::msg::AgentStates>(
+        "pedsim_simulator/simulated_agents", rclcpp::SensorDataQoS(),
+        std::bind(&ActorPosesPlugin::OnAgentStates, this,
+                  std::placeholders::_1));
+  }
+
+  // call back function when receive rosmsg
+  void OnAgentStates(const pedsim_msgs::msg::AgentStates::SharedPtr msg) {
+    std::string model_name;
+    for (unsigned int mdl = 0; mdl < world_->ModelCount(); mdl++) {
+      gazebo::physics::ModelPtr tmp_model = world_->ModelByIndex(mdl);
+      std::string frame_id = tmp_model->GetName();
+      for (uint actor = 0; actor < msg->agent_states.size(); actor++) {
+        if (frame_id == std::to_string(msg->agent_states[actor].id)) {
+          if (std::isnan(msg->agent_states[actor].twist.linear.x) ||
+              std::isnan(msg->agent_states[actor].twist.linear.y) ||
+              std::isnan(msg->agent_states[actor].pose.position.x) ||
+              std::isnan(msg->agent_states[actor].pose.position.y) ||
+              std::isnan(msg->agent_states[actor].pose.position.z)) {
+            continue;
+          }
+          const double theta =
+              std::atan2(msg->agent_states[actor].twist.linear.y,
+                         msg->agent_states[actor].twist.linear.x);
+
+          RCLCPP_DEBUG(ros_node_->get_logger(), "actor_id: %s",
+                       std::to_string(msg->agent_states[actor].id).c_str());
+
+          ignition::math::Pose3d gzb_pose;
+          tf2::Quaternion qt;
+          qt.setRPY(0.0, 0.0, theta + (M_PI / 2));
+          qt.normalize();
+
+          gzb_pose.Pos().Set(msg->agent_states[actor].pose.position.x,
+                             msg->agent_states[actor].pose.position.y,
+                             msg->agent_states[actor].pose.position.z);
+          gzb_pose.Rot().Set(qt.w(), qt.x(), qt.y(), qt.z());
+          try {
+            tmp_model->SetWorldPose(gzb_pose);
+          } catch (gazebo::common::Exception gz_ex) {
+            RCLCPP_ERROR(ros_node_->get_logger(), "Error setting pose %s - %s",
+                         frame_id.c_str(), gz_ex.GetErrorStr().c_str());
           }
-
-
-        // ROS helper function that processes messages
-        private: void QueueThread() {
-            static const double timeout = 0.1;
-            while (rosNode->ok()) {
-                rosQueue.callAvailable(ros::WallDuration(timeout));
-            }
         }
-
-    private:
-        std::unique_ptr<ros::NodeHandle> rosNode;
-        ros::Subscriber rosSub;
-        ros::CallbackQueue rosQueue;
-        std::thread rosQueueThread;
-        physics::WorldPtr world_;
-        event::ConnectionPtr updateConnection_;
-
-    };
-    GZ_REGISTER_WORLD_PLUGIN(ActorPosesPlugin)
-}
-
-
+      }
+    }
+  }
+
+private:
+  /// Pointer to world.
+  gazebo::physics::WorldPtr world_;
+  /// Pointer to model.
+  gazebo::physics::ModelPtr model_;
+  /// A pointer to the GazeboROS node.
+  gazebo_ros::Node::SharedPtr ros_node_;
+  /// Subscriber to pedsim output
+  rclcpp::Subscription<pedsim_msgs::msg::AgentStates>::SharedPtr pedsim_sub_;
+};
+GZ_REGISTER_MODEL_PLUGIN(ActorPosesPlugin)
+} // namespace gazebo_plugins
diff --git a/pedsim_gazebo_plugin/worlds/airport.world b/pedsim_gazebo_plugin/worlds/airport.world
deleted file mode 100644
index 06596073..00000000
--- a/pedsim_gazebo_plugin/worlds/airport.world
+++ /dev/null
@@ -1,5018 +0,0 @@
-<?xml version="1.0" ?>
-
-    <!-- this file is auto generated using pedsim_gazebo_plugin pkg -->    
-    <sdf version="1.5">
-      <world name="default">
-      
-      <!-- Ground Plane -->
-      
-      <include>
-        <uri>model://ground_plane</uri>
-      </include>
-    
-      <include>
-        <uri>model://sun</uri>
-      </include>
-    
-        
-
-     <model name='grey_wall_1'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>-155.0 -230.0  1.4 0 0 -0.0</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 270.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 270.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_2'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>-175.0 -200.0  1.4 0 0 -0.0</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 270.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 270.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_3'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>-80.0 -100.0  1.4 0 0 0.0</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 40.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 40.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_4'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>-100.0 -70.0  1.4 0 0 1.57</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 60.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 60.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_5'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>0.0 85.0  1.4 0 0 1.57</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 130.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 130.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_6'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>-130.0 130.0  1.4 0 0 -0.785398163397</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 84.8528137424 .2  2.8 </size>
-
-      	   </box>
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-     <model name='grey_wall_88'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>-340.0 240.0  1.4 0 0 1.57</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 20.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 20.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_89'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>-185.0 250.0  1.4 0 0 -0.0</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 50.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 50.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_90'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>-210.0 240.0  1.4 0 0 1.57</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 20.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 20.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_91'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>-230.0 240.0  1.4 0 0 1.57</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 20.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 20.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_92'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>-275.0 250.0  1.4 0 0 -0.0</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 90.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 90.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_93'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>262.0 10.0  1.4 0 0 0.0</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 4.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 4.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_94'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>262.0 -10.0  1.4 0 0 -0.0</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 4.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 4.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_95'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>22.5 -202.5  1.4 0 0 0.785398163397</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 7.07106781187 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 7.07106781187 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_96'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>22.5 -217.5  1.4 0 0 -0.785398163397</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 7.07106781187 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 7.07106781187 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-            <plugin name="ActorPosesPlugin" filename="libActorPosesPlugin.so">
-        </plugin>
-    
-    
-      </world>
-    </sdf>
-    
-        
diff --git a/pedsim_gazebo_plugin/worlds/house.world b/pedsim_gazebo_plugin/worlds/house.world
new file mode 100644
index 00000000..7758150c
--- /dev/null
+++ b/pedsim_gazebo_plugin/worlds/house.world
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <world name="house">
+
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <include>
+      <uri>model://sun</uri>
+    </include>
+
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+
+    <physics type="ode">
+      <real_time_update_rate>1000.0</real_time_update_rate>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>150</iters>
+          <precon_iters>0</precon_iters>
+          <sor>1.400000</sor>
+          <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0.00001</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
+          <contact_surface_layer>0.01000</contact_surface_layer>
+        </constraints>
+      </ode>
+    </physics>
+
+    <model name="tb3_house">
+      <static>1</static>
+      <include>
+        <uri>model://tb3_house</uri>
+      </include>    
+      <plugin name='actor_poses' filename='libgazebo_ros_actor_poses.so'>
+        <!--<ros>
+          <namespace>/demo</namespace>
+          <remapping>pedsim_simulator/simulated_agents:=pedsim_simulator/simulated_agents_demo</remapping>
+        </ros>-->
+      </plugin>
+    </model>
+  </world>
+</sdf>
diff --git a/pedsim_gazebo_plugin/worlds/social_activities.world b/pedsim_gazebo_plugin/worlds/social_activities.world
deleted file mode 100644
index d92ad2de..00000000
--- a/pedsim_gazebo_plugin/worlds/social_activities.world
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0" ?>
-
-    <!-- this file is auto generated using pedsim_gazebo_plugin pkg -->    
-    <sdf version="1.5">
-      <world name="default">
-      
-      <!-- Ground Plane -->
-      
-      <include>
-        <uri>model://ground_plane</uri>
-      </include>
-    
-      <include>
-        <uri>model://sun</uri>
-      </include>
-    
-        
diff --git a/pedsim_gazebo_plugin/worlds/social_contexts.world b/pedsim_gazebo_plugin/worlds/social_contexts.world
deleted file mode 100644
index c5f08a8f..00000000
--- a/pedsim_gazebo_plugin/worlds/social_contexts.world
+++ /dev/null
@@ -1,234 +0,0 @@
-<?xml version="1.0" ?>
-
-    <!-- this file is auto generated using pedsim_gazebo_plugin pkg -->    
-    <sdf version="1.5">
-      <world name="default">
-      
-      <!-- Ground Plane -->
-      
-      <include>
-        <uri>model://ground_plane</uri>
-      </include>
-    
-      <include>
-        <uri>model://sun</uri>
-      </include>
-    
-        
-
-     <model name='grey_wall_1'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>14.5 -0.5  1.4 0 0 0.0</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 30.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 30.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_2'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>-0.5 14.5  1.4 0 0 1.57</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 30.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 30.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_3'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>14.5 29.5  1.4 0 0 0.0</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 30.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 30.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-     <model name='grey_wall_4'>
-      <static>1</static>
-      <link name='link'>
-      
-	  <pose frame=''>29.5 14.5  1.4 0 0 1.57</pose>
-    
-        <collision name='collision'>
-          <geometry>
-            <box>
-            
-	     <size> 30.0 .2  2.8 </size>
-
-      	   </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <box>
-            
-	     <size> 30.0 .2  2.8 </size>
-
-      	   </box>
-       </geometry>
-          <material>
-            <script>
-              <uri>model://grey_wall/materials/scripts</uri>
-              <uri>model://grey_wall/materials/textures</uri>
-              <name>vrc/grey_wall</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    
-
-            <plugin name="ActorPosesPlugin" filename="libActorPosesPlugin.so">
-        </plugin>
-    
-    
-      </world>
-    </sdf>
-    
-        
diff --git a/pedsim_msgs/CMakeLists.txt b/pedsim_msgs/CMakeLists.txt
index 108c915f..ac71391b 100644
--- a/pedsim_msgs/CMakeLists.txt
+++ b/pedsim_msgs/CMakeLists.txt
@@ -1,43 +1,40 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(pedsim_msgs)
 
-# message and service dependencies
-set(MESSAGE_DEPENDENCIES
-  std_msgs
-  geometry_msgs
-  sensor_msgs
-  nav_msgs
-)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-find_package(catkin REQUIRED COMPONENTS message_generation ${MESSAGE_DEPENDENCIES})
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-include_directories(${catkin_INCLUDE_DIRS})
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 
-## Generate messages in the 'msg' folder
-add_message_files( DIRECTORY msg
-  FILES
-  AgentState.msg
-  AgentStates.msg
-  AgentGroup.msg
-  AgentGroups.msg
-  AgentForce.msg
-  LineObstacle.msg
-  LineObstacles.msg
-  TrackedPerson.msg
-  TrackedPersons.msg
-  TrackedGroup.msg
-  TrackedGroups.msg
-  SocialRelation.msg
-  SocialRelations.msg
-  SocialActivity.msg
-  SocialActivities.msg
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/AgentState.msg"
+  "msg/AgentStates.msg"
+  "msg/AgentGroup.msg"
+  "msg/AgentGroups.msg"
+  "msg/AgentForce.msg"
+  "msg/LineObstacle.msg"
+  "msg/LineObstacles.msg"
+  "msg/TrackedPerson.msg"
+  "msg/TrackedPersons.msg"
+  "msg/TrackedGroup.msg"
+  "msg/TrackedGroups.msg"
+  "msg/SocialRelation.msg"
+  "msg/SocialRelations.msg"
+  "msg/SocialActivity.msg"
+  "msg/SocialActivities.msg"
+  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
 )
 
-# generate the messages
-generate_messages(DEPENDENCIES ${MESSAGE_DEPENDENCIES})
-
+ament_export_dependencies(rosidl_default_runtime)
 
-#Declare package run-time dependencies
-catkin_package(
-    CATKIN_DEPENDS roscpp rospy message_runtime ${MESSAGE_DEPENDENCIES}
-)
+ament_package()
\ No newline at end of file
diff --git a/pedsim_msgs/msg/AgentGroup.msg b/pedsim_msgs/msg/AgentGroup.msg
index 37ed0965..984c0b85 100644
--- a/pedsim_msgs/msg/AgentGroup.msg
+++ b/pedsim_msgs/msg/AgentGroup.msg
@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 uint16 group_id
 float64 age
 uint64[] members
diff --git a/pedsim_msgs/msg/AgentGroups.msg b/pedsim_msgs/msg/AgentGroups.msg
index de1d3ac5..7072e22c 100644
--- a/pedsim_msgs/msg/AgentGroups.msg
+++ b/pedsim_msgs/msg/AgentGroups.msg
@@ -1,2 +1,2 @@
-Header header
+std_msgs/Header header
 pedsim_msgs/AgentGroup[] groups
diff --git a/pedsim_msgs/msg/AgentState.msg b/pedsim_msgs/msg/AgentState.msg
index 6eee4d83..e727081a 100644
--- a/pedsim_msgs/msg/AgentState.msg
+++ b/pedsim_msgs/msg/AgentState.msg
@@ -1,4 +1,4 @@
-Header header
+std_msgs/Header header
 uint64 id
 uint16 type
 string social_state
diff --git a/pedsim_msgs/msg/AgentStates.msg b/pedsim_msgs/msg/AgentStates.msg
index 01b118dd..67795769 100644
--- a/pedsim_msgs/msg/AgentStates.msg
+++ b/pedsim_msgs/msg/AgentStates.msg
@@ -1,2 +1,2 @@
-Header header
+std_msgs/Header header
 pedsim_msgs/AgentState[] agent_states
diff --git a/pedsim_msgs/msg/AllAgentsState.msg b/pedsim_msgs/msg/AllAgentsState.msg
deleted file mode 100644
index 6c95a569..00000000
--- a/pedsim_msgs/msg/AllAgentsState.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-Header header
-pedsim_msgs/AgentState[] agent_states
\ No newline at end of file
diff --git a/pedsim_msgs/msg/LineObstacles.msg b/pedsim_msgs/msg/LineObstacles.msg
index 7d4526e4..a25b9235 100644
--- a/pedsim_msgs/msg/LineObstacles.msg
+++ b/pedsim_msgs/msg/LineObstacles.msg
@@ -1,4 +1,4 @@
 # A collection of line obstacles.
 # No need to header since these are detemined at sim initiation time.
-Header header
+std_msgs/Header header
 pedsim_msgs/LineObstacle[] obstacles
diff --git a/pedsim_msgs/msg/TrackedGroup.msg b/pedsim_msgs/msg/TrackedGroup.msg
index 29cd536c..06df5a8d 100644
--- a/pedsim_msgs/msg/TrackedGroup.msg
+++ b/pedsim_msgs/msg/TrackedGroup.msg
@@ -3,8 +3,8 @@
 
 uint64      group_id        # unique identifier of the target, consistent over time
 
-duration    age             # age of the group
+builtin_interfaces/Duration    age             # age of the group
 
-geometry_msgs/PoseWithCovariance    centerOfGravity   # mean and covariance of the group (calculated from its person tracks)
+geometry_msgs/PoseWithCovariance    center_of_gravity   # mean and covariance of the group (calculated from its person tracks)
 
 uint64[]    track_ids       # IDs of the tracked persons in this group. See srl_tracking_msgs/TrackedPersons
\ No newline at end of file
diff --git a/pedsim_msgs/msg/TrackedGroups.msg b/pedsim_msgs/msg/TrackedGroups.msg
index b22c5174..b6bae2a9 100644
--- a/pedsim_msgs/msg/TrackedGroups.msg
+++ b/pedsim_msgs/msg/TrackedGroups.msg
@@ -1,5 +1,5 @@
 # Message with all currently tracked groups
 #
 
-Header              header      # Header containing timestamp etc. of this message
+std_msgs/Header              header      # Header containing timestamp etc. of this message
 pedsim_msgs/TrackedGroup[]      groups      # All groups that are currently being tracked
diff --git a/pedsim_msgs/msg/TrackedPerson.msg b/pedsim_msgs/msg/TrackedPerson.msg
index 996c6c3a..e7a8ad3b 100644
--- a/pedsim_msgs/msg/TrackedPerson.msg
+++ b/pedsim_msgs/msg/TrackedPerson.msg
@@ -5,7 +5,7 @@ uint64      track_id        # unique identifier of the target, consistent over t
 bool        is_occluded     # if the track is currently not observable in a physical way
 bool        is_matched      # if the track is currently matched by a detection
 uint64      detection_id    # id of the corresponding detection in the current cycle (undefined if occluded)
-duration    age             # age of the track
+builtin_interfaces/Duration    age             # age of the track
 
 # The following fields are extracted from the Kalman state x and its covariance C
 
diff --git a/pedsim_msgs/msg/TrackedPersons.msg b/pedsim_msgs/msg/TrackedPersons.msg
index 5c5a3610..cc7044fe 100644
--- a/pedsim_msgs/msg/TrackedPersons.msg
+++ b/pedsim_msgs/msg/TrackedPersons.msg
@@ -1,5 +1,5 @@
 # Message with all currently tracked persons 
 #
 
-Header              header      # Header containing timestamp etc. of this message
+std_msgs/Header              header      # Header containing timestamp etc. of this message
 TrackedPerson[]     tracks      # All persons that are currently being tracked
\ No newline at end of file
diff --git a/pedsim_msgs/package.xml b/pedsim_msgs/package.xml
index 02d148df..b9bc8b26 100644
--- a/pedsim_msgs/package.xml
+++ b/pedsim_msgs/package.xml
@@ -1,29 +1,28 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>pedsim_msgs</name>
-  <version>0.0.2</version>
+  <version>0.0.1</version>
   <description>The pedsim_msgs package: contains messages for pedsim</description>
 
-  <maintainer email="okal@cs.uni-freiburg.de">Billy Okal</maintainer>
+  <maintainer email="jonatan.gines@urjc.es">Jonatan Gines</maintainer>
 
   <license>BSD</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
 
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
-  <run_depend>message_runtime</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>nav_msgs</run_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 
 </package>
diff --git a/pedsim_ros/CMakeLists.txt b/pedsim_ros/CMakeLists.txt
index 4098a3a8..02c07596 100644
--- a/pedsim_ros/CMakeLists.txt
+++ b/pedsim_ros/CMakeLists.txt
@@ -1,4 +1,10 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(pedsim_ros)
-find_package(catkin REQUIRED)
-catkin_metapackage()
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
diff --git a/pedsim_ros/package.xml b/pedsim_ros/package.xml
index 8ecde7f2..43d69a8a 100644
--- a/pedsim_ros/package.xml
+++ b/pedsim_ros/package.xml
@@ -1,12 +1,13 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>pedsim_ros</name>
   <version>0.2.0</version>
   <description>
     ROS based pedestrian simulator using social forces model
   </description>
-
   <maintainer email="okal@cs.uni-freiburg.de">Billy Okal</maintainer>
+  <maintainer email="jonatan.gines@urjc.es">Jonatan Gines</maintainer>
 
   <license>BSD</license>
 
@@ -16,9 +17,7 @@
   <author email="omar@email.todo">Omar Islas</author>
   <author email="mail@svenwehner.de">Sven Wehner</author>
 
-  <url type="website">https://github.com/srl-freiburg/pedsim_ros</url>
-
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <exec_depend>pedsim</exec_depend>
   <exec_depend>pedsim_msgs</exec_depend>
@@ -29,6 +28,7 @@
   <exec_depend>pedsim_visualizer</exec_depend>
 
   <export>
-    <metapackage/>
+    <build_type>ament_cmake</build_type>
   </export>
+
 </package>
diff --git a/pedsim_rviz_plugin/.gitignore b/pedsim_rviz_plugin/.gitignore
new file mode 100644
index 00000000..259148fa
--- /dev/null
+++ b/pedsim_rviz_plugin/.gitignore
@@ -0,0 +1,32 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
diff --git a/pedsim_rviz_plugin/CHANGELOG.rst b/pedsim_rviz_plugin/CHANGELOG.rst
new file mode 100644
index 00000000..661cee8b
--- /dev/null
+++ b/pedsim_rviz_plugin/CHANGELOG.rst
@@ -0,0 +1,52 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package spencer_tracking_rviz_plugin
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.8 (2017-09-22)
+------------------
+* Merge pull request `#2 <https://github.com/LCAS/spencer_people_tracking/issues/2>`_ from spencer-project/master
+  Integrate multiple fixes from upstream
+* Specify correct license in package.xmls
+* Merge pull request `#41 <https://github.com/LCAS/spencer_people_tracking/issues/41>`_ from LCAS/master
+  1.0.7
+* Contributors: Marc Hanheide, Timm Linder
+
+1.0.7 (2017-06-09)
+------------------
+
+1.0.6 (2017-06-09)
+------------------
+
+1.0.5 (2017-05-12)
+------------------
+
+1.0.4 (2017-05-12)
+------------------
+
+1.0.3 (2017-05-11)
+------------------
+
+1.0.2 (2017-05-09)
+------------------
+* added missing roslib deps
+* Contributors: Marc Hanheide
+
+1.0.1 (2017-05-09)
+------------------
+* homogenised all version strings to 1.0.0
+* Fixed segfault. You shouldnt mix QT4 and QT5
+* Compiling on kinetic. Rviz crashes with views (QT bug?)
+* Updating lots of utility packages to latest version from SPENCER repo. Licenses updated.
+* Ignore Z position in visualization by default
+* Update README.md
+* Update README.md
+* Disable group history visualization per default since it is very CPU-intensive, reduce default history size
+* Various fixes to TrackedPersons and DetectedPersons display in RViz
+  - Fix popping up of track / detection IDs when persons first appear
+  - Add option to ignore Z position from ROS message
+  - Prevent crash when covariance matrix is not positive (semi-)definite
+  - Add option to hide IDs of single-person groups
+  - Display MISSED (new) / MATCHED / OCCLUDED track status to distinguish between misdetections and physical occlusions
+* Update README.md
+* Adding message definitions, RViz plugins and mock scripts
+* Contributors: Joao Avelino, Marc Hanheide, Timm Linder
diff --git a/pedsim_rviz_plugin/CMakeLists.txt b/pedsim_rviz_plugin/CMakeLists.txt
new file mode 100644
index 00000000..f418856d
--- /dev/null
+++ b/pedsim_rviz_plugin/CMakeLists.txt
@@ -0,0 +1,173 @@
+# Software License Agreement (BSD License)
+#
+#  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+#  Copyright (c) 2012, Willow Garage, Inc.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions are met:
+#
+#  * Redistributions of source code must retain the above copyright notice, this
+#    list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above copyright notice,
+#    this list of conditions and the following disclaimer in the documentation
+#    and/or other materials provided with the distribution.
+#  * Neither the name of the copyright holder nor the names of its contributors
+#    may be used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+#  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+#  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+#  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+#  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+#  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+#  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+cmake_minimum_required(VERSION 3.5)
+
+project(pedsim_rviz_plugin)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
+endif()
+
+# Tests currently only run on OS X @ OSRF jenkins
+# Enable on Linux by providing a display, enable on Windows via EnableDisplayTests=True
+option(EnableDisplayTests "EnableDisplayTests")
+set(DisplayTests "False" CACHE STRING "DisplayTestsVariable")
+
+if(DEFINED ENV{DISPLAY})
+  set(DISPLAYPRESENT TRUE)
+endif()
+
+if(APPLE OR DISPLAYPRESENT OR EnableDisplayTests STREQUAL "True")
+  message(STATUS "Enabling tests requiring a display")
+else()
+  set(SKIP_DISPLAY_TESTS "SKIP_TEST")
+endif()
+
+# options and directories for visual tests (see visual_testing_framework documentation)
+option(EnableVisualTests "decides whether or not to enable the tests")
+
+add_definitions(-D_BUILD_DIR_PATH="${CMAKE_CURRENT_BINARY_DIR}")
+add_definitions(-D_SRC_DIR_PATH="${CMAKE_CURRENT_SOURCE_DIR}")
+
+file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/test_images)
+file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/test/reference_images)
+
+# Run visual tests only if "EnableVisualTests=True"
+if(EnableVisualTests STREQUAL "True")
+  message(STATUS "Enabling visual tests")
+else()
+  set(SKIP_VISUAL_TESTS "SKIP_TEST")
+endif()
+
+if(MSVC)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj")
+endif()
+
+# We specifically don't turn on CMAKE_AUTOMOC, since it generates one huge
+# mocs_compilation.cpp file that takes a lot of memory to compile.  Instead
+# we create individual moc files that can be compiled separately.
+
+find_package(ament_cmake REQUIRED)
+find_package(rviz_common REQUIRED)
+find_package(rviz_rendering REQUIRED)
+find_package(rviz_default_plugins REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rviz_ogre_vendor REQUIRED)
+find_package(pedsim_msgs REQUIRED)
+find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
+
+set(pedsim_rviz_plugin_headers_to_moc 
+  #include/pedsim_rviz_plugin/detected_persons_display.hpp
+  include/pedsim_rviz_plugin/tracked_persons_display.hpp
+  ##include/pedsim_rviz_plugin/tracked_groups_display.hpp
+  ##include/pedsim_rviz_plugin/social_relations_display.hpp
+  ##include/pedsim_rviz_plugin/social_activities_display.hpp
+  ##include/pedsim_rviz_plugin/human_attributes_display.hpp
+  include/pedsim_rviz_plugin/person_display_common.hpp
+  ##include/pedsim_rviz_plugin/additional_topic_subscriber.hpp
+)
+
+foreach(header "${pedsim_rviz_plugin_headers_to_moc}")
+  qt5_wrap_cpp(pedsim_rviz_plugin_moc_files "${header}")
+endforeach()
+
+set(pedsim_rviz_plugin_source_files
+  src/tracked_persons_display.cpp
+  src/person_display_common.cpp
+  src/visuals/person_visual.cpp
+)
+
+add_library(pedsim_rviz_plugin SHARED
+  ${pedsim_rviz_plugin_moc_files}
+  ${pedsim_rviz_plugin_source_files}
+)
+
+target_include_directories(pedsim_rviz_plugin PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+  ${Qt5Widgets_INCLUDE_DIRS}
+)
+
+target_link_libraries(pedsim_rviz_plugin PUBLIC
+  rviz_ogre_vendor::OgreMain
+  rviz_ogre_vendor::OgreOverlay
+)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(pedsim_rviz_plugin PRIVATE "PEDSIM_RVIZ_PLUGIN_BUILDING_LIBRARY")
+
+# prevent pluginlib from using boost
+target_compile_definitions(pedsim_rviz_plugin PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
+
+pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
+
+ament_target_dependencies(pedsim_rviz_plugin
+  PUBLIC
+  pedsim_msgs
+  rviz_common
+  rviz_rendering
+  rviz_default_plugins
+)
+
+ament_export_include_directories(include)
+ament_export_interfaces(pedsim_rviz_plugin HAS_LIBRARY_TARGET)
+ament_export_dependencies(
+  Qt5
+  rviz_common
+  rviz_rendering
+  rviz_default_plugins
+  rviz_ogre_vendor
+  pedsim_msgs
+)
+
+install(
+  TARGETS pedsim_rviz_plugin
+  EXPORT pedsim_rviz_plugin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(DIRECTORY include DESTINATION include)
+install(DIRECTORY media DESTINATION share/${PROJECT_NAME})
+
+install(
+  DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/icons"
+  DESTINATION "share/${PROJECT_NAME}"
+)
+
+ament_package()
diff --git a/pedsim_rviz_plugin/LICENSE b/pedsim_rviz_plugin/LICENSE
new file mode 100644
index 00000000..1a0179bd
--- /dev/null
+++ b/pedsim_rviz_plugin/LICENSE
@@ -0,0 +1,31 @@
+Software License Agreement (BSD License)
+
+Copyright (c) 2013-2018, Timm Linder, Social Robotics Lab, University of Freiburg
+Copyright (c) 2006, Kai O. Arras, Autonomous Intelligent Systems Lab, University of Freiburg
+Copyright (c) 2012, Willow Garage, Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its contributors
+  may be used to endorse or promote products derived from this software
+  without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/pedsim_rviz_plugin/README.md b/pedsim_rviz_plugin/README.md
new file mode 100644
index 00000000..349f7e8e
--- /dev/null
+++ b/pedsim_rviz_plugin/README.md
@@ -0,0 +1,51 @@
+RViz plugins for visualization of detected and tracked persons, groups, social relations, activities and human attributes
+-------------------------------------------------------------------------------------------------------------------------
+
+## **_WARNING_**: _The migration to ROS2 eloquent is in progress. Please, [check the migrated nodes and the ones still to be migrated](#migration-progress)._ 
+
+Author: ©2013-2015 Timm Linder, Social Robotics Laboratory, Albert-Ludwigs-University Freiburg, Germany
+
+E-mail: linder@cs.uni-freiburg.de
+
+This ROS package adds the following display types to RViz:
+
+- Detected persons (spencer_tracking_msgs/DetectedPersons)
+- Tracked persons (spencer_tracking_msgs/TrackedPersons)
+- Tracked groups (spencer_tracking_msgs/TrackedGroups)
+- Social relations (spencer_social_relation_msgs/SocialRelations)
+- Social activities (spencer_social_relation_msgs/SocialActivities)
+- Human attributes (spencer_human_attribute_msgs/HumanAttributes)
+
+These message types have been defined within the consortium of the SPENCER FP-7 European Research Project (http://www.spencer.eu).
+
+See the "screenshots" folder for some example images of these displays.
+
+
+Installation instructions
+-------------------------
+Just check out the package into the "src" folder of your ROS catkin workspace, run "catkin_make", make sure you have run
+"source devel/setup.sh", and then run RViz using "rosrun rviz rviz". The plugin will be discovered automatically.
+
+Usage
+-----
+Add displays for detected and tracked persons, groups or human attributes by clicking on "Add display" in the "Displays"
+panel in RViz. Adjust the topic name if necessary, to point to the correct topic.
+
+The displays for groups, social relations, and human attributes require two topic to be set in order to function,
+the second topic being the tracked persons topic.
+
+Known issues
+------------
+Rviz may crash with a segfault when exiting. This usually can be ignored.
+Person visuals in the tracked groups and human attributes display do not support walking animations.
+However, these displays can be combined with the tracked persons display (which does support animations) by disabling their person visuals.
+
+
+## Migration progress
+- [x] Detected persons
+- [x] Tracked persons. _(There is a warning log with the covariance and the Person Meshes style causes rviz2 crashed.)_
+- [ ] Tracked groups
+- [ ] Social relations
+- [ ] Social activities
+- [ ] Human attributes
+- [ ] Python send msgs test
diff --git a/pedsim_rviz_plugin/icons/classes/DetectedPersons.png b/pedsim_rviz_plugin/icons/classes/DetectedPersons.png
new file mode 100644
index 00000000..84b9ccc3
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diff --git a/pedsim_rviz_plugin/icons/classes/HumanAttributes.png b/pedsim_rviz_plugin/icons/classes/HumanAttributes.png
new file mode 100644
index 00000000..b8873eaa
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diff --git a/pedsim_rviz_plugin/icons/classes/SocialActivities.png b/pedsim_rviz_plugin/icons/classes/SocialActivities.png
new file mode 100644
index 00000000..66eb0b1e
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diff --git a/pedsim_rviz_plugin/icons/classes/SocialRelations.png b/pedsim_rviz_plugin/icons/classes/SocialRelations.png
new file mode 100644
index 00000000..fae1feb6
Binary files /dev/null and b/pedsim_rviz_plugin/icons/classes/SocialRelations.png differ
diff --git a/pedsim_rviz_plugin/icons/classes/TrackedGroups.png b/pedsim_rviz_plugin/icons/classes/TrackedGroups.png
new file mode 100644
index 00000000..8c32daba
Binary files /dev/null and b/pedsim_rviz_plugin/icons/classes/TrackedGroups.png differ
diff --git a/pedsim_rviz_plugin/icons/classes/TrackedPersons.png b/pedsim_rviz_plugin/icons/classes/TrackedPersons.png
new file mode 100644
index 00000000..6e8cb7da
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diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/additional_topic_subscriber.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/additional_topic_subscriber.hpp
new file mode 100644
index 00000000..df8bee08
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/additional_topic_subscriber.hpp
@@ -0,0 +1,223 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  Copyright (c) 2012, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+#ifndef ADDITIONAL_TOPIC_SUBSCRIBER_H
+#define ADDITIONAL_TOPIC_SUBSCRIBER_H
+
+#ifndef Q_MOC_RUN
+
+#include <message_filters/subscriber.h>
+
+#if ROS_VERSION_MINIMUM(1, 14, 0)
+  #include <tf2_ros/message_filter.h>
+#else
+  #include <tf/message_filter.h>
+#endif
+
+#include <boost/bind.hpp>
+#include <boost/function.hpp>
+#include <iostream>
+#include <OGRE/OgreSceneManager.h>
+#include <OGRE/OgreSceneNode.h>
+#endif
+
+#include <rviz/display.h>
+#include <rviz/display_context.h>
+#include <rviz/frame_manager.h>
+#include <rviz/properties/ros_topic_property.h>
+
+
+using namespace boost;
+
+namespace rviz
+{
+
+/** @brief Helper superclass for AdditionalTopicSubscriber, needed because
+ * Qt's moc and c++ templates don't work nicely together.  Not
+ * intended to be used directly. */
+class _AdditionalTopicSubscriber: QObject
+{
+Q_OBJECT
+public:
+    void initialize(Display* display, FrameManager* frameManager)
+    {
+        QObject::connect(display, SIGNAL(changed()), this, SLOT(displayEnableChanged()));
+        QObject::connect(frameManager, SIGNAL(fixedFrameChanged()), this, SLOT(fixedFrameChanged()));
+        additional_topic_property_ = new RosTopicProperty("Additional topic", "", "", "", display, SLOT(updateTopic()), this);
+    }
+
+protected Q_SLOTS:
+    virtual void updateTopic() = 0;
+    virtual void displayEnableChanged() = 0;
+    virtual void fixedFrameChanged() = 0;
+
+protected:
+    RosTopicProperty* additional_topic_property_;
+};
+
+/** @brief Display subclass using a tf::MessageFilter, templated on the ROS message type.
+ *
+ * This class brings together some common things used in many Display
+ * types.  It has a tf::MessageFilter to filter incoming messages, and
+ * it handles subscribing and unsubscribing when the display is
+ * enabled or disabled.  It also has an Ogre::SceneNode which  */
+template<class MessageType>
+class AdditionalTopicSubscriber: public _AdditionalTopicSubscriber
+{
+// No Q_OBJECT macro here, moc does not support Q_OBJECT in a templated class.
+public:
+    /** @brief Convenience typedef so subclasses don't have to use
+     * the long templated class name to refer to their super class. */
+    typedef AdditionalTopicSubscriber<MessageType> ATSClass;
+
+    AdditionalTopicSubscriber(const QString& propertyName, Display* display, DisplayContext* context, ros::NodeHandle& update_nh, const boost::function<void (boost::shared_ptr<const MessageType>)>& messageCallback)
+            : tf_filter(NULL), m_messagesReceived(0), m_display(display), m_context(context), m_updateNodeHandle(update_nh), m_enabled(false), m_messageCallback(messageCallback)
+    {
+        _AdditionalTopicSubscriber::initialize(display, context->getFrameManager());
+
+        additional_topic_property_->setName(propertyName);
+        QString message_type = QString::fromStdString(ros::message_traits::datatype<MessageType>());
+        additional_topic_property_->setMessageType(message_type);
+        additional_topic_property_->setDescription(message_type + " topic to subscribe to.");
+
+        #if ROS_VERSION_MINIMUM(1, 14, 0)
+            tf_filter = new tf2_ros::MessageFilter<MessageType>(*m_context->getTF2BufferPtr(), "map", 10, m_updateNodeHandle);
+        #else
+            tf_filter = new tf::MessageFilter<MessageType>(*m_context->getTFClient(), "map", 10, m_updateNodeHandle);
+        #endif
+
+        tf_filter->connectInput(m_subscriber);
+        tf_filter->registerCallback(boost::bind(&AdditionalTopicSubscriber<MessageType>::incomingMessage, this, _1));
+        m_context->getFrameManager()->registerFilterForTransformStatusCheck(tf_filter, display);
+
+        setEnabled(m_display->isEnabled());
+        updateTopic();
+        fixedFrameChanged();
+    }
+
+    virtual ~AdditionalTopicSubscriber()
+    {
+        unsubscribe();
+        delete tf_filter;
+    }
+
+    virtual void reset()
+    {
+        tf_filter->clear();
+        m_messagesReceived = 0;
+    }
+
+    void setEnabled(bool enabled)
+    {
+        m_enabled = enabled;
+        if (enabled) subscribe();
+    }
+
+protected:
+    virtual void updateTopic()
+    {
+        ROS_DEBUG_STREAM_NAMED("AdditionalTopicSubscriber", "AdditionalTopicSubscriber: Topic was changed to " << additional_topic_property_->getTopicStd());
+        unsubscribe();
+        reset();
+        subscribe();
+        m_context->queueRender();
+    }
+
+    virtual void displayEnableChanged()
+    {
+        ROS_DEBUG_STREAM_NAMED("AdditionalTopicSubscriber", "AdditionalTopicSubscriber: Display enabled = " << m_display->getBool());
+        setEnabled(m_display->getBool());
+    }
+
+    virtual void fixedFrameChanged()
+    {
+        ROS_DEBUG_STREAM_NAMED("AdditionalTopicSubscriber", "AdditionalTopicSubscriber: Fixed frame has changed for topic " << additional_topic_property_->getTopicStd());
+        tf_filter->setTargetFrame(m_context->getFixedFrame().toStdString());
+        reset();
+    }
+
+    virtual void subscribe()
+    {
+        if (!m_display->isEnabled()) {
+            return;
+        }
+
+        try {
+            ROS_DEBUG_STREAM_NAMED("AdditionalTopicSubscriber", "AdditionalTopicSubscriber: Subscribing to topic " << additional_topic_property_->getTopicStd());
+            m_subscriber.subscribe(m_updateNodeHandle, additional_topic_property_->getTopicStd(), 10);
+            m_display->setStatus(StatusProperty::Ok, additional_topic_property_->getName(), "OK");
+        }
+        catch (ros::Exception& e) {
+            m_display->setStatus(StatusProperty::Error, additional_topic_property_->getName(), QString("Error subscribing: ") + e.what());
+        }
+    }
+
+    virtual void unsubscribe()
+    {
+        m_subscriber.unsubscribe();
+    }
+
+    /** @brief Incoming message callback.  Checks if the message pointer
+     * is valid, increments m_messagesReceived, then calls
+     * processMessage(). */
+    void incomingMessage(const typename MessageType::ConstPtr& msg)
+    {
+        if (!msg) {
+            return;
+        }
+
+        ++m_messagesReceived;
+        m_display->setStatus(StatusProperty::Ok, additional_topic_property_->getName(), QString::number(m_messagesReceived) + " messages received");
+
+        // Callback for further processing
+        m_messageCallback(msg);
+    }
+
+    #if ROS_VERSION_MINIMUM(1, 14, 0)
+        tf2_ros::MessageFilter<MessageType>* tf_filter;
+    #else
+        tf::MessageFilter<MessageType>* tf_filter;
+    #endif
+
+private:
+    std::string m_topic;
+    bool m_enabled;
+    Display* m_display;
+    DisplayContext* m_context;
+    ros::NodeHandle m_updateNodeHandle;
+    message_filters::Subscriber<MessageType> m_subscriber;
+    uint32_t m_messagesReceived;
+
+    const boost::function<void (boost::shared_ptr<const MessageType>)> m_messageCallback;
+};
+
+} // end namespace rviz
+
+#endif // ADDITIONAL_TOPIC_SUBSCRIBER_H
diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/detected_persons_display.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/detected_persons_display.hpp
new file mode 100644
index 00000000..c0c88b95
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/detected_persons_display.hpp
@@ -0,0 +1,118 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef DETECTED_PERSONS_DISPLAY_H
+#define DETECTED_PERSONS_DISPLAY_H
+
+#ifndef Q_MOC_RUN
+#include <map>
+#include <iomanip>
+#include <iostream>
+#include <boost/circular_buffer.hpp>
+#include <pedsim_msgs/msg/detected_persons.hpp>
+#include "pedsim_rviz_plugin/person_display_common.hpp"
+#include "rviz_common/logging.hpp"
+#endif
+
+namespace pedsim_rviz_plugin
+{
+    /// The visual of a tracked person.
+    struct DetectedPersonVisual
+    {
+        std::shared_ptr<Ogre::SceneNode> sceneNode;
+
+        std::shared_ptr<PersonVisual> personVisual;
+        std::shared_ptr<TextNode> detectionIdText, confidenceText, modalityText;
+        std::shared_ptr<rviz_rendering::Arrow> orientationArrow;
+        std::shared_ptr<CovarianceVisual> covarianceVisual;
+
+        float confidence;
+        bool hasValidOrientation;
+        unsigned int detectionId;
+    };
+
+    // The DetectedPersonsDisplay class itself just implements a circular buffer,
+    // editable parameters, and Display subclass machinery.
+    class DetectedPersonsDisplay: public PersonDisplayCommon<pedsim_msgs::msg::DetectedPersons>
+    {
+    Q_OBJECT
+    public:
+        // Constructor.  pluginlib::ClassLoader creates instances by calling
+        // the default constructor, so make sure you have one.
+        DetectedPersonsDisplay() {};
+        virtual ~DetectedPersonsDisplay();
+
+        // Overrides of protected virtual functions from Display.  As much
+        // as possible, when Displays are not enabled, they should not be
+        // subscribed to incoming data and should not show anything in the
+        // 3D view.  These functions are where these connections are made
+        // and broken.
+        
+        virtual void onInitialize();
+        // Function to handle an incoming ROS message.
+        void processMessage(pedsim_msgs::msg::DetectedPersons::ConstSharedPtr msg) override;
+
+    protected:
+        // A helper to clear this display back to the initial state.
+        virtual void reset();
+
+        // Must be implemented by derived classes because MOC doesn't work in templates
+        virtual rviz_common::DisplayContext* getContext() {
+            return context_;
+        }
+       
+    private Q_SLOTS:
+        void personVisualTypeChanged();
+
+        // Called whenever one of the properties in PersonDisplayCommonProperties has been changed
+        virtual void stylesChanged();
+
+    private:
+        
+
+        // All currently active tracks, with unique track ID as map key
+        vector<std::shared_ptr<DetectedPersonVisual> > m_previousDetections;
+
+        // Properties
+        rviz_common::properties::BoolProperty* m_render_covariances_property;
+        rviz_common::properties::BoolProperty* m_render_detection_ids_property;
+        rviz_common::properties::BoolProperty* m_render_confidences_property;
+        rviz_common::properties::FloatProperty* m_low_confidence_threshold_property;
+        rviz_common::properties::FloatProperty* m_low_confidence_alpha_property;
+        rviz_common::properties::BoolProperty* m_render_orientations_property;
+        rviz_common::properties::BoolProperty* m_render_modality_text_property;
+
+        rviz_common::properties::FloatProperty* m_text_spacing_property;
+        rviz_common::properties::FloatProperty* m_covariance_line_width_property;
+    };
+
+} // end namespace pedsim_rviz_plugin
+
+#endif // DETECTED_PERSONS_DISPLAY_H
diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/human_attributes_display.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/human_attributes_display.hpp
new file mode 100644
index 00000000..77f406ed
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/human_attributes_display.hpp
@@ -0,0 +1,112 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef HUMAN_ATTRIBUTES_DISPLAY_H
+#define HUMAN_ATTRIBUTES_DISPLAY_H
+
+#ifndef Q_MOC_RUN
+#include <map>
+#include <boost/circular_buffer.hpp>
+#include <spencer_human_attribute_msgs/HumanAttributes.h>
+
+#include "person_display_common.h"
+#include "tracked_persons_cache.h"
+#include "visuals/mesh_node.h"
+#endif
+
+namespace pedsim_rviz_plugin
+{
+    /// The display which can be added in RViz to display human attributes.
+    class HumanAttributesDisplay: public PersonDisplayCommon<spencer_human_attribute_msgs::HumanAttributes>
+    {
+    Q_OBJECT
+    public:
+        // Constructor.  pluginlib::ClassLoader creates instances by calling
+        // the default constructor, so make sure you have one.
+        HumanAttributesDisplay() {};
+        virtual ~HumanAttributesDisplay();
+
+        // Overrides of protected virtual functions from Display.  As much
+        // as possible, when Displays are not enabled, they should not be
+        // subscribed to incoming data and should not show anything in the
+        // 3D view.  These functions are where these connections are made
+        // and broken.
+
+        // Called after the constructors have run
+        virtual void onInitialize();
+
+        // Called periodically by the visualization manager
+        virtual void update(float wall_dt, float ros_dt);
+
+    protected:
+        // A helper to clear this display back to the initial state.
+        virtual void reset();
+
+        // Must be implemented by derived classes because MOC doesn't work in templates
+        virtual rviz::DisplayContext* getContext() {
+            return context_;
+        }
+
+    private:
+        struct HumanAttributeVisual {
+            boost::shared_ptr<Ogre::SceneNode> sceneNode;
+            boost::shared_ptr<MeshNode> genderMesh;
+            unsigned int trackId;
+            boost::shared_ptr<TextNode> ageGroupText;
+            boost::shared_ptr<TextNode> personHeightText;
+        };
+
+        // Functions to handle an incoming ROS message.
+        void processMessage(const spencer_human_attribute_msgs::HumanAttributes::ConstPtr& msg);
+       
+        // Helper functions
+        void updateVisualStyles(boost::shared_ptr<HumanAttributeVisual>& humanAttributeVisual);
+        boost::shared_ptr<HumanAttributeVisual> createVisualIfNotExists(track_id trackId);
+
+        // User-editable property variables.
+        rviz::BoolProperty* m_render_gender_property;
+        rviz::BoolProperty* m_render_person_height_property;
+        rviz::BoolProperty* m_render_age_group_property;
+       
+        rviz::FloatProperty* m_occlusion_alpha_property;        
+
+        // State variables
+        map<track_id, boost::shared_ptr<HumanAttributeVisual> > m_humanAttributeVisuals;
+
+        Ogre::Matrix4 m_frameTransform;
+        TrackedPersonsCache m_trackedPersonsCache;
+
+    private Q_SLOTS:
+        virtual void stylesChanged();
+    };
+
+} // end namespace pedsim_rviz_plugin
+
+#endif // HUMAN_ATTRIBUTES_DISPLAY_H
diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/person_display_common.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/person_display_common.hpp
new file mode 100644
index 00000000..431f66e8
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/person_display_common.hpp
@@ -0,0 +1,390 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef PERSON_DISPLAY_COMMON_H
+#define PERSON_DISPLAY_COMMON_H
+
+#ifndef Q_MOC_RUN
+#include <map>
+#include <set>
+#include <boost/circular_buffer.hpp>
+#include <pedsim_msgs/msg/tracked_persons.hpp>
+#include <geometry_msgs/msg/twist.hpp>
+#include <rviz_common/message_filter_display.hpp>
+
+#include <OGRE/OgreSceneNode.h>
+#include <OGRE/OgreSceneManager.h>
+#include "visuals/person_visual.hpp"
+#include "visuals/text_node.hpp"
+#include "visuals/covariance_visual.hpp"
+#include <rviz_rendering/objects/shape.hpp>
+#include <rviz_common/display.hpp>
+#include <rviz_common/properties/bool_property.hpp>
+#include <rviz_common/properties/enum_property.hpp>
+#include <rviz_common/properties/color_property.hpp>
+#include <rviz_common/properties/float_property.hpp>
+#include <rviz_common/properties/int_property.hpp>
+#include <rviz_common/properties/string_property.hpp>
+#include <rviz_rendering/objects/arrow.hpp>
+#include <rviz_rendering/objects/movable_text.hpp>
+
+#include <rviz_common/logging.hpp>
+#include <rviz_common/uniform_string_stream.hpp>
+#endif
+
+using namespace std;
+using namespace boost;
+
+namespace pedsim_rviz_plugin
+{
+    typedef unsigned int person_id;
+
+    /// Visualization style for a person
+    enum Styles {
+        STYLE_SIMPLE,
+        STYLE_CYLINDER,
+        STYLE_PERSON_MESHES,
+        STYLE_BOUNDING_BOXES,
+        STYLE_CROSSHAIRS
+    };
+
+    /// How to color persons
+    enum ColorTransforms {
+        COLORS_SRL,
+        COLORS_SRL_ALTERNATIVE,
+        COLORS_RAINBOW,
+        COLORS_RAINBOW_BW,
+        COLORS_FLAT,
+        COLORS_VINTAGE,
+        COLORS_CONSTANT,
+    };
+
+    /// Which font colors to use
+    enum FontColorStyle {
+        FONT_COLOR_FROM_PERSON,
+        FONT_COLOR_CONSTANT
+    };
+
+    /// Subclasses of PersonDisplayCommon can override stylesChanged() to get notified when one of the properties in PersonDisplayCommonProperties has changed.
+    class StylesChangedSubscriber {
+    public:
+        virtual ~StylesChangedSubscriber() {}
+        virtual void stylesChanged() {}
+    };
+
+    /// Common properties shared by multiple displays.
+    class PersonDisplayCommonProperties : public QObject {
+    Q_OBJECT
+    public:
+        PersonDisplayCommonProperties(rviz_common::Display* display, StylesChangedSubscriber* stylesChangedSubscriber);
+
+        // User-editable property variables.
+        rviz_common::properties::EnumProperty* style;
+        rviz_common::properties::EnumProperty* color_transform;
+        rviz_common::properties::IntProperty* color_map_offset;
+
+        rviz_common::properties::ColorProperty* constant_color;
+        rviz_common::properties::FloatProperty* alpha;
+
+        rviz_common::properties::FloatProperty* line_width;
+        rviz_common::properties::FloatProperty* z_offset;
+        rviz_common::properties::FloatProperty* scaling_factor;
+
+        rviz_common::properties::BoolProperty* use_actual_z_position;
+
+        rviz_common::properties::EnumProperty*  font_color_style;
+        rviz_common::properties::ColorProperty* constant_font_color;
+        rviz_common::properties::FloatProperty* font_scale;
+
+        rviz_common::properties::StringProperty* m_excluded_person_ids_property;
+        rviz_common::properties::StringProperty* m_included_person_ids_property;
+
+        /// These sets get updated automatically whenever the corresponding properties are updated.
+        set<person_id> m_excludedPersonIDs, m_includedPersonIDs;
+
+    private:
+        rviz_common::Display* m_display;
+        StylesChangedSubscriber* m_stylesChangedSubscriber;
+
+        void hideIrrelevantProperties();
+        
+    private Q_SLOTS:
+        void stylesChanged();
+    };
+
+    /// A display with common properties that are shared by multiple specializations.
+    template<typename MessageType>
+    class PersonDisplayCommon: public rviz_common::MessageFilterDisplay<MessageType>, public StylesChangedSubscriber
+    {
+    public:
+        /// Constructor.  pluginlib::ClassLoader creates instances by calling
+        /// the default constructor, so make sure you have one.
+        PersonDisplayCommon() : m_commonProperties(0), m_veryLargeVariance(99999) {}
+        virtual ~PersonDisplayCommon() {}
+
+        /// Overrides base class method
+        virtual void onInitialize()
+        {
+            rviz_common::MessageFilterDisplay<MessageType>::onInitialize();
+            m_commonProperties = new PersonDisplayCommonProperties(this, this);
+        }
+        //void processMessage(typename MessageType::ConstSharedPtr msg)
+        //{
+//
+        //}
+
+    protected:
+        /// Common message processing. This method needs to be called by derived classes
+        bool preprocessMessage(const typename MessageType::ConstPtr& msg)
+        {
+            // Here we call the rviz::FrameManager to get the transform from the
+            // fixed frame to the frame in the header of this Imu message.  If
+            // it fails, we can't do anything else so we return.
+            if (!getContext()->getFrameManager()->getTransform(msg->header, m_framePosition, m_frameOrientation)) {
+                rclcpp::Clock clock(RCL_ROS_TIME);
+                RCLCPP_ERROR_THROTTLE(rclcpp::get_logger("pedsim_rviz_plugin.PersonDisplayCommon"), clock, 5,
+                         "Error transforming from frame '%s' into fixed frame!", msg->header.frame_id.c_str());
+                return false;
+            }
+
+            m_frameOrientation.ToRotationMatrix(m_frameRotationMatrix);
+            return true;
+        }
+
+        /// Create a visual representation of the person itself, if not set yet
+        void createPersonVisualIfRequired(Ogre::SceneNode* sceneNode, std::shared_ptr<PersonVisual> &personVisual)
+        {
+            if (!personVisual) {
+                PersonVisualDefaultArgs defaultArgs(getContext()->getSceneManager(), sceneNode);
+                PersonVisual* newPersonVisual = 0;
+
+                if (m_commonProperties->style->getOptionInt() == STYLE_CYLINDER) newPersonVisual = new CylinderPersonVisual(defaultArgs);
+                if (m_commonProperties->style->getOptionInt() == STYLE_PERSON_MESHES) newPersonVisual = new MeshPersonVisual(defaultArgs);
+                if (m_commonProperties->style->getOptionInt() == STYLE_BOUNDING_BOXES) newPersonVisual = new BoundingBoxPersonVisual(defaultArgs);
+                if (m_commonProperties->style->getOptionInt() == STYLE_CROSSHAIRS) newPersonVisual = new CrosshairPersonVisual(defaultArgs);
+                personVisual.reset(newPersonVisual);
+            }
+
+            // Update position of the person visual
+            if (personVisual) {
+                personVisual->setPosition(Ogre::Vector3(0,0, personVisual->getHeight() * 0.5));
+            }
+        }
+
+        /// Applies common styles which apply to person visuals, such as line width etc.
+        void applyCommonStyles(std::shared_ptr<PersonVisual> &personVisual) {
+            if(!personVisual) return;
+
+            // Set line width of wireframe visualization
+            HasLineWidth* hasLineWidth = dynamic_cast<HasLineWidth*>(personVisual.get());
+            if(hasLineWidth) {
+                hasLineWidth->setLineWidth(m_commonProperties->line_width->getFloat());
+            }
+
+            // Set scaling factor
+            personVisual->setScalingFactor(m_commonProperties->scaling_factor->getFloat());
+        }
+
+        // Builds velocity vector for a person from a twist message
+        Ogre::Vector3 getVelocityVector(const geometry_msgs::msg::TwistWithCovariance& twist) {
+            const double zVelocityVariance = twist.covariance[2 * 6 + 2];
+            const double zVelocity = (isnan(zVelocityVariance) || isinf(zVelocityVariance)) ? 0.0 : twist.twist.linear.z;
+            return Ogre::Vector3(twist.twist.linear.x, twist.twist.linear.y, zVelocity);
+        }
+
+        /// Returns true if all xyz rotation variances are finite
+        bool hasValidOrientation(const geometry_msgs::msg::PoseWithCovariance& pose)
+        {
+            // Check if quaternion has not been initialized, then it's invalid (all-zero elements)
+            if(pose.pose.orientation.x == 0 && pose.pose.orientation.y == 0 && pose.pose.orientation.z == 0 && pose.pose.orientation.w == 0) return false;
+
+            // According to ROS conventions, orientation covariance is always fixed-frame
+            // so no transform necessary!
+            const double xRotVariance = pose.covariance[3 * 6 + 3];
+            const double yRotVariance = pose.covariance[4 * 6 + 4];
+            const double zRotVariance = pose.covariance[5 * 6 + 5];
+            // Using logical OR instead of AND here because the orientation is given as a quaternion, instead of independent
+            // RPY angles. We assume if at least one RPY angle is valid (according to its covariance), the other angles are set to a
+            // reasonable default (as part of the quaternion) if their variance is non-finite.
+            return xRotVariance < m_veryLargeVariance || yRotVariance < m_veryLargeVariance || zRotVariance < m_veryLargeVariance;
+        }
+
+        /// Rotate the position (xyz) part of a pose covariance matrix into the fixed frame used for visualization
+        /// The covariance matrix needs to be transformed from the source (e.g. sensor) into the target (e.g. odometry) frame
+        /// This is mainly be a problem if the sensor is rotated vertically compared to the odometry frame, so that axes get swapped
+        Ogre::Matrix3 covarianceXYZIntoTargetFrame(const geometry_msgs::msg::PoseWithCovariance& pose) {            
+            Ogre::Matrix3 xyzcov;
+            for(int row = 0; row < 3; row++) 
+                for(int col = 0; col < 3; col++) 
+                    xyzcov[row][col] = pose.covariance[row*6 + col]; // 6 = dimension of ROS covariance matrix
+            if(!isfinite(xyzcov.Determinant())) 
+                RVIZ_COMMON_LOG_WARNING_STREAM("Covariance matrix supplied to covarianceXYZIntoTargetFrame() contains non-finite elements: "<< xyzcov);
+            return m_frameRotationMatrix * xyzcov * m_frameRotationMatrix.Transpose(); // cov(AX + a) = A cov(X) A^T
+        }
+
+        /// Set pose and orientation of person visual
+        void setPoseOrientation(Ogre::SceneNode* sceneNode, const geometry_msgs::msg::PoseWithCovariance& pose, const Ogre::Matrix3& covXYZinTargetFrame, double personVisualHeight)
+        {
+            const geometry_msgs::msg::Point& position = pose.pose.position;
+            const geometry_msgs::msg::Quaternion& orientation = pose.pose.orientation;
+
+            Ogre::Matrix4 transform(m_frameOrientation);
+            transform.setTrans(m_framePosition);
+
+            Ogre::Vector3 originalPosition(position.x, position.y, position.z);
+            if(!isfinite(originalPosition.x) || !isfinite(originalPosition.y) || !isfinite(originalPosition.z)) {
+                RVIZ_COMMON_LOG_WARNING("Detected or tracked person has non-finite position! Something is wrong!");
+                return;
+            }
+
+            Ogre::Vector3 positionInTargetFrame = transform * originalPosition;
+
+            if(hasValidOrientation(pose)) {
+                Ogre::Quaternion detectionOrientation(orientation.w, orientation.x, orientation.y, orientation.z);
+                detectionOrientation.FromAngleAxis(detectionOrientation.getRoll(), Ogre::Vector3(0,0,1)); // only use yaw angle, ignore roll and pitch
+                sceneNode->setOrientation(m_frameOrientation * detectionOrientation);
+            }
+            else {
+                Ogre::Quaternion rotateTowardsCamera;
+                rotateTowardsCamera.FromAngleAxis(Ogre::Degree(180), Ogre::Vector3(0,0,1));
+                sceneNode->setOrientation(rotateTowardsCamera);
+            }
+
+            const double zVariance = covXYZinTargetFrame[2][2];
+            bool useActualZPosition = m_commonProperties->use_actual_z_position->getBool() && isfinite(zVariance) && zVariance >= 0 && zVariance < m_veryLargeVariance;
+
+            positionInTargetFrame.z = useActualZPosition ? positionInTargetFrame.z - personVisualHeight/2.0: 0.0;
+            positionInTargetFrame.z += m_commonProperties->z_offset->getFloat();
+
+            sceneNode->setPosition(positionInTargetFrame);
+        }
+
+        /// Get a color based upon track / detection ID.
+        Ogre::ColourValue getColorFromId(unsigned int object_id)
+        {
+            Ogre::ColourValue color;
+            const int colorScheme = m_commonProperties->color_transform->getOptionInt();
+            object_id += max(0, m_commonProperties->color_map_offset->getInt());
+
+            if(colorScheme == COLORS_SRL || colorScheme == COLORS_SRL_ALTERNATIVE)
+            {
+                // SRL People Tracker colors
+                const size_t NUM_SRL_COLORS = 6, NUM_SRL_COLOR_SHADES = 4, NUM_SRL_TOTAL_COLORS = NUM_SRL_COLORS * NUM_SRL_COLOR_SHADES;
+                const unsigned int pedsim_colors[NUM_SRL_TOTAL_COLORS] = {
+                    0xC00000, 0xFF0000, 0xFF5050, 0xFFA0A0, // red
+                    0x00C000, 0x00FF00, 0x50FF50, 0xA0FFA0, // green
+                    0x0000C0, 0x0000FF, 0x5050FF, 0xA0A0FF, // blue
+                    0xF20A86, 0xFF00FF, 0xFF50FF, 0xFFA0FF, // magenta
+                    0x00C0C0, 0x00FFFF, 0x50FFFF, 0xA0FFFF, // cyan
+                    0xF5A316, 0xFFFF00, 0xFFFF50, 0xFFFFA0  // yellow
+                };
+
+                unsigned int rgb = 0;
+                const unsigned int tableId = object_id % NUM_SRL_TOTAL_COLORS;
+                if(m_commonProperties->color_transform->getOptionInt() == COLORS_SRL) {
+                    // Colors in original order (first vary shade, then vary color)
+                    rgb = pedsim_colors[tableId];
+                }
+                else if(m_commonProperties->color_transform->getOptionInt() == COLORS_SRL_ALTERNATIVE) {
+                    // Colors in alternative order (first vary color, then vary shade)
+                    unsigned int shadeIndex = tableId / NUM_SRL_COLORS;
+                    unsigned int colorIndex = tableId % NUM_SRL_COLORS;
+                    rgb = pedsim_colors[colorIndex * NUM_SRL_COLOR_SHADES + shadeIndex];
+                }
+
+                float r = ((rgb >> 16) & 0xff) / 255.0f,
+                       g = ((rgb >> 8)  & 0xff) / 255.0f,
+                       b = ((rgb >> 0)  & 0xff) / 255.0f;
+
+                color = Ogre::ColourValue(r, g, b, 1.0);
+            }
+            else if(colorScheme == COLORS_RAINBOW || colorScheme == COLORS_RAINBOW_BW)
+            {
+                const size_t NUM_COLOR = 10, NUM_BW = 4;
+                const unsigned int rainbow_colors[NUM_COLOR + NUM_BW] = {
+                    0xaf1f90, 0x000846, 0x00468a, 0x00953d, 0xb2c908, 0xfcd22a, 0xffa800, 0xff4500, 0xe0000b, 0xb22222,
+                    0xffffff, 0xb8b8b8, 0x555555, 0x000000
+                };
+
+                color.setAsARGB(rainbow_colors[object_id % (colorScheme == COLORS_RAINBOW ? NUM_COLOR : (NUM_COLOR+NUM_BW))]);
+            }
+            else if(colorScheme == COLORS_FLAT)
+            {
+                const size_t NUM_COLOR = 10;
+                const unsigned int flat_colors[NUM_COLOR] = {
+                    0x990033, 0xa477c4, 0x3498db, 0x1abc9c, 0x55e08f, 0xfff054, 0xef5523, 0xfe374a, 0xbaa891, 0xad5f43
+                };
+
+                color.setAsARGB(flat_colors[object_id % NUM_COLOR]);
+            }
+            else if(colorScheme == COLORS_VINTAGE)
+            {
+                const size_t NUM_COLOR = 10;
+                const unsigned int vintage_colors[NUM_COLOR] = {
+                    0xd05e56, 0x797d88, 0x448d7a, 0xa5d1cd, 0x88a764, 0xebe18c, 0xd8a027, 0xffcc66, 0xdc3f1c, 0xff9966
+                };
+
+                color.setAsARGB(vintage_colors[object_id % NUM_COLOR]);
+            }
+            else
+            {
+                // Constant color for all tracks
+                color = m_commonProperties->constant_color->getOgreColor();
+            }
+
+            color.a = 1.0f; // force full opacity
+            return color;
+        }
+
+        /// Checks if a person shall be hidden (can be set using include/exclude person ID properties in GUI)
+        bool isPersonHidden(person_id personId)
+        {
+            bool isIncluded = m_commonProperties->m_includedPersonIDs.find(personId) != m_commonProperties->m_includedPersonIDs.end();
+            if(isIncluded) return false;
+            if(!m_commonProperties->m_includedPersonIDs.empty()) return true;
+            return m_commonProperties->m_excludedPersonIDs.find(personId) != m_commonProperties->m_excludedPersonIDs.end();
+        }
+
+        /// Must be implemented by derived classes because MOC doesn't work in templates
+        virtual rviz_common::DisplayContext* getContext() = 0;
+
+        /// Common properties for the displays in this plugin
+        PersonDisplayCommonProperties* m_commonProperties;
+
+    protected:
+        Ogre::Quaternion m_frameOrientation;
+        Ogre::Matrix3 m_frameRotationMatrix;
+        Ogre::Vector3 m_framePosition;
+        const double m_veryLargeVariance;
+    };
+} // end namespace pedsim_rviz_plugin
+
+
+#endif // PERSON_DISPLAY_COMMON_H
diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/social_activities_display.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/social_activities_display.hpp
new file mode 100644
index 00000000..2dfbbfc4
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/social_activities_display.hpp
@@ -0,0 +1,167 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef SOCIAL_ACTIVITIES_DISPLAY_H
+#define SOCIAL_ACTIVITIES_DISPLAY_H
+#ifndef Q_MOC_RUN
+#include <map>
+#include <vector>
+#include <boost/circular_buffer.hpp>
+#include <spencer_social_relation_msgs/SocialActivities.h>
+#endif
+#include "person_display_common.h"
+#include "tracked_persons_cache.h"
+
+namespace pedsim_rviz_plugin
+{
+    typedef std::string activity_type;
+
+    /// The display which can be added in RViz to display social activities.
+    class SocialActivitiesDisplay: public PersonDisplayCommon<spencer_social_relation_msgs::SocialActivities>
+    {
+    Q_OBJECT
+    public:
+        // To determine, for persons involved in multiple social activities, their most likely one.
+        struct ActivityWithConfidence {
+            activity_type type;
+            float confidence;
+        };
+
+        // Constructor.  pluginlib::ClassLoader creates instances by calling
+        // the default constructor, so make sure you have one.
+        SocialActivitiesDisplay() {};
+        virtual ~SocialActivitiesDisplay();
+
+        // Overrides of protected virtual functions from Display.  As much
+        // as possible, when Displays are not enabled, they should not be
+        // subscribed to incoming data and should not show anything in the
+        // 3D view.  These functions are where these connections are made
+        // and broken.
+
+        // Called after the constructors have run
+        virtual void onInitialize();
+
+        // Called periodically by the visualization manager
+        virtual void update(float wall_dt, float ros_dt);
+
+    protected:
+        // A helper to clear this display back to the initial state.
+        virtual void reset();
+
+        // Must be implemented by derived classes because MOC doesn't work in templates
+        virtual rviz::DisplayContext* getContext() {
+            return context_;
+        }
+
+    private:
+        struct SocialActivityVisual {
+            vector<boost::shared_ptr<rviz::Shape> > socialActivityAssignmentCircles;
+            vector<boost::shared_ptr<rviz::BillboardLine> > connectionLines;
+            vector< boost::shared_ptr<TextNode> > typeTexts;
+            vector<track_id> trackIds;
+            activity_type activityType;
+            float confidence;
+            geometry_msgs::Point socialActivityCenter;
+            size_t personCount;
+            size_t declutteringOffset; // for decluttering of labels etc. in case of multiple activities per track, e.g. 1 = shift label by 1 row
+        };
+
+        // Functions to handle an incoming ROS message.
+        void processMessage(const spencer_social_relation_msgs::SocialActivities::ConstPtr& msg);
+
+        // Helper functions
+        void updateSocialActivityVisualStyles(boost::shared_ptr<SocialActivityVisual>& groupVisual);
+        bool isActivityTypeHidden(activity_type activityType);
+        Ogre::ColourValue getActivityColor(activity_type activityType, float confidence);
+
+        // Scene nodes
+        boost::shared_ptr<Ogre::SceneNode> m_socialActivitiesSceneNode;
+
+        // User-editable property variables.
+        rviz::StringProperty* m_excluded_activity_types_property;
+        rviz::StringProperty* m_included_activity_types_property;
+
+        rviz::BoolProperty* m_render_intraactivity_connections_property;
+        rviz::BoolProperty* m_render_activity_types_property;
+        rviz::BoolProperty* m_activity_type_per_track_property;
+        rviz::BoolProperty* m_render_confidences_property;
+        rviz::BoolProperty* m_render_circles_property;
+        rviz::BoolProperty* m_hide_with_no_activity_property;
+
+        rviz::FloatProperty* m_occlusion_alpha_property;
+        rviz::FloatProperty* m_min_confidence_property;
+        rviz::FloatProperty* m_circle_radius_property;
+        rviz::FloatProperty* m_circle_alpha_property;
+        rviz::FloatProperty* m_line_width_property;
+        rviz::FloatProperty* m_activity_type_offset; // z offset of the group ID text
+
+        rviz::Property* m_activity_colors;
+        rviz::ColorProperty* m_activity_color_none;
+        rviz::ColorProperty* m_activity_color_unknown;
+        rviz::ColorProperty* m_activity_color_shopping;
+        rviz::ColorProperty* m_activity_color_standing;
+        rviz::ColorProperty* m_activity_color_individual_moving;
+        rviz::ColorProperty* m_activity_color_waiting_in_queue;
+        rviz::ColorProperty* m_activity_color_looking_at_information_screen;
+        rviz::ColorProperty* m_activity_color_looking_at_kiosk;
+        rviz::ColorProperty* m_activity_color_group_assembling;
+        rviz::ColorProperty* m_activity_color_group_moving;
+        rviz::ColorProperty* m_activity_color_flow;
+        rviz::ColorProperty* m_activity_color_antiflow;
+        rviz::ColorProperty* m_activity_color_waiting_for_others;
+        rviz::ColorProperty* m_activity_color_looking_for_help;
+
+
+        // State variables
+        struct PersonVisualContainer {
+            boost::shared_ptr<PersonVisual> personVisual;
+            boost::shared_ptr<Ogre::SceneNode> sceneNode;
+            track_id trackId;
+        };
+
+        vector<boost::shared_ptr<SocialActivityVisual> > m_socialActivityVisuals;
+        map<track_id, PersonVisualContainer > m_personVisualMap; // to keep person visuals alive across multiple frames, for walking animation
+
+        map<track_id, ActivityWithConfidence> m_highestConfidenceActivityPerTrack; // only highest-confidence activity per person
+        map<track_id, vector<ActivityWithConfidence> > m_allActivitiesPerTrack; // all activities that a track is involved in
+
+        set<activity_type> m_excludedActivityTypes, m_includedActivityTypes;
+
+        Ogre::Matrix4 m_frameTransform;
+        TrackedPersonsCache m_trackedPersonsCache;
+
+    private Q_SLOTS:
+        void personVisualTypeChanged();
+        virtual void stylesChanged();
+    };
+
+} // end namespace pedsim_rviz_plugin
+
+#endif // SOCIAL_ACTIVITIES_DISPLAY_H
diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/social_relations_display.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/social_relations_display.hpp
new file mode 100644
index 00000000..3cc39bf5
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/social_relations_display.hpp
@@ -0,0 +1,108 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef SOCIAL_RELATIONS_DISPLAY_H
+#define SOCIAL_RELATIONS_DISPLAY_H
+
+#ifndef Q_MOC_RUN
+#include <spencer_social_relation_msgs/SocialRelations.h>
+#include "person_display_common.h"
+#include "tracked_persons_cache.h"
+#endif
+
+namespace pedsim_rviz_plugin
+{
+    /// The display which can be added in RViz to display social relations.
+    class SocialRelationsDisplay: public PersonDisplayCommon<spencer_social_relation_msgs::SocialRelations>
+    {
+    Q_OBJECT
+    public:
+        // Constructor.  pluginlib::ClassLoader creates instances by calling
+        // the default constructor, so make sure you have one.
+        SocialRelationsDisplay() {};
+        virtual ~SocialRelationsDisplay();
+
+        // Overrides of protected virtual functions from Display.  As much
+        // as possible, when Displays are not enabled, they should not be
+        // subscribed to incoming data and should not show anything in the
+        // 3D view.  These functions are where these connections are made
+        // and broken.
+
+        // Called after the constructors have run
+        virtual void onInitialize();
+
+    protected:
+        // A helper to clear this display back to the initial state.
+        virtual void reset();
+
+        // Must be implemented by derived classes because MOC doesn't work in templates
+        virtual rviz::DisplayContext* getContext() {
+            return context_;
+        }
+
+    private:
+        struct RelationVisual {
+            std::string type;
+            double relationStrength;
+            boost::shared_ptr<rviz::BillboardLine> relationLine;
+            boost::shared_ptr<TextNode> relationText;
+            track_id trackId1, trackId2; // required to hide certain tracks
+        };
+
+        // Functions to handle an incoming ROS message.
+        void processMessage(const spencer_social_relation_msgs::SocialRelations::ConstPtr& msg);
+        
+        // Helper functions
+        void updateRelationVisualStyles(boost::shared_ptr<RelationVisual>& relationVisual);
+        
+        // Scene node for group affiliation history visualization
+        boost::shared_ptr<Ogre::SceneNode> m_socialRelationsSceneNode;
+
+        // User-editable property variables.
+        rviz::StringProperty* m_relation_type_filter_property;
+        
+        rviz::BoolProperty* m_render_positive_person_relations_property;
+        rviz::BoolProperty* m_render_negative_person_relations_property;
+
+        rviz::FloatProperty* m_positive_person_relation_threshold;
+        rviz::ColorProperty* m_positive_person_relations_color;
+        rviz::ColorProperty* m_negative_person_relations_color;
+
+        // State variables
+        vector<boost::shared_ptr<RelationVisual> > m_relationVisuals;
+        TrackedPersonsCache m_trackedPersonsCache;
+
+    private Q_SLOTS:
+        virtual void stylesChanged();
+    };
+
+} // end namespace pedsim_rviz_plugin
+
+#endif // SOCIAL_RELATIONS_DISPLAY_H
diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/tracked_groups_display.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/tracked_groups_display.hpp
new file mode 100644
index 00000000..0325b1d5
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/tracked_groups_display.hpp
@@ -0,0 +1,146 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef TRACKED_GROUPS_DISPLAY_H
+#define TRACKED_GROUPS_DISPLAY_H
+
+#ifndef Q_MOC_RUN
+#include <map>
+#include <boost/circular_buffer.hpp>
+#endif
+#include <pedsim_msgs/TrackedGroups.h>
+
+#include "person_display_common.h"
+#include "tracked_persons_cache.h"
+
+namespace pedsim_rviz_plugin
+{
+    typedef unsigned int group_id;
+
+    /// A single entry in the history of a tracked person, to show group affiliation.
+    struct GroupAffiliationHistoryEntry
+    {
+        group_id groupId;
+        boost::shared_ptr<rviz::Shape> shape;
+        bool wasOccluded, wasSinglePersonGroup;
+    };
+
+    /// History of a tracked person.
+    typedef circular_buffer<boost::shared_ptr<GroupAffiliationHistoryEntry> > GroupAffiliationHistory;
+
+    /// The display which can be added in RViz to display tracked groups.
+    class TrackedGroupsDisplay: public PersonDisplayCommon<pedsim_msgs::TrackedGroups>
+    {
+    Q_OBJECT
+    public:
+        // Constructor.  pluginlib::ClassLoader creates instances by calling
+        // the default constructor, so make sure you have one.
+        TrackedGroupsDisplay() {};
+        virtual ~TrackedGroupsDisplay();
+
+        // Overrides of protected virtual functions from Display.  As much
+        // as possible, when Displays are not enabled, they should not be
+        // subscribed to incoming data and should not show anything in the
+        // 3D view.  These functions are where these connections are made
+        // and broken.
+
+        // Called after the constructors have run
+        virtual void onInitialize();
+
+        // Called periodically by the visualization manager
+        virtual void update(float wall_dt, float ros_dt);
+
+    protected:
+        // A helper to clear this display back to the initial state.
+        virtual void reset();
+
+        // Must be implemented by derived classes because MOC doesn't work in templates
+        virtual rviz::DisplayContext* getContext() {
+            return context_;
+        }
+
+    private:
+        struct GroupVisual {
+            vector<boost::shared_ptr<rviz::Shape> > groupAssignmentCircles;
+            vector<boost::shared_ptr<PersonVisual> > personVisuals;
+            vector<boost::shared_ptr<Ogre::SceneNode> > personVisualSceneNodes;
+            vector<boost::shared_ptr<rviz::BillboardLine> > connectionLines;
+            boost::shared_ptr<TextNode> idText;
+            group_id groupId;
+            geometry_msgs::Point groupCenter;
+            size_t personCount;
+        };
+
+        // Functions to handle an incoming ROS message.
+        void processMessage(const pedsim_msgs::TrackedGroups::ConstPtr& msg);
+       
+        // Helper functions
+        void updateGroupVisualStyles(boost::shared_ptr<GroupVisual>& groupVisual);
+        void updateHistoryStyles();
+        bool isGroupHidden(group_id groupId);
+
+        // Scene node for group affiliation history visualization
+        boost::shared_ptr<Ogre::SceneNode> m_groupAffiliationHistorySceneNode, m_groupsSceneNode;
+
+        std::string m_realFixedFrame;
+
+        // User-editable property variables.
+        rviz::StringProperty* m_excluded_group_ids_property;
+        rviz::StringProperty* m_included_group_ids_property;
+
+        rviz::BoolProperty* m_render_intragroup_connections_property;
+        rviz::BoolProperty* m_render_ids_property;
+        rviz::BoolProperty* m_render_history_property;
+        rviz::BoolProperty* m_single_person_groups_in_constant_color_property;
+        rviz::BoolProperty* m_hide_ids_of_single_person_groups_property;
+
+        rviz::IntProperty*   m_history_length_property;
+
+        rviz::FloatProperty* m_occlusion_alpha_property;        
+        rviz::FloatProperty* m_group_id_offset; // z offset of the group ID text
+
+        // State variables
+        vector<boost::shared_ptr<GroupVisual> > m_groupVisuals;
+        
+        map<track_id, group_id> m_groupAffiliations;
+        GroupAffiliationHistory m_groupAffiliationHistory;
+        set<group_id> m_excludedGroupIDs, m_includedGroupIDs;
+
+        Ogre::Matrix4 m_frameTransform;
+        TrackedPersonsCache m_trackedPersonsCache;
+
+    private Q_SLOTS:
+        void personVisualTypeChanged();
+        virtual void stylesChanged();
+    };
+
+} // end namespace pedsim_rviz_plugin
+
+#endif // TRACKED_GROUPS_DISPLAY_H
diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/tracked_persons_cache.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/tracked_persons_cache.hpp
new file mode 100644
index 00000000..e6b9636f
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/tracked_persons_cache.hpp
@@ -0,0 +1,93 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef TRACKED_PERSONS_CACHE_H
+#define TRACKED_PERSONS_CACHE_H
+
+#ifndef Q_MOC_RUN
+#include <map>
+#include <geometry_msgs/PoseWithCovariance.h>
+#include <geometry_msgs/TwistWithCovariance.h>
+#include <pedsim_msgs/TrackedPersons.h>
+#endif
+#include "additional_topic_subscriber.h"
+
+namespace pedsim_rviz_plugin
+{    
+    typedef unsigned int track_id;
+
+    /// Data structure for storing information about individual person tracks
+    struct CachedTrackedPerson
+    {
+        Ogre::Vector3 center;
+        geometry_msgs::PoseWithCovariance pose;
+        geometry_msgs::TwistWithCovariance twist;
+        bool isOccluded;
+    };
+
+    /// Subscribes to a TrackedPersons topic and caches all TrackedPersons of the current cycle, so that
+    /// the owning rviz::Display can look up track positions etc for visualization.
+    class TrackedPersonsCache {
+    public:
+        typedef std::map<track_id, boost::shared_ptr<CachedTrackedPerson> > CachedTrackedPersonsMap;
+
+        // Destructor
+        ~TrackedPersonsCache();
+
+        /// Create TrackedPersons subscriber and setup RViz properties.
+        void initialize(rviz::Display* display, rviz::DisplayContext* context, ros::NodeHandle update_nh);
+
+        /// Clear internal state, including all cached track positions.
+        void reset();
+
+        /// Lookup information for the given tracked person ID. Returns a null pointer if no information is available.
+        const boost::shared_ptr<CachedTrackedPerson> lookup(track_id trackId);
+
+        /// Return internal map
+        const CachedTrackedPersonsMap& getMap() {
+            return m_cachedTrackedPersons;
+        }
+
+    private:
+        // Callback when a new TrackedPersons message has arrived
+        void processTrackedPersonsMessage(const pedsim_msgs::TrackedPersons::ConstPtr& msg);
+
+        rviz::AdditionalTopicSubscriber<pedsim_msgs::TrackedPersons>* m_tracked_person_subscriber;
+        rviz::Display* m_display;
+        rviz::DisplayContext* m_context;
+
+        // Our TrackedPerson memory
+        CachedTrackedPersonsMap m_cachedTrackedPersons;
+    };
+    
+
+}
+
+#endif // TRACKED_PERSONS_CACHE_H
diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/tracked_persons_display.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/tracked_persons_display.hpp
new file mode 100644
index 00000000..5df613c3
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/tracked_persons_display.hpp
@@ -0,0 +1,160 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef TRACKED_PERSONS_DISPLAY_H
+#define TRACKED_PERSONS_DISPLAY_H
+
+#ifndef Q_MOC_RUN
+#include <boost/circular_buffer.hpp>
+#include <map>
+#include "rclcpp/rclcpp.hpp"
+#include <rviz_rendering/objects/shape.hpp>
+#include <rviz_rendering/objects/arrow.hpp>
+#include <rviz_rendering/objects/billboard_line.hpp>
+
+#include <pedsim_msgs/msg/tracked_persons.hpp>
+#include <pedsim_rviz_plugin/person_display_common.hpp>
+#endif
+
+namespace pedsim_rviz_plugin
+{
+    typedef unsigned int track_id;
+
+    /// A single entry in the history of a tracked person.
+    struct TrackedPersonHistoryEntry
+    {
+        Ogre::Vector3 position;
+        std::shared_ptr<rviz_rendering::Shape> shape;
+        bool wasOccluded;
+        track_id trackId;
+    };
+
+    /// History of a tracked person.
+    typedef circular_buffer<std::shared_ptr<TrackedPersonHistoryEntry> > TrackedPersonHistory;
+
+    /// The visual of a tracked person.
+    struct TrackedPersonVisual
+    {
+        TrackedPersonHistory history;
+        std::shared_ptr<rviz_rendering::BillboardLine> historyLine;
+        Ogre::Vector3 positionOfLastHistoryEntry;
+
+        std::shared_ptr<Ogre::SceneNode> sceneNode, historySceneNode, historyLineSceneNode;
+
+        std::shared_ptr<PersonVisual> personVisual;
+        std::shared_ptr<TextNode> idText, detectionIdText, stateText;
+        std::shared_ptr<rviz_rendering::Arrow> velocityArrow;
+        std::shared_ptr<CovarianceVisual> covarianceVisual;
+
+        Ogre::Matrix4 lastObservedPose;
+
+        bool isOccluded, isDeleted, isMissed, hasZeroVelocity;
+        int numCyclesNotSeen;
+    };
+
+    // The TrackedPersonsDisplay class itself just implements a circular buffer,
+    // editable parameters, and Display subclass machinery.
+    class TrackedPersonsDisplay: public PersonDisplayCommon<pedsim_msgs::msg::TrackedPersons>
+    {
+    Q_OBJECT
+    public:
+        // Constructor.  pluginlib::ClassLoader creates instances by calling
+        // the default constructor, so make sure you have one.
+        TrackedPersonsDisplay() {};
+        virtual ~TrackedPersonsDisplay();
+
+        // Overrides of protected virtual functions from Display.  As much
+        // as possible, when Displays are not enabled, they should not be
+        // subscribed to incoming data and should not show anything in the
+        // 3D view.  These functions are where these connections are made
+        // and broken.
+
+        // Called after the constructors have run
+        virtual void onInitialize();
+
+        // Called periodically by the visualization manager
+        virtual void update(float wall_dt, float ros_dt);
+
+    protected:
+        // A helper to clear this display back to the initial state.
+        virtual void reset();
+
+        // Must be implemented by derived classes because MOC doesn't work in templates
+        virtual rviz_common::DisplayContext* getContext() {
+            return context_;
+        }
+
+    private Q_SLOTS:
+        void personVisualTypeChanged();
+
+        // Called whenever one of the properties in PersonDisplayCommonProperties has been changed
+        virtual void stylesChanged();
+
+    private:
+        // Function to handle an incoming ROS message.
+        void processMessage(pedsim_msgs::msg::TrackedPersons::ConstSharedPtr msg) override;
+       
+        // All currently active tracks, with unique track ID as map key
+        typedef map<track_id, std::shared_ptr<TrackedPersonVisual> > track_map;
+        track_map m_cachedTracks;
+
+        // Scene node for track history visualization
+        std::shared_ptr<Ogre::SceneNode> m_trackHistorySceneNode;
+
+        // User-editable property variables.
+        rviz_common::properties::FloatProperty*  m_occlusion_alpha_property;
+        rviz_common::properties::FloatProperty*  m_missed_alpha_property;
+        rviz_common::properties::StringProperty* m_tracking_frame_property;
+        rviz_common::properties::IntProperty*    m_history_length_property;
+        rviz_common::properties::IntProperty*    m_delete_after_ncycles_property;
+
+        rviz_common::properties::BoolProperty* m_show_deleted_property;
+        rviz_common::properties::BoolProperty* m_show_occluded_property;
+        rviz_common::properties::BoolProperty* m_show_missed_property;
+        rviz_common::properties::BoolProperty* m_show_matched_property;
+    
+        rviz_common::properties::BoolProperty* m_render_person_property;
+        rviz_common::properties::BoolProperty* m_render_history_property;
+        rviz_common::properties::BoolProperty* m_render_history_as_line_property;
+        rviz_common::properties::BoolProperty* m_render_covariances_property;
+        rviz_common::properties::BoolProperty* m_render_state_prediction_property;
+        rviz_common::properties::BoolProperty* m_render_velocities_property;
+        rviz_common::properties::BoolProperty* m_render_ids_property;
+        rviz_common::properties::BoolProperty* m_render_detection_ids_property;
+        rviz_common::properties::BoolProperty* m_render_track_state_property;
+
+        rviz_common::properties::FloatProperty* m_history_line_width_property;
+        rviz_common::properties::FloatProperty* m_history_min_point_distance_property;
+        rviz_common::properties::FloatProperty* m_covariance_line_width_property;
+    };
+
+} // end namespace pedsim_rviz_plugin
+
+#endif // TRACKED_PERSONS_DISPLAY_H
diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/visuals/covariance_visual.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/visuals/covariance_visual.hpp
new file mode 100644
index 00000000..492a9fa3
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/visuals/covariance_visual.hpp
@@ -0,0 +1,221 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  Copyright (c) 2006, Kai O. Arras, Autonomous Intelligent Systems Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef COVARIANCE_VISUAL_H
+#define COVARIANCE_VISUAL_H
+
+#include "rclcpp/rclcpp.hpp"
+#include <rviz_rendering/objects/shape.hpp>
+#include <rviz_rendering/objects/billboard_line.hpp>
+#include <cmath>
+
+
+namespace pedsim_rviz_plugin {
+    // Visualization of a covariance matrix
+    class CovarianceVisual {
+    public:
+        CovarianceVisual(Ogre::SceneManager* sceneManager, Ogre::SceneNode* parentNode) : m_sceneManager(sceneManager)
+        {
+            m_sceneNode = parentNode->createChildSceneNode();
+        }
+
+        virtual ~CovarianceVisual() {
+            if (m_sceneNode->getName() != "")
+                m_sceneManager->destroySceneNode(m_sceneNode->getName());
+        };
+
+        void setPosition(const Ogre::Vector3& position) {
+            m_sceneNode->setPosition(position);
+        }
+
+        void setOrientation(const Ogre::Quaternion& orientation) {
+            m_sceneNode->setOrientation(orientation);
+        }
+
+        void setVisible(bool visible) {
+            m_sceneNode->setVisible(visible, true);
+        }
+
+        virtual void setColor(const Ogre::ColourValue& c) = 0;
+
+        virtual void setLineWidth(float lineWidth) = 0;
+
+        /// NOTE: It is assumed that the covariance matrix is already rotated into the target frame of the sceneNode!
+        virtual void setMeanCovariance(const Ogre::Vector3& mean, const Ogre::Matrix3& cov) = 0;
+        
+        
+    protected:
+        Ogre::SceneManager* m_sceneManager;
+        Ogre::SceneNode* m_sceneNode;
+    };
+
+
+    // 2D ellipse visualization of a covariance matrix
+    class ProbabilityEllipseCovarianceVisual : public CovarianceVisual {
+    public:
+        ProbabilityEllipseCovarianceVisual(Ogre::SceneManager* sceneManager, Ogre::SceneNode* parentNode) : CovarianceVisual(sceneManager, parentNode)
+        {
+            m_line = new rviz_rendering::BillboardLine(m_sceneManager, m_sceneNode);
+        }
+
+        virtual ~ProbabilityEllipseCovarianceVisual() {
+            delete m_line;
+        }
+
+        virtual void setLineWidth(float lineWidth) {
+            m_line->setLineWidth(lineWidth);
+        }
+
+        virtual void setColor(const Ogre::ColourValue& c) {
+            m_line->setColor(c.r, c.g, c.b, c.a);
+        }
+
+        virtual void setMeanCovariance(const Ogre::Vector3& mean, const Ogre::Matrix3& cov) {
+            int numberOfPoints;
+            double *xs, *ys;
+            double determinant = cov[0][0]*cov[1][1] - cov[1][0]*cov[0][1];
+            rclcpp::Logger logger = rclcpp::get_logger("pedsim_rviz_plugin.CovarianceVisual");
+            rclcpp::Clock clock(RCL_ROS_TIME);
+            m_line->clear();
+
+            if(!std::isfinite(determinant)) {
+                RCLCPP_WARN_STREAM_THROTTLE(logger, clock, 5,
+                         "Covariance matrix has non-finite values in ProbabilityEllipseCovarianceVisual::setMeanCovariance(): " << cov);
+                return;
+            }
+
+            if(std::abs(cov[0][1] - cov[1][0]) > 0.00001)
+            {
+                RCLCPP_WARN_STREAM_THROTTLE(logger, clock, 5,
+                    "Covariance matrix is not symmetric in ProbabilityEllipseCovarianceVisual::setMeanCovariance(): " << cov);
+                return;
+            }
+
+            if(determinant > 0 && cov[0][0] > 0 /* positive definite? */ || std::abs(determinant-0.00001) == 0.0 && (cov[0][0] > 0 || cov[1][1] > 0) /* positive semidefinite? */)
+            {
+                calc_prob_elli_99(mean.x, mean.y, cov[0][0], cov[1][1], cov[0][1], numberOfPoints, xs, ys);
+
+                m_line->setMaxPointsPerLine(numberOfPoints);
+
+                for(int i = 0; i < numberOfPoints; i++) {
+                    Ogre::Vector3 vertex(xs[i], ys[i], mean.z);
+                    m_line->addPoint(vertex);
+                }
+            }
+            else {
+                RCLCPP_WARN_STREAM_THROTTLE(logger, clock, 5000,
+                    "Covariance matrix is not positive (semi-)definite in ProbabilityEllipseCovarianceVisual::setMeanCovariance(): " <<
+                    cov);
+            }
+            
+        }
+
+    private:
+        rviz_rendering::BillboardLine* m_line;
+
+        // Puts angle alpha into the interval [min..min+2*pi[
+        double set_angle_to_range(double alpha, double min)
+        {
+
+            while (alpha >= min + 2.0 * M_PI) {
+                alpha -= 2.0 * M_PI;
+            }
+            while (alpha < min) {
+                alpha += 2.0 * M_PI;
+            }
+            return alpha;
+        }
+
+        // Calculates the points on a rotated ellipse given by center xc, yc, half axes a, b and angle phi.
+        // Returns number of points np and points in Cart. coordinates
+        void calc_ellipse(double xc, double yc, double a, double b, double phi, int& np, double*& xvec, double*& yvec)
+        {
+            const int N_ELLI_POINTS = 40;
+            int i, offset;
+            double t, cr, sr, ca, sa, xi, yi, reso;
+            static double x[N_ELLI_POINTS + 1];
+            static double y[N_ELLI_POINTS + 1];
+            reso = 2 * M_PI / N_ELLI_POINTS;
+            offset = N_ELLI_POINTS / 2;
+            ca = cos(phi);
+            sa = sin(phi);
+            i = 0;
+            t = 0;
+            while (t < M_PI) {
+                cr = cos(t);
+                sr = sin(t);
+                xi = a * cr * ca - b * sr * sa;
+                yi = a * cr * sa + b * sr * ca;
+                x[i] = xi + xc;
+                y[i] = yi + yc;
+                x[offset + i] = -xi + xc;
+                y[offset + i] = -yi + yc;
+                t = t + reso;
+                i++;
+            }
+            x[N_ELLI_POINTS] = x[0]; // Close contour
+            y[N_ELLI_POINTS] = y[0]; // Close contour
+            np = N_ELLI_POINTS + 1;
+            xvec = x;
+            yvec = y;
+        }
+
+        // Calculates the points on a 95%-iso-probability ellipse given by the bivarate RV with mean xc, yc
+        // and covariance matrix sxx, syy, sxy. Returns number of points np and points in Cart. coordinates
+        void calc_prob_elli_95(double xc, double yc, double sxx, double syy, double sxy, int& np, double*& x, double*& y)
+        {
+            double la, lb, a, b, phi;
+            la = (sxx + syy + sqrt((sxx - syy) * (sxx - syy) + 4 * sxy * sxy)) / 2;
+            lb = (sxx + syy - sqrt((sxx - syy) * (sxx - syy) + 4 * sxy * sxy)) / 2;
+            a = sqrt(5.991464 * la);
+            b = sqrt(5.991464 * lb);
+            phi = set_angle_to_range(atan2(2 * sxy, sxx - syy) / 2, 0);
+            calc_ellipse(xc, yc, a, b, phi, np, x, y);
+        }
+
+        // Calculates the points on a 99%-iso-probability ellipse given by the bivarate RV with mean xc, yc
+        // and covariance matrix sxx, syy, sxy. Returns number of points np and points in Cart. coordinates
+        void calc_prob_elli_99(double xc, double yc, double sxx, double syy, double sxy, int& np, double*& x, double*& y)
+        {
+            double la, lb, a, b, phi;
+            la = (sxx + syy + sqrt((sxx - syy) * (sxx - syy) + 4 * sxy * sxy)) / 2;
+            lb = (sxx + syy - sqrt((sxx - syy) * (sxx - syy) + 4 * sxy * sxy)) / 2;
+            a = sqrt(9.210340 * la);
+            b = sqrt(9.210340 * lb);
+            phi = set_angle_to_range(atan2(2 * sxy, sxx - syy) / 2, 0);
+            calc_ellipse(xc, yc, a, b, phi, np, x, y);
+        }
+    };
+
+}
+
+#endif // COVARIANCE_VISUAL_H
+
diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/visuals/mesh_node.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/visuals/mesh_node.hpp
new file mode 100644
index 00000000..a3c04a9b
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/visuals/mesh_node.hpp
@@ -0,0 +1,193 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef MESH_NODE_H
+#define MESH_NODE_H
+
+#include <rviz_rendering/mesh_loader.hpp>
+#ifndef Q_MOC_RUN
+#include <resource_retriever/retriever.hpp>
+#endif
+// #include <rviz_common/visualization_manager.hpp>
+#include <rviz_common/render_panel.hpp> // hack to get camera position 
+#include <rviz_common/display_context.hpp>
+#include <OgreSceneManager.h>
+#include <OgreSceneNode.h>
+#include <OgreEntity.h>
+#include <OgreSubEntity.h>
+#include <OgreMaterialManager.h>
+#include <OgreTextureManager.h>
+#include <OgreTechnique.h>
+#include <OgreRoot.h>
+#include <OgreFrameListener.h>
+
+
+namespace pedsim_rviz_plugin {
+    class MeshNode : public Ogre::FrameListener {
+    public:
+        MeshNode(rviz_common::DisplayContext* displayContext, Ogre::SceneNode* parentNode, const std::string& meshResource, Ogre::Vector3 position = Ogre::Vector3::ZERO)
+        : m_sceneManager(displayContext->getSceneManager()), m_displayContext(displayContext), m_meshResource(meshResource)
+        {
+            m_cameraFacing = false;
+            m_sceneNode = parentNode->createChildSceneNode();
+            m_sceneNode->setVisible(false);
+
+            // Load mesh
+            assert(!rviz_rendering::loadMeshFromResource(meshResource).isNull());
+
+            // Create scene entity
+            std::stringstream ss;
+            static int counter = 0;
+            ss << "gender_symbol_" << counter++;
+            std::string id = ss.str();
+
+            m_entity = m_sceneManager->createEntity(id, meshResource);
+            m_sceneNode->attachObject(m_entity);
+
+            // set up material
+            ss << "Material";
+            Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create( ss.str(), "rviz" );
+            default_material->setReceiveShadows(false);
+            default_material->getTechnique(0)->setLightingEnabled(true);
+            default_material->getTechnique(0)->setAmbient( 0.5, 0.5, 0.5 );
+            m_materials.insert( default_material );
+            m_entity->setMaterial( default_material );
+
+            setPosition(position);
+            setVisible(true);
+
+            // For camera-facing meshes
+            Ogre::Root::getSingleton().addFrameListener(this);
+        }
+
+        virtual ~MeshNode() {
+            Ogre::Root::getSingleton().removeFrameListener(this);
+            m_sceneManager->destroyEntity(m_entity);
+
+            // destroy all the materials we've created
+            std::set<Ogre::MaterialPtr>::iterator it;
+            for(it = m_materials.begin(); it != m_materials.end(); it++ )
+            {
+                Ogre::MaterialPtr material = *it;
+                if (!material.isNull())
+                {
+                  material->unload();
+                  Ogre::MaterialManager::getSingleton().remove(material->getName());
+                }
+            }
+            m_materials.clear();
+            if (m_sceneNode->getName() != "")
+                m_sceneManager->destroySceneNode(m_sceneNode->getName());
+        }
+
+        void setOrientation(const Ogre::Quaternion& orientation) {
+            m_orientation = orientation;
+        }
+
+        void setPosition(const Ogre::Vector3& position) {
+            m_sceneNode->setPosition(position);
+        }
+
+        void setScale(const float scaleFactor) {
+            m_sceneNode->setScale(Ogre::Vector3(scaleFactor, scaleFactor, scaleFactor));
+        }
+
+        void setVisible(bool visible) {
+            m_sceneNode->setVisible(visible, true);
+        }
+
+        void setCameraFacing(bool cameraFacing) {
+            m_cameraFacing = cameraFacing;
+        }
+
+        void setColor(const Ogre::ColourValue& c) {
+            Ogre::SceneBlendType blending;
+            bool depth_write;
+
+            if ( c.a < 0.9998 )
+            {
+              blending = Ogre::SBT_TRANSPARENT_ALPHA;
+              depth_write = false;
+            }
+            else
+            {
+              blending = Ogre::SBT_REPLACE;
+              depth_write = true;
+            }
+
+            std::set<Ogre::MaterialPtr>::iterator it;
+            for(it = m_materials.begin(); it != m_materials.end(); it++)
+            {
+              Ogre::Technique* technique = (*it)->getTechnique( 0 );
+
+              technique->setAmbient( c.r*0.5, c.g*0.5, c.b*0.5 );
+              technique->setDiffuse( c.r, c.g, c.b, c.a );
+              technique->setSceneBlending( blending );
+              technique->setDepthWriteEnabled( depth_write );
+              technique->setLightingEnabled( true );
+            }
+        }
+
+        const std::string& getMeshResource() const {
+            return m_meshResource;
+        }
+
+        // We are using this FrameListener callback to orient the mesh towards the camera.
+        // Using a SceneManager::Listener and its preUpdateSceneGraph(SceneManager, Camera) method doesn't work because
+        // it is apparently never invoked by the Rviz render system.
+        virtual bool frameStarted(const Ogre::FrameEvent &evt)
+        {
+            Ogre::Quaternion cameraQuat;
+            //if(m_cameraFacing) {
+            //    // Align with camera view direction
+            //    // FIXME: The following way of retrieving the camera and its position is a bit hacky, don't try this at home!
+            //    rviz_common::VisualizationManager* visualizationManager = dynamic_cast<rviz_common::VisualizationManager*>(m_displayContext);
+            //    assert(visualizationManager != NULL);
+            //    cameraQuat = visualizationManager->getRenderPanel()->getCamera()->getOrientation();
+            //}
+            m_sceneNode->setOrientation(cameraQuat * m_orientation);
+            return true;
+        }
+
+    private:
+        Ogre::SceneManager* m_sceneManager;
+        Ogre::SceneNode* m_sceneNode;
+        rviz_common::DisplayContext* m_displayContext;
+
+        Ogre::Quaternion m_orientation;
+        Ogre::Entity* m_entity;
+        std::set<Ogre::MaterialPtr> m_materials;
+        std::string m_meshResource;
+        bool m_cameraFacing;
+    };
+
+}
+
+#endif // MESH_NODE_H
diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/visuals/person_visual.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/visuals/person_visual.hpp
new file mode 100644
index 00000000..a5a4eb17
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/visuals/person_visual.hpp
@@ -0,0 +1,329 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef PERSON_VISUAL_H
+#define PERSON_VISUAL_H
+
+#include <rviz_rendering/objects/shape.hpp>
+#include <rviz_rendering/objects/billboard_line.hpp>
+#include <rviz_rendering/mesh_loader.hpp>
+#include <resource_retriever/retriever.hpp>
+
+#include <OgreSceneManager.h>
+#include <OgreSubEntity.h>
+#include <OgreMaterialManager.h>
+#include <OgreTextureManager.h>
+#include <OgreTechnique.h>
+#include <OgreAnimation.h>
+#include <OgreSceneNode.h>
+#include <OgreSharedPtr.h>
+#include <OgreEntity.h>
+
+#include "rviz_common/logging.hpp"
+#include "rviz_common/uniform_string_stream.hpp"
+
+namespace pedsim_rviz_plugin {
+    // Abstract class for visuals which have got an adjustable line width
+    class HasLineWidth {
+    public:
+        virtual void setLineWidth(double lineWidth) = 0;
+    };
+
+    // Default arguments that need to be supplied to all types of PersonVisual
+    struct PersonVisualDefaultArgs {
+        PersonVisualDefaultArgs(Ogre::SceneManager* sceneManager, Ogre::SceneNode* parentNode) : sceneManager(sceneManager), parentNode(parentNode) {}
+        Ogre::SceneManager* sceneManager;
+        Ogre::SceneNode* parentNode;
+    };
+
+    /// Base class for all person visualization types
+    class PersonVisual {
+    public:
+        PersonVisual(const PersonVisualDefaultArgs& args) :
+                m_sceneManager(args.sceneManager),
+                m_correctOrientation( Ogre::Degree(90), Ogre::Vector3(1,0,0) )
+        {
+            m_parentSceneNode = args.parentNode;
+            m_sceneNode = args.parentNode->createChildSceneNode();
+
+            Ogre::Vector3 scale(1,1,1);
+            m_sceneNode->setScale(m_correctOrientation * scale);
+        }
+
+        virtual ~PersonVisual() {
+            if (m_sceneNode->getName() != "")
+                m_sceneManager->destroySceneNode(m_sceneNode->getName());
+        };
+
+        void setPosition(const Ogre::Vector3& position) {
+            m_sceneNode->setPosition(position);
+        }
+
+        const Ogre::Vector3& getPosition() const {
+            return m_sceneNode->getPosition();
+        }
+
+        void setOrientation(const Ogre::Quaternion& orientation) {
+            m_sceneNode->setOrientation(orientation * m_correctOrientation);
+        }
+
+        const Ogre::Quaternion& getOrientation() const {
+           return m_sceneNode->getOrientation();
+        }
+
+        virtual void setScalingFactor(double scalingFactor) {
+            m_sceneNode->setScale(scalingFactor, scalingFactor, scalingFactor);
+        }
+
+        void setVisible(bool visible) {
+            m_sceneNode->setVisible(visible, true);
+        }
+
+        Ogre::SceneNode* getParentSceneNode() {
+            return m_parentSceneNode;
+        }
+
+        virtual void update(float deltaTime) {}
+        virtual void setColor(const Ogre::ColourValue& c) = 0;
+        virtual double getHeight() = 0;
+
+    protected:
+        Ogre::SceneManager* m_sceneManager;
+        Ogre::SceneNode *m_sceneNode, *m_parentSceneNode;
+        Ogre::Quaternion m_correctOrientation;
+    };
+
+
+    /// Visualization of a person as cylinder (body) + sphere (head)
+    class CylinderPersonVisual : public PersonVisual {
+    public:
+        CylinderPersonVisual(const PersonVisualDefaultArgs& args) : PersonVisual(args)
+        {
+            m_bodyShape = new rviz_rendering::Shape(rviz_rendering::Shape::Cylinder, args.sceneManager, m_sceneNode);
+            m_headShape = new rviz_rendering::Shape(rviz_rendering::Shape::Sphere, args.sceneManager, m_sceneNode);
+
+            const float headDiameter = 0.4;
+            const float totalHeight = getHeight();
+            const float cylinderHeight = totalHeight - headDiameter;
+
+            m_bodyShape->setScale(Ogre::Vector3(headDiameter, headDiameter, cylinderHeight));
+            m_headShape->setScale(Ogre::Vector3(headDiameter, headDiameter, headDiameter));
+
+            m_bodyShape->setPosition(Ogre::Vector3(0, 0, cylinderHeight / 2 - totalHeight / 2));
+            m_headShape->setPosition(Ogre::Vector3(0, 0, totalHeight / 2 - headDiameter / 2 ));
+        }
+
+        virtual ~CylinderPersonVisual() {
+            delete m_bodyShape;
+            delete m_headShape;
+        }
+
+        virtual void setColor(const Ogre::ColourValue& c) {
+            m_bodyShape->setColor(c);
+            m_headShape->setColor(c);
+        }
+
+        virtual double getHeight() {
+            return 1.75;
+        }
+
+    private:
+        rviz_rendering::Shape *m_bodyShape, *m_headShape;
+    };
+
+
+    /// Visualization of a person as a wireframe bounding box
+    class BoundingBoxPersonVisual : public PersonVisual, public HasLineWidth {
+    public:
+        BoundingBoxPersonVisual(const PersonVisualDefaultArgs& args, double height = 1.75, double width = 0.6, double scalingFactor = 1.0) : PersonVisual(args)
+        {
+            m_width = width; m_height = height; m_scalingFactor = scalingFactor; m_lineWidth = 0.03;
+            m_wireframe = NULL;
+            generateWireframe();
+        }
+
+        virtual ~BoundingBoxPersonVisual() {
+            delete m_wireframe;
+        }
+
+        virtual void setColor(const Ogre::ColourValue& c) {
+            m_wireframe->setColor(c.r, c.g, c.b, c.a);
+        }
+
+        virtual double getHeight() {
+            return m_height;
+        }
+
+        virtual void setLineWidth(double lineWidth) {
+            m_wireframe->setLineWidth(lineWidth);
+        }
+
+        /*
+        virtual void setScalingFactor(double scalingFactor) {
+            if(scalingFactor != m_scalingFactor) {
+                m_scalingFactor = scalingFactor;
+                generateWireframe();
+            }
+        }
+        */
+
+    protected:
+        virtual void generateWireframe() {
+            delete m_wireframe;
+            m_wireframe = new rviz_rendering::BillboardLine(m_sceneManager, m_sceneNode);
+            
+            m_wireframe->setLineWidth(m_lineWidth);   
+            m_wireframe->setMaxPointsPerLine(2);
+            m_wireframe->setNumLines(12);
+
+            double w = m_width * m_scalingFactor, h = m_height * m_scalingFactor;
+            Ogre::Vector3 bottomLeft(0, -w, 0), bottomRight(0, 0, 0), topLeft(0, -w, h), topRight(0, 0, h);
+            Ogre::Vector3 rear(w, 0, 0);
+
+            // Front quad
+                                        m_wireframe->addPoint(bottomLeft);          m_wireframe->addPoint(bottomRight);
+            m_wireframe->finishLine();     m_wireframe->addPoint(bottomRight);         m_wireframe->addPoint(topRight);
+            m_wireframe->finishLine();     m_wireframe->addPoint(topRight);            m_wireframe->addPoint(topLeft);
+            m_wireframe->finishLine();     m_wireframe->addPoint(topLeft);             m_wireframe->addPoint(bottomLeft);
+
+            // Rear quad
+            m_wireframe->finishLine();     m_wireframe->addPoint(bottomLeft + rear);   m_wireframe->addPoint(bottomRight + rear);
+            m_wireframe->finishLine();     m_wireframe->addPoint(bottomRight + rear);  m_wireframe->addPoint(topRight + rear);
+            m_wireframe->finishLine();     m_wireframe->addPoint(topRight + rear);     m_wireframe->addPoint(topLeft + rear);
+            m_wireframe->finishLine();     m_wireframe->addPoint(topLeft + rear);      m_wireframe->addPoint(bottomLeft + rear);
+
+            // Four connecting lines between front and rear
+            m_wireframe->finishLine();     m_wireframe->addPoint(bottomLeft);          m_wireframe->addPoint(bottomLeft + rear);
+            m_wireframe->finishLine();     m_wireframe->addPoint(bottomRight);         m_wireframe->addPoint(bottomRight + rear);
+            m_wireframe->finishLine();     m_wireframe->addPoint(topRight);            m_wireframe->addPoint(topRight + rear);
+            m_wireframe->finishLine();     m_wireframe->addPoint(topLeft);             m_wireframe->addPoint(topLeft + rear);
+        
+            m_wireframe->setPosition(Ogre::Vector3(-w/2, w/2, -h/2));
+        } 
+
+    private:
+        rviz_rendering::BillboardLine *m_wireframe;
+        double m_width, m_height, m_scalingFactor, m_lineWidth;
+    };
+
+
+    /// Visualization of a person as a crosshair
+    class CrosshairPersonVisual : public PersonVisual, public HasLineWidth {
+    public:
+        CrosshairPersonVisual(const PersonVisualDefaultArgs& args, double height = 1.0, double width = 1.0) : PersonVisual(args)
+        {
+            m_width = width; m_height = height; m_lineWidth = 0.03;
+            m_crosshair = NULL;
+            generateCrosshair();
+        }
+
+        virtual ~CrosshairPersonVisual() {
+            delete m_crosshair;
+        }
+
+        virtual void setColor(const Ogre::ColourValue& c) {
+            m_crosshair->setColor(c.r, c.g, c.b, c.a);
+        }
+
+        virtual double getHeight() {
+            return m_height;
+        }
+
+        virtual void setLineWidth(double lineWidth) {
+            m_crosshair->setLineWidth(lineWidth);
+        }
+
+
+    protected:
+        virtual void generateCrosshair() {
+            delete m_crosshair;
+            m_crosshair = new rviz_rendering::BillboardLine(m_sceneManager, m_sceneNode);
+            
+            m_crosshair->setLineWidth(m_lineWidth);   
+            m_crosshair->setMaxPointsPerLine(2);
+            m_crosshair->setNumLines(5);
+
+            double w = m_width / 2.0;
+            Ogre::Vector3 p1a(-w, 0, 0), p1b(+w, 0, 0);
+            Ogre::Vector3 p2a(0, -w, 0), p2b(0, +w, 0);
+            Ogre::Vector3 p3a(0, 0, -w), p3b(0, 0, +w);
+
+            Ogre::Vector3 arrow_a(0.7*w, -0.2*w, 0), arrow_m(w, 0, 0), arrow_b(0.7*w, +0.2*w, 0);
+
+                                        m_crosshair->addPoint(p1a);         m_crosshair->addPoint(p1b);
+            m_crosshair->finishLine();     m_crosshair->addPoint(p2a);         m_crosshair->addPoint(p2b);
+            m_crosshair->finishLine();     m_crosshair->addPoint(p3a);         m_crosshair->addPoint(p3b);
+
+            m_crosshair->finishLine();     m_crosshair->addPoint(arrow_m);     m_crosshair->addPoint(arrow_a);
+            m_crosshair->finishLine();     m_crosshair->addPoint(arrow_m);     m_crosshair->addPoint(arrow_b);
+
+            m_crosshair->setPosition(Ogre::Vector3(0, 0, 0));
+        } 
+
+    private:
+        rviz_rendering::BillboardLine *m_crosshair;
+        double m_width, m_height, m_lineWidth;
+    };
+
+
+    /// Visualization of a person as a mesh (walking human)
+    class MeshPersonVisual : public PersonVisual {
+    public:
+        MeshPersonVisual(const PersonVisualDefaultArgs& args);
+
+        virtual ~MeshPersonVisual();
+
+        virtual void update(float deltaTime);
+
+        virtual void setColor(const Ogre::ColourValue& c);
+
+        void setAnimationState(const std::string& nameOfAnimationState);
+
+        void setWalkingSpeed(float walkingSpeed);
+
+        virtual double getHeight() {
+            return 1.75;
+        }
+
+        virtual void setScalingFactor(double scalingFactor) {
+            // Not supported (for some reason causes the mesh to be mirrored vertically).
+        }
+
+    private:
+        Ogre::SceneNode *m_childSceneNode;
+        Ogre::Entity* entity_;
+        Ogre::AnimationState* m_animationState;
+        std::set<Ogre::MaterialPtr> materials_;
+        float m_walkingSpeed;
+    };
+
+}
+
+#endif // PERSON_VISUAL_H
diff --git a/pedsim_rviz_plugin/include/pedsim_rviz_plugin/visuals/text_node.hpp b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/visuals/text_node.hpp
new file mode 100644
index 00000000..bfaefd62
--- /dev/null
+++ b/pedsim_rviz_plugin/include/pedsim_rviz_plugin/visuals/text_node.hpp
@@ -0,0 +1,96 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef TEXT_NODE_H
+#define TEXT_NODE_H
+
+#include <rviz_rendering/objects/shape.hpp>
+#include <rviz_rendering/objects/movable_text.hpp>
+
+namespace pedsim_rviz_plugin {
+    class TextNode {
+    public:
+        TextNode(Ogre::SceneManager* sceneManager, Ogre::SceneNode* parentNode, Ogre::Vector3 position = Ogre::Vector3::ZERO) : m_sceneManager(sceneManager)
+        {
+            m_sceneNode = parentNode->createChildSceneNode();
+
+            m_text = new rviz_rendering::MovableText("text");
+            m_text->setTextAlignment(rviz_rendering::MovableText::H_CENTER, rviz_rendering::MovableText::V_BELOW);
+            m_sceneNode->attachObject(m_text);
+
+            setCharacterHeight(1.0);
+            setPosition(position);
+            setVisible(true);
+        }
+
+        virtual ~TextNode() {
+            if (m_sceneNode->getName() != "")
+                m_sceneManager->destroySceneNode(m_sceneNode->getName());
+            delete m_text;
+        };
+
+        void setCharacterHeight(double characterHeight) {
+            m_text->setCharacterHeight(characterHeight);
+            m_text->setSpaceWidth(0.3 * characterHeight);
+        }
+
+        double getCharacterHeight() {
+            return m_text->getCharacterHeight();
+        }
+
+        void setCaption(const std::string& caption) {
+            m_text->setCaption(caption);
+        }
+
+        void setPosition(const Ogre::Vector3& position) {
+            m_sceneNode->setPosition(position);
+        }
+
+        void setVisible(bool visible) {
+            m_sceneNode->setVisible(visible, true);
+        }
+
+        void setColor(const Ogre::ColourValue& c) {
+            m_text->setColor(c);
+        }
+
+        void showOnTop(bool onTop = true) {
+            m_text->showOnTop(onTop);
+        }
+
+    private:
+        Ogre::SceneManager* m_sceneManager;
+        Ogre::SceneNode* m_sceneNode;
+        rviz_rendering::MovableText* m_text;
+    };
+
+}
+
+#endif // TEXT_NODE_H
diff --git a/pedsim_rviz_plugin/media/animated_walking_man.mesh b/pedsim_rviz_plugin/media/animated_walking_man.mesh
new file mode 100644
index 00000000..a9f8ec9d
Binary files /dev/null and b/pedsim_rviz_plugin/media/animated_walking_man.mesh differ
diff --git a/pedsim_rviz_plugin/media/animated_walking_man.skeleton b/pedsim_rviz_plugin/media/animated_walking_man.skeleton
new file mode 100644
index 00000000..f07386f5
Binary files /dev/null and b/pedsim_rviz_plugin/media/animated_walking_man.skeleton differ
diff --git a/pedsim_rviz_plugin/media/female_symbol.dae b/pedsim_rviz_plugin/media/female_symbol.dae
new file mode 100755
index 00000000..67ab4ed2
--- /dev/null
+++ b/pedsim_rviz_plugin/media/female_symbol.dae
@@ -0,0 +1,1817 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><unit meter="0.025400" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_materials>
+    <material id="_01 - Default" name="_01 - Default">
+      <instance_effect url="#_01 - Default-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="_01 - Default-fx" name="_01 - Default">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">1.000000  0.000000 1.000000 1.000000</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.000000  0.000000 0.000000 1.000000</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">2.000000</float>
+            </shininess>
+            <reflective>
+              <color sid="reflective">0.000000  0.000000 0.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float sid="reflectivity">1.000000</float>
+            </reflectivity>
+            <transparent opaque="RGB_ZERO">
+              <color sid="transparent">1.000000  1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float sid="transparency">0.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="Text001-lib" name="Text001Mesh">
+      <mesh>
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diff --git a/pedsim_rviz_plugin/media/male_symbol.dae b/pedsim_rviz_plugin/media/male_symbol.dae
new file mode 100755
index 00000000..adc9d6bd
--- /dev/null
+++ b/pedsim_rviz_plugin/media/male_symbol.dae
@@ -0,0 +1,1778 @@
+<?xml version="1.0" encoding="utf-8"?>
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+            </transparency>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_lights>
+    <light id="SceneAmbient" name="SceneAmbient">
+      <technique_common>
+        <ambient>
+          <color>1.000000 1.000000 1.000000</color>
+        </ambient>
+      </technique_common>
+    </light>
+  </library_lights>
+  <library_visual_scenes>
+    <visual_scene id="male_symbol" name="male_symbol">
+      <node name="Text001" id="Text001" sid="Text001"><matrix sid="matrix">1.000000 0.000000 0.000000 0.992424 0.000000 1.000000 0.000000 -23.446840 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#Text001-lib"><bind_material><technique_common><instance_material symbol="_01 - Default" target="#_01 - Default"/></technique_common></bind_material></instance_geometry></node>
+      <node>
+        <instance_light url="#SceneAmbient"></instance_light>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#male_symbol"></instance_visual_scene>
+  </scene>
+</COLLADA>
diff --git a/pedsim_rviz_plugin/package.xml b/pedsim_rviz_plugin/package.xml
new file mode 100644
index 00000000..e4f750be
--- /dev/null
+++ b/pedsim_rviz_plugin/package.xml
@@ -0,0 +1,35 @@
+<package format="2">
+  <name>pedsim_rviz_plugin</name>
+  <version>8.2.0</version>
+  <description>
+     RViz plugin for visualizing tracked and detected persons and groups
+  </description>
+  <maintainer email="jonatan.gines@urjc.es">jginesclavero</maintainer>
+  <maintainer email="linder@cs.uni-freiburg.de">Timm Linder</maintainer>
+  <author email="linder@cs.uni-freiburg.de">Timm Linder</author>
+  <license>BSD</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>qtbase5-dev</build_depend>
+  <build_depend>rviz_ogre_vendor</build_depend>
+
+  <build_export_depend>rviz_ogre_vendor</build_export_depend>
+
+  <exec_depend>libqt5-core</exec_depend>
+  <exec_depend>libqt5-gui</exec_depend>
+  <exec_depend>libqt5-opengl</exec_depend>
+  <exec_depend>libqt5-widgets</exec_depend>
+  <exec_depend>rviz_ogre_vendor</exec_depend>
+
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>resource_retriever</depend>
+  <depend>rviz_common</depend>
+  <depend>rviz_rendering</depend>
+  <depend>pedsim_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/pedsim_rviz_plugin/plugins_description.xml b/pedsim_rviz_plugin/plugins_description.xml
new file mode 100644
index 00000000..c08cb2be
--- /dev/null
+++ b/pedsim_rviz_plugin/plugins_description.xml
@@ -0,0 +1,23 @@
+<library path="pedsim_rviz_plugin">
+  <class 
+    name="pedsim_rviz_plugin/TrackedPersons" 
+    type="pedsim_rviz_plugin::TrackedPersonsDisplay" 
+    base_class_type="rviz_common::Display"
+  >
+    <description>
+      Displays tracked persons from pedsim_msgs/TrackedPersons messages.
+    </description>
+    <message_type>pedsim_msgs/msg/TrackedPersons</message_type>
+  </class>
+
+  <class 
+    name="pedsim_rviz_plugin/TrackedGroups" 
+    type="pedsim_rviz_plugin::TrackedGroupsDisplay" 
+    base_class_type="rviz_common::Display"
+  >
+    <description>
+      Displays tracked groups from pedsim_msgs/TrackedGroups messages.
+    </description>
+    <message_type>pedsim_msgs/msg/TrackedGroups</message_type>
+  </class>
+</library>
diff --git a/pedsim_rviz_plugin/screenshots/detected_persons.png b/pedsim_rviz_plugin/screenshots/detected_persons.png
new file mode 100644
index 00000000..39e9cdc9
Binary files /dev/null and b/pedsim_rviz_plugin/screenshots/detected_persons.png differ
diff --git a/pedsim_rviz_plugin/screenshots/human_attributes.png b/pedsim_rviz_plugin/screenshots/human_attributes.png
new file mode 100644
index 00000000..b8dc2143
Binary files /dev/null and b/pedsim_rviz_plugin/screenshots/human_attributes.png differ
diff --git a/pedsim_rviz_plugin/screenshots/social_activities.png b/pedsim_rviz_plugin/screenshots/social_activities.png
new file mode 100644
index 00000000..778a1a7b
Binary files /dev/null and b/pedsim_rviz_plugin/screenshots/social_activities.png differ
diff --git a/pedsim_rviz_plugin/screenshots/social_relations.png b/pedsim_rviz_plugin/screenshots/social_relations.png
new file mode 100644
index 00000000..1fa41511
Binary files /dev/null and b/pedsim_rviz_plugin/screenshots/social_relations.png differ
diff --git a/pedsim_rviz_plugin/screenshots/tracked_groups.png b/pedsim_rviz_plugin/screenshots/tracked_groups.png
new file mode 100644
index 00000000..65422971
Binary files /dev/null and b/pedsim_rviz_plugin/screenshots/tracked_groups.png differ
diff --git a/pedsim_rviz_plugin/screenshots/tracked_persons_1.png b/pedsim_rviz_plugin/screenshots/tracked_persons_1.png
new file mode 100644
index 00000000..332b00fa
Binary files /dev/null and b/pedsim_rviz_plugin/screenshots/tracked_persons_1.png differ
diff --git a/pedsim_rviz_plugin/screenshots/tracked_persons_2.png b/pedsim_rviz_plugin/screenshots/tracked_persons_2.png
new file mode 100644
index 00000000..865c8457
Binary files /dev/null and b/pedsim_rviz_plugin/screenshots/tracked_persons_2.png differ
diff --git a/pedsim_rviz_plugin/screenshots/tracked_persons_3.png b/pedsim_rviz_plugin/screenshots/tracked_persons_3.png
new file mode 100644
index 00000000..7e6b0a8b
Binary files /dev/null and b/pedsim_rviz_plugin/screenshots/tracked_persons_3.png differ
diff --git a/pedsim_rviz_plugin/scripts/send_test_msgs.py b/pedsim_rviz_plugin/scripts/send_test_msgs.py
new file mode 100755
index 00000000..4f724d14
--- /dev/null
+++ b/pedsim_rviz_plugin/scripts/send_test_msgs.py
@@ -0,0 +1,125 @@
+#!/usr/bin/env python
+
+import roslib; roslib.load_manifest( 'pedsim_rviz_plugin' )
+from pedsim_msgs.msg import TrackedPersons, TrackedPerson, DetectedPersons, DetectedPerson
+import rospy
+from math import cos, sin, tan, pi
+import tf
+import random
+import copy
+
+def setPoseAndTwistFromAngle( pose, twist, angle, radius ) :
+    currentx = radius * cos(angle)
+    currenty = radius * sin(angle)
+
+    nextx = radius * cos(angle + angleStep)
+    nexty = radius * sin(angle + angleStep)
+    
+    pose.pose.position.x = currentx
+    pose.pose.position.y = currenty
+    pose.pose.position.z = 0.0
+
+    quaternion = tf.transformations.quaternion_from_euler(0, 0, angle + pi/2.0)
+    pose.pose.orientation.x = quaternion[0]
+    pose.pose.orientation.y = quaternion[1]
+    pose.pose.orientation.z = quaternion[2]
+    pose.pose.orientation.w = quaternion[3]
+    
+    pose.covariance[0 + 0 * 6] = 0.4 # x
+    pose.covariance[1 + 1 * 6] = 0.2 # y
+    pose.covariance[2 + 2 * 6] = 999999 # z
+    pose.covariance[3 + 3 * 6] = 0.0 # x rotation
+    pose.covariance[4 + 5 * 6] = 0.0 # y rotation
+    pose.covariance[4 + 5 * 6] = 0.1 # z rotation
+
+    twist.twist.linear.x = nextx - currentx
+    twist.twist.linear.y = nexty - currenty
+    twist.twist.linear.z = 0
+    
+    for i in range(0, 3):
+        twist.covariance[i + i * 6] = 1.0 # linear velocity
+    for i in range(3, 6):
+        twist.covariance[i + i * 6] = float("inf") # rotational velocity
+
+def createTrackAndDetection( tracks, detections, track_id, detection_id, angle, radius ) :
+    trackedPerson = TrackedPerson()
+    trackedPerson.track_id = track_id
+
+    if detection_id >= 0 :
+        trackedPerson.detection_id = detection_id
+        trackedPerson.is_occluded = False
+    else :
+        trackedPerson.is_occluded = True
+
+    trackedPerson.age = rospy.Time.now() - startTime
+
+    setPoseAndTwistFromAngle(trackedPerson.pose, trackedPerson.twist, angle, radius)
+    tracks.append(trackedPerson)
+
+    if detection_id >= 0:
+        detectedPerson = DetectedPerson()
+        detectedPerson.detection_id = detection_id
+        detectedPerson.confidence = random.random()
+
+        detectedPerson.pose = copy.deepcopy(trackedPerson.pose)
+        detectedPerson.pose.pose.position.x += random.random() * 0.5 - 0.25 # introduce some noise on observation position
+        detectedPerson.pose.pose.position.y += random.random() * 0.5 - 0.25
+
+        detections.append(detectedPerson)
+
+    return
+
+# Main code
+trackTopic = '/spencer/tracked_persons'
+trackPublisher = rospy.Publisher( trackTopic, TrackedPersons )
+
+observationTopic = '/spencer/detected_persons' 
+observationPublisher = rospy.Publisher( observationTopic, DetectedPersons )
+
+rospy.init_node( 'publish_test_tracks_and_detections' )
+br = tf.TransformBroadcaster()
+
+# State variables
+startTime = rospy.Time.now()
+currentCycle = 0
+currentAngle = 0.0
+angleStep = 4.5 * pi / 180.
+idShift = 0
+updateRateHz = 10
+
+# Test coordinate frame for checking if mapping into the fixed frame works correctly
+frameOffset = (0, 0, 0)
+frameOrientation = tf.transformations.quaternion_from_euler(0,  0,  0) # 90.0 / 180.0 * pi
+
+print("Sending test messages on " + observationTopic + " and " + trackTopic)
+rate = rospy.Rate(updateRateHz)
+while not rospy.is_shutdown():
+    br.sendTransform(frameOffset, frameOrientation, rospy.Time.now(), "test_tf_frame", "odom")
+
+    trackedPersons = TrackedPersons()
+    trackedPersons.header.frame_id = "/test_tf_frame"
+    trackedPersons.header.stamp = rospy.Time.now()
+
+    detectedPersons = DetectedPersons()
+    detectedPersons.header = trackedPersons.header
+
+    tracks = trackedPersons.tracks;
+    detections = detectedPersons.detections;
+
+    createTrackAndDetection(tracks, detections, idShift+0, 3, currentAngle, 2.0)
+    createTrackAndDetection(tracks, detections, idShift+1, 7, currentAngle + pi / 2, 2.5)
+    createTrackAndDetection(tracks, detections, idShift+2, -1, currentAngle + pi / 1, 3.0)
+    createTrackAndDetection(tracks, detections, idShift+3, -1, currentAngle + pi * 1.5, cos(currentAngle) * 3.5  + 7.0)
+    createTrackAndDetection(tracks, detections, idShift+4, 88, 0.0, 0.0)
+
+    trackPublisher.publish( trackedPersons )
+    observationPublisher.publish( detectedPersons )
+
+    currentAngle += angleStep
+    currentCycle += 1
+
+    # Periodically shift the IDs to simulate tracks being removed and new tracks being added
+    if(currentCycle % (updateRateHz * 15) == 0) :
+        idShift += len(tracks)
+
+    rate.sleep()
\ No newline at end of file
diff --git a/pedsim_rviz_plugin/src/detected_persons_display.cpp b/pedsim_rviz_plugin/src/detected_persons_display.cpp
new file mode 100644
index 00000000..d798bb73
--- /dev/null
+++ b/pedsim_rviz_plugin/src/detected_persons_display.cpp
@@ -0,0 +1,274 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+//#include <rviz_common/frame_manager.hpp>
+//#include "rviz_common/selection/selection_manager.hpp"
+#include "pedsim_rviz_plugin/detected_persons_display.hpp"
+
+
+namespace pedsim_rviz_plugin
+{
+
+// The constructor must have no arguments, so we can't give the
+// constructor the parameters it needs to fully initialize.
+void DetectedPersonsDisplay::onInitialize()
+{
+    PersonDisplayCommon::onInitialize();
+
+    QObject::connect(m_commonProperties->style, SIGNAL(changed()), this, SLOT(personVisualTypeChanged()) );
+
+    m_render_covariances_property       = new rviz_common::properties::BoolProperty( "Render covariances", true, "Render track covariance ellipses", this, SLOT(stylesChanged()) );
+    m_render_detection_ids_property     = new rviz_common::properties::BoolProperty( "Render detection IDs", true, "Render IDs of the detection that a track was matched against, if any", this, SLOT(stylesChanged()));
+    m_render_confidences_property       = new rviz_common::properties::BoolProperty( "Render confidences", false, "Render detection confidences", this, SLOT(stylesChanged()));
+    m_render_orientations_property      = new rviz_common::properties::BoolProperty( "Render orientation arrows", true, "Render orientation arrows (only if orientation covariances are finite!)", this, SLOT(stylesChanged()));
+    m_render_modality_text_property     = new rviz_common::properties::BoolProperty( "Render modality text", false, "Render detection modality as text below detected person", this, SLOT(stylesChanged()));
+
+    m_text_spacing_property = new rviz_common::properties::FloatProperty( "Text spacing", 1.0, "Factor for vertical spacing betweent texts", this, SLOT(stylesChanged()), this );
+    
+    m_low_confidence_threshold_property = new rviz_common::properties::FloatProperty( "Low-confidence threshold", 0.5, "Detection confidence below which alpha will be reduced", this, SLOT(stylesChanged()));
+    m_low_confidence_alpha_property     = new rviz_common::properties::FloatProperty( "Low-confidence alpha", 0.5, "Alpha multiplier for detections with confidence below low-confidence threshold", this, SLOT(stylesChanged()));
+
+    m_covariance_line_width_property = new rviz_common::properties::FloatProperty( "Line width", 0.1, "Line width of covariance ellipses", m_render_covariances_property, SLOT(stylesChanged()), this );
+}
+
+DetectedPersonsDisplay::~DetectedPersonsDisplay()
+{
+    m_previousDetections.clear();
+}
+
+// Clear the visuals by deleting their objects.
+void DetectedPersonsDisplay::reset()
+{
+    PersonDisplayCommon::reset();
+    m_previousDetections.clear();
+}
+
+// Set the rendering style (cylinders, meshes, ...) of detected persons
+void DetectedPersonsDisplay::personVisualTypeChanged()
+{
+    for(auto detectedPersonVisual : m_previousDetections)
+    {
+        detectedPersonVisual->personVisual.reset();
+        createPersonVisualIfRequired(detectedPersonVisual->sceneNode.get(), detectedPersonVisual->personVisual);
+    }
+    stylesChanged();
+}
+
+// Update dynamically adjustable properties of all existing detections
+void DetectedPersonsDisplay::stylesChanged()
+{
+    foreach(std::shared_ptr<DetectedPersonVisual> detectedPersonVisual, m_previousDetections)
+    {
+        bool personHidden = isPersonHidden(detectedPersonVisual->detectionId);
+
+        // Update common styles to person visual, such as line width
+        applyCommonStyles(detectedPersonVisual->personVisual);
+
+        // Get current detection color
+        Ogre::ColourValue detectionColor = getColorFromId(detectedPersonVisual->detectionId);
+        detectionColor.a *= m_commonProperties->alpha->getFloat(); // general alpha
+        if(personHidden) detectionColor.a = 0.0;
+        if(detectedPersonVisual->confidence < m_low_confidence_threshold_property->getFloat()) detectionColor.a *= m_low_confidence_alpha_property->getFloat();
+
+        if(detectedPersonVisual->personVisual) {
+            detectedPersonVisual->personVisual->setColor(detectionColor);
+        }
+
+        // Update texts
+        Ogre::ColourValue fontColor = m_commonProperties->font_color_style->getOptionInt() == FONT_COLOR_CONSTANT ? m_commonProperties->constant_font_color->getOgreColor() : detectionColor;
+        fontColor.a = m_commonProperties->alpha->getFloat();
+        if(personHidden) fontColor.a = 0.0;
+        
+        float textOffset = 0.0f;
+        detectedPersonVisual->detectionIdText->setCharacterHeight(0.18 * m_commonProperties->font_scale->getFloat());
+        detectedPersonVisual->detectionIdText->setPosition(Ogre::Vector3(0,0, -0.5*detectedPersonVisual->detectionIdText->getCharacterHeight() - textOffset));
+        detectedPersonVisual->detectionIdText->setVisible(m_render_detection_ids_property->getBool());
+        detectedPersonVisual->detectionIdText->setColor(fontColor);
+        if(m_render_detection_ids_property->getBool()) textOffset += m_text_spacing_property->getFloat() * detectedPersonVisual->detectionIdText->getCharacterHeight();
+
+        detectedPersonVisual->modalityText->setCharacterHeight(0.18 * m_commonProperties->font_scale->getFloat());
+        detectedPersonVisual->modalityText->setPosition(Ogre::Vector3(textOffset, 0, -0.5*detectedPersonVisual->modalityText->getCharacterHeight() - textOffset));
+        detectedPersonVisual->modalityText->setVisible(m_render_modality_text_property->getBool());
+        detectedPersonVisual->modalityText->setColor(fontColor);
+        if(m_render_modality_text_property->getBool()) textOffset += m_text_spacing_property->getFloat() * detectedPersonVisual->modalityText->getCharacterHeight();
+
+        detectedPersonVisual->confidenceText->setCharacterHeight(0.13 * m_commonProperties->font_scale->getFloat());
+        detectedPersonVisual->confidenceText->setPosition(Ogre::Vector3(textOffset, 0, -0.5*detectedPersonVisual->confidenceText->getCharacterHeight() - textOffset));
+        detectedPersonVisual->confidenceText->setVisible(m_render_confidences_property->getBool());
+        detectedPersonVisual->confidenceText->setColor(fontColor);
+        if(m_render_confidences_property->getBool()) textOffset += m_text_spacing_property->getFloat() * detectedPersonVisual->confidenceText->getCharacterHeight();
+
+        // Set color of covariance visualization
+        Ogre::ColourValue covarianceColor = detectionColor;
+        if(!m_render_covariances_property->getBool()) covarianceColor.a = 0.0;
+        detectedPersonVisual->covarianceVisual->setColor(covarianceColor);
+        detectedPersonVisual->covarianceVisual->setLineWidth(m_covariance_line_width_property->getFloat());
+
+        // Update orientation arrow
+        double arrowAlpha = m_render_orientations_property->getBool() && detectedPersonVisual->hasValidOrientation ? detectionColor.a : 0.0;
+        detectedPersonVisual->orientationArrow->setColor(Ogre::ColourValue(detectionColor.r, detectionColor.g, detectionColor.b, arrowAlpha));
+        const double shaftLength = 0.5, shaftDiameter = 0.05, headLength = 0.2, headDiameter = 0.2;
+        detectedPersonVisual->orientationArrow->set(shaftLength, shaftDiameter, headLength, headDiameter);
+    }
+}
+
+// This is our callback to handle an incoming message.
+void DetectedPersonsDisplay::processMessage(pedsim_msgs::msg::DetectedPersons::ConstSharedPtr msg)
+{
+    // Get transforms into fixed frame etc.
+    if(!preprocessMessage(msg)) return;
+
+    const Ogre::Quaternion shapeQuaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ); // required to fix orientation of any Cylinder shapes
+    stringstream ss;
+
+    // Clear previous detections, this will also delete them from the scene graph
+    m_previousDetections.clear();
+
+    //
+    // Iterate over all detections in this message and create a visual representation
+    //
+    for (vector<pedsim_msgs::msg::DetectedPerson>::const_iterator detectedPersonIt = msg->detections.begin(); detectedPersonIt != msg->detections.end(); ++detectedPersonIt)
+    {
+        std::shared_ptr<DetectedPersonVisual> detectedPersonVisual;
+
+        // Create a new visual representation of the detected person
+        detectedPersonVisual = std::shared_ptr<DetectedPersonVisual>(new DetectedPersonVisual);
+        m_previousDetections.push_back(detectedPersonVisual);
+
+        // This scene node is the parent of all visualization elements for the detected person
+        detectedPersonVisual->sceneNode = std::shared_ptr<Ogre::SceneNode>(scene_node_->createChildSceneNode());
+        detectedPersonVisual->detectionId = detectedPersonIt->detection_id;
+        detectedPersonVisual->confidence = detectedPersonIt->confidence;
+        Ogre::SceneNode* currentSceneNode = detectedPersonVisual->sceneNode.get();
+
+
+        //
+        // Person visualization
+        //
+
+        // Create new visual for the person itself, if needed
+        std::shared_ptr<PersonVisual> &personVisual = detectedPersonVisual->personVisual;
+        createPersonVisualIfRequired(currentSceneNode, personVisual);
+
+        const double personHeight = personVisual ? personVisual->getHeight() : 0;
+        const double halfPersonHeight = personHeight / 2.0;
+
+
+        //
+        // Position & visibility of entire detection
+        //
+
+        const Ogre::Matrix3 covXYZinTargetFrame = covarianceXYZIntoTargetFrame(detectedPersonIt->pose);
+        setPoseOrientation(currentSceneNode, detectedPersonIt->pose, covXYZinTargetFrame, personHeight);
+
+        //
+        // Texts
+        //
+        {
+            // Detection ID
+            if (!detectedPersonVisual->detectionIdText) {
+                detectedPersonVisual->detectionIdText.reset(new TextNode(context_->getSceneManager(), currentSceneNode));
+                detectedPersonVisual->detectionIdText->showOnTop();
+            }
+
+            ss.str(""); ss << "det " << detectedPersonIt->detection_id;
+            detectedPersonVisual->detectionIdText->setCaption(ss.str());
+
+            // Confidence value
+            if (!detectedPersonVisual->confidenceText) {
+                detectedPersonVisual->confidenceText.reset(new TextNode(context_->getSceneManager(), currentSceneNode));
+            }
+
+            ss.str(""); ss << fixed << std::setprecision(2) << detectedPersonIt->confidence;
+            detectedPersonVisual->confidenceText->setCaption(ss.str());
+            detectedPersonVisual->confidenceText->showOnTop();
+
+            // Modality text
+            if (!detectedPersonVisual->modalityText) {
+                detectedPersonVisual->modalityText.reset(new TextNode(context_->getSceneManager(), currentSceneNode));
+            }
+
+            ss.str(""); ss << detectedPersonIt->modality;
+            detectedPersonVisual->modalityText->setCaption(ss.str());
+            detectedPersonVisual->modalityText->showOnTop();
+        }
+
+        //
+        // Covariance visualization
+        //
+        if(!detectedPersonVisual->covarianceVisual) {
+            detectedPersonVisual->covarianceVisual.reset(new ProbabilityEllipseCovarianceVisual(context_->getSceneManager(), currentSceneNode));
+        }
+
+        // Update covariance ellipse
+        {
+            Ogre::Vector3 covarianceMean(0,0,0); // zero mean because parent node is already centered at pose mean
+            detectedPersonVisual->covarianceVisual->setOrientation(currentSceneNode->getOrientation().Inverse());
+            detectedPersonVisual->covarianceVisual->setMeanCovariance(covarianceMean, covXYZinTargetFrame);
+        }
+
+
+        //
+        // Orientation arrows
+        //
+        if (!detectedPersonVisual->orientationArrow) {
+            detectedPersonVisual->orientationArrow.reset(new rviz_rendering::Arrow(context_->getSceneManager(), currentSceneNode));
+        }
+
+        // Update orientation arrow
+        {
+            const Ogre::Vector3 forwardVector(1,0,0);
+
+            const double personRadius = 0.2;
+            const Ogre::Vector3 arrowAttachPoint(personRadius, 0, halfPersonHeight); // relative to tracked person's scene node
+            detectedPersonVisual->orientationArrow->setPosition(arrowAttachPoint);
+            detectedPersonVisual->orientationArrow->setOrientation(Ogre::Vector3::NEGATIVE_UNIT_Z.getRotationTo(forwardVector));
+            detectedPersonVisual->hasValidOrientation = hasValidOrientation(detectedPersonIt->pose);
+        }
+
+    } // end for loop over all detected persons
+
+    // Set all properties that can dynamically be adjusted in the GUI
+    stylesChanged();
+
+    //
+    // Update status (shown in property pane)
+    //
+    ss.str("");
+    ss << msg->detections.size() << " detections received";
+    setStatusStd(rviz_common::properties::StatusProperty::Ok, "Tracks", ss.str());
+}
+
+} // end namespace pedsim_rviz_plugin
+
+// Tell pluginlib about this class.  It is important to do this in
+// global scope, outside our package's namespace.
+#include <pluginlib/class_list_macros.hpp>
+PLUGINLIB_EXPORT_CLASS(pedsim_rviz_plugin::DetectedPersonsDisplay, rviz_common::Display)
diff --git a/pedsim_rviz_plugin/src/human_attributes_display.cpp b/pedsim_rviz_plugin/src/human_attributes_display.cpp
new file mode 100644
index 00000000..db71e154
--- /dev/null
+++ b/pedsim_rviz_plugin/src/human_attributes_display.cpp
@@ -0,0 +1,289 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <rviz/frame_manager.h>
+#include <rviz/selection/selection_manager.h>
+
+#ifndef Q_MOC_RUN
+#include "human_attributes_display.h"
+#include <boost/lexical_cast.hpp>
+#include <boost/tokenizer.hpp>
+#include <boost/foreach.hpp>
+#include <boost/range/adaptor/map.hpp>
+#endif
+#define foreach BOOST_FOREACH
+
+namespace spencer_tracking_rviz_plugin
+{
+
+void HumanAttributesDisplay::onInitialize()
+{
+    m_trackedPersonsCache.initialize(this, context_, update_nh_);
+    PersonDisplayCommon::onInitialize();
+    
+    m_render_gender_property = new rviz::BoolProperty( "Render gender", true, "Render gender visual", this, SLOT(stylesChanged()));
+    m_render_age_group_property = new rviz::BoolProperty( "Render age group", true, "Render age group visual", this, SLOT(stylesChanged()));
+    m_render_person_height_property = new rviz::BoolProperty( "Render person height", true, "Render person height", this, SLOT(stylesChanged()));
+    
+    m_occlusion_alpha_property = new rviz::FloatProperty( "Occlusion alpha", 0.5, "Alpha multiplier for occluded tracks", this, SLOT(stylesChanged()) );
+    m_occlusion_alpha_property->setMin( 0.0 );
+
+    m_commonProperties->z_offset->setFloat(2.7f);
+    m_commonProperties->style->setHidden(true);
+}
+
+HumanAttributesDisplay::~HumanAttributesDisplay()
+{
+}
+
+// Clear the visuals by deleting their objects.
+void HumanAttributesDisplay::reset()
+{
+    PersonDisplayCommon::reset();
+    m_trackedPersonsCache.reset();
+    m_humanAttributeVisuals.clear();
+    scene_node_->removeAndDestroyAllChildren(); // not sure if required?
+}
+
+void HumanAttributesDisplay::update(float wall_dt, float ros_dt)
+{}
+
+void HumanAttributesDisplay::stylesChanged()
+{
+    foreach(boost::shared_ptr<HumanAttributeVisual> humanAttributeVisual, m_humanAttributeVisuals | boost::adaptors::map_values) {
+        updateVisualStyles(humanAttributeVisual);
+    }
+}
+
+void HumanAttributesDisplay::updateVisualStyles(boost::shared_ptr<HumanAttributeVisual>& humanAttributeVisual)
+{
+    track_id trackId = humanAttributeVisual->trackId;
+    bool personHidden = isPersonHidden(trackId);
+
+    boost::shared_ptr<CachedTrackedPerson> trackedPerson = m_trackedPersonsCache.lookup(trackId);
+    float occlusionAlpha = trackedPerson->isOccluded ? m_occlusion_alpha_property->getFloat() : 1.0;
+
+    // Update text colors, size and visibility
+    Ogre::ColourValue fontColor = m_commonProperties->font_color_style->getOptionInt() == FONT_COLOR_CONSTANT ? m_commonProperties->constant_font_color->getOgreColor() : getColorFromId(trackId);
+    fontColor.a = m_commonProperties->alpha->getFloat() * occlusionAlpha;
+    if(personHidden) fontColor.a = 0;
+
+    humanAttributeVisual->ageGroupText->setVisible(m_render_age_group_property->getBool());
+    humanAttributeVisual->ageGroupText->setCharacterHeight(0.17 * m_commonProperties->font_scale->getFloat());
+    humanAttributeVisual->ageGroupText->setColor(fontColor);
+    humanAttributeVisual->ageGroupText->setPosition(Ogre::Vector3(0, 0, 0.17 * m_commonProperties->font_scale->getFloat()) );
+
+    humanAttributeVisual->personHeightText->setVisible(m_render_person_height_property->getBool());
+    humanAttributeVisual->personHeightText->setCharacterHeight(0.17 * m_commonProperties->font_scale->getFloat());
+    humanAttributeVisual->personHeightText->setColor(fontColor);
+    humanAttributeVisual->personHeightText->setPosition(Ogre::Vector3(0, 0, 0) );
+
+    if(humanAttributeVisual->genderMesh) {
+        humanAttributeVisual->genderMesh->setPosition(Ogre::Vector3(0, 0, 0.17 * 2 * m_commonProperties->font_scale->getFloat() + 0.3));
+        humanAttributeVisual->genderMesh->setVisible(m_render_gender_property->getBool());
+    }
+}
+
+boost::shared_ptr<HumanAttributesDisplay::HumanAttributeVisual> HumanAttributesDisplay::createVisualIfNotExists(track_id trackId)
+{
+    if(m_humanAttributeVisuals.find(trackId) == m_humanAttributeVisuals.end()) {
+        boost::shared_ptr<HumanAttributeVisual> humanAttributeVisual = boost::shared_ptr<HumanAttributeVisual>(new HumanAttributeVisual);
+
+        humanAttributeVisual->sceneNode = boost::shared_ptr<Ogre::SceneNode>(scene_node_->createChildSceneNode());
+
+        humanAttributeVisual->ageGroupText = boost::shared_ptr<TextNode>(new TextNode(context_->getSceneManager(), humanAttributeVisual->sceneNode.get()));
+        humanAttributeVisual->ageGroupText->showOnTop();
+        humanAttributeVisual->ageGroupText->setCaption(" ");
+
+        humanAttributeVisual->personHeightText = boost::shared_ptr<TextNode>(new TextNode(context_->getSceneManager(), humanAttributeVisual->sceneNode.get()));
+        humanAttributeVisual->personHeightText->showOnTop();
+        humanAttributeVisual->personHeightText->setCaption(" ");
+
+        humanAttributeVisual->trackId = trackId;
+
+        m_humanAttributeVisuals[trackId] = humanAttributeVisual;
+    }
+
+
+    return m_humanAttributeVisuals[trackId];
+}
+
+// This is our callback to handle an incoming group message.
+void HumanAttributesDisplay::processMessage(const spencer_human_attribute_msgs::HumanAttributes::ConstPtr& msg)
+{
+    // Get transforms into fixed frame etc.
+    if(!preprocessMessage(msg)) return;
+
+    // Transform into Rviz fixed frame
+    m_frameTransform = Ogre::Matrix4(m_frameOrientation);
+    m_frameTransform.setTrans(m_framePosition);
+
+    const Ogre::Quaternion shapeQuaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ); // required to fix orientation of any Cylinder shapes
+    stringstream ss;
+
+    //
+    // Iterate over all categorical attributes in this message
+    //
+    foreach (const spencer_human_attribute_msgs::CategoricalAttribute& categoricalAttribute, msg->categoricalAttributes)
+    {
+        // Check if there is already a visual for this particular track
+        track_id trackId = categoricalAttribute.subject_id; // assumes subject_id is a track_id (not detection_id)
+        boost::shared_ptr<HumanAttributeVisual> humanAttributeVisual = createVisualIfNotExists(trackId);
+
+        if(categoricalAttribute.values.empty()) {
+            ROS_ERROR_STREAM("categoricalAttribute.values.empty() for track ID " << trackId << ", attribute " << categoricalAttribute.type);
+            continue;
+        }
+        if(categoricalAttribute.confidences.size() != categoricalAttribute.values.size()) {
+            ROS_WARN_STREAM("categoricalAttribute.confidences.size() != categoricalAttribute.values.size() for track ID " << trackId << ", attribute " << categoricalAttribute.type);
+        }
+
+        // Find highest-ranking attribute
+        size_t highestRankingIndex = 0; float highestConfidence = -999999;
+        for(size_t i = 0; i < categoricalAttribute.confidences.size(); i++) {
+            if(categoricalAttribute.confidences[i] > highestConfidence) {
+                highestConfidence = categoricalAttribute.confidences[i];
+                highestRankingIndex = i;
+            }
+        }
+
+        std::string valueWithHighestConfidence = categoricalAttribute.values[highestRankingIndex];
+
+        // Age group
+        if(categoricalAttribute.type == spencer_human_attribute_msgs::CategoricalAttribute::AGE_GROUP) {
+            ss.str(""); ss << valueWithHighestConfidence << "yrs";
+            humanAttributeVisual->ageGroupText->setCaption(ss.str());
+        }
+
+        // Gender
+        else if(categoricalAttribute.type == spencer_human_attribute_msgs::CategoricalAttribute::GENDER) {
+            ss.str(""); ss << "package://" ROS_PACKAGE_NAME "/media/" << valueWithHighestConfidence << "_symbol.dae";
+            std::string meshResource = ss.str();
+            
+            humanAttributeVisual->genderMesh = boost::shared_ptr<MeshNode>(new MeshNode(context_, humanAttributeVisual->sceneNode.get(), meshResource));
+            
+            Ogre::ColourValue meshColor(1, 1, 1, 1);
+            if(valueWithHighestConfidence == spencer_human_attribute_msgs::CategoricalAttribute::GENDER_MALE) meshColor = Ogre::ColourValue(0, 1, 1, 1);
+            if(valueWithHighestConfidence == spencer_human_attribute_msgs::CategoricalAttribute::GENDER_FEMALE) meshColor = Ogre::ColourValue(1, 0, 1, 1);
+            humanAttributeVisual->genderMesh->setColor(meshColor);
+
+            humanAttributeVisual->genderMesh->setScale(0.5);
+            humanAttributeVisual->genderMesh->setCameraFacing(true);            
+        }
+    }
+
+
+    //
+    // Iterate over all scalar attributes in this message
+    //
+    foreach (const spencer_human_attribute_msgs::ScalarAttribute& scalarAttribute, msg->scalarAttributes)
+    {
+        // Check if there is already a visual for this particular track
+        track_id trackId = scalarAttribute.subject_id; // assumes subject_id is a track_id (not detection_id)
+        boost::shared_ptr<HumanAttributeVisual> humanAttributeVisual = createVisualIfNotExists(trackId);
+        
+        if(scalarAttribute.values.empty()) {
+            ROS_ERROR_STREAM("scalarAttribute.values.empty() for track ID " << trackId << ", attribute " << scalarAttribute.type);
+            continue;
+        }
+        if(scalarAttribute.confidences.size() != scalarAttribute.values.size()) {
+            ROS_WARN_STREAM("scalarAttribute.confidences.size() != scalarAttribute.values.size() for track ID " << trackId << ", attribute " << scalarAttribute.type);
+        }
+
+        // Find highest-ranking attribute
+        size_t highestRankingIndex = 0; float highestConfidence = -999999;
+        for(size_t i = 0; i < scalarAttribute.confidences.size(); i++) {
+            if(scalarAttribute.confidences[i] > highestConfidence) {
+                highestConfidence = scalarAttribute.confidences[i];
+                highestRankingIndex = i;
+            }
+        }
+
+        float valueWithHighestConfidence = scalarAttribute.values[highestRankingIndex];
+
+        // Person height
+        if(scalarAttribute.type == spencer_human_attribute_msgs::ScalarAttribute::PERSON_HEIGHT) {
+            ss.str(""); ss << std::fixed << std::setprecision(2) << valueWithHighestConfidence << "m";
+            humanAttributeVisual->personHeightText->setCaption(ss.str());
+        }            
+    }
+
+
+    //
+    // Update position and style of all existing person visuals
+    //
+    set<track_id> tracksWithUnknownPosition;
+    foreach(boost::shared_ptr<HumanAttributeVisual> humanAttributeVisual, m_humanAttributeVisuals | boost::adaptors::map_values)
+    {
+        boost::shared_ptr<CachedTrackedPerson> trackedPerson = m_trackedPersonsCache.lookup(humanAttributeVisual->trackId);
+
+        // Get current track position
+        if(!trackedPerson) {
+            tracksWithUnknownPosition.insert(humanAttributeVisual->trackId);
+        }
+        else
+        {   // Track position is known
+            humanAttributeVisual->sceneNode->setPosition(trackedPerson->center + Ogre::Vector3(0, 0, m_commonProperties->z_offset->getFloat()));
+
+            // Update styles
+            updateVisualStyles(humanAttributeVisual);
+        }
+    }
+
+
+    // Remove visuals for tracks with unknown position
+    foreach(track_id trackId, tracksWithUnknownPosition) {
+        m_humanAttributeVisuals.erase(trackId);
+    }
+
+
+    //
+    // Update display status (shown in property pane)
+    //
+
+    ss.str("");
+    ss << msg->categoricalAttributes.size() << " categorical attribute(s)";
+    setStatusStd(rviz::StatusProperty::Ok, "Categorical attributes", ss.str());
+
+    ss.str("");
+    ss << msg->scalarAttributes.size() << " scalar attribute(s)";
+    setStatusStd(rviz::StatusProperty::Ok, "Scalar attributes", ss.str());
+
+    ss.str("");
+    ss << tracksWithUnknownPosition.size() << " track(s) with unknown position";
+    setStatusStd(0 == tracksWithUnknownPosition.size() ? rviz::StatusProperty::Ok : rviz::StatusProperty::Warn, "Attribute-to-track assignment", ss.str());
+}
+
+} // end namespace spencer_tracking_rviz_plugin
+
+// Tell pluginlib about this class.  It is important to do this in
+// global scope, outside our package's namespace.
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(spencer_tracking_rviz_plugin::HumanAttributesDisplay, rviz::Display)
diff --git a/pedsim_rviz_plugin/src/person_display_common.cpp b/pedsim_rviz_plugin/src/person_display_common.cpp
new file mode 100644
index 00000000..b938a216
--- /dev/null
+++ b/pedsim_rviz_plugin/src/person_display_common.cpp
@@ -0,0 +1,140 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef Q_MOC_RUN
+#include "pedsim_rviz_plugin/person_display_common.hpp"
+#include <boost/lexical_cast.hpp>
+#include <boost/tokenizer.hpp>
+#include <boost/foreach.hpp>
+#endif
+//#define foreach BOOST_FOREACH
+
+
+namespace pedsim_rviz_plugin
+{
+// The constructor must have no arguments, so we can't give the
+// constructor the parameters it needs to fully initialize.
+PersonDisplayCommonProperties::PersonDisplayCommonProperties(rviz_common::Display* display, StylesChangedSubscriber* stylesChangedSubscriber)
+    : m_display(display), m_stylesChangedSubscriber(stylesChangedSubscriber)
+{
+    style = new rviz_common::properties::EnumProperty( "Style", "Cylinders", "Rendering mode to use, in order of computational complexity.", m_display, SLOT(stylesChanged()), this );
+    style->addOption( "Simple", STYLE_SIMPLE );
+    style->addOption( "Cylinders", STYLE_CYLINDER );
+    style->addOption( "Person meshes", STYLE_PERSON_MESHES );
+    style->addOption( "Bounding boxes", STYLE_BOUNDING_BOXES );
+    style->addOption( "Crosshairs", STYLE_CROSSHAIRS );
+
+    color_transform = new rviz_common::properties::EnumProperty( "Color transform", "Rainbow", "How to color the tracked persons", m_display, SLOT(stylesChanged()), this );
+    color_transform->addOption( "SRL Tracking Colors", COLORS_SRL );
+    color_transform->addOption( "Alternative SRL colors", COLORS_SRL_ALTERNATIVE );
+    color_transform->addOption( "Rainbow", COLORS_RAINBOW );
+    color_transform->addOption( "Rainbow + B/W", COLORS_RAINBOW_BW );
+    color_transform->addOption( "Flat", COLORS_FLAT );
+    color_transform->addOption( "Vintage", COLORS_VINTAGE );
+    color_transform->addOption( "Constant color", COLORS_CONSTANT );
+
+    constant_color = new rviz_common::properties::ColorProperty("Color", QColor( 130, 130, 130 ), "Color for tracked persons if using constant color transform.", m_display, SLOT(stylesChanged()), this );
+
+    color_map_offset = new rviz_common::properties::IntProperty( "Color map offset", 0, "By how many indices to shift the offset in the color map (useful if not happy with the current colors)", m_display, SLOT(stylesChanged()), this);
+    color_map_offset->setMin( 0 );
+
+    alpha = new rviz_common::properties::FloatProperty( "Alpha", 1.0, "0 is fully transparent, 1.0 is fully opaque.", m_display, SLOT(stylesChanged()), this);
+    alpha->setMin( 0.0 );
+    alpha->setMax( 1.0 );
+
+    line_width = new rviz_common::properties::FloatProperty( "Line width", 0.05, "Line width for person visual", style, SLOT(stylesChanged()), this);
+    line_width->setMin( 0.0 );
+    line_width->setMax( 1.0 );
+    
+    scaling_factor = new rviz_common::properties::FloatProperty( "Scaling factor", 1.0, "Scaling factor for person visual", style);
+    scaling_factor->setMin( 0.0 );
+    scaling_factor->setMax( 100.0 );
+
+    font_color_style = new rviz_common::properties::EnumProperty( "Font color style", "Same color", "Which type of font coloring to use", m_display, SLOT(stylesChanged()), this );
+    font_color_style->addOption( "Same color", FONT_COLOR_FROM_PERSON );
+    font_color_style->addOption( "Constant color", FONT_COLOR_CONSTANT );
+
+    constant_font_color = new rviz_common::properties::ColorProperty("Font color", QColor( 255, 255, 255 ), "Font color if using a constant color", m_display, SLOT(stylesChanged()), this );
+
+    font_scale = new rviz_common::properties::FloatProperty( "Font scale", 2.0, "Larger values mean bigger font", m_display);
+    font_scale->setMin( 0.0 );
+
+    z_offset = new rviz_common::properties::FloatProperty( "Z offset", 0.0, "Offset of all visualizations on the z (height) axis", m_display, SLOT(stylesChanged()), this);
+
+    use_actual_z_position = new rviz_common::properties::BoolProperty( "Use Z position from message", false, "Use Z position from message (otherwise place above ground plane)", z_offset, SLOT(stylesChanged()), this);
+
+    m_excluded_person_ids_property = new rviz_common::properties::StringProperty( "Excluded person IDs", "", "Comma-separated list of person IDs whose visualization should be hidden", m_display, SLOT(stylesChanged()), this );
+    m_included_person_ids_property = new rviz_common::properties::StringProperty( "Included person IDs", "", "Comma-separated list of person IDs whose visualization should be visible. Overrides excluded IDs.", m_display, SLOT(stylesChanged()), this );
+
+    hideIrrelevantProperties();
+}
+
+void PersonDisplayCommonProperties::hideIrrelevantProperties()
+{
+    constant_color->setHidden(color_transform->getOptionInt() != COLORS_CONSTANT);
+    color_map_offset->setHidden(color_transform->getOptionInt() == COLORS_CONSTANT);
+    constant_font_color->setHidden(font_color_style->getOptionInt() != FONT_COLOR_CONSTANT);
+
+    line_width->setHidden(style->getOptionInt() != STYLE_BOUNDING_BOXES && style->getOptionInt() != STYLE_CROSSHAIRS);
+}
+
+// Callback for any changed style
+void PersonDisplayCommonProperties::stylesChanged()
+{
+    hideIrrelevantProperties();
+
+    // Update list of person IDs that shall be hidden or visible
+    m_excludedPersonIDs.clear();
+    {
+        string personIDString = m_excluded_person_ids_property->getStdString();
+        char_separator<char> separator(",");
+        tokenizer< char_separator<char> > tokens(personIDString, separator);
+        foreach(const string& token, tokens) {
+         try { m_excludedPersonIDs.insert(lexical_cast<person_id>(token)); }
+         catch(bad_lexical_cast &) {}
+        }
+    }
+    m_includedPersonIDs.clear();
+    {
+        string personIDString = m_included_person_ids_property->getStdString();
+        char_separator<char> separator(",");
+        tokenizer< char_separator<char> > tokens(personIDString, separator);
+        foreach(const string& token, tokens) {
+            try { m_includedPersonIDs.insert(lexical_cast<person_id>(token)); }
+            catch(bad_lexical_cast &) {}
+        }
+    }
+
+    // Relay change to other subscribers
+    m_stylesChangedSubscriber->stylesChanged();
+}
+
+
+} // end namespace pedsim_rviz_plugin
diff --git a/pedsim_rviz_plugin/src/social_activities_display.cpp b/pedsim_rviz_plugin/src/social_activities_display.cpp
new file mode 100644
index 00000000..17e7927b
--- /dev/null
+++ b/pedsim_rviz_plugin/src/social_activities_display.cpp
@@ -0,0 +1,566 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <rviz/visualization_manager.h>
+#include <rviz/frame_manager.h>
+#include "rviz/selection/selection_manager.h"
+
+#ifndef Q_MOC_RUN
+#include "social_activities_display.h"
+
+#include <boost/lexical_cast.hpp>
+#include <boost/tokenizer.hpp>
+#include <boost/algorithm/string.hpp>
+#include <boost/range/adaptor/map.hpp>
+#include <boost/foreach.hpp>
+#endif
+#define foreach BOOST_FOREACH
+
+// required to fix orientation of any Cylinder shapes
+const Ogre::Quaternion shapeQuaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) );
+
+
+namespace sr = spencer_social_relation_msgs;
+namespace spencer_tracking_rviz_plugin
+{
+
+void SocialActivitiesDisplay::onInitialize()
+{
+    m_trackedPersonsCache.initialize(this, context_, update_nh_);
+    PersonDisplayCommon::onInitialize();
+
+    QObject::connect(m_commonProperties->style, SIGNAL(changed()), this, SLOT(personVisualTypeChanged()) );
+
+    m_excluded_activity_types_property = new rviz::StringProperty( "Excluded activity types", "", "Comma-separated list of activity types whose visualization should be hidden", this, SLOT(stylesChanged()) );
+    m_included_activity_types_property = new rviz::StringProperty( "Included activity types", "", "Comma-separated list of activity types whose visualization should be visible, overrides excluded", this, SLOT(stylesChanged()) );
+
+    m_min_confidence_property = new rviz::FloatProperty( "Min. confidence", 0.0, "Minimum confidence for a social activity to be shown", this, SLOT(stylesChanged()) );
+    m_min_confidence_property->setMin( 0.0 );
+
+    m_hide_with_no_activity_property = new rviz::BoolProperty( "Hide tracks with no activity", false, "Hide all tracks which do not have at least one social activity assigned", this, SLOT(stylesChanged()));
+
+    m_render_intraactivity_connections_property = new rviz::BoolProperty( "Connect tracks sharing the same activity", true, "Connect all tracks that share the same activity", this, SLOT(stylesChanged()));
+    m_line_width_property = new rviz::FloatProperty( "Line width", 0.05, "Line width of connecting lines", m_render_intraactivity_connections_property, SLOT(stylesChanged()), this );
+    m_line_width_property->setMin( 0.0 );
+
+    m_render_activity_types_property = new rviz::BoolProperty( "Render activity type texts", true, "Render activity types as text", this, SLOT(stylesChanged()));
+    m_activity_type_per_track_property = new rviz::BoolProperty( "Activity type per track", false, "Show activity type for each individual track", this, SLOT(stylesChanged()));
+    m_render_confidences_property = new rviz::BoolProperty( "Render confidences", true, "Render confidence values next to activity type", this, SLOT(stylesChanged()));
+
+    m_render_circles_property = new rviz::BoolProperty( "Render circles below person", true, "Render circles below person", this, SLOT(stylesChanged()));
+    m_circle_radius_property = new rviz::FloatProperty( "Radius", 0.45, "Radius of circles below person in meters", m_render_circles_property, SLOT(stylesChanged()), this );
+    m_circle_radius_property->setMin( 0.0 );
+
+    m_circle_alpha_property = new rviz::FloatProperty( "Alpha", 1.0, "Alpha value (opacity) of circles below person", m_render_circles_property, SLOT(stylesChanged()), this );
+    m_circle_alpha_property->setMin( 0.0 );
+    m_circle_alpha_property->setMax( 1.0 );
+
+    m_occlusion_alpha_property = new rviz::FloatProperty( "Occlusion alpha", 0.5, "Alpha multiplier for history of occluded tracks", this, SLOT(stylesChanged()) );
+    m_occlusion_alpha_property->setMin( 0.0 );
+
+    m_activity_type_offset = new rviz::FloatProperty( "Activity type Z offset", 2.0, "Offset in z position (height) of the activity type text", this, SLOT(stylesChanged()) );
+
+    m_activity_colors = new rviz::Property( "Activity colors", "", "Colors of different social activity types", this );
+
+    // Add colors for new activity types here, also adjust header file!
+    m_activity_color_unknown = new rviz::ColorProperty( "(Unknown activity)", QColor(255,255,255), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_none = new rviz::ColorProperty( "(No activity)", QColor(200,200,200), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_shopping = new rviz::ColorProperty( sr::SocialActivity::TYPE_SHOPPING.c_str(), QColor(0,0,255), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_standing = new rviz::ColorProperty( sr::SocialActivity::TYPE_STANDING.c_str(), QColor(0,0,0), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_individual_moving = new rviz::ColorProperty( sr::SocialActivity::TYPE_INDIVIDUAL_MOVING.c_str(), QColor(128,128,128), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_waiting_in_queue = new rviz::ColorProperty( sr::SocialActivity::TYPE_WAITING_IN_QUEUE.c_str(), QColor(255,0,255), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_looking_at_information_screen = new rviz::ColorProperty( sr::SocialActivity::TYPE_LOOKING_AT_INFORMATION_SCREEN.c_str(), QColor(255,255,0), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_looking_at_kiosk = new rviz::ColorProperty( sr::SocialActivity::TYPE_LOOKING_AT_KIOSK.c_str(), QColor(255,128,0), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_group_assembling = new rviz::ColorProperty( sr::SocialActivity::TYPE_GROUP_ASSEMBLING.c_str(), QColor(0,128,255), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_group_moving = new rviz::ColorProperty( sr::SocialActivity::TYPE_GROUP_MOVING.c_str(), QColor(0,255,255), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_flow = new rviz::ColorProperty( sr::SocialActivity::TYPE_FLOW_WITH_ROBOT.c_str(), QColor(0,255,0), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_antiflow = new rviz::ColorProperty( sr::SocialActivity::TYPE_ANTIFLOW_AGAINST_ROBOT.c_str(), QColor(255,0,0), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_waiting_for_others = new rviz::ColorProperty( sr::SocialActivity::TYPE_WAITING_FOR_OTHERS.c_str(), QColor(255,170,255), "", m_activity_colors, SLOT(stylesChanged()), this);
+    m_activity_color_looking_for_help = new rviz::ColorProperty( sr::SocialActivity::TYPE_LOOKING_FOR_HELP.c_str(), QColor(155,170,255), "", m_activity_colors, SLOT(stylesChanged()), this);
+
+    m_commonProperties->color_transform->setHidden(true);
+    m_commonProperties->color_map_offset->setHidden(true);
+
+    // Create a scene node for visualizing group affiliation history
+    m_socialActivitiesSceneNode = boost::shared_ptr<Ogre::SceneNode>(scene_node_->createChildSceneNode());
+}
+
+SocialActivitiesDisplay::~SocialActivitiesDisplay()
+{
+}
+
+// Clear the visuals by deleting their objects.
+void SocialActivitiesDisplay::reset()
+{
+    PersonDisplayCommon::reset();
+    m_trackedPersonsCache.reset();
+    m_socialActivityVisuals.clear();
+    m_personVisualMap.clear();
+    m_highestConfidenceActivityPerTrack.clear();
+}
+
+void SocialActivitiesDisplay::update(float wall_dt, float ros_dt)
+{
+    // Update animations
+    foreach(PersonVisualContainer& personVisualContainer, m_personVisualMap | boost::adaptors::map_values) {
+        if(personVisualContainer.personVisual) {
+            personVisualContainer.personVisual->update(ros_dt);
+        }
+    }
+}
+
+void SocialActivitiesDisplay::stylesChanged()
+{
+    m_commonProperties->color_map_offset->setHidden(true);
+
+    // Get list of group IDs belonging to tracks that shall be hidden or visible
+    m_excludedActivityTypes.clear();
+    {
+        string inputString = m_excluded_activity_types_property->getStdString();
+        char_separator<char> separator(",");
+        tokenizer< char_separator<char> > tokens(inputString, separator);
+        foreach(const string& token, tokens) {
+            string tmp = token;
+            boost::algorithm::to_lower(tmp);
+            m_excludedActivityTypes.insert(tmp);
+        }
+    }
+    m_includedActivityTypes.clear();
+    {
+        string inputString = m_included_activity_types_property->getStdString();
+        char_separator<char> separator(",");
+        tokenizer< char_separator<char> > tokens(inputString, separator);
+        foreach(const string& token, tokens) {
+            string tmp = token;
+            boost::algorithm::to_lower(tmp);
+            m_includedActivityTypes.insert(tmp);
+        }
+    }
+
+    foreach(boost::shared_ptr<SocialActivityVisual> socialActivityVisual, m_socialActivityVisuals) {
+        updateSocialActivityVisualStyles(socialActivityVisual);
+    }
+
+    foreach(PersonVisualContainer& personVisualContainer, m_personVisualMap | boost::adaptors::map_values) {
+        if(personVisualContainer.personVisual) {
+            // Update common styles to person visual, such as line width
+            applyCommonStyles(personVisualContainer.personVisual);
+
+            // Update color according to highest-ranking social activity for this person
+            Ogre::ColourValue activityColor;
+
+            activity_type activityType = "";
+            float confidence = 1.0f;
+            if(m_highestConfidenceActivityPerTrack.find(personVisualContainer.trackId) != m_highestConfidenceActivityPerTrack.end()) {
+                activityType = m_highestConfidenceActivityPerTrack[personVisualContainer.trackId].type;
+                confidence   = m_highestConfidenceActivityPerTrack[personVisualContainer.trackId].confidence;
+            }
+            else {
+                if(m_hide_with_no_activity_property->getBool()) confidence = -999;
+            }
+            activityColor = getActivityColor(activityType, confidence);
+
+            personVisualContainer.personVisual->setColor(activityColor);
+        }
+    }
+}
+
+bool SocialActivitiesDisplay::isActivityTypeHidden(activity_type activityType) {
+    boost::algorithm::to_lower(activityType);
+
+    bool isIncluded = m_includedActivityTypes.find(activityType) != m_includedActivityTypes.end();
+    if(isIncluded) return false;
+    if(!m_includedActivityTypes.empty()) return true;
+
+    return m_excludedActivityTypes.find(activityType) != m_excludedActivityTypes.end();
+}
+
+Ogre::ColourValue SocialActivitiesDisplay::getActivityColor(activity_type activityType, float confidence) {
+    bool hideActivityType = isActivityTypeHidden(activityType);
+
+    // Determine color
+    rviz::ColorProperty* colorProperty = NULL;
+
+    // Add new social activity types here, and also add a property in constructor at top of file!
+    if(activityType.empty())
+        colorProperty = m_activity_color_none;
+    else if(activityType == sr::SocialActivity::TYPE_SHOPPING)
+        colorProperty = m_activity_color_shopping;
+    else if(activityType == sr::SocialActivity::TYPE_STANDING)
+        colorProperty = m_activity_color_standing;
+    else if(activityType == sr::SocialActivity::TYPE_INDIVIDUAL_MOVING)
+        colorProperty = m_activity_color_individual_moving;
+    else if(activityType == sr::SocialActivity::TYPE_WAITING_IN_QUEUE)
+        colorProperty = m_activity_color_waiting_in_queue;
+    else if(activityType == sr::SocialActivity::TYPE_LOOKING_AT_INFORMATION_SCREEN)
+        colorProperty = m_activity_color_looking_at_information_screen;
+    else if(activityType == sr::SocialActivity::TYPE_LOOKING_AT_KIOSK)
+        colorProperty = m_activity_color_looking_at_kiosk;
+    else if(activityType == sr::SocialActivity::TYPE_GROUP_ASSEMBLING)
+        colorProperty = m_activity_color_group_assembling;
+    else if(activityType == sr::SocialActivity::TYPE_GROUP_MOVING)
+        colorProperty = m_activity_color_group_moving;
+    else if(activityType == sr::SocialActivity::TYPE_FLOW_WITH_ROBOT)
+        colorProperty = m_activity_color_flow;
+    else if(activityType == sr::SocialActivity::TYPE_ANTIFLOW_AGAINST_ROBOT)
+        colorProperty = m_activity_color_antiflow;
+    else if(activityType == sr::SocialActivity::TYPE_WAITING_FOR_OTHERS)
+        colorProperty = m_activity_color_waiting_for_others;
+    else if(activityType == sr::SocialActivity::TYPE_LOOKING_FOR_HELP)
+        colorProperty = m_activity_color_looking_for_help;
+    else
+        colorProperty = m_activity_color_unknown;
+
+    Ogre::ColourValue activityColor = colorProperty->getOgreColor();
+    activityColor.a = 1.0f;
+
+    activityColor.a *= m_commonProperties->alpha->getFloat(); // general alpha
+    if(hideActivityType) activityColor.a = 0;
+
+    if(confidence < m_min_confidence_property->getFloat()) activityColor.a = 0;
+
+    return activityColor;
+}
+
+// Set the rendering style (cylinders, meshes, ...) of tracked persons
+void SocialActivitiesDisplay::personVisualTypeChanged()
+{
+    m_personVisualMap.clear();
+    foreach(PersonVisualContainer& personVisualContainer, m_personVisualMap | boost::adaptors::map_values) {
+        personVisualContainer.personVisual.reset();
+        createPersonVisualIfRequired(personVisualContainer.sceneNode.get(), personVisualContainer.personVisual);
+    }
+    stylesChanged();
+}
+
+void SocialActivitiesDisplay::updateSocialActivityVisualStyles(boost::shared_ptr<SocialActivityVisual>& socialActivityVisual)
+{
+    std::stringstream ss;
+
+    Ogre::ColourValue activityColor = getActivityColor(socialActivityVisual->activityType, socialActivityVisual->confidence);
+    bool hideActivity = isActivityTypeHidden(socialActivityVisual->activityType) || socialActivityVisual->confidence < m_min_confidence_property->getFloat();
+    bool showCircles = m_render_circles_property->getBool();
+
+    foreach(boost::shared_ptr<rviz::Shape> circle, socialActivityVisual->socialActivityAssignmentCircles) {
+        circle->setColor(activityColor.r, activityColor.g, activityColor.b, activityColor.a * m_circle_alpha_property->getFloat() * (showCircles ? 1.0f : 0.0f));
+        const double circleDiameter = m_circle_radius_property->getFloat() * 2, circleHeight = 0;
+        circle->setScale(shapeQuaternion * Ogre::Vector3(circleDiameter, circleDiameter, circleHeight));
+    }
+
+    double connectionLineVisibilityAlpha = m_render_intraactivity_connections_property->getBool() ? 1.0 : 0.0;
+    foreach(boost::shared_ptr<rviz::BillboardLine> connectionLine, socialActivityVisual->connectionLines) {
+        connectionLine->setColor(activityColor.r, activityColor.g, activityColor.b, activityColor.a * connectionLineVisibilityAlpha);
+        connectionLine->setLineWidth(m_line_width_property->getFloat());
+    }
+
+    // Update text colors, size and visibility
+    ss.str(""); ss << socialActivityVisual->activityType;
+    if(m_render_confidences_property->getBool()) ss << fixed << setprecision(1) << " (" << 100*socialActivityVisual->confidence << "%)";
+
+    for(int i = 0; i < socialActivityVisual->typeTexts.size(); i++) {
+        boost::shared_ptr<TextNode>& typeText = socialActivityVisual->typeTexts[i];
+
+        if(typeText) { // might be not set if center of activity could not be determined
+            typeText->setCaption(ss.str());
+
+            Ogre::Vector3 centerAt;
+            if(m_activity_type_per_track_property->getBool()) {
+                boost::shared_ptr<CachedTrackedPerson> trackedPerson = m_trackedPersonsCache.lookup(socialActivityVisual->trackIds[i]);
+                if(!trackedPerson) continue;
+                centerAt = Ogre::Vector3(trackedPerson->center.x, trackedPerson->center.y, m_commonProperties->z_offset->getFloat());
+            }
+            else centerAt = Ogre::Vector3(socialActivityVisual->socialActivityCenter.x, socialActivityVisual->socialActivityCenter.y, socialActivityVisual->socialActivityCenter.z);
+
+            Ogre::ColourValue fontColor = m_commonProperties->font_color_style->getOptionInt() == FONT_COLOR_CONSTANT ? m_commonProperties->constant_font_color->getOgreColor() : activityColor;
+            fontColor.a = m_commonProperties->alpha->getFloat();
+            if(hideActivity) fontColor.a = 0;
+            float characterHeight = 0.23 * m_commonProperties->font_scale->getFloat();
+            typeText->setVisible(m_render_activity_types_property->getBool());
+            typeText->setCharacterHeight(characterHeight);
+            typeText->setColor(fontColor);
+            typeText->setPosition(m_frameTransform * Ogre::Vector3(
+                centerAt.x,
+                centerAt.y,
+                centerAt.z + m_activity_type_offset->getFloat() + m_commonProperties->z_offset->getFloat()
+                    + socialActivityVisual->declutteringOffset * characterHeight /* this is for decluttering of overlapping labels */));
+        }
+    }
+}
+
+// Helper function for guaranteeing consistent ordering of activity labels
+bool CompareActivityByType (const SocialActivitiesDisplay::ActivityWithConfidence& first, const SocialActivitiesDisplay::ActivityWithConfidence& second) {
+    return first.type < second.type;
+}
+
+// This is our callback to handle an incoming group message.
+void SocialActivitiesDisplay::processMessage(const spencer_social_relation_msgs::SocialActivities::ConstPtr& msg)
+{
+    // Get transforms into fixed frame etc.
+    if(!preprocessMessage(msg)) return;
+
+    // Transform into Rviz fixed frame
+    m_frameTransform = Ogre::Matrix4(m_frameOrientation);
+    m_frameTransform.setTrans(m_framePosition);
+    stringstream ss;
+
+    // Clear previous visualization (not very efficient, but easier to implement)
+    // Note that person visuals are not cleared to allow walking animations to function properly
+    m_socialActivityVisuals.clear();
+    m_socialActivitiesSceneNode->removeAndDestroyAllChildren();
+
+    m_highestConfidenceActivityPerTrack.clear(); // used later on to determine color of person visuals
+    m_allActivitiesPerTrack.clear();
+
+    unsigned int numTracksWithUnknownPosition = 0;
+
+
+    //
+    // Iterate over all social activities in this message
+    //
+    foreach (const spencer_social_relation_msgs::SocialActivity& socialActivity, msg->elements)
+    {
+        // Create a new visual representation of the social activity
+        boost::shared_ptr<SocialActivityVisual> socialActivityVisual = boost::shared_ptr<SocialActivityVisual>(new SocialActivityVisual);
+        socialActivityVisual->activityType = socialActivity.type;
+        socialActivityVisual->confidence = socialActivity.confidence;
+        socialActivityVisual->personCount = socialActivity.track_ids.size();
+        m_socialActivityVisuals.push_back(socialActivityVisual);
+
+        geometry_msgs::Point socialActivityCenter;
+        size_t numGoodTracksInActivity = 0;
+
+        //
+        // Assignment circles, person visuals (if enabled) + connections between social activity members
+        //
+
+        for(size_t trackIndex = 0; trackIndex < socialActivity.track_ids.size(); trackIndex++)
+        {
+            const track_id trackId = socialActivity.track_ids[trackIndex];
+            boost::shared_ptr<CachedTrackedPerson> trackedPerson = m_trackedPersonsCache.lookup(trackId);
+
+            ActivityWithConfidence activityWithConfidence;
+            activityWithConfidence.type = socialActivity.type;
+            activityWithConfidence.confidence = socialActivity.confidence;
+
+            // Update map of highest-confidence activity per person
+            if(m_highestConfidenceActivityPerTrack.find(trackId) == m_highestConfidenceActivityPerTrack.end()
+                    || socialActivity.confidence > m_highestConfidenceActivityPerTrack[trackId].confidence) {
+                m_highestConfidenceActivityPerTrack[trackId] = activityWithConfidence;
+            }
+
+            // Update map of all activities per person
+            if(m_allActivitiesPerTrack.find(trackId) == m_allActivitiesPerTrack.end()) {
+                m_allActivitiesPerTrack[trackId] = vector<ActivityWithConfidence>();
+            }
+            m_allActivitiesPerTrack[trackId].push_back(activityWithConfidence);
+
+
+            // Get current track position
+            if(!trackedPerson) {
+                numTracksWithUnknownPosition++;
+            }
+            else
+            {
+                socialActivityVisual->trackIds.push_back(trackId);
+                numGoodTracksInActivity++;
+
+                Ogre::Vector3 trackCenterAtGroundPlane(trackedPerson->center.x, trackedPerson->center.y, m_commonProperties->z_offset->getFloat());
+                socialActivityCenter.x += trackCenterAtGroundPlane.x;
+                socialActivityCenter.y += trackCenterAtGroundPlane.y;
+                socialActivityCenter.z += trackCenterAtGroundPlane.z;
+
+
+                //
+                // Social activity assignment circles (below tracks)
+                //
+
+                if(m_render_circles_property->getBool()) // only create circles if they are enabled, for better performance
+                {
+                    boost::shared_ptr<rviz::Shape> circle = boost::shared_ptr<rviz::Shape>(new rviz::Shape(rviz::Shape::Cylinder, context_->getSceneManager(), m_socialActivitiesSceneNode.get()));
+
+                    const double circleHeight = 0;
+                    circle->setOrientation(shapeQuaternion);
+
+                    Ogre::Vector3 circlePos = trackCenterAtGroundPlane + Ogre::Vector3(0, 0, -0.5*circleHeight - 0.01);
+                    circle->setPosition(circlePos);
+
+                    socialActivityVisual->socialActivityAssignmentCircles.push_back(circle);
+                }
+
+                //
+                // Intra-activity connections
+                //
+
+                if(m_render_intraactivity_connections_property->getBool()) // only create circles if they are enabled, for better performance
+                {
+                    // Iterate over all tracks sharing the same activity to render intra-activity connections
+                    for(size_t otherTrackIndex = trackIndex + 1; otherTrackIndex < socialActivity.track_ids.size(); otherTrackIndex++)
+                    {
+                        const track_id otherTrackId = socialActivity.track_ids[otherTrackIndex];
+                        boost::shared_ptr<CachedTrackedPerson> otherTrackedPerson = m_trackedPersonsCache.lookup(otherTrackId);
+
+                        // Get other track's position
+                        if(otherTrackedPerson) {
+                            // Get positions. These are already in fixed frame coordinates!
+                            const Ogre::Vector3 verticalShift(0,0, 0.5 + m_commonProperties->z_offset->getFloat());
+                            const Ogre::Vector3& position1 = verticalShift + trackedPerson->center;
+                            const Ogre::Vector3& position2 = verticalShift + otherTrackedPerson->center;
+
+                            // Add line connecting the two tracks
+                            boost::shared_ptr<rviz::BillboardLine> connectionLine(new rviz::BillboardLine(context_->getSceneManager(), m_socialActivitiesSceneNode.get()));
+                            connectionLine->setMaxPointsPerLine(2);
+                            connectionLine->addPoint(position1);
+                            connectionLine->addPoint(position2);
+                            socialActivityVisual->connectionLines.push_back(connectionLine);
+                        }
+                    } // end loop over other tracks sharing same activity
+                }
+
+            } // end if track found
+        } // end for loop over tracks
+
+        //
+        // Texts
+        //
+        socialActivityCenter.x /= (double) numGoodTracksInActivity;
+        socialActivityCenter.y /= (double) numGoodTracksInActivity;
+        socialActivityCenter.z /= (double) numGoodTracksInActivity;
+        socialActivityVisual->socialActivityCenter = socialActivityCenter;
+
+        // Social activity type
+        if(numGoodTracksInActivity > 0) {
+            for(int i = 0; i < (m_activity_type_per_track_property->getBool() ? socialActivityVisual->trackIds.size() : 1); i++) {
+                boost::shared_ptr<TextNode> typeText(new TextNode(context_->getSceneManager(), m_socialActivitiesSceneNode.get()));
+                typeText->showOnTop();
+                socialActivityVisual->typeTexts.push_back(typeText);
+            }
+        }
+    } // end for loop over all social activities in msg
+
+
+    //
+    // Second iteration over all social activities and member tracks, required for decluttering
+    //
+    ROS_ASSERT(msg->elements.size() == m_socialActivityVisuals.size());
+    for(size_t i = 0; i < msg->elements.size(); i++)
+    {
+        const spencer_social_relation_msgs::SocialActivity& socialActivity = msg->elements[i];
+        boost::shared_ptr<SocialActivityVisual> socialActivityVisual = m_socialActivityVisuals[i];
+        size_t maxIndexOfThisActivity = 0;
+
+        for(size_t trackIndex = 0; trackIndex < socialActivity.track_ids.size(); trackIndex++)
+        {
+            const track_id trackId = socialActivity.track_ids[trackIndex];
+            vector<ActivityWithConfidence> activitiesOfTrack(m_allActivitiesPerTrack[trackId]);
+
+            // Sort to ensure consistency across multiple runs, even if msg->elements order changes
+            std::sort(activitiesOfTrack.begin(), activitiesOfTrack.end(), CompareActivityByType);
+
+            for(size_t j = 0; j < activitiesOfTrack.size(); j++) {
+                if(activitiesOfTrack[j].type == socialActivityVisual->activityType) {
+                    maxIndexOfThisActivity = std::max(maxIndexOfThisActivity, j);
+                    break;
+                }
+            }
+        }
+
+        socialActivityVisual->declutteringOffset = maxIndexOfThisActivity; // got it
+    }
+
+
+    //
+    // Create person visuals for all tracked persons (colored in color of activity with highest confidence)
+    //
+    set<track_id> seenTrackIds;
+    foreach(const TrackedPersonsCache::CachedTrackedPersonsMap::value_type& entry, m_trackedPersonsCache.getMap()) {
+        const track_id trackId = entry.first;
+        const boost::shared_ptr<CachedTrackedPerson> trackedPerson = entry.second;
+
+        PersonVisualContainer personVisualContainer;
+        if(m_personVisualMap.find(trackId) != m_personVisualMap.end()) {
+            personVisualContainer = m_personVisualMap[trackId];
+        }
+        else {
+            personVisualContainer.trackId = trackId;
+            personVisualContainer.sceneNode = boost::shared_ptr<Ogre::SceneNode>(scene_node_->createChildSceneNode()); // This scene node is the parent of all visualization elements for the tracked person
+        }
+
+        // Create new visual for the person itself, if needed
+        createPersonVisualIfRequired(personVisualContainer.sceneNode.get(), personVisualContainer.personVisual);
+
+        const double personHeight = personVisualContainer.personVisual ? personVisualContainer.personVisual->getHeight() : 0;
+        const Ogre::Matrix3 covXYZinTargetFrame = covarianceXYZIntoTargetFrame(trackedPerson->pose);
+        setPoseOrientation(personVisualContainer.sceneNode.get(), trackedPerson->pose, covXYZinTargetFrame, personHeight);
+
+        // Update walking animation if required
+        const Ogre::Vector3 velocityVector = getVelocityVector(trackedPerson->twist);
+        boost::shared_ptr<MeshPersonVisual> meshPersonVisual = boost::dynamic_pointer_cast<MeshPersonVisual>(personVisualContainer.personVisual);
+        if(meshPersonVisual) {
+            meshPersonVisual->setWalkingSpeed(velocityVector.length());
+        }
+
+        m_personVisualMap[trackId] = personVisualContainer; // to keep visuals alive across multiple frames, for walking animation
+        seenTrackIds.insert(trackId);
+    }
+
+    // Delete obsolete track visuals of tracks that have disappeared
+    set<track_id> trackIdsToDelete;
+    foreach(track_id trackId, m_personVisualMap | boost::adaptors::map_keys) {
+        if(seenTrackIds.find(trackId) == seenTrackIds.end()) trackIdsToDelete.insert(trackId);
+    }
+    foreach(track_id trackIdToDelete, trackIdsToDelete) {
+        m_personVisualMap.erase(trackIdToDelete);
+    }
+
+    //
+    // Update all styles (colors etc. which can also be reconfigured at runtime, even if no new messages are received)
+    //
+    stylesChanged();
+
+
+    //
+    // Update status (shown in property pane)
+    //
+
+    ss.str("");
+    ss << msg->elements.size() << " activities(s)";
+    setStatusStd(rviz::StatusProperty::Ok, "Social activities", ss.str());
+
+    ss.str("");
+    ss << numTracksWithUnknownPosition << " track(s) with unknown position";
+    setStatusStd(0 == numTracksWithUnknownPosition ? rviz::StatusProperty::Ok : rviz::StatusProperty::Warn, "Track-to-activity assignment", ss.str());
+}
+
+} // end namespace spencer_tracking_rviz_plugin
+
+// Tell pluginlib about this class.  It is important to do this in
+// global scope, outside our package's namespace.
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(spencer_tracking_rviz_plugin::SocialActivitiesDisplay, rviz::Display)
diff --git a/pedsim_rviz_plugin/src/social_relations_display.cpp b/pedsim_rviz_plugin/src/social_relations_display.cpp
new file mode 100644
index 00000000..f38e44f7
--- /dev/null
+++ b/pedsim_rviz_plugin/src/social_relations_display.cpp
@@ -0,0 +1,167 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <rviz/visualization_manager.h>
+#include <rviz/frame_manager.h>
+#include "rviz/selection/selection_manager.h"
+
+#ifndef Q_MOC_RUN
+#include "social_relations_display.h"
+#include <boost/foreach.hpp>
+#endif
+#define foreach BOOST_FOREACH
+
+namespace spencer_tracking_rviz_plugin
+{
+
+void SocialRelationsDisplay::onInitialize()
+{
+    m_trackedPersonsCache.initialize(this, context_, update_nh_);
+    PersonDisplayCommon::onInitialize();
+    
+    m_relation_type_filter_property = new rviz::StringProperty( "Relation type filter", "", "Type of social relations to display (see \"type\" field in message). No wildcards allowed. Leave empty to allow any type of relation.", this, SLOT(stylesChanged()));
+    
+    m_positive_person_relation_threshold = new rviz::FloatProperty( "Positive relation threshold", 0.5, "Above which probability threshold a social relation between tracks is considered as positive", this, SLOT(stylesChanged()));
+
+    m_positive_person_relations_color = new rviz::ColorProperty( "Positive relation color", QColor(0,255,0), "Color for positive track relations", this, SLOT(stylesChanged()));
+    m_negative_person_relations_color = new rviz::ColorProperty( "Negative relation color", QColor(255,0,0), "Color for negative track relations", this, SLOT(stylesChanged()));
+
+    m_render_positive_person_relations_property = new rviz::BoolProperty( "Render positive relations", true,  "Render positive person relations", this, SLOT(stylesChanged()));
+    m_render_negative_person_relations_property = new rviz::BoolProperty( "Render negative relations", false, "Render negative person relations", this, SLOT(stylesChanged()));
+   
+    // Create a scene node for visualizing social relations
+    m_socialRelationsSceneNode = boost::shared_ptr<Ogre::SceneNode>(scene_node_->createChildSceneNode());
+}
+
+SocialRelationsDisplay::~SocialRelationsDisplay()
+{
+}
+
+// Clear the visuals by deleting their objects.
+void SocialRelationsDisplay::reset()
+{
+    PersonDisplayCommon::reset();
+    m_trackedPersonsCache.reset();
+    m_relationVisuals.clear();
+}
+
+void SocialRelationsDisplay::processMessage(const spencer_social_relation_msgs::SocialRelations::ConstPtr& msg)
+{
+    // Get transforms into fixed frame etc.
+    if(!preprocessMessage(msg)) return;
+
+    // Loop over all social relations between tracks
+    m_relationVisuals.clear();
+    m_socialRelationsSceneNode->removeAndDestroyAllChildren();
+
+    foreach(const spencer_social_relation_msgs::SocialRelation& socialRelation, msg->elements)
+    {
+        boost::shared_ptr<CachedTrackedPerson> personTrack1 = m_trackedPersonsCache.lookup(socialRelation.track1_id);
+        boost::shared_ptr<CachedTrackedPerson> personTrack2 = m_trackedPersonsCache.lookup(socialRelation.track2_id);
+
+        // Cannot draw relations for tracks with unknown position
+        if(!personTrack1 || !personTrack2) continue;
+
+        // Create a new visual representation of the tracked person
+        boost::shared_ptr<RelationVisual> relationVisual = boost::shared_ptr<RelationVisual>(new RelationVisual);
+        relationVisual->type = socialRelation.type;
+        relationVisual->relationStrength = socialRelation.strength;
+        m_relationVisuals.push_back(relationVisual);
+
+        // Get positions. These are already in fixed frame coordinates!
+        const Ogre::Vector3 verticalShift(0,0, 1.0 + m_commonProperties->z_offset->getFloat()), textShift(0,0, 0.3);
+        const Ogre::Vector3& position1 = verticalShift + personTrack1->center;
+        const Ogre::Vector3& position2 = verticalShift + personTrack2->center;
+        const Ogre::Vector3& centerPosition = (position1 + position2) / 2.0;
+
+        // Add line connecting the two tracks
+        boost::shared_ptr<rviz::BillboardLine> relationLine(new rviz::BillboardLine(context_->getSceneManager(), m_socialRelationsSceneNode.get()));
+        relationLine->setMaxPointsPerLine(2);
+        relationLine->addPoint(position1);
+        relationLine->addPoint(position2);
+        relationVisual->relationLine = relationLine;
+
+        // Add relationship strength text
+        stringstream ss;
+        boost::shared_ptr<TextNode> relationText(new TextNode(context_->getSceneManager(), m_socialRelationsSceneNode.get()));
+        ss.str(""); ss << std::fixed << std::setprecision(0) << socialRelation.strength * 100 << "%";
+        relationText->setCaption(ss.str());
+        relationText->setPosition(centerPosition + textShift);
+        relationText->showOnTop();
+        relationVisual->relationText = relationText;
+
+        // Remember to which groups the tracks belong, to be able to hide certain groups and their track-to-track relations
+        relationVisual->trackId1 = socialRelation.track1_id;
+        relationVisual->trackId2 = socialRelation.track2_id;
+
+        // Update adjustable styles
+        updateRelationVisualStyles(relationVisual);
+    }
+}
+
+void SocialRelationsDisplay::stylesChanged()
+{
+    foreach(boost::shared_ptr<RelationVisual> relationVisual, m_relationVisuals) {
+        updateRelationVisualStyles(relationVisual);
+    }
+}
+
+void SocialRelationsDisplay::updateRelationVisualStyles(boost::shared_ptr<RelationVisual>& relationVisual)
+{
+    std::string typeFilter = m_relation_type_filter_property->getStdString();
+    bool validRelationType = relationVisual->type.find(typeFilter) != std::string::npos;
+    bool hideRelation = !validRelationType || isPersonHidden(relationVisual->trackId1) || isPersonHidden(relationVisual->trackId2);
+
+    // Determine type of the relationship
+    bool isPositiveRelation = relationVisual->relationStrength > m_positive_person_relation_threshold->getFloat();
+
+    // Get color
+    Ogre::ColourValue relationColor = isPositiveRelation ? m_positive_person_relations_color->getOgreColor() : m_negative_person_relations_color->getOgreColor();
+    relationColor.a *= m_commonProperties->alpha->getFloat(); // general alpha
+    if(hideRelation) relationColor.a = 0;
+
+    if(isPositiveRelation && !m_render_positive_person_relations_property->getBool()) relationColor.a = 0;
+    if(!isPositiveRelation && !m_render_negative_person_relations_property->getBool()) relationColor.a = 0;
+
+
+    relationVisual->relationLine->setLineWidth(0.03 * (isPositiveRelation ? 1.0 : 0.3));
+    relationVisual->relationLine->setColor(relationColor.r, relationColor.g, relationColor.b, relationColor.a);
+
+    relationVisual->relationText->setCharacterHeight(0.15 * m_commonProperties->font_scale->getFloat());
+    relationVisual->relationText->setColor(relationColor);
+}
+
+
+} // end namespace spencer_tracking_rviz_plugin
+
+// Tell pluginlib about this class.  It is important to do this in
+// global scope, outside our package's namespace.
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(spencer_tracking_rviz_plugin::SocialRelationsDisplay, rviz::Display)
diff --git a/pedsim_rviz_plugin/src/tracked_groups_display.cpp b/pedsim_rviz_plugin/src/tracked_groups_display.cpp
new file mode 100644
index 00000000..2e9a8123
--- /dev/null
+++ b/pedsim_rviz_plugin/src/tracked_groups_display.cpp
@@ -0,0 +1,405 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <rviz/visualization_manager.h>
+#include <rviz/frame_manager.h>
+#include "rviz/selection/selection_manager.h"
+
+#include "tracked_groups_display.h"
+#ifndef Q_MOC_RUN
+#include <boost/lexical_cast.hpp>
+#include <boost/tokenizer.hpp>
+#include <boost/foreach.hpp>
+#endif
+#define foreach BOOST_FOREACH
+
+namespace pedsim_rviz_plugin
+{
+
+void TrackedGroupsDisplay::onInitialize()
+{
+    m_realFixedFrame = "map";
+
+    m_trackedPersonsCache.initialize(this, context_, update_nh_);
+    PersonDisplayCommon::onInitialize();
+    
+    QObject::connect(m_commonProperties->style, SIGNAL(changed()), this, SLOT(personVisualTypeChanged()) );
+
+    m_excluded_group_ids_property = new rviz::StringProperty( "Excluded group IDs", "", "Comma-separated list of group IDs whose group visualization should be hidden", this, SLOT(stylesChanged()) );
+    m_included_group_ids_property = new rviz::StringProperty( "Included group IDs", "", "Comma-separated list of group IDs whose group visualization should be visible, overrides excluded", this, SLOT(stylesChanged()) );
+
+    m_render_intragroup_connections_property = new rviz::BoolProperty( "Connect group members", true, "Connect all members of a group by lines", this, SLOT(stylesChanged()));
+    m_render_ids_property = new rviz::BoolProperty( "Render group IDs", true, "Render group IDs as text", this, SLOT(stylesChanged()));
+    m_render_history_property = new rviz::BoolProperty( "Render history", false, "Render group affiliation history", this, SLOT(stylesChanged()));
+    
+    m_single_person_groups_in_constant_color_property  = new rviz::BoolProperty( "Single-person groups in constant color", true, "Render single-person groups in constant color", this, SLOT(stylesChanged()));
+    m_hide_ids_of_single_person_groups_property = new rviz::BoolProperty( "Hide IDs of single-person groups", false, "Hide IDs of single-person groups", m_render_ids_property, SLOT(stylesChanged()), this);
+
+    m_history_length_property = new rviz::IntProperty( "Global history size", 1000, "Global number of group affiliation history entries to display.", this, SLOT(stylesChanged()));
+    m_history_length_property->setMin( 1 );
+    m_history_length_property->setMax( 10000000 );
+
+    m_occlusion_alpha_property = new rviz::FloatProperty( "Occlusion alpha", 0.5, "Alpha multiplier for history of occluded tracks", this, SLOT(stylesChanged()) );
+    m_occlusion_alpha_property->setMin( 0.0 );
+
+    m_group_id_offset = new rviz::FloatProperty( "Group ID Z offset", 2.0, "Offset in z position (height) of the group ID text", this, SLOT(stylesChanged()) );
+
+    // Create a scene node for visualizing group affiliation history
+    m_groupAffiliationHistorySceneNode = boost::shared_ptr<Ogre::SceneNode>(scene_node_->createChildSceneNode());
+    m_groupsSceneNode = boost::shared_ptr<Ogre::SceneNode>(scene_node_->createChildSceneNode());
+}
+
+TrackedGroupsDisplay::~TrackedGroupsDisplay()
+{
+}
+
+// Clear the visuals by deleting their objects.
+void TrackedGroupsDisplay::reset()
+{
+    PersonDisplayCommon::reset();
+    m_trackedPersonsCache.reset();
+    m_groupVisuals.clear();
+    m_groupAffiliationHistory.clear();
+    m_groupAffiliations.clear();
+}
+
+void TrackedGroupsDisplay::update(float wall_dt, float ros_dt)
+{
+    // Move map scene node
+    Ogre::Vector3 mapFramePosition; Ogre::Quaternion mapFrameOrientation;
+    getContext()->getFrameManager()->getTransform(m_realFixedFrame, ros::Time(0), mapFramePosition, mapFrameOrientation);
+    Ogre::Matrix4 mapFrameTransform(mapFrameOrientation); mapFrameTransform.setTrans(mapFramePosition);
+    m_groupAffiliationHistorySceneNode->setPosition(mapFramePosition);
+    m_groupAffiliationHistorySceneNode->setOrientation(mapFrameOrientation);
+}
+
+bool TrackedGroupsDisplay::isGroupHidden(group_id groupId) {
+    bool isIncluded = m_includedGroupIDs.find(groupId) != m_includedGroupIDs.end();
+    if(isIncluded) return false;
+    if(!m_includedGroupIDs.empty()) return true;
+
+    return m_excludedGroupIDs.find(groupId) != m_excludedGroupIDs.end();
+}
+
+void TrackedGroupsDisplay::stylesChanged()
+{
+     // Get list of group IDs belonging to tracks that shall be hidden or visible
+     m_excludedGroupIDs.clear();
+     {
+         string groupIDString = m_excluded_group_ids_property->getStdString();
+         char_separator<char> separator(",");
+         tokenizer< char_separator<char> > tokens(groupIDString, separator);
+         foreach(const string& token, tokens) {
+             try { m_excludedGroupIDs.insert(lexical_cast<track_id>(token)); }
+             catch(bad_lexical_cast &) {}
+         }
+     }
+     m_includedGroupIDs.clear();
+     {
+        string groupIDString = m_included_group_ids_property->getStdString();
+        char_separator<char> separator(",");
+        tokenizer< char_separator<char> > tokens(groupIDString, separator);
+        foreach(const string& token, tokens) {
+            try { m_includedGroupIDs.insert(lexical_cast<track_id>(token)); }
+            catch(bad_lexical_cast &) {}
+        }
+    }
+
+    foreach(boost::shared_ptr<GroupVisual> groupVisual, m_groupVisuals) {
+        updateGroupVisualStyles(groupVisual);
+    }
+
+     // Update history size
+    m_groupAffiliationHistory.rset_capacity(m_history_length_property->getInt());
+    
+    // Update history color etc.
+    updateHistoryStyles();
+}
+
+
+// Set the rendering style (cylinders, meshes, ...) of tracked persons
+void TrackedGroupsDisplay::personVisualTypeChanged()
+{
+    foreach(boost::shared_ptr<GroupVisual> groupVisual, m_groupVisuals) {
+        foreach(boost::shared_ptr<PersonVisual>& personVisual, groupVisual->personVisuals) {
+            Ogre::SceneNode* parentSceneNode = personVisual->getParentSceneNode();
+            personVisual.reset();
+            createPersonVisualIfRequired(parentSceneNode, personVisual);
+        }
+    }
+    stylesChanged();
+}
+
+void TrackedGroupsDisplay::updateGroupVisualStyles(boost::shared_ptr<GroupVisual>& groupVisual)
+{
+    bool hideGroup = isGroupHidden(groupVisual->groupId);
+
+    // Apply current group color
+    Ogre::ColourValue groupColor = m_commonProperties->constant_color->getOgreColor();
+
+    if(groupVisual->personCount > 1 || !m_single_person_groups_in_constant_color_property->getBool()) {
+        groupColor = getColorFromId(groupVisual->groupId);
+    }   
+
+    groupColor.a *= m_commonProperties->alpha->getFloat(); // general alpha
+    if(hideGroup) groupColor.a = 0;
+
+    foreach(boost::shared_ptr<rviz::Shape> groupAssignmentCircle, groupVisual->groupAssignmentCircles) {
+        groupAssignmentCircle->setColor(groupColor.r, groupColor.g, groupColor.b, groupColor.a);
+    }
+
+    foreach(boost::shared_ptr<PersonVisual>& personVisual, groupVisual->personVisuals) {
+        if(personVisual) {
+            // Update common styles to person visual, such as line width
+            applyCommonStyles(personVisual);
+        
+            personVisual->setColor(groupColor);
+        }
+    }
+
+    double connectionLineVisibilityAlpha = m_render_intragroup_connections_property->getBool() ? 1.0 : 0.0;
+    foreach(boost::shared_ptr<rviz::BillboardLine> connectionLine, groupVisual->connectionLines) {
+        connectionLine->setColor(groupColor.r, groupColor.g, groupColor.b, groupColor.a * connectionLineVisibilityAlpha);
+        connectionLine->setLineWidth(0.05);
+    }
+
+    // Update text colors, size and visibility
+    Ogre::ColourValue fontColor = m_commonProperties->font_color_style->getOptionInt() == FONT_COLOR_CONSTANT ? m_commonProperties->constant_font_color->getOgreColor() : groupColor;
+    fontColor.a = m_commonProperties->alpha->getFloat();
+    if(hideGroup) fontColor.a = 0;
+    bool groupIdVisible = groupVisual->personCount > 1 ? true : !m_hide_ids_of_single_person_groups_property->getBool();
+    groupVisual->idText->setVisible(m_render_ids_property->getBool() && groupIdVisible);
+    groupVisual->idText->setCharacterHeight(0.23 * m_commonProperties->font_scale->getFloat());
+    groupVisual->idText->setColor(fontColor);
+    groupVisual->idText->setPosition(m_frameTransform * Ogre::Vector3(
+        groupVisual->groupCenter.x,
+        groupVisual->groupCenter.y,
+        groupVisual->groupCenter.z + m_group_id_offset->getFloat() + m_commonProperties->z_offset->getFloat()));
+}
+
+void TrackedGroupsDisplay::updateHistoryStyles()
+{
+    const Ogre::Quaternion shapeQuaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) );
+    foreach(boost::shared_ptr<GroupAffiliationHistoryEntry> groupAffiliationHistoryEntry, m_groupAffiliationHistory) {
+        bool hideGroup = isGroupHidden(groupAffiliationHistoryEntry->groupId);
+        const double historyShapeDiameter = 0.1;
+
+        Ogre::ColourValue historyColor = m_commonProperties->constant_color->getOgreColor();
+
+        if(!groupAffiliationHistoryEntry->wasSinglePersonGroup || !m_single_person_groups_in_constant_color_property->getBool()) {
+            historyColor = getColorFromId(groupAffiliationHistoryEntry->groupId);
+        }   
+
+
+        historyColor.a = m_commonProperties->alpha->getFloat();
+
+        if(groupAffiliationHistoryEntry->wasOccluded) historyColor.a *= m_occlusion_alpha_property->getFloat();
+        if(hideGroup) historyColor.a = 0;
+        if(!m_render_history_property->getBool()) historyColor.a = 0;
+
+        groupAffiliationHistoryEntry->shape->setColor(historyColor);
+        groupAffiliationHistoryEntry->shape->setScale(shapeQuaternion * Ogre::Vector3(historyShapeDiameter, historyShapeDiameter, 0.05));
+    }
+}
+
+// This is our callback to handle an incoming group message.
+void TrackedGroupsDisplay::processMessage(const pedsim_msgs::TrackedGroups::ConstPtr& msg)
+{
+    // Get transforms into fixed frame etc.
+    if(!preprocessMessage(msg)) return;
+
+    // Transform from map/odometry frame into fixed frame, required to display track history if the fixed frame is not really "fixed" (e.g. base_link)
+    Ogre::Vector3 mapFramePosition; Ogre::Quaternion mapFrameOrientation;
+    getContext()->getFrameManager()->getTransform(m_realFixedFrame, msg->header.stamp, mapFramePosition, mapFrameOrientation);
+    Ogre::Matrix4 mapFrameTransform(mapFrameOrientation); mapFrameTransform.setTrans(mapFramePosition);
+
+    // Transform into Rviz fixed frame
+    m_frameTransform = Ogre::Matrix4(m_frameOrientation);
+    m_frameTransform.setTrans(m_framePosition);
+
+    const Ogre::Quaternion shapeQuaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) ); // required to fix orientation of any Cylinder shapes
+    stringstream ss;
+
+    // Clear previous visualization
+    m_groupVisuals.clear();
+    m_groupsSceneNode->removeAndDestroyAllChildren();
+
+    unsigned int numTracksWithUnknownPosition = 0;
+    m_groupAffiliations.clear();
+
+    //
+    // Iterate over all groups in this message
+    //
+    foreach (const pedsim_msgs::TrackedGroup& trackedGroup, msg->groups)
+    {
+        // Create a new visual representation of the tracked group
+        boost::shared_ptr<GroupVisual> groupVisual = boost::shared_ptr<GroupVisual>(new GroupVisual);
+        groupVisual->groupId = trackedGroup.group_id;
+        groupVisual->personCount = trackedGroup.track_ids.size();
+        m_groupVisuals.push_back(groupVisual);
+
+        //
+        // Group visualization circles, person visuals (if enabled) + connections between group members
+        //
+
+        for(size_t trackIndex = 0; trackIndex < trackedGroup.track_ids.size(); trackIndex++)
+        {
+            const track_id trackId = trackedGroup.track_ids[trackIndex];
+            boost::shared_ptr<CachedTrackedPerson> trackedPerson = m_trackedPersonsCache.lookup(trackId);
+
+            // Get current track position
+            if(!trackedPerson) {
+                numTracksWithUnknownPosition++;
+            }
+            else
+            {
+                Ogre::Vector3 trackCenterAtGroundPlane(trackedPerson->center.x, trackedPerson->center.y, m_commonProperties->z_offset->getFloat());
+
+                m_groupAffiliations[trackId] = trackedGroup.group_id; // required to hide certain groups later on
+
+
+                //
+                // Group visualization circles (below tracks)
+                //
+
+                const double groupAssignmentCircleHeight = 0;
+                const double groupAssignmentCircleDiameter = 0.9;
+                boost::shared_ptr<rviz::Shape> groupAssignmentCircle = boost::shared_ptr<rviz::Shape>(new rviz::Shape(rviz::Shape::Cylinder, context_->getSceneManager(), m_groupsSceneNode.get()));
+
+                groupAssignmentCircle->setScale(shapeQuaternion * Ogre::Vector3(groupAssignmentCircleDiameter, groupAssignmentCircleDiameter, groupAssignmentCircleHeight));
+                groupAssignmentCircle->setOrientation(shapeQuaternion);
+
+                Ogre::Vector3 groupAssignmentCirclePos = trackCenterAtGroundPlane + Ogre::Vector3(0, 0, -0.5*groupAssignmentCircleHeight - 0.01);
+                groupAssignmentCircle->setPosition(groupAssignmentCirclePos);
+
+                groupVisual->groupAssignmentCircles.push_back(groupAssignmentCircle);
+
+
+                //
+                // Person visuals (colored in group color)
+                //
+
+                // This scene node is the parent of all visualization elements for the tracked person
+                boost::shared_ptr<Ogre::SceneNode> sceneNode = boost::shared_ptr<Ogre::SceneNode>(scene_node_->createChildSceneNode());
+                groupVisual->personVisualSceneNodes.push_back(sceneNode);
+
+                // Create new visual for the person itself, if needed
+                boost::shared_ptr<PersonVisual> personVisual;
+                createPersonVisualIfRequired(sceneNode.get(), personVisual);
+                groupVisual->personVisuals.push_back(personVisual);
+
+                const double personHeight = personVisual ? personVisual->getHeight() : 0;
+                const Ogre::Matrix3 covXYZinTargetFrame = covarianceXYZIntoTargetFrame(trackedPerson->pose);
+                setPoseOrientation(sceneNode.get(), trackedPerson->pose, covXYZinTargetFrame, personHeight);
+
+
+                //
+                // Intra-group connections
+                //
+
+                // Iterate over all neighbouring group tracks to render intra-group connections
+                for(size_t otherTrackIndex = trackIndex + 1; otherTrackIndex < trackedGroup.track_ids.size(); otherTrackIndex++)
+                {
+                    const track_id otherTrackId = trackedGroup.track_ids[otherTrackIndex];
+                    boost::shared_ptr<CachedTrackedPerson> otherTrackedPerson = m_trackedPersonsCache.lookup(otherTrackId);
+
+                    // Get other track's position
+                    if(otherTrackedPerson) {
+                        // Get positions. These are already in fixed frame coordinates!
+                        const Ogre::Vector3 verticalShift(0,0, 0.5 + m_commonProperties->z_offset->getFloat());
+                        const Ogre::Vector3& position1 = verticalShift + trackedPerson->center;
+                        const Ogre::Vector3& position2 = verticalShift + otherTrackedPerson->center;
+
+                        // Add line connecting the two tracks
+                        boost::shared_ptr<rviz::BillboardLine> connectionLine(new rviz::BillboardLine(context_->getSceneManager(), m_groupsSceneNode.get()));
+                        connectionLine->setMaxPointsPerLine(2);
+                        connectionLine->addPoint(position1);
+                        connectionLine->addPoint(position2);
+                        groupVisual->connectionLines.push_back(connectionLine);
+                    }
+                } // end loop over neighbouring group tracks
+
+
+                //
+                // Group affiliation history
+                //
+              
+                boost::shared_ptr<GroupAffiliationHistoryEntry> newHistoryEntry(new GroupAffiliationHistoryEntry);
+                newHistoryEntry->shape = boost::shared_ptr<rviz::Shape>(new rviz::Shape(rviz::Shape::Cylinder, context_->getSceneManager(), m_groupAffiliationHistorySceneNode.get()));
+                newHistoryEntry->shape->setPosition(mapFrameTransform.inverse() * trackCenterAtGroundPlane);
+                newHistoryEntry->shape->setOrientation(shapeQuaternion);
+                newHistoryEntry->wasOccluded = trackedPerson->isOccluded;
+                newHistoryEntry->wasSinglePersonGroup = trackedGroup.track_ids.size() <= 1;
+                newHistoryEntry->groupId = trackedGroup.group_id;
+                m_groupAffiliationHistory.push_back(newHistoryEntry);
+
+
+            } // end if track found
+        } // end for loop over tracks
+
+
+        //
+        // Texts
+        //
+        const geometry_msgs::Point& groupCenter = trackedGroup.centerOfGravity.pose.position;
+        groupVisual->groupCenter = groupCenter;
+
+        // Group ID
+        boost::shared_ptr<TextNode> idText(new TextNode(context_->getSceneManager(), m_groupsSceneNode.get()));
+        ss.str(""); ss << "group " << trackedGroup.group_id;
+        idText->setCaption(ss.str());
+        idText->showOnTop();
+        groupVisual->idText = idText;
+
+        // Set adjustable styles such as color etc.
+        updateGroupVisualStyles(groupVisual);
+        updateHistoryStyles();
+    } // end for loop over all tracked groups
+
+
+    //
+    // Update status (shown in property pane)
+    //
+
+    ss.str("");
+    ss << msg->groups.size() << " group(s)";
+    setStatusStd(rviz::StatusProperty::Ok, "Groups", ss.str());
+
+    ss.str("");
+    ss << numTracksWithUnknownPosition << " track(s) with unknown position";
+    setStatusStd(0 == numTracksWithUnknownPosition ? rviz::StatusProperty::Ok : rviz::StatusProperty::Warn, "Track-to-group assignment", ss.str());
+}
+
+} // end namespace pedsim_rviz_plugin
+
+// Tell pluginlib about this class.  It is important to do this in
+// global scope, outside our package's namespace.
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(pedsim_rviz_plugin::TrackedGroupsDisplay, rviz::Display)
diff --git a/pedsim_rviz_plugin/src/tracked_persons_cache.cpp b/pedsim_rviz_plugin/src/tracked_persons_cache.cpp
new file mode 100644
index 00000000..df8d734d
--- /dev/null
+++ b/pedsim_rviz_plugin/src/tracked_persons_cache.cpp
@@ -0,0 +1,98 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "tracked_persons_cache.h"
+
+#ifndef Q_MOC_RUN
+#include <sstream>
+#include <boost/foreach.hpp>
+#endif
+#define foreach BOOST_FOREACH
+
+
+namespace spencer_tracking_rviz_plugin
+{
+
+TrackedPersonsCache::~TrackedPersonsCache()
+{
+    m_cachedTrackedPersons.clear();
+    delete m_tracked_person_subscriber;
+}
+
+void TrackedPersonsCache::initialize(rviz::Display* display, rviz::DisplayContext* context, ros::NodeHandle update_nh)
+{
+    m_display = display;
+    m_context = context;
+
+    m_tracked_person_subscriber = new rviz::AdditionalTopicSubscriber<spencer_tracking_msgs::TrackedPersons>("Tracked persons topic", display, context, update_nh,
+        boost::bind(&TrackedPersonsCache::processTrackedPersonsMessage, this, _1));
+}
+
+void TrackedPersonsCache::reset()
+{
+    m_cachedTrackedPersons.clear();
+}
+
+const boost::shared_ptr<CachedTrackedPerson> TrackedPersonsCache::lookup(track_id trackId)
+{
+    CachedTrackedPersonsMap::const_iterator entry = m_cachedTrackedPersons.find(trackId);
+    if(entry == m_cachedTrackedPersons.end()) return boost::shared_ptr<CachedTrackedPerson>();
+    else return entry->second;
+}
+
+void TrackedPersonsCache::processTrackedPersonsMessage(const spencer_tracking_msgs::TrackedPersons::ConstPtr& msg)
+{
+    // Get transform of person tracks into fixed frame
+    Ogre::Vector3 frameOrigin; Ogre::Quaternion frameOrientation;
+    m_context->getFrameManager()->getTransform(msg->header, frameOrigin, frameOrientation);
+    Ogre::Matrix4 transform(frameOrientation);
+    transform.setTrans(frameOrigin);
+
+    // Now iterate over all tracks and store their positions
+    m_cachedTrackedPersons.clear();
+    foreach(spencer_tracking_msgs::TrackedPerson trackedPerson, msg->tracks)
+    {
+        m_cachedTrackedPersons[trackedPerson.track_id] = boost::shared_ptr<CachedTrackedPerson>(new CachedTrackedPerson);
+        CachedTrackedPerson& cachedTrackedPerson = *m_cachedTrackedPersons[trackedPerson.track_id];
+
+        const geometry_msgs::Point& position = trackedPerson.pose.pose.position;
+        cachedTrackedPerson.center = transform * Ogre::Vector3(position.x, position.y, position.z);
+        cachedTrackedPerson.pose = trackedPerson.pose;
+        cachedTrackedPerson.twist = trackedPerson.twist;
+        cachedTrackedPerson.isOccluded = trackedPerson.is_occluded;
+    }
+
+    std::stringstream ss;
+    ss << msg->tracks.size() << " track(s)";
+    m_display->setStatusStd(rviz::StatusProperty::Ok, "Tracks", ss.str());
+}
+
+
+} // end namespace spencer_tracking_rviz_plugin
diff --git a/pedsim_rviz_plugin/src/tracked_persons_display.cpp b/pedsim_rviz_plugin/src/tracked_persons_display.cpp
new file mode 100644
index 00000000..012a6fa4
--- /dev/null
+++ b/pedsim_rviz_plugin/src/tracked_persons_display.cpp
@@ -0,0 +1,510 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "pedsim_rviz_plugin/tracked_persons_display.hpp"
+//#define foreach BOOST_FOREACH
+
+
+namespace pedsim_rviz_plugin
+{
+
+// The constructor must have no arguments, so we can't give the
+// constructor the parameters it needs to fully initialize.
+void TrackedPersonsDisplay::onInitialize()
+{
+    PersonDisplayCommon::onInitialize();
+
+    QObject::connect(m_commonProperties->style, SIGNAL(changed()), this, SLOT(personVisualTypeChanged()) );
+
+    m_occlusion_alpha_property = new rviz_common::properties::FloatProperty( "Occlusion alpha", 0.3, "Alpha multiplier for occluded tracks", this, SLOT(stylesChanged()) );
+    m_occlusion_alpha_property->setMin( 0.0 );
+
+    m_missed_alpha_property = new rviz_common::properties::FloatProperty( "Missed alpha", 0.5, "Alpha multiplier for missed tracks", this, SLOT(stylesChanged()) );
+    m_missed_alpha_property->setMin( 0.0 );
+
+    m_history_length_property = new rviz_common::properties::IntProperty( "History size", 100, "Number of prior track positions to display.", this, SLOT(stylesChanged()));
+    m_history_length_property->setMin( 1 );
+    m_history_length_property->setMax( 10000000 );
+
+    m_delete_after_ncycles_property = new rviz_common::properties::IntProperty( "Delete after no. cycles", 100, "After how many time steps to delete an old track that has not been seen again, including its history", this, SLOT(stylesChanged()));
+    m_tracking_frame_property = new rviz_common::properties::StringProperty( "Tracking frame", "odom", "Coordinate frame into which track history should be transformed. Usually the fixed frame of the tracker.", this, SLOT(stylesChanged()));
+
+    m_delete_after_ncycles_property->setMin( 0 );
+    m_delete_after_ncycles_property->setMax( 10000000 );
+
+    m_show_deleted_property   = new rviz_common::properties::BoolProperty( "Show DELETED tracks", false, "Show tracks which have been marked as deleted", this, SLOT(stylesChanged()));
+    m_show_occluded_property  = new rviz_common::properties::BoolProperty( "Show OCCLUDED tracks", true, "Show tracks which could not be matched to an detection due to sensor occlusion", this, SLOT(stylesChanged()));
+    m_show_missed_property   = new rviz_common::properties::BoolProperty( "Show MISSED tracks", true, "Show tracks which could not be matched to an detection but should be observable by the sensor", this, SLOT(stylesChanged()));
+    m_show_matched_property   = new rviz_common::properties::BoolProperty( "Show MATCHED tracks", true, "Show tracks which could be matched to an detection", this, SLOT(stylesChanged()));
+
+
+    m_render_history_property           = new rviz_common::properties::BoolProperty( "Render history", true, "Render prior track positions", this, SLOT(stylesChanged()));
+    m_render_history_as_line_property   = new rviz_common::properties::BoolProperty( "History as line", true, "Display history as line instead of dots", this, SLOT(stylesChanged()));
+    m_render_person_property            = new rviz_common::properties::BoolProperty( "Render person visual", true, "Render person visualization", this, SLOT(stylesChanged()));
+    m_render_covariances_property       = new rviz_common::properties::BoolProperty( "Render covariances", true, "Render track covariance ellipses", this, SLOT(stylesChanged()));
+    m_render_velocities_property        = new rviz_common::properties::BoolProperty( "Render velocities", true, "Render track velocity arrows", this, SLOT(stylesChanged()));
+    m_render_ids_property               = new rviz_common::properties::BoolProperty( "Render track IDs", true, "Render track IDs as text", this, SLOT(stylesChanged()));
+    m_render_detection_ids_property     = new rviz_common::properties::BoolProperty( "Render detection IDs", true, "Render IDs of the detection that a track was matched against, if any", this, SLOT(stylesChanged()));
+    m_render_track_state_property       = new rviz_common::properties::BoolProperty( "Render track state", true, "Render track state text", this, SLOT(stylesChanged()));
+
+    m_history_min_point_distance_property = new rviz_common::properties::FloatProperty( "Min. history point distance", 0.4, "Minimum distance between history points before a new one is placed", this, SLOT(stylesChanged()) );
+    m_history_line_width_property = new rviz_common::properties::FloatProperty( "Line width", 0.05, "Line width of history", m_render_history_as_line_property, SLOT(stylesChanged()), this );
+    m_covariance_line_width_property = new rviz_common::properties::FloatProperty( "Line width", 0.1, "Line width of covariance ellipses", m_render_covariances_property, SLOT(stylesChanged()), this );
+
+
+    // TODO: Implement functionality
+    //m_render_state_prediction_property  = new rviz::BoolProperty( "Render state prediction", true, "Render state prediction from Kalman filter", this, SLOT( updateRenderFlags() ));
+
+    // Create a scene node for visualizing track history
+    m_trackHistorySceneNode = std::shared_ptr<Ogre::SceneNode>(scene_node_->createChildSceneNode());
+}
+
+TrackedPersonsDisplay::~TrackedPersonsDisplay()
+{
+    m_cachedTracks.clear();
+}
+
+// Clear the visuals by deleting their objects.
+void TrackedPersonsDisplay::reset()
+{
+    PersonDisplayCommon::reset();
+    m_cachedTracks.clear();
+}
+
+void TrackedPersonsDisplay::update(float wall_dt, float ros_dt)
+{
+    // Move map scene node
+    Ogre::Vector3 mapFramePosition; Ogre::Quaternion mapFrameOrientation;
+    rclcpp::Clock clock(RCL_ROS_TIME);
+    getContext()->getFrameManager()->getTransform(m_tracking_frame_property->getStdString(), clock.now(), mapFramePosition, mapFrameOrientation);
+
+    Ogre::Matrix4 mapFrameTransform(mapFrameOrientation); mapFrameTransform.setTrans(mapFramePosition);
+    m_trackHistorySceneNode->setPosition(mapFramePosition);
+    m_trackHistorySceneNode->setOrientation(mapFrameOrientation);
+
+    // Update position of deleted tracks (because they are not being updated by ROS messages any more)
+    for(auto entry : m_cachedTracks)
+    {
+        const std::shared_ptr<TrackedPersonVisual>& trackedPersonVisual = entry.second;
+        if(trackedPersonVisual->isDeleted) {
+            Ogre::Matrix4 poseInCurrentFrame = mapFrameTransform * trackedPersonVisual->lastObservedPose;
+            Ogre::Vector3 position = poseInCurrentFrame.getTrans(); Ogre::Quaternion orientation = poseInCurrentFrame.extractQuaternion();
+            if(!position.isNaN() && !orientation.isNaN()) {
+                trackedPersonVisual->sceneNode->setPosition(position);
+                trackedPersonVisual->sceneNode->setOrientation(orientation);
+            }
+        }
+        else {
+            // Update animation etc.
+            if(trackedPersonVisual->personVisual) trackedPersonVisual->personVisual->update(ros_dt);
+        }
+    }
+}
+
+/// Update all dynamically adjusted visualization properties (colors, font sizes etc.) of all currently tracked persons
+void TrackedPersonsDisplay::stylesChanged()
+{
+    const Ogre::Quaternion shapeQuaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) );
+
+    // Update each track
+    for(auto entry : m_cachedTracks)
+    {
+        const track_id trackId = entry.first;
+        const std::shared_ptr<TrackedPersonVisual>& trackedPersonVisual = entry.second;
+
+        // Update common styles to person visual, such as line width
+        applyCommonStyles(trackedPersonVisual->personVisual);
+
+        // Update track visibility
+        bool trackVisible = !isPersonHidden(trackId);
+
+        if (trackedPersonVisual->isDeleted) trackVisible &= m_show_deleted_property->getBool();
+        else if(trackedPersonVisual->isOccluded) trackVisible &= m_show_occluded_property->getBool();
+        else if(trackedPersonVisual->isMissed) trackVisible &= m_show_missed_property->getBool();
+        else trackVisible &= m_show_matched_property->getBool();
+
+        trackedPersonVisual->sceneNode->setVisible(trackVisible);
+        trackedPersonVisual->historySceneNode->setVisible(trackVisible && !m_render_history_as_line_property->getBool());
+        trackedPersonVisual->historyLineSceneNode->setVisible(trackVisible && m_render_history_as_line_property->getBool());
+
+        // Get current track color
+        Ogre::ColourValue trackColorWithFullAlpha = getColorFromId(trackId);
+        Ogre::ColourValue trackColor = getColorFromId(trackId);
+        trackColor.a *= m_commonProperties->alpha->getFloat(); // general alpha
+        if(trackedPersonVisual->isOccluded) trackColor.a *= m_occlusion_alpha_property->getFloat(); // occlusion alpha
+        if(trackedPersonVisual->isMissed) trackColor.a *= m_missed_alpha_property->getFloat(); // occlusion alpha
+
+        // Update person color
+        Ogre::ColourValue personColor = trackColor;
+        if(!m_render_person_property->getBool()) personColor.a = 0.0;
+
+        if(trackedPersonVisual->personVisual) {
+            trackedPersonVisual->personVisual->setColor(personColor);
+        }
+
+        // Update history size
+        trackedPersonVisual->history.rset_capacity(m_history_length_property->getInt());
+
+        // Update history color
+        for(auto historyEntry : trackedPersonVisual->history) {
+            const double historyShapeDiameter = 0.1;
+            Ogre::ColourValue historyColor = trackColorWithFullAlpha;
+            historyColor.a *= m_commonProperties->alpha->getFloat(); // general alpha
+            if(historyEntry->wasOccluded) historyColor.a *= m_occlusion_alpha_property->getFloat();
+            if(isPersonHidden(trackId) || m_render_history_as_line_property->getBool()) historyColor.a = 0;
+
+            if(historyEntry->shape) {
+                historyEntry->shape->setColor(historyColor);
+                historyEntry->shape->setScale(shapeQuaternion * Ogre::Vector3(historyShapeDiameter, historyShapeDiameter, 0.05));
+            }
+        }
+
+        if(trackedPersonVisual->historyLine) { // history-as-line mode (as opposed to history-as-dots)
+            Ogre::ColourValue historyColor = trackColorWithFullAlpha;
+            historyColor.a *= m_commonProperties->alpha->getFloat(); // general alpha
+            if(isPersonHidden(trackId)) historyColor.a = 0;
+            trackedPersonVisual->historyLine->setColor(historyColor.r, historyColor.g, historyColor.b, historyColor.a);
+        }
+
+        // Update text colors, font size and visibility
+        const double personHeight = trackedPersonVisual->personVisual ? trackedPersonVisual->personVisual->getHeight() : 0;
+        Ogre::ColourValue fontColor = m_commonProperties->font_color_style->getOptionInt() == FONT_COLOR_CONSTANT ? m_commonProperties->constant_font_color->getOgreColor() : trackColor;
+        fontColor.a = m_commonProperties->alpha->getFloat();
+
+        trackedPersonVisual->detectionIdText->setCharacterHeight(0.18 * m_commonProperties->font_scale->getFloat());
+        trackedPersonVisual->detectionIdText->setVisible(!trackedPersonVisual->isOccluded && m_render_detection_ids_property->getBool() && trackVisible);
+        trackedPersonVisual->detectionIdText->setColor(fontColor);
+        trackedPersonVisual->detectionIdText->setPosition(Ogre::Vector3(0,0, -trackedPersonVisual->detectionIdText->getCharacterHeight()));
+
+        trackedPersonVisual->stateText->setCharacterHeight(0.18 * m_commonProperties->font_scale->getFloat());
+        trackedPersonVisual->stateText->setVisible(m_render_track_state_property->getBool() && trackVisible);
+        trackedPersonVisual->stateText->setColor(fontColor);
+        trackedPersonVisual->stateText->setPosition(Ogre::Vector3(0,0, personHeight + trackedPersonVisual->stateText->getCharacterHeight()));
+            
+        const double stateTextOffset = m_render_track_state_property->getBool() ? 1.2*trackedPersonVisual->stateText->getCharacterHeight() : 0;
+        trackedPersonVisual->idText->setCharacterHeight(0.25 * m_commonProperties->font_scale->getFloat());
+        trackedPersonVisual->idText->setVisible(m_render_ids_property->getBool() && trackVisible);
+        trackedPersonVisual->idText->setColor(fontColor);
+        trackedPersonVisual->idText->setPosition(Ogre::Vector3(0,0, personHeight + trackedPersonVisual->idText->getCharacterHeight() + stateTextOffset));
+
+        // Update velocity arrow color
+        double arrowAlpha = m_render_velocities_property->getBool() ? trackColor.a : 0.0;
+        if(trackedPersonVisual->hasZeroVelocity) arrowAlpha = 0.0;
+        trackedPersonVisual->velocityArrow->setColor(Ogre::ColourValue(trackColor.r, trackColor.g, trackColor.b, arrowAlpha));
+
+        // Set color of covariance visualization
+        Ogre::ColourValue covarianceColor = trackColor;
+        if(!m_render_covariances_property->getBool()) covarianceColor.a = 0.0;
+        trackedPersonVisual->covarianceVisual->setColor(covarianceColor);
+        trackedPersonVisual->covarianceVisual->setLineWidth(m_covariance_line_width_property->getFloat());
+    }
+
+    // Update global history visibility
+    m_trackHistorySceneNode->setVisible(m_render_history_property->getBool());
+}
+
+
+// Set the rendering style (cylinders, meshes, ...) of tracked persons
+void TrackedPersonsDisplay::personVisualTypeChanged()
+{
+    foreach(const track_map::value_type& entry, m_cachedTracks)
+    {
+        const std::shared_ptr<TrackedPersonVisual>& trackedPersonVisual = entry.second;
+        trackedPersonVisual->personVisual.reset();
+        createPersonVisualIfRequired(trackedPersonVisual->sceneNode.get(), trackedPersonVisual->personVisual);
+    }
+    stylesChanged();
+}
+
+// This is our callback to handle an incoming message.
+void TrackedPersonsDisplay::processMessage(pedsim_msgs::msg::TrackedPersons::ConstSharedPtr msg)
+{
+    // Get transforms into fixed frame etc.
+    if(!preprocessMessage(msg)) return;
+
+    // Transform from map/odometry frame into fixed frame, required to display track history if the fixed frame is not really "fixed" (e.g. base_link)
+    Ogre::Vector3 mapFramePosition; Ogre::Quaternion mapFrameOrientation;
+    getContext()->getFrameManager()->getTransform(m_tracking_frame_property->getStdString(), msg->header.stamp, mapFramePosition, mapFrameOrientation);
+    Ogre::Matrix4 mapFrameTransform(mapFrameOrientation); mapFrameTransform.setTrans(mapFramePosition);
+
+    // Transform required to fix orientation of any Cylinder shapes
+    const Ogre::Quaternion shapeQuaternion( Ogre::Degree(90), Ogre::Vector3(1,0,0) );
+    stringstream ss;
+
+    //
+    // Iterate over all tracks in this message, see if we have a cached visual (then update it) or create a new one.
+    //
+    set<unsigned int> encounteredTrackIds;
+    for (vector<pedsim_msgs::msg::TrackedPerson>::const_iterator trackedPersonIt = msg->tracks.begin(); trackedPersonIt != msg->tracks.end(); ++trackedPersonIt)
+    {
+        std::shared_ptr<TrackedPersonVisual> trackedPersonVisual;
+
+        // See if we encountered this track ID before in this loop (means duplicate track ID)
+        if (encounteredTrackIds.find(trackedPersonIt->track_id) != encounteredTrackIds.end()) {
+            RCLCPP_ERROR_STREAM(rclcpp::get_logger("tracked_persons_logger"),
+                         "pedsim_msgs::TrackedPersons contains duplicate track ID " << 
+                         trackedPersonIt->track_id << 
+                         "! Skipping duplicate track.");
+            continue;
+        }
+        else {
+            encounteredTrackIds.insert(trackedPersonIt->track_id);
+        }
+
+        // See if we have cached a track with this ID
+        if (m_cachedTracks.find(trackedPersonIt->track_id) != m_cachedTracks.end()) {
+            trackedPersonVisual = m_cachedTracks[trackedPersonIt->track_id];
+        }
+        else {
+            // Create a new visual representation of the tracked person
+            trackedPersonVisual = std::shared_ptr<TrackedPersonVisual>(new TrackedPersonVisual);
+            m_cachedTracks[trackedPersonIt->track_id] = trackedPersonVisual;
+
+            // This scene node is the parent of all visualization elements for the tracked person
+            trackedPersonVisual->sceneNode = std::shared_ptr<Ogre::SceneNode>(scene_node_->createChildSceneNode());
+            trackedPersonVisual->historySceneNode = std::shared_ptr<Ogre::SceneNode>(m_trackHistorySceneNode->createChildSceneNode());
+            trackedPersonVisual->historyLineSceneNode = std::shared_ptr<Ogre::SceneNode>(m_trackHistorySceneNode->createChildSceneNode());
+        }
+        // These values need to be remembered for later use in stylesChanged()
+        if(trackedPersonIt->is_occluded && !trackedPersonIt->is_matched){
+            trackedPersonVisual->isOccluded = true;
+            trackedPersonVisual->isMissed = false;
+        }
+        else if(!trackedPersonIt->is_occluded && !trackedPersonIt->is_matched){
+            trackedPersonVisual->isOccluded = false;
+            trackedPersonVisual->isMissed = true;
+        }
+        else {
+            trackedPersonVisual->isOccluded = false;
+            trackedPersonVisual->isMissed = false;
+        }
+
+        trackedPersonVisual->isDeleted = false;
+        trackedPersonVisual->numCyclesNotSeen = 0;
+
+        Ogre::SceneNode* currentSceneNode = trackedPersonVisual->sceneNode.get();
+
+        //
+        // Person visualization
+        //
+
+        // Create new visual for the person itself, if needed
+        std::shared_ptr<PersonVisual> personVisual = trackedPersonVisual->personVisual;
+        createPersonVisualIfRequired(currentSceneNode, personVisual);
+
+        const double personHeight = personVisual ? personVisual->getHeight() : 0;
+        const double halfPersonHeight = personHeight / 2.0;
+
+
+        //
+        // Position of entire track
+        //
+
+        const Ogre::Matrix3 covXYZinTargetFrame = covarianceXYZIntoTargetFrame(trackedPersonIt->pose);
+        setPoseOrientation(currentSceneNode, trackedPersonIt->pose, covXYZinTargetFrame, personHeight);
+
+
+        //
+        // Track history
+        //
+
+        Ogre::Vector3 newHistoryEntryPosition = mapFrameTransform.inverse() * currentSceneNode->getPosition();
+        const float MIN_HISTORY_ENTRY_DISTANCE = m_history_min_point_distance_property->getFloat(); // in meters
+        if((trackedPersonVisual->positionOfLastHistoryEntry - newHistoryEntryPosition).length() > MIN_HISTORY_ENTRY_DISTANCE)
+        {
+            // General history
+            std::shared_ptr<TrackedPersonHistoryEntry> newHistoryEntry(new TrackedPersonHistoryEntry);
+            newHistoryEntry->trackId = trackedPersonIt->track_id;
+            newHistoryEntry->position = newHistoryEntryPosition; // used by history lines (below) even if no shape is set
+            newHistoryEntry->wasOccluded = trackedPersonIt->is_occluded;
+            trackedPersonVisual->history.push_back(newHistoryEntry);
+
+            // Always need to reset history line since history is like a queue, oldest element has to be removed but BillboardLine doesn't offer that functionality
+            trackedPersonVisual->historyLine.reset(new rviz_rendering::BillboardLine(context_->getSceneManager(), trackedPersonVisual->historyLineSceneNode.get()) );
+
+            if(m_render_history_as_line_property->getBool()) {
+                // History lines
+                if(trackedPersonVisual->history.size() >= 2) {
+                    trackedPersonVisual->historyLine->setLineWidth(m_history_line_width_property->getFloat());
+                    trackedPersonVisual->historyLine->setMaxPointsPerLine(trackedPersonVisual->history.size());
+
+                    for(auto historyEntry : trackedPersonVisual->history) {
+                        historyEntry->shape.reset(); // remove existing dot shapes, if any, for better performance
+                        trackedPersonVisual->historyLine->addPoint(historyEntry->position);
+                    }
+                }
+            }
+            else {
+                // History dots
+                newHistoryEntry->shape = std::shared_ptr<rviz_rendering::Shape>(
+                    new rviz_rendering::Shape(
+                        rviz_rendering::Shape::Cylinder, context_->getSceneManager(),
+                        trackedPersonVisual->historySceneNode.get()
+                    )
+                );
+                newHistoryEntry->shape->setPosition(newHistoryEntryPosition);
+                newHistoryEntry->shape->setOrientation(shapeQuaternion);
+            }
+
+            trackedPersonVisual->positionOfLastHistoryEntry = newHistoryEntryPosition;
+        }
+
+        //
+        // Texts
+        //
+        {
+            if (!trackedPersonVisual->idText) {
+                trackedPersonVisual->idText.reset(new TextNode(context_->getSceneManager(), currentSceneNode));
+                trackedPersonVisual->stateText.reset(new TextNode(context_->getSceneManager(), currentSceneNode));
+                trackedPersonVisual->detectionIdText.reset(new TextNode(context_->getSceneManager(), currentSceneNode));
+            }
+
+            // Detection ID
+            ss.str(""); ss << "det " << trackedPersonIt->detection_id;
+            trackedPersonVisual->detectionIdText->setCaption(ss.str());
+           
+            // Track state
+            ss.str("");
+
+            if(trackedPersonIt->is_occluded && !trackedPersonIt->is_matched)
+                ss << "OCCLUDED";
+            else if (!trackedPersonIt->is_occluded && !trackedPersonIt->is_matched)
+                ss << "MISSED";
+            else
+                ss << "MATCHED";
+
+            trackedPersonVisual->stateText->setCaption(ss.str());
+            
+            // Track ID
+            ss.str(""); ss << trackedPersonIt->track_id;
+            trackedPersonVisual->idText->setCaption(ss.str());
+        }
+
+        //
+        // Velocity arrows
+        //
+        if (!trackedPersonVisual->velocityArrow) {
+            trackedPersonVisual->velocityArrow.reset(
+                new rviz_rendering::Arrow(context_->getSceneManager(), currentSceneNode));
+        }
+
+        // Update velocity arrow
+        {
+            const Ogre::Vector3 velocityVector = getVelocityVector(trackedPersonIt->twist);
+
+            if(velocityVector.isZeroLength() || velocityVector.length() > 100 || velocityVector.isNaN()) {
+                if(!velocityVector.isZeroLength()) { // do not show warning for zero velocity
+                    RCLCPP_WARN(rclcpp::get_logger("tracked_persons_logger"), 
+                        "Track %lu has suspicious velocity (%.1f m/s), not showing velocity vector!",
+                        trackedPersonIt->track_id, velocityVector.length());
+                }
+            }
+            else {
+                const double personRadius = 0.2;
+                const Ogre::Vector3 velocityArrowAttachPoint(personRadius, 0, halfPersonHeight); // relative to tracked person's scene node
+                trackedPersonVisual->velocityArrow->setPosition(velocityArrowAttachPoint);
+                trackedPersonVisual->velocityArrow->setOrientation(m_frameOrientation * currentSceneNode->getOrientation().Inverse() * Ogre::Vector3::NEGATIVE_UNIT_Z.getRotationTo(velocityVector));
+
+                const double shaftLength = velocityVector.length(), shaftDiameter = 0.05, headLength = 0.2, headDiameter = 0.2;
+                trackedPersonVisual->velocityArrow->set(shaftLength, shaftDiameter, headLength, headDiameter);
+                trackedPersonVisual->hasZeroVelocity = velocityVector.length() < 0.05;
+            }
+
+            std::shared_ptr<MeshPersonVisual> meshPersonVisual = 
+                std::dynamic_pointer_cast<MeshPersonVisual>(personVisual);
+            if(meshPersonVisual) {
+                meshPersonVisual->setWalkingSpeed(velocityVector.length());
+            }
+        }
+
+        //
+        // Covariance visualization
+        //
+        if(!trackedPersonVisual->covarianceVisual) {
+            trackedPersonVisual->covarianceVisual.reset(
+                new ProbabilityEllipseCovarianceVisual(context_->getSceneManager(), currentSceneNode));
+        }
+
+        // Update covariance ellipse
+        {
+            Ogre::Vector3 covarianceMean(0 ,0, 0); // zero mean because parent node is already centered at pose mean
+            trackedPersonVisual->covarianceVisual->setOrientation(currentSceneNode->getOrientation().Inverse());
+            trackedPersonVisual->covarianceVisual->setMeanCovariance(covarianceMean, covXYZinTargetFrame);
+        }
+        
+    } // end for loop over all tracked persons
+    // Set all properties which can be dynamically in the GUI. This iterates over all tracks.
+    stylesChanged();
+
+    //
+    // First hide, then delete old cached tracks which have not been seen for a while
+    //
+    set<unsigned int> trackIdsToDelete;
+    for (auto cachedTrackIt = m_cachedTracks.begin(); cachedTrackIt != m_cachedTracks.end(); ++cachedTrackIt) {
+        if (encounteredTrackIds.end() == encounteredTrackIds.find(cachedTrackIt->first)) {
+            const std::shared_ptr<TrackedPersonVisual>& trackedPersonVisual = cachedTrackIt->second;
+
+            // Update state and visibility
+            if(!trackedPersonVisual->isDeleted) {
+                trackedPersonVisual->stateText->setCaption("DELETED");
+                trackedPersonVisual->isDeleted = true;
+
+                Ogre::Matrix4 lastObservedPose(trackedPersonVisual->sceneNode->getOrientation()); lastObservedPose.setTrans(trackedPersonVisual->sceneNode->getPosition());
+                trackedPersonVisual->lastObservedPose = mapFrameTransform.inverse() * lastObservedPose;
+            }
+
+            if(!m_show_deleted_property->getBool()) trackedPersonVisual->sceneNode->setVisible(false);
+
+            // Delete if too old
+            if(++trackedPersonVisual->numCyclesNotSeen > m_delete_after_ncycles_property->getInt()) {
+                trackIdsToDelete.insert(cachedTrackIt->first);
+            }
+        }
+    }
+
+    for (set<unsigned int>::const_iterator setIt = trackIdsToDelete.begin(); setIt != trackIdsToDelete.end(); ++setIt) {
+        m_cachedTracks.erase(*setIt);
+    }
+
+    //
+    // Update status (shown in property pane)
+    //
+    ss.str("");
+    ss << msg->tracks.size() << " tracks received";
+
+    setStatusStd(rviz_common::properties::StatusProperty::Ok, "Tracks", ss.str());
+}
+
+} // end namespace pedsim_rviz_plugin
+
+// Tell pluginlib about this class.  It is important to do this in
+// global scope, outside our package's namespace.
+#include <pluginlib/class_list_macros.hpp>
+PLUGINLIB_EXPORT_CLASS(pedsim_rviz_plugin::TrackedPersonsDisplay, rviz_common::Display)
\ No newline at end of file
diff --git a/pedsim_rviz_plugin/src/visuals/person_visual.cpp b/pedsim_rviz_plugin/src/visuals/person_visual.cpp
new file mode 100644
index 00000000..665ad653
--- /dev/null
+++ b/pedsim_rviz_plugin/src/visuals/person_visual.cpp
@@ -0,0 +1,207 @@
+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2013-2015, Timm Linder, Social Robotics Lab, University of Freiburg
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions are met:
+*
+*  * Redistributions of source code must retain the above copyright notice, this
+*    list of conditions and the following disclaimer.
+*  * Redistributions in binary form must reproduce the above copyright notice,
+*    this list of conditions and the following disclaimer in the documentation
+*    and/or other materials provided with the distribution.
+*  * Neither the name of the copyright holder nor the names of its contributors
+*    may be used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+*  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+*  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+*  DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+*  FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+*  DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+*  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+*  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+*  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "pedsim_rviz_plugin/visuals/person_visual.hpp"
+
+
+namespace pedsim_rviz_plugin {
+
+/** This helper class ensures that skeletons can be loaded from a package:// path **/
+class RosPackagePathResourceLoadingListener : public Ogre::ResourceLoadingListener
+{
+public:
+    RosPackagePathResourceLoadingListener(std::string parentPath) : _parentPath(parentPath) {
+    }
+
+    /** This event is called when a resource beings loading. */
+    virtual Ogre::DataStreamPtr resourceLoading(const Ogre::String &name, const Ogre::String &group, Ogre::Resource *resource) {
+      std::string absolutePath = _parentPath + "/" + name;
+      RVIZ_COMMON_LOG_INFO_STREAM("RosPackagePathResourceLoadingListener loading resource: " << absolutePath);
+      try
+      {
+        resource_retriever::Retriever retriever;
+        _lastResource = retriever.get(absolutePath); // not thread-safe!
+        return Ogre::DataStreamPtr(new Ogre::MemoryDataStream(_lastResource.data.get(), _lastResource.size));
+      }
+      catch (resource_retriever::Exception& e)
+      {
+        RVIZ_COMMON_LOG_ERROR_STREAM("In RosPackagePathResourceLoadingListener: " << e.what());
+        return Ogre::DataStreamPtr();
+      }
+    }
+
+    virtual void resourceStreamOpened(const Ogre::String &name, const Ogre::String &group, Ogre::Resource *resource, Ogre::DataStreamPtr& dataStream) {
+    }
+
+    virtual bool resourceCollision(Ogre::Resource *resource, Ogre::ResourceManager *resourceManager) {
+      return false;
+    }
+
+private:
+    const std::string _parentPath;
+    resource_retriever::MemoryResource _lastResource;
+};
+
+
+
+MeshPersonVisual::MeshPersonVisual(const PersonVisualDefaultArgs& args) : PersonVisual(args), m_animationState(NULL), m_walkingSpeed(1.0), entity_(NULL)
+{
+    m_childSceneNode = m_sceneNode->createChildSceneNode();
+    m_childSceneNode->setVisible(false);
+
+    std::string meshResource = "package://pedsim_rviz_plugin/media/animated_walking_man.mesh";
+    std::string parent_path = "package://pedsim_rviz_plugin/media";
+    /// This is required to load referenced skeletons from package:// path
+  
+    Ogre::ResourceLoadingListener *newListener = new RosPackagePathResourceLoadingListener(parent_path), 
+                                  *oldListener = Ogre::ResourceGroupManager::getSingleton().getLoadingListener();
+
+    Ogre::ResourceGroupManager::getSingleton().setLoadingListener(newListener);
+    bool loadFailed = rviz_rendering::loadMeshFromResource(meshResource).isNull();
+    Ogre::ResourceGroupManager::getSingleton().setLoadingListener(oldListener);
+
+    delete newListener;
+
+
+    // Create scene entity
+    static size_t count = 0;
+    std::stringstream ss;
+    ss << "mesh_person_visual" << count++;
+    std::string id = ss.str();
+
+    entity_ = m_sceneManager->createEntity(id, meshResource);
+    m_childSceneNode->attachObject(entity_);
+
+    // set up animation
+    setAnimationState("");
+
+    // set up material
+    ss << "Material";
+    Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create( ss.str(), "rviz" );
+    default_material->setReceiveShadows(false);
+    default_material->getTechnique(0)->setLightingEnabled(true);
+    default_material->getTechnique(0)->setAmbient( 0.5, 0.5, 0.5 );
+    materials_.insert( default_material );
+    entity_->setMaterial( default_material );
+
+    // set position
+    Ogre::Quaternion quat1; quat1.FromAngleAxis(Ogre::Degree(90), Ogre::Vector3(0,1,0));
+    Ogre::Quaternion quat2; quat2.FromAngleAxis(Ogre::Degree(-90), Ogre::Vector3(0,0,1));
+    m_childSceneNode->setOrientation(quat1 * quat2);
+
+    double scaleFactor = 0.243 * 1.75;
+    m_childSceneNode->setScale(Ogre::Vector3(scaleFactor, scaleFactor, scaleFactor));
+    m_childSceneNode->setPosition(Ogre::Vector3(0, 0, -1));
+
+    m_childSceneNode->setVisible(true);
+}
+
+MeshPersonVisual::~MeshPersonVisual() {
+    m_sceneManager->destroyEntity( entity_ );
+
+    // destroy all the materials we've created
+    std::set<Ogre::MaterialPtr>::iterator it;
+    for ( it = materials_.begin(); it!=materials_.end(); it++ )
+    {
+        Ogre::MaterialPtr material = *it;
+        if (!material.isNull())
+        {
+          material->unload();
+          Ogre::MaterialManager::getSingleton().remove(material->getName());
+        }
+    }
+    materials_.clear();
+    if (m_childSceneNode->getName() != "")
+        m_sceneManager->destroySceneNode(m_childSceneNode->getName());
+}
+
+void MeshPersonVisual::setColor(const Ogre::ColourValue& c) {
+    Ogre::SceneBlendType blending;
+    bool depth_write;
+
+    if ( c.a < 0.9998 )
+    {
+      blending = Ogre::SBT_TRANSPARENT_ALPHA;
+      depth_write = false;
+    }
+    else
+    {
+      blending = Ogre::SBT_REPLACE;
+      depth_write = true;
+    }
+
+    std::set<Ogre::MaterialPtr>::iterator it;
+    for( it = materials_.begin(); it != materials_.end(); it++ )
+    {
+      Ogre::Technique* technique = (*it)->getTechnique( 0 );
+
+      technique->setAmbient( c.r*0.5, c.g*0.5, c.b*0.5 );
+      technique->setDiffuse( c.r, c.g, c.b, c.a );
+      technique->setSceneBlending( blending );
+      technique->setDepthWriteEnabled( depth_write );
+      technique->setLightingEnabled( true );
+    }
+}
+
+void MeshPersonVisual::setAnimationState(const std::string& nameOfAnimationState) {
+    Ogre::AnimationStateSet *animationStates = entity_->getAllAnimationStates();
+    if(animationStates != NULL)
+    {
+      Ogre::AnimationStateIterator animationsIterator = animationStates->getAnimationStateIterator();
+      while (animationsIterator.hasMoreElements())
+      {
+        Ogre::AnimationState *animationState = animationsIterator.getNext();
+        if(animationState->getAnimationName() == nameOfAnimationState || nameOfAnimationState.empty()) {
+          animationState->setLoop(true);
+          animationState->setEnabled(true);
+          m_animationState = animationState;
+          return;
+        }    
+      }
+
+      // Not found. Set first animation state then.
+      RVIZ_COMMON_LOG_WARNING_STREAM("Person mesh animation state " << nameOfAnimationState << " does not exist in mesh!");
+      setAnimationState("");
+    }
+}
+
+void MeshPersonVisual::setWalkingSpeed(float walkingSpeed) {
+    m_walkingSpeed = walkingSpeed;
+}
+
+
+void MeshPersonVisual::update(float deltaTime) {
+    if(m_animationState) {
+        m_animationState->addTime(0.7 * deltaTime * m_walkingSpeed);
+    }
+}
+
+
+} // end of namespace pedsim_rviz_plugin
diff --git a/pedsim_sensors/CMakeLists.txt b/pedsim_sensors/CMakeLists.txt
deleted file mode 100644
index 6ad530dc..00000000
--- a/pedsim_sensors/CMakeLists.txt
+++ /dev/null
@@ -1,80 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(pedsim_sensors)
-add_definitions(-Wall -Wunused -std=c++11 -pipe -Wunused -Wextra)
-
-set(PACKAGE_DEPS
-  geometry_msgs
-  nav_msgs
-  pedsim_msgs
-  roscpp
-  rospy
-  sensor_msgs
-  tf
-  pedsim_utils
-)
-find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPS})
-
-catkin_package(
-  CATKIN_DEPENDS ${PACKAGE_DEPS}
-  INCLUDE_DIRS include
-)
-
-###########
-## Build ##
-###########
-
-include_directories(include)
-include_directories(${catkin_INCLUDE_DIRS})
-link_directories(${catkin_LIBRARY_DIRS})
-
-# People point cloud sensor.
-set(PEOPLE_PCD_EXEC_NAME pedsim_people_sensor)
-add_executable(${PEOPLE_PCD_EXEC_NAME} src/pedsim_sensors/people_point_cloud.cpp)
-add_dependencies(${PEOPLE_PCD_EXEC_NAME} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PEOPLE_PCD_EXEC_NAME} ${catkin_LIBRARIES})
-
-# Obstacle point cloud sensor.
-set(OBSTACLE_PCD_EXEC_NAME pedsim_obstacle_sensor)
-add_executable(${OBSTACLE_PCD_EXEC_NAME} src/pedsim_sensors/obstacle_point_cloud.cpp)
-add_dependencies(${OBSTACLE_PCD_EXEC_NAME} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${OBSTACLE_PCD_EXEC_NAME} ${catkin_LIBRARIES})
-
-# Point cloud sensor.
-set(OCCLUSION_PCD_EXEC_NAME pedsim_occlusion_sensor)
-add_executable(${OCCLUSION_PCD_EXEC_NAME} src/pedsim_sensors/occlusion_point_cloud.cpp)
-add_dependencies(${OCCLUSION_PCD_EXEC_NAME} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${OCCLUSION_PCD_EXEC_NAME} ${catkin_LIBRARIES})
-
-#############
-## Install ##
-#############
-
-install(
-  TARGETS
-    ${PEOPLE_PCD_EXEC_NAME}
-    ${OBSTACLE_PCD_EXEC_NAME}
-    ${OCCLUSION_PCD_EXEC_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-## Mark cpp header files for installation
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-  PATTERN ".svn" EXCLUDE
-)
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_pedsim_sensors.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/pedsim_sensors/include/pedsim_sensors/obstacle_point_cloud.h b/pedsim_sensors/include/pedsim_sensors/obstacle_point_cloud.h
deleted file mode 100644
index 52d4af36..00000000
--- a/pedsim_sensors/include/pedsim_sensors/obstacle_point_cloud.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/**
-* Copyright 2014- Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-*/
-
-#ifndef OBSTACLE_POINT_CLOUD_H
-#define OBSTACLE_POINT_CLOUD_H
-
-#include <pedsim_sensors/pedsim_sensor.h>
-
-#include <queue>
-
-#include <pedsim_msgs/LineObstacles.h>
-#include <ros/ros.h>
-#include <sensor_msgs/PointCloud.h>
-
-namespace pedsim_ros {
-
-class ObstaclePointCloud : public PedsimSensor {
- public:
-  ObstaclePointCloud(const ros::NodeHandle& node_handle, const double rate,
-                     const FoVPtr& fov);
-  virtual ~ObstaclePointCloud() = default;
-
-  void broadcast() override;
-  void run();
-  void obstaclesCallBack(const pedsim_msgs::LineObstaclesConstPtr& obstacles);
-
- private:
-  ros::Subscriber sub_simulated_obstacles_;
-
-  std::queue<pedsim_msgs::LineObstaclesConstPtr> q_obstacles_;
-};
-
-}  // namespace pedsim_ros
-
-#endif
diff --git a/pedsim_sensors/include/pedsim_sensors/occlusion_point_cloud.h b/pedsim_sensors/include/pedsim_sensors/occlusion_point_cloud.h
deleted file mode 100644
index 67eb1b4a..00000000
--- a/pedsim_sensors/include/pedsim_sensors/occlusion_point_cloud.h
+++ /dev/null
@@ -1,80 +0,0 @@
-/**
-* Copyright 2014- Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-*/
-
-#ifndef POINT_CLOUD_H
-#define POINT_CLOUD_H
-
-#include <pedsim_sensors/pedsim_sensor.h>
-
-#include <queue>
-
-#include <pedsim_msgs/LineObstacles.h>
-#include <pedsim_msgs/AgentStates.h>
-#include <ros/ros.h>
-#include <sensor_msgs/PointCloud.h>
-#include <sensor_msgs/PointCloud2.h>
-#include <sensor_msgs/point_cloud_conversion.h>
-
-namespace pedsim_ros {
-
-class PointCloud : public PedsimSensor {
- public:
-  PointCloud(const ros::NodeHandle& node_handle, const double rate, const int resol, 
-                     const FoVPtr& fov);
-  virtual ~PointCloud() = default;
-
-  void broadcast() override;
-  void run();
-  void obstaclesCallBack(const pedsim_msgs::LineObstaclesConstPtr& obstacles);
-  void agentStatesCallBack(const pedsim_msgs::AgentStatesConstPtr& agents);
-
-  // detected obss is a 360 deg scan map
-  uint rad_to_index(float rad);
-  float index_to_rad(uint index);
-  uint fit_index(int index);
-  void fillDetectedObss(std::vector<std::complex<float>>& detected_obss,
-                        std::complex<float> obs, float width);
-
- private:
-  ros::Subscriber sub_simulated_obstacles_;
-  ros::Subscriber sub_simulated_agents_;
-
-  std::queue<pedsim_msgs::LineObstaclesConstPtr> q_obstacles_;
-  std::queue<pedsim_msgs::AgentStatesConstPtr> q_agents_;
-
- protected:
-  int resol_;
-  float human_width = 0.2;
-  float obs_width = 0.5;
-};
-
-}  // namespace pedsim_ros
-
-#endif
diff --git a/pedsim_sensors/include/pedsim_sensors/pedsim_sensor.h b/pedsim_sensors/include/pedsim_sensors/pedsim_sensor.h
deleted file mode 100644
index 43623ede..00000000
--- a/pedsim_sensors/include/pedsim_sensors/pedsim_sensor.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/**
-* Copyright 2014- Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-*/
-
-#ifndef PEDSIM_SENSOR_H
-#define PEDSIM_SENSOR_H
-
-#include <tf/transform_listener.h>
-
-#include <ros/ros.h>
-
-#include <nav_msgs/Odometry.h>
-
-namespace pedsim_ros {
-
-struct FoV {
-  double origin_x;
-  double origin_y;
-
-  FoV() = default;
-  FoV(const double x, const double y) : origin_x{x}, origin_y{y} {}
-  virtual bool inside(const double x, const double y) const = 0;
-  virtual void updateViewpoint(const double new_x, const double new_y) = 0;
-};
-
-using FoVPtr = std::shared_ptr<FoV>;
-
-struct CircularFov : FoV {
-  double radius;
-
-  CircularFov(const double cx, const double cy, const double r)
-      : FoV(cx, cy), radius{r} {}
-
-  bool inside(const double x, const double y) const override {
-    return std::hypot(x - origin_x, y - origin_y) < radius;
-  }
-  void updateViewpoint(const double new_x, const double new_y) override {
-    origin_x = new_x;
-    origin_y = new_y;
-  }
-};
-
-/// \brief A sensor interface.
-class PedsimSensor {
- public:
-  PedsimSensor(const ros::NodeHandle& node_handle, const double rate,
-               const FoVPtr& fov)
-      : nh_{node_handle}, rate_{rate} {
-    if (fov == nullptr) {
-      ROS_FATAL_STREAM("Sensor FoV cannot be null.");
-    }
-    fov_ = fov;
-    // Set up robot odometry subscriber.
-    sub_robot_odom_ = nh_.subscribe("/pedsim_simulator/robot_position", 1,
-                                    &PedsimSensor::callbackRobotOdom, this);
-
-    transform_listener_ = boost::make_shared<tf::TransformListener>();
-  }
-  virtual ~PedsimSensor() = default;
-  virtual void broadcast() = 0;
-  void callbackRobotOdom(const nav_msgs::Odometry::ConstPtr& msg) {
-    robot_odom_ = *msg;
-    // update sensor anchor.
-    fov_->updateViewpoint(robot_odom_.pose.pose.position.x,
-                          robot_odom_.pose.pose.position.y);
-  }
-
- protected:
-  ros::NodeHandle nh_;
-  double rate_ = 25.;
-  FoVPtr fov_ = nullptr;
-  nav_msgs::Odometry robot_odom_;
-
-  ros::Publisher pub_signals_local_;
-  ros::Publisher pub_signals_global_;
-  ros::Subscriber sub_robot_odom_;
-
-  boost::shared_ptr<tf::TransformListener> transform_listener_;
-};
-
-tf::Pose transformPoint(const tf::StampedTransform& T_r_o,
-                        const tf::Vector3& point) {
-  tf::Pose source;
-  source.setOrigin(point);
-
-  tf::Matrix3x3 identity;
-  identity.setIdentity();
-  source.setBasis(identity);
-
-  return T_r_o * source;
-}
-
-}  // namespace pedsim_ros
-
-#endif
diff --git a/pedsim_sensors/include/pedsim_sensors/people_point_cloud.h b/pedsim_sensors/include/pedsim_sensors/people_point_cloud.h
deleted file mode 100644
index e987d593..00000000
--- a/pedsim_sensors/include/pedsim_sensors/people_point_cloud.h
+++ /dev/null
@@ -1,63 +0,0 @@
-/**
-* Copyright 2014- Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-*/
-
-#ifndef PEOPLE_POINT_CLOUD_H
-#define PEOPLE_POINT_CLOUD_H
-
-#include <pedsim_sensors/pedsim_sensor.h>
-
-#include <queue>
-
-#include <pedsim_msgs/AgentStates.h>
-#include <ros/ros.h>
-#include <sensor_msgs/PointCloud.h>
-
-namespace pedsim_ros {
-
-class PeoplePointCloud : public PedsimSensor {
- public:
-  PeoplePointCloud(const ros::NodeHandle& node_handle, const double rate,
-                   const FoVPtr& fov);
-  virtual ~PeoplePointCloud() = default;
-
-  void broadcast() override;
-  void run();
-
-  void agentStatesCallBack(const pedsim_msgs::AgentStatesConstPtr& agents);
-
- private:
-  ros::Subscriber sub_simulated_agents_;
-
-  std::queue<pedsim_msgs::AgentStatesConstPtr> q_agents_;
-};
-
-}  // namespace pedsim_ros
-
-#endif
diff --git a/pedsim_sensors/launch/obstacle_pcd_sensor.launch b/pedsim_sensors/launch/obstacle_pcd_sensor.launch
deleted file mode 100644
index 632cbb14..00000000
--- a/pedsim_sensors/launch/obstacle_pcd_sensor.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
-  <arg name="range" default="10.0"/>
-  <arg name="origin_x" default="0.0"/>
-  <arg name="origin_y" default="0.0"/>
-
-  <!-- main simulator node -->
-  <node name="pedsim_obstacle_sensor" pkg="pedsim_sensors" type="pedsim_obstacle_sensor" output="screen">
-    <param name="pose_initial_x" value="$(arg origin_x)"/>
-    <param name="pose_initial_y" value="$(arg origin_y)"/>
-    <param name="fov_range" value="$(arg range)" type="double"/>
-    <param name="rate" value="25.0" type="double"/>
-  </node>
-
-</launch>
diff --git a/pedsim_sensors/launch/occlusion_pcd_sensor.launch b/pedsim_sensors/launch/occlusion_pcd_sensor.launch
deleted file mode 100644
index 5f376f77..00000000
--- a/pedsim_sensors/launch/occlusion_pcd_sensor.launch
+++ /dev/null
@@ -1,16 +0,0 @@
-<launch>
-  <arg name="range" default="10.0"/>
-  <arg name="resol" default="360"/>
-  <arg name="origin_x" default="0.0"/>
-  <arg name="origin_y" default="0.0"/>
-
-  <!-- main simulator node -->
-  <node name="pedsim_sensor" pkg="pedsim_sensors" type="pedsim_occlusion_sensor" output="screen">
-    <param name="pose_initial_x" value="$(arg origin_x)"/>
-    <param name="pose_initial_y" value="$(arg origin_y)"/>
-    <param name="fov_range" value="$(arg range)" type="double"/>
-    <param name="rate" value="25.0" type="double"/>
-    <param name="resol" value="$(arg resol)" type="int"/>
-  </node>
-
-</launch>
diff --git a/pedsim_sensors/launch/people_pcd_sensor.launch b/pedsim_sensors/launch/people_pcd_sensor.launch
deleted file mode 100644
index 0fa912b8..00000000
--- a/pedsim_sensors/launch/people_pcd_sensor.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
-  <arg name="range" default="10.0"/>
-  <arg name="origin_x" default="0.0"/>
-  <arg name="origin_y" default="0.0"/>
-
-  <!-- main simulator node -->
-  <node name="pedsim_people_sensor" pkg="pedsim_sensors" type="pedsim_people_sensor" output="screen">
-    <param name="pose_initial_x" value="$(arg origin_x)"/>
-    <param name="pose_initial_y" value="$(arg origin_y)"/>
-    <param name="fov_range" value="$(arg range)" type="double"/>
-    <param name="rate" value="25.0" type="double"/>
-  </node>
-
-</launch>
diff --git a/pedsim_sensors/package.xml b/pedsim_sensors/package.xml
deleted file mode 100644
index fcd5cb75..00000000
--- a/pedsim_sensors/package.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>pedsim_sensors</name>
-  <version>0.1.0</version>
-  <description>The pedsim_sensors package</description>
-
-  <maintainer email="okal@cs.uni-freiburg.de">Billy Okal</maintainer>
-
-  <license>BSD</license>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>pedsim_msgs</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>pedsim_utils</build_depend>
-
-  <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>nav_msgs</build_export_depend>
-  <build_export_depend>pedsim_msgs</build_export_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <build_export_depend>sensor_msgs</build_export_depend>
-  <build_export_depend>tf</build_export_depend>
-  <build_export_depend>pedsim_utils</build_export_depend>
-
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>nav_msgs</exec_depend>
-  <exec_depend>pedsim_msgs</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>tf</exec_depend>
-  <exec_depend>pedsim_utils</exec_depend>
-
-</package>
diff --git a/pedsim_sensors/src/pedsim_sensors/obstacle_point_cloud.cpp b/pedsim_sensors/src/pedsim_sensors/obstacle_point_cloud.cpp
deleted file mode 100644
index 40badcf4..00000000
--- a/pedsim_sensors/src/pedsim_sensors/obstacle_point_cloud.cpp
+++ /dev/null
@@ -1,185 +0,0 @@
-/**
-* Copyright 2014- Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-*/
-
-#include <pedsim_sensors/obstacle_point_cloud.h>
-#include <pedsim_utils/geometry.h>
-
-#include <random>
-
-namespace pedsim_ros {
-
-ObstaclePointCloud::ObstaclePointCloud(const ros::NodeHandle& node_handle,
-                                       const double rate, const FoVPtr& fov)
-    : PedsimSensor(node_handle, rate, fov) {
-  pub_signals_local_ =
-      nh_.advertise<sensor_msgs::PointCloud>("point_cloud_local", 1);
-  pub_signals_global_ =
-      nh_.advertise<sensor_msgs::PointCloud>("point_cloud_global", 1);
-
-  sub_simulated_obstacles_ =
-      nh_.subscribe("/pedsim_simulator/simulated_walls", 1,
-                    &ObstaclePointCloud::obstaclesCallBack, this);
-}
-
-void ObstaclePointCloud::broadcast() {
-  if (q_obstacles_.size() < 1) {
-    return;
-  }
-
-  const auto sim_obstacles = q_obstacles_.front();
-
-  using Cell = std::pair<float, float>;
-  std::vector<Cell> all_cells;
-  for (const auto& line : sim_obstacles->obstacles) {
-    const auto cells = pedsim::LineObstacleToCells(line.start.x, line.start.y,
-                                                   line.end.x, line.end.y);
-    std::copy(cells.begin(), cells.end(), std::back_inserter(all_cells));
-  }
-
-  constexpr int point_density = 100;
-  const int num_points = all_cells.size() * point_density;
-
-  std::default_random_engine generator;
-
-  // \todo - Read params from config file.
-  std::uniform_int_distribution<int> color_distribution(1, 255);
-  std::uniform_real_distribution<float> height_distribution(0, 1);
-  std::uniform_real_distribution<float> width_distribution(-0.5, 0.5);
-
-  sensor_msgs::PointCloud pcd_global;
-  pcd_global.header.stamp = ros::Time::now();
-  pcd_global.header.frame_id = sim_obstacles->header.frame_id;
-  pcd_global.points.resize(num_points);
-  pcd_global.channels.resize(1);
-  pcd_global.channels[0].name = "intensities";
-  pcd_global.channels[0].values.resize(num_points);
-
-  sensor_msgs::PointCloud pcd_local;
-  pcd_local.header.stamp = ros::Time::now();
-  pcd_local.header.frame_id = robot_odom_.header.frame_id;
-  pcd_local.points.resize(num_points);
-  pcd_local.channels.resize(1);
-  pcd_local.channels[0].name = "intensities";
-  pcd_local.channels[0].values.resize(num_points);
-
-  // prepare the transform to robot odom frame.
-  tf::StampedTransform robot_transform;
-  try {
-    transform_listener_->lookupTransform(robot_odom_.header.frame_id,
-                                         sim_obstacles->header.frame_id,
-                                         ros::Time(0), robot_transform);
-  } catch (tf::TransformException& e) {
-    ROS_WARN_STREAM_THROTTLE(5.0, "TFP lookup from ["
-                                      << sim_obstacles->header.frame_id
-                                      << "] to [" << robot_odom_.header.frame_id
-                                      << "] failed. Reason: " << e.what());
-    return;
-  }
-
-  size_t index = 0;
-  for (const auto& cell : all_cells) {
-    const int cell_color = color_distribution(generator);
-
-    for (size_t j = 0; j < point_density; ++j) {
-      if (fov_->inside(cell.first, cell.second)) {
-        const tf::Vector3 point(cell.first + width_distribution(generator),
-                                cell.second + width_distribution(generator),
-                                0.);
-        const auto transformed_point = transformPoint(robot_transform, point);
-
-        pcd_local.points[index].x = transformed_point.getOrigin().x();
-        pcd_local.points[index].y = transformed_point.getOrigin().y();
-        pcd_local.points[index].z = height_distribution(generator);
-        pcd_local.channels[0].values[index] = cell_color;
-
-        // Global observations.
-        pcd_global.points[index].x = cell.first + width_distribution(generator);
-        pcd_global.points[index].y =
-            cell.second + width_distribution(generator);
-        pcd_global.points[index].z = height_distribution(generator);
-        pcd_global.channels[0].values[index] = cell_color;
-      }
-
-      index++;
-    }
-  }
-
-  if (pcd_local.channels[0].values.size() > 1) {
-    pub_signals_local_.publish(pcd_local);
-  }
-  if (pcd_global.channels[0].values.size() > 1) {
-    pub_signals_global_.publish(pcd_global);
-  }
-
-  q_obstacles_.pop();
-};
-
-void ObstaclePointCloud::run() {
-  ros::Rate r(rate_);
-
-  while (ros::ok()) {
-    broadcast();
-
-    ros::spinOnce();
-    r.sleep();
-  }
-}
-
-void ObstaclePointCloud::obstaclesCallBack(
-    const pedsim_msgs::LineObstaclesConstPtr& obstacles) {
-  q_obstacles_.emplace(obstacles);
-}
-
-}  // namespace
-
-// --------------------------------------------------------------
-
-int main(int argc, char** argv) {
-  ros::init(argc, argv, "pedsim_obstacle_sensor");
-  ros::NodeHandle node("~");
-
-  double init_x = 0.0, init_y = 0.0, fov_range = 0.0;
-  node.param<double>("pose_initial_x", init_x, 0.0);
-  node.param<double>("pose_initial_y", init_y, 0.0);
-  node.param<double>("fov_range", fov_range, 15.);
-
-  pedsim_ros::FoVPtr circle_fov;
-  circle_fov.reset(new pedsim_ros::CircularFov(init_x, init_y, fov_range));
-
-  double sensor_rate = 0.0;
-  node.param<double>("rate", sensor_rate, 25.0);
-
-  pedsim_ros::ObstaclePointCloud pcd_sensor(node, sensor_rate, circle_fov);
-  ROS_INFO_STREAM("Initialized obstacle PCD sensor with center: (" 
-    << init_x << ", " << init_y << ") and range: " << fov_range);
-
-  pcd_sensor.run();
-  return 0;
-}
diff --git a/pedsim_sensors/src/pedsim_sensors/occlusion_point_cloud.cpp b/pedsim_sensors/src/pedsim_sensors/occlusion_point_cloud.cpp
deleted file mode 100644
index d86cdcc4..00000000
--- a/pedsim_sensors/src/pedsim_sensors/occlusion_point_cloud.cpp
+++ /dev/null
@@ -1,259 +0,0 @@
-/**
- * Copyright 2014- Social Robotics Lab, University of Freiburg
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- *    # Redistributions of source code must retain the above copyright
- *       notice, this list of conditions and the following disclaimer.
- *    # Redistributions in binary form must reproduce the above copyright
- *       notice, this list of conditions and the following disclaimer in the
- *       documentation and/or other materials provided with the distribution.
- *    # Neither the name of the University of Freiburg nor the names of its
- *       contributors may be used to endorse or promote products derived from
- *       this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- * \author Billy Okal <okal@cs.uni-freiburg.de>
- */
-
-#include <pedsim_sensors/occlusion_point_cloud.h>
-#include <pedsim_utils/geometry.h>
-#include <math.h>
-#include <random>
-#define INF 100000000
-
-template <typename T> int sgn(T val) {
-  return (T(0) < val) - (val < T(0));
-}
-
-namespace pedsim_ros {
-
-using Cell = std::complex<float>;
-
-PointCloud::PointCloud(const ros::NodeHandle& node_handle,
-                            const double rate, const int resol, const FoVPtr& fov)
-    : PedsimSensor(node_handle, rate, fov) {
-  resol_ = resol;
-  pub_signals_local_ =
-      nh_.advertise<sensor_msgs::PointCloud>("point_cloud_local", 1);
-  pub_signals_global_ =
-      nh_.advertise<sensor_msgs::PointCloud>("point_cloud_global", 1);
-
-  sub_simulated_obstacles_ =
-      nh_.subscribe("/pedsim_simulator/simulated_walls", 1,
-                    &PointCloud::obstaclesCallBack, this);
-  sub_simulated_agents_ =
-      nh_.subscribe("/pedsim_simulator/simulated_agents", 1,
-                    &PointCloud::agentStatesCallBack, this);
-}
-
-uint PointCloud::rad_to_index(float rad_){
-  auto rad = atan2(sin(rad_), cos(rad_));
-  return (rad + M_PI) * resol_ / (2 * M_PI);
-}
-
-float PointCloud::index_to_rad(uint index){
-  return -M_PI + 2 * M_PI / resol_ * index;
-}
-
-uint PointCloud::fit_index(int index) {
-  if (index < 0) {
-    return index % resol_ + resol_;
-  }
-  else{
-    return index % resol_; 
-  }
-}
-
-void PointCloud::fillDetectedObss(std::vector<Cell>& detected_obss, Cell cell, float width){
-  Cell obs = cell - Cell(fov_->origin_x, fov_->origin_y);
-  float edge_x = -width * sgn(obs.real());
-  float edge_y = -width * sgn(obs.imag());
-  for (float dw = -width; dw <= width; dw += width / 10) {
-    for (auto new_obs : {obs + Cell(edge_x, dw), obs + Cell(dw, edge_y)}){
-      auto r = std::abs(new_obs);
-      auto theta = std::arg(new_obs);
-      uint rad_index = rad_to_index(theta);
-      // fill adj indexes with same values
-      for (int i : {-2, -1, 0, 1, 2}){
-        uint index = fit_index(rad_index + i);
-        if (r < std::abs(detected_obss[index])) {
-          auto polar = std::polar(r, theta);
-          detected_obss[index] = polar;
-        }
-      }
-    }
-  }
-}
-
-void PointCloud::broadcast() {
-
-  std::vector<Cell> detected_obss(resol_, Cell(INF, INF));
-
-  // obstacles 
-  if (q_obstacles_.size() < 1 || q_agents_.size() < 1) {
-    return;
-  }
-
-  // fill by cells
-  std::vector<std::pair<float, float>> all_cells;
-  const auto sim_obstacles = q_obstacles_.front();
-  for (const auto& line : sim_obstacles->obstacles) {
-    const auto cells = pedsim::LineObstacleToCells(line.start.x, line.start.y,
-                                                   line.end.x, line.end.y);
-    std::copy(cells.begin(), cells.end(), std::back_inserter(all_cells));
-  }
-  for (const auto& pair_cell : all_cells) {
-    // convert pair to complex
-    auto cell = Cell(pair_cell.first, pair_cell.second);
-    fillDetectedObss(detected_obss, cell, obs_width);
-  }
-
-  // fill by agents
-  const auto people_signal = q_agents_.front();
-  for (const auto& person : people_signal->agent_states) {
-    Cell cell(person.pose.position.x, person.pose.position.y);
-    fillDetectedObss(detected_obss, cell, human_width);
-  }
-
-  constexpr int point_density = 10;
-  const int num_points = detected_obss.size() * point_density;
-
-  std::default_random_engine generator;
-
-  // \todo - Read params from config file.
-  std::uniform_int_distribution<int> color_distribution(1, 255);
-  std::uniform_real_distribution<float> height_distribution(0, 1);
-  std::uniform_real_distribution<float> width_distribution(-0.05, 0.05);
-
-  sensor_msgs::PointCloud pcd_global;
-  pcd_global.header.stamp = ros::Time::now();
-  pcd_global.header.frame_id = sim_obstacles->header.frame_id;
-  pcd_global.points.resize(num_points);
-  pcd_global.channels.resize(1);
-  pcd_global.channels[0].name = "intensities";
-  pcd_global.channels[0].values.resize(num_points);
-
-  sensor_msgs::PointCloud pcd_local;
-  pcd_local.header.stamp = ros::Time::now();
-  pcd_local.header.frame_id = robot_odom_.header.frame_id;
-  pcd_local.points.resize(num_points);
-  pcd_local.channels.resize(1);
-  pcd_local.channels[0].name = "intensities";
-  pcd_local.channels[0].values.resize(num_points);
-
-  // prepare the transform to robot odom frame.
-  tf::StampedTransform robot_transform;
-  try {
-    transform_listener_->lookupTransform(robot_odom_.header.frame_id,
-                                         sim_obstacles->header.frame_id,
-                                         ros::Time(0), robot_transform);
-  } catch (tf::TransformException& e) {
-    ROS_WARN_STREAM_THROTTLE(5.0, "TFP lookup from ["
-                                      << sim_obstacles->header.frame_id
-                                      << "] to [" << robot_odom_.header.frame_id
-                                      << "] failed. Reason: " << e.what());
-    return;
-  }
-
-  size_t index = 0;
-  for (const auto& obs : detected_obss) {
-    Cell cell = obs + Cell(fov_->origin_x, fov_->origin_y);
-    const int cell_color = color_distribution(generator);
-
-    for (size_t j = 0; j < point_density; ++j) {
-      if (fov_->inside(cell.real(), cell.imag())) {
-        const tf::Vector3 point(cell.real() + width_distribution(generator),
-                                cell.imag() + width_distribution(generator),
-                                0.);
-        const auto transformed_point = transformPoint(robot_transform, point);
-
-        pcd_local.points[index].x = transformed_point.getOrigin().x();
-        pcd_local.points[index].y = transformed_point.getOrigin().y();
-        pcd_local.points[index].z = height_distribution(generator);
-        pcd_local.channels[0].values[index] = cell_color;
-
-        // Global observations.
-        pcd_global.points[index].x = cell.real() + width_distribution(generator);
-        pcd_global.points[index].y =
-            cell.imag() + width_distribution(generator);
-        pcd_global.points[index].z = height_distribution(generator);
-        pcd_global.channels[0].values[index] = cell_color;
-      }
-
-      index++;
-    }
-  }
-
-  if (pcd_local.channels[0].values.size() > 1) {
-    pub_signals_local_.publish(pcd_local);
-  }
-  if (pcd_global.channels[0].values.size() > 1) {
-    pub_signals_global_.publish(pcd_global);
-  }
-
-  q_obstacles_.pop();
-  q_agents_.pop();
-};
-
-void PointCloud::run() {
-  ros::Rate r(rate_);
-
-  while (ros::ok()) {
-    broadcast();
-
-    ros::spinOnce();
-    r.sleep();
-  }
-}
-
-void PointCloud::obstaclesCallBack(
-    const pedsim_msgs::LineObstaclesConstPtr& obstacles) {
-  q_obstacles_.emplace(obstacles);
-}
-
-void PointCloud::agentStatesCallBack(
-    const pedsim_msgs::AgentStatesConstPtr& agents) {
-  q_agents_.emplace(agents);
-}
-
-}  // namespace pedsim_ros
-
-// --------------------------------------------------------------
-
-int main(int argc, char** argv) {
-  ros::init(argc, argv, "pedsim_occlusion_sensor");
-  ros::NodeHandle node("~");
-
-  double init_x = 0.0, init_y = 0.0, fov_range = 0.0;
-  node.param<double>("pose_initial_x", init_x, 0.0);
-  node.param<double>("pose_initial_y", init_y, 0.0);
-  node.param<double>("fov_range", fov_range, 15.);
-
-  pedsim_ros::FoVPtr circle_fov;
-  circle_fov.reset(new pedsim_ros::CircularFov(init_x, init_y, fov_range));
-
-  double sensor_rate = 0.0;
-  int sensor_resol = 360;
-  node.param<double>("rate", sensor_rate, 25.0);
-  node.param<int>("resol", sensor_resol, 360);
-
-  pedsim_ros::PointCloud pcd_sensor(node, sensor_rate, sensor_resol, circle_fov);
-  ROS_INFO_STREAM("Initialized occlusion PCD sensor with center: ("
-                  << init_x << ", " << init_y << ") , range: " << fov_range << ", resolution: " << sensor_resol);
-
-  pcd_sensor.run();
-  return 0;
-}
diff --git a/pedsim_sensors/src/pedsim_sensors/people_point_cloud.cpp b/pedsim_sensors/src/pedsim_sensors/people_point_cloud.cpp
deleted file mode 100644
index 9b4c9377..00000000
--- a/pedsim_sensors/src/pedsim_sensors/people_point_cloud.cpp
+++ /dev/null
@@ -1,177 +0,0 @@
-/**
-* Copyright 2014- Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-*/
-
-#include <pedsim_sensors/people_point_cloud.h>
-
-#include <random>
-
-namespace pedsim_ros {
-
-PeoplePointCloud::PeoplePointCloud(const ros::NodeHandle& node_handle,
-                                   const double rate, const FoVPtr& fov)
-    : PedsimSensor(node_handle, rate, fov) {
-  pub_signals_local_ =
-      nh_.advertise<sensor_msgs::PointCloud>("point_cloud_local", 1);
-  pub_signals_global_ =
-      nh_.advertise<sensor_msgs::PointCloud>("point_cloud_global", 1);
-
-  sub_simulated_agents_ =
-      nh_.subscribe("/pedsim_simulator/simulated_agents", 1,
-                    &PeoplePointCloud::agentStatesCallBack, this);
-}
-
-void PeoplePointCloud::broadcast() {
-  if (q_agents_.size() < 1) {
-    return;
-  }
-
-  constexpr int point_density = 100;
-  const auto people_signal = q_agents_.front();
-  const int num_points = people_signal->agent_states.size() * point_density;
-
-  std::default_random_engine generator;
-
-  // \todo - Read params from config file.
-  std::uniform_int_distribution<int> color_distribution(1, 255);
-  std::uniform_real_distribution<float> height_distribution(0, 1.8);
-  std::uniform_real_distribution<float> width_distribution(-0.18, 0.18);
-
-  sensor_msgs::PointCloud pcd_global;
-  pcd_global.header.stamp = ros::Time::now();
-  pcd_global.header.frame_id = people_signal->header.frame_id;
-  pcd_global.points.resize(num_points);
-  pcd_global.channels.resize(1);
-  pcd_global.channels[0].name = "intensities";
-  pcd_global.channels[0].values.resize(num_points);
-
-  sensor_msgs::PointCloud pcd_local;
-  pcd_local.header.stamp = ros::Time::now();
-  pcd_local.header.frame_id = robot_odom_.header.frame_id;
-  pcd_local.points.resize(num_points);
-  pcd_local.channels.resize(1);
-  pcd_local.channels[0].name = "intensities";
-  pcd_local.channels[0].values.resize(num_points);
-
-  // prepare the transform to robot odom frame.
-  tf::StampedTransform robot_transform;
-  try {
-    transform_listener_->lookupTransform(robot_odom_.header.frame_id,
-                                         people_signal->header.frame_id,
-                                         ros::Time(0), robot_transform);
-  } catch (tf::TransformException& e) {
-    ROS_WARN_STREAM_THROTTLE(5.0, "TFP lookup from ["
-                                      << people_signal->header.frame_id
-                                      << "] to [" << robot_odom_.header.frame_id
-                                      << "] failed. Reason: " << e.what());
-    return;
-  }
-
-  size_t index = 0;
-  for (const auto& person : people_signal->agent_states) {
-    const int person_pcd_color = color_distribution(generator);
-    for (size_t j = 0; j < point_density; ++j) {
-      if (fov_->inside(person.pose.position.x, person.pose.position.y)) {
-        // Frame transformations.
-        // - Make sure person is in the same frame as robot
-        const tf::Vector3 point(
-            person.pose.position.x + width_distribution(generator),
-            person.pose.position.y + width_distribution(generator), 0.);
-        const auto transformed_point = transformPoint(robot_transform, point);
-
-        pcd_local.points[index].x = transformed_point.getOrigin().x();
-        pcd_local.points[index].y = transformed_point.getOrigin().y();
-        pcd_local.points[index].z = height_distribution(generator);
-        pcd_local.channels[0].values[index] = person_pcd_color;
-
-        // Global observations
-        pcd_global.points[index].x =
-            person.pose.position.x + width_distribution(generator);
-        pcd_global.points[index].y =
-            person.pose.position.y + width_distribution(generator);
-        pcd_global.points[index].z = height_distribution(generator);
-        pcd_global.channels[0].values[index] = person_pcd_color;
-      }
-
-      index++;
-    }
-  }
-
-  if (pcd_local.channels[0].values.size() > 1) {
-    pub_signals_local_.publish(pcd_local);
-  }
-  if (pcd_global.channels[0].values.size() > 1) {
-    pub_signals_global_.publish(pcd_global);
-  }
-
-  q_agents_.pop();
-};
-
-void PeoplePointCloud::run() {
-  ros::Rate r(rate_);
-
-  while (ros::ok()) {
-    broadcast();
-
-    ros::spinOnce();
-    r.sleep();
-  }
-}
-
-void PeoplePointCloud::agentStatesCallBack(
-    const pedsim_msgs::AgentStatesConstPtr& agents) {
-  q_agents_.emplace(agents);
-}
-
-}  // namespace
-
-// --------------------------------------------------------------
-
-int main(int argc, char** argv) {
-  ros::init(argc, argv, "pedsim_people_sensor");
-  ros::NodeHandle node("~");
-
-  double init_x = 0.0, init_y = 0.0, fov_range = 0.0;
-  node.param<double>("pose_initial_x", init_x, 0.0);
-  node.param<double>("pose_initial_y", init_y, 0.0);
-  node.param<double>("fov_range", fov_range, 15.);
-
-  pedsim_ros::FoVPtr circle_fov;
-  circle_fov.reset(new pedsim_ros::CircularFov(init_x, init_y, fov_range));
-
-  double sensor_rate = 0.0;
-  node.param<double>("rate", sensor_rate, 25.0);
-
-  pedsim_ros::PeoplePointCloud pcd_sensor(node, sensor_rate, circle_fov);
-  ROS_INFO_STREAM("Initialized people PCD sensor with center: (" 
-    << init_x << ", " << init_y << ") and range: " << fov_range);
-
-  pcd_sensor.run();
-  return 0;
-}
diff --git a/pedsim_simulator/CMakeLists.txt b/pedsim_simulator/CMakeLists.txt
index 543123a9..ec34a0ab 100644
--- a/pedsim_simulator/CMakeLists.txt
+++ b/pedsim_simulator/CMakeLists.txt
@@ -1,9 +1,12 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.5)
 project(pedsim_simulator)
-add_definitions(-Wall -Wunused -std=c++11 -pipe -Wunused -Wextra)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_BUILD_TYPE DEBUG)
+
 set(PEDSIM_SIMULATOR_DEPENDENCIES
-  roscpp
-  rospy
+  rclcpp
+  rclpy
   std_msgs
   pedsim
   pedsim_msgs
@@ -12,9 +15,12 @@ set(PEDSIM_SIMULATOR_DEPENDENCIES
   std_srvs
   geometry_msgs
   nav_msgs
-  tf
-  cmake_modules
-  dynamic_reconfigure
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  Qt5Widgets
+	Qt5Core
+	Boost
 )
 
 set(CMAKE_AUTOMOC ON)
@@ -22,32 +28,37 @@ set(CMAKE_AUTORCC ON)
 set(CMAKE_AUTOUIC ON)
 
 ## Find catkin macros and libraries
-find_package(catkin REQUIRED COMPONENTS ${PEDSIM_SIMULATOR_DEPENDENCIES})
-find_package(Boost REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(pedsim REQUIRED)
+find_package(pedsim_msgs REQUIRED)
+find_package(pedsim_srvs REQUIRED)
+find_package(pedsim_utils REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(Boost REQUIRED COMPONENTS program_options)
 find_package(Qt5Widgets REQUIRED)
-
-# dynamic reconfigure parameters
-generate_dynamic_reconfigure_options(config/PedsimSimulator.cfg)
-
-catkin_package(
-  CATKIN_DEPENDS ${PEDSIM_SIMULATOR_DEPENDENCIES}
-  INCLUDE_DIRS include
-)
+find_package(Qt5Core REQUIRED)
 
 include_directories(include)
 include_directories(${Eigen_INCLUDE_DIRS})
-include_directories(${catkin_INCLUDE_DIRS})
 include_directories(${Qt5Widgets_INCLUDES})
+include_directories(${Qt5Core_INCLUDES})
 add_definitions(${Qt5Widgets_DEFINITIONS})
 
 set(SOURCES
-  	src/simulator_node.cpp
-	src/simulator.cpp
-  	src/scene.cpp
-  	src/config.cpp
-  	src/agentstatemachine.cpp
-  	src/scenarioreader.cpp
-	src/rng.cpp
+ 	src/simulator_node.cpp
+  src/simulator.cpp
+ 	src/scene.cpp
+ 	src/config.cpp
+  src/agentstatemachine.cpp
+ 	src/scenarioreader.cpp
+  src/rng.cpp
 
 	# elements
 	src/element/agent.cpp
@@ -79,56 +90,60 @@ set(SOURCES
 
 
 set(MOC_FILES
-	include/pedsim_simulator/config.h
-	include/pedsim_simulator/scene.h
-	include/pedsim_simulator/agentstatemachine.h
-
-	include/pedsim_simulator/element/scenarioelement.h
-	include/pedsim_simulator/element/agent.h
-	include/pedsim_simulator/element/agentcluster.h
-	include/pedsim_simulator/element/agentgroup.h
-	include/pedsim_simulator/element/attractionarea.h
-	include/pedsim_simulator/element/obstacle.h
-	include/pedsim_simulator/element/waypoint.h
-	include/pedsim_simulator/element/areawaypoint.h
-	include/pedsim_simulator/element/waitingqueue.h
-	include/pedsim_simulator/element/queueingwaypoint.h
-
-	include/pedsim_simulator/force/force.h
-	include/pedsim_simulator/force/randomforce.h
-	include/pedsim_simulator/force/groupgazeforce.h
-	include/pedsim_simulator/force/groupcoherenceforce.h
-	include/pedsim_simulator/force/grouprepulsionforce.h
-	include/pedsim_simulator/force/alongwallforce.h
-
-	include/pedsim_simulator/waypointplanner/waypointplanner.h
-	include/pedsim_simulator/waypointplanner/individualwaypointplanner.h
-	include/pedsim_simulator/waypointplanner/groupwaypointplanner.h
-	include/pedsim_simulator/waypointplanner/shoppingplanner.h
-	include/pedsim_simulator/waypointplanner/queueingplanner.h
+	include/pedsim_simulator/config.hpp
+	include/pedsim_simulator/scene.hpp
+	include/pedsim_simulator/agentstatemachine.hpp
+
+	include/pedsim_simulator/element/scenarioelement.hpp
+	include/pedsim_simulator/element/agent.hpp
+	include/pedsim_simulator/element/agentcluster.hpp
+	include/pedsim_simulator/element/agentgroup.hpp
+	include/pedsim_simulator/element/attractionarea.hpp
+	include/pedsim_simulator/element/obstacle.hpp
+	include/pedsim_simulator/element/waypoint.hpp
+	include/pedsim_simulator/element/areawaypoint.hpp
+	include/pedsim_simulator/element/waitingqueue.hpp
+	include/pedsim_simulator/element/queueingwaypoint.hpp
+
+	include/pedsim_simulator/force/force.hpp
+	include/pedsim_simulator/force/randomforce.hpp
+	include/pedsim_simulator/force/groupgazeforce.hpp
+	include/pedsim_simulator/force/groupcoherenceforce.hpp
+	include/pedsim_simulator/force/grouprepulsionforce.hpp
+	include/pedsim_simulator/force/alongwallforce.hpp
+
+	include/pedsim_simulator/waypointplanner/waypointplanner.hpp
+	include/pedsim_simulator/waypointplanner/individualwaypointplanner.hpp
+	include/pedsim_simulator/waypointplanner/groupwaypointplanner.hpp
+	include/pedsim_simulator/waypointplanner/shoppingplanner.hpp
+	include/pedsim_simulator/waypointplanner/queueingplanner.hpp
 )
 qt5_wrap_cpp(MOC_SRCS_UI ${MOC_FILES})
 
 set(EXECUTABLE_NAME ${PROJECT_NAME})
 add_executable(${EXECUTABLE_NAME} ${SOURCES} ${MOC_SRCS_UI})
-add_dependencies(${EXECUTABLE_NAME} ${catkin_EXPORTED_TARGETS})
-add_dependencies(${EXECUTABLE_NAME} ${PROJECT_NAME}_gencfg)
-target_link_libraries(${EXECUTABLE_NAME}
-  ${Qt5Widgets_LIBRARIES} ${BOOST_LIBRARIES} ${catkin_LIBRARIES}
-)
+ament_target_dependencies(${EXECUTABLE_NAME} ${PEDSIM_SIMULATOR_DEPENDENCIES})
+
+#add_executable(simulate_diff_drive_robot src/simulate_diff_drive_robot.cpp)
+#ament_target_dependencies(simulate_diff_drive_robot ${PEDSIM_SIMULATOR_DEPENDENCIES})
+
+add_executable(pedsim_xml_to_occ_map src/pedsim_xml_to_occ_map.cpp)
+ament_target_dependencies(pedsim_xml_to_occ_map ${PEDSIM_SIMULATOR_DEPENDENCIES})
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY scenarios DESTINATION share/${PROJECT_NAME})
 
-add_executable(simulate_diff_drive_robot src/simulate_diff_drive_robot.cpp)
-add_dependencies(simulate_diff_drive_robot ${catkin_EXPORTED_TARGETS})
-target_link_libraries(simulate_diff_drive_robot ${BOOST_LIBRARIES} ${catkin_LIBRARIES})
-
-install(
-  TARGETS
-    ${EXECUTABLE_NAME}
-    simulate_diff_drive_robot
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(TARGETS
+  ${EXECUTABLE_NAME}
+  pedsim_xml_to_occ_map
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
+ament_export_include_directories(include)
+ament_export_dependencies(${dependencies})
 
-## Unit Tests
+ament_package()
diff --git a/pedsim_simulator/include/pedsim_simulator/agentstatemachine.h b/pedsim_simulator/include/pedsim_simulator/agentstatemachine.h
deleted file mode 100644
index 4bd75f2f..00000000
--- a/pedsim_simulator/include/pedsim_simulator/agentstatemachine.h
+++ /dev/null
@@ -1,102 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _agentstatemachine_h_
-#define _agentstatemachine_h_
-
-#include <QObject>
-
-// Forward Declarations
-class Agent;
-class AttractionArea;
-class IndividualWaypointPlanner;
-class QueueingWaypointPlanner;
-class GroupWaypointPlanner;
-class ShoppingPlanner;
-
-class AgentStateMachine : public QObject {
-  Q_OBJECT
-
-  // Enums
-  // TODO - switch to enum classes
- public:
-  typedef enum {
-    StateNone = 0,
-    StateWaiting = 1,
-    StateQueueing = 2,
-    StateWalking = 3,
-    StateGroupWalking = 4,
-    StateShopping = 5
-  } AgentState;
-
-  // Constructor and Destructor
- public:
-  AgentStateMachine(Agent* agentIn);
-  virtual ~AgentStateMachine();
-
-  // Signals
- signals:
-  void stateChanged(AgentState newState);
-
- public slots:
-  void loseAttraction();
-
-  // Methods
- public:
-  void doStateTransition();
-  AgentState getCurrentState();
-
- protected:
-  void activateState(AgentState stateIn);
-  void deactivateState(AgentState stateIn);
-  bool checkGroupForAttractions(AttractionArea** attractionOut = nullptr) const;
-  QString stateToName(AgentState stateIn) const;
-
-  // Attributes
- protected:
-  Agent* agent;
-
-  // → State Machine
-  AgentState state;
-  AgentState normalState;
-
-  // → Waypoint Planner
-  IndividualWaypointPlanner* individualPlanner;
-  QueueingWaypointPlanner* queueingPlanner;
-  GroupWaypointPlanner* groupWaypointPlanner;
-  ShoppingPlanner* shoppingPlanner;
-
-  // → Attraction
-  AttractionArea* groupAttraction;
-  bool shallLoseAttraction;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/agentstatemachine.hpp b/pedsim_simulator/include/pedsim_simulator/agentstatemachine.hpp
new file mode 100644
index 00000000..e8691358
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/agentstatemachine.hpp
@@ -0,0 +1,102 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _agentstatemachine_h_
+#define _agentstatemachine_h_
+
+#include <QObject>
+
+// Forward Declarations
+class Agent;
+class AttractionArea;
+class IndividualWaypointPlanner;
+class QueueingWaypointPlanner;
+class GroupWaypointPlanner;
+class ShoppingPlanner;
+
+class AgentStateMachine : public QObject {
+  Q_OBJECT
+
+  // Enums
+  // TODO - switch to enum classes
+public:
+  typedef enum {
+    StateNone = 0,
+    StateWaiting = 1,
+    StateQueueing = 2,
+    StateWalking = 3,
+    StateGroupWalking = 4,
+    StateShopping = 5
+  } AgentState;
+
+  // Constructor and Destructor
+public:
+  AgentStateMachine(Agent *agentIn);
+  virtual ~AgentStateMachine();
+
+  // Signals
+signals:
+  void stateChanged(AgentState newState);
+
+public slots:
+  void loseAttraction();
+
+  // Methods
+public:
+  void doStateTransition();
+  AgentState getCurrentState();
+
+protected:
+  void activateState(AgentState stateIn);
+  void deactivateState(AgentState stateIn);
+  bool checkGroupForAttractions(AttractionArea **attractionOut = nullptr) const;
+  QString stateToName(AgentState stateIn) const;
+
+  // Attributes
+protected:
+  Agent *agent;
+
+  // → State Machine
+  AgentState state;
+  AgentState normalState;
+
+  // → Waypoint Planner
+  IndividualWaypointPlanner *individualPlanner;
+  QueueingWaypointPlanner *queueingPlanner;
+  GroupWaypointPlanner *groupWaypointPlanner;
+  ShoppingPlanner *shoppingPlanner;
+
+  // → Attraction
+  AttractionArea *groupAttraction;
+  bool shallLoseAttraction;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/config.h b/pedsim_simulator/include/pedsim_simulator/config.h
deleted file mode 100644
index 9f4b6dad..00000000
--- a/pedsim_simulator/include/pedsim_simulator/config.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _config_h_
-#define _config_h_
-
-#include <QMap>
-#include <QObject>
-
-#include <pedsim_simulator/utilities.h>
-
-class Config : public QObject {
-  Q_OBJECT
-
- protected:
-  Config(QObject* parent = 0);
-
-// Singleton Design Pattern
-#define CONFIG Config::getInstance()
- protected:
-  static Config* instance;
-
- public:
-  static Config& getInstance();
-
-  // Signals
- signals:
-  // → Forces
-  void forceFactorChanged(QString name, double value);
-  void forceFactorObstacleChanged(double value);
-  void forceSigmaObstacleChanged(double value);
-  void forceFactorSocialChanged(double value);
-  void forceFactorGroupGazeChanged(double value);
-  void forceFactorGroupCoherenceChanged(double value);
-  void forceFactorGroupRepulsionChanged(double value);
-  void forceFactorRandomChanged(double value);
-  void forceFactorAlongWallChanged(double value);
-
-  // Slots
- public slots:
-  // → Forces
-  void setObstacleForce(double valueIn);
-  void setObstacleSigma(double valueIn);
-  void setSocialForce(double valueIn);
-  void setGroupGazeForce(double valueIn);
-  void setGroupCoherenceForce(double valueIn);
-  void setGroupRepulsionForce(double valueIn);
-  void setRandomForce(double valueIn);
-  void setAlongWallForce(double valueIn);
-
-  // Methods
- public:
-  // TODO - change to std::unordered_map
-  QMap<QString, double> getForceMap() const;
-
-  double getTimeStepSize() { return simulationFactor / updateRate; }
-
-  // Attributes
- public:
-  // Simulation
-  double updateRate;
-  double simulationFactor;
-
-  // Forces
-  double forceObstacle;
-  double sigmaObstacle;
-  double forceSocial;
-  double forceGroupGaze;
-  double forceGroupCoherence;
-  double forceGroupRepulsion;
-  double forceRandom;
-  double forceAlongWall;
-
-  // robot control
-  RobotMode robot_mode;
-  int robot_wait_time;
-  double max_robot_speed;
-
-  // enable/disable groups behaviour
-  bool groups_enabled;
-
-  // cells
-  double cell_width;
-  double cell_height;
-
-  // distribution parameters
-  double group_size_lambda;
-  double wait_time_beta;
-
-  // simulation visualization mode
-  VisualMode visual_mode;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/config.hpp b/pedsim_simulator/include/pedsim_simulator/config.hpp
new file mode 100644
index 00000000..31cb031e
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/config.hpp
@@ -0,0 +1,122 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _config_h_
+#define _config_h_
+
+#include <QMap>
+#include <QObject>
+
+#include <pedsim_simulator/utilities.hpp>
+
+class Config : public QObject {
+  Q_OBJECT
+
+protected:
+  Config(QObject *parent = 0);
+
+// Singleton Design Pattern
+#define CONFIG Config::getInstance()
+protected:
+  static Config *instance;
+
+public:
+  static Config &getInstance();
+
+  // Signals
+signals:
+  // → Forces
+  void forceFactorChanged(QString name, double value);
+  void forceFactorObstacleChanged(double value);
+  void forceSigmaObstacleChanged(double value);
+  void forceFactorSocialChanged(double value);
+  void forceFactorGroupGazeChanged(double value);
+  void forceFactorGroupCoherenceChanged(double value);
+  void forceFactorGroupRepulsionChanged(double value);
+  void forceFactorRandomChanged(double value);
+  void forceFactorAlongWallChanged(double value);
+
+  // Slots
+public slots:
+  // → Forces
+  void setObstacleForce(double valueIn);
+  void setObstacleSigma(double valueIn);
+  void setSocialForce(double valueIn);
+  void setGroupGazeForce(double valueIn);
+  void setGroupCoherenceForce(double valueIn);
+  void setGroupRepulsionForce(double valueIn);
+  void setRandomForce(double valueIn);
+  void setAlongWallForce(double valueIn);
+
+  // Methods
+public:
+  // TODO - change to std::unordered_map
+  QMap<QString, double> getForceMap() const;
+
+  double getTimeStepSize() { return simulationFactor / updateRate; }
+
+  // Attributes
+public:
+  // Simulation
+  double updateRate;
+  double simulationFactor;
+
+  // Forces
+  double forceObstacle;
+  double sigmaObstacle;
+  double forceSocial;
+  double forceGroupGaze;
+  double forceGroupCoherence;
+  double forceGroupRepulsion;
+  double forceRandom;
+  double forceAlongWall;
+
+  // robot control
+  RobotMode robot_mode;
+  int robot_wait_time;
+  double max_robot_speed;
+
+  // enable/disable groups behaviour
+  bool groups_enabled;
+
+  // cells
+  double cell_width;
+  double cell_height;
+
+  // distribution parameters
+  double group_size_lambda;
+  double wait_time_beta;
+
+  // simulation visualization mode
+  VisualMode visual_mode;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/agent.h b/pedsim_simulator/include/pedsim_simulator/element/agent.h
deleted file mode 100644
index c6244bdd..00000000
--- a/pedsim_simulator/include/pedsim_simulator/element/agent.h
+++ /dev/null
@@ -1,152 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _agent_h_
-#define _agent_h_
-
-#include <pedsim/ped_agent.h>
-#include <pedsim_simulator/element/scenarioelement.h>
-
-#ifndef Q_MOC_RUN
-#include <ros/ros.h>
-#include <QGraphicsRectItem>  // TODO -remove qgraphics dependencies
-#endif
-
-// Forward Declarations
-class AgentGroup;
-class AgentStateMachine;
-class Force;
-class Waypoint;
-class WaypointPlanner;
-
-class Agent : public ScenarioElement, public Ped::Tagent {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  Agent();
-  virtual ~Agent();
-
-  // Signals
- signals:
-  void positionChanged(double x, double y) const;
-  void velocityChanged(double x, double y) const;
-  void accelerationChanged(double x, double y) const;
-  void desiredForceChanged(double x, double y) const;
-  void obstacleForceChanged(double x, double y) const;
-  void socialForceChanged(double x, double y) const;
-  void myForceChanged(double x, double y) const;
-  void additionalForceChanged(QString name, double x, double y) const;
-  void reachedWaypoint() const;
-  void typeChanged(int type);
-  void forceAdded(QString name);
-  void forceRemoved(QString name);
-
-  // Methods
- public:
-  // → waypoints
-  const QList<Waypoint*>& getWaypoints() const;
-  bool setWaypoints(const QList<Waypoint*>& waypointsIn);
-  bool addWaypoint(Waypoint* waypointIn);
-  bool removeWaypoint(Waypoint* waypointIn);
-
-  Ped::Twaypoint* getCurrentDestination() const;
-  bool needNewDestination() const;
-
-  // → group
-  bool isInGroup() const;
-  AgentGroup* getGroup() const;
-  void setGroup(AgentGroup* groupIn);
-
-  // → forces
-  bool addForce(Force* forceIn);
-  bool removeForce(Force* forceIn);
-
-  // → waypoint planner
-  AgentStateMachine* getStateMachine() const;
-
-  // → waypoint planner
-  WaypointPlanner* getWaypointPlanner() const;
-  void setWaypointPlanner(WaypointPlanner* plannerIn);
-
-  // → direction, forces, neighbors
- public:
-  Ped::Tvector getDesiredDirection() const;
-  Ped::Tvector getWalkingDirection() const;
-  Ped::Tvector getSocialForce() const;
-  Ped::Tvector getObstacleForce() const;
-  Ped::Tvector getMyForce() const;
-  QList<const Agent*> getNeighbors() const;
-  void disableForce(const QString& forceNameIn);
-  void enableAllForces();
-
-  // → Ped::Tagent Overrides/Overloads
- public:
-  void updateState();
-  void move(double h);
-  Ped::Tvector desiredForce();
-  Ped::Tvector socialForce() const;
-  Ped::Tvector obstacleForce() const;
-  Ped::Tvector myForce(Ped::Tvector desired) const;
-  Ped::Twaypoint* getCurrentWaypoint() const;
-  Ped::Twaypoint* updateDestination();
-  void setPosition(double xIn, double yIn);
-  void setX(double xIn);
-  void setY(double yIn);
-  void setType(Ped::Tagent::AgentType typeIn);
-
-  // → VisibleScenarioElement Overrides/Overloads
- public:
-  virtual QPointF getVisiblePosition() const;
-  virtual void setVisiblePosition(const QPointF& positionIn);
-  QString toString() const;
-
-  // Attributes
- protected:
-  // → state machine
-  AgentStateMachine* stateMachine;
-
-  // → waypoints
-  QList<Waypoint*> destinations;
-  Waypoint* currentDestination;
-
-  // → group
-  AgentGroup* group;
-
-  // → force
-  QList<Force*> forces;
-  QStringList disabledForces;
-
-  // → waypoint planner
-  WaypointPlanner* waypointplanner;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/agent.hpp b/pedsim_simulator/include/pedsim_simulator/element/agent.hpp
new file mode 100644
index 00000000..3d7e6769
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/element/agent.hpp
@@ -0,0 +1,152 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _agent_h_
+#define _agent_h_
+
+#include <pedsim/ped_agent.h>
+#include <pedsim_simulator/element/scenarioelement.hpp>
+
+#ifndef Q_MOC_RUN
+#include "rclcpp/rclcpp.hpp"
+#include <QGraphicsRectItem> // TODO -remove qgraphics dependencies
+#endif
+
+// Forward Declarations
+class AgentGroup;
+class AgentStateMachine;
+class Force;
+class Waypoint;
+class WaypointPlanner;
+
+class Agent : public ScenarioElement, public Ped::Tagent {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  Agent();
+  virtual ~Agent();
+
+  // Signals
+signals:
+  void positionChanged(double x, double y) const;
+  void velocityChanged(double x, double y) const;
+  void accelerationChanged(double x, double y) const;
+  void desiredForceChanged(double x, double y) const;
+  void obstacleForceChanged(double x, double y) const;
+  void socialForceChanged(double x, double y) const;
+  void myForceChanged(double x, double y) const;
+  void additionalForceChanged(QString name, double x, double y) const;
+  void reachedWaypoint() const;
+  void typeChanged(int type);
+  void forceAdded(QString name);
+  void forceRemoved(QString name);
+
+  // Methods
+public:
+  // → waypoints
+  const QList<Waypoint *> &getWaypoints() const;
+  bool setWaypoints(const QList<Waypoint *> &waypointsIn);
+  bool addWaypoint(Waypoint *waypointIn);
+  bool removeWaypoint(Waypoint *waypointIn);
+
+  Ped::Twaypoint *getCurrentDestination() const;
+  bool needNewDestination() const;
+
+  // → group
+  bool isInGroup() const;
+  AgentGroup *getGroup() const;
+  void setGroup(AgentGroup *groupIn);
+
+  // → forces
+  bool addForce(Force *forceIn);
+  bool removeForce(Force *forceIn);
+
+  // → waypoint planner
+  AgentStateMachine *getStateMachine() const;
+
+  // → waypoint planner
+  WaypointPlanner *getWaypointPlanner() const;
+  void setWaypointPlanner(WaypointPlanner *plannerIn);
+
+  // → direction, forces, neighbors
+public:
+  Ped::Tvector getDesiredDirection() const;
+  Ped::Tvector getWalkingDirection() const;
+  Ped::Tvector getSocialForce() const;
+  Ped::Tvector getObstacleForce() const;
+  Ped::Tvector getMyForce() const;
+  QList<const Agent *> getNeighbors() const;
+  void disableForce(const QString &forceNameIn);
+  void enableAllForces();
+
+  // → Ped::Tagent Overrides/Overloads
+public:
+  void updateState();
+  void move(double h);
+  Ped::Tvector desiredForce();
+  Ped::Tvector socialForce() const;
+  Ped::Tvector obstacleForce() const;
+  Ped::Tvector myForce(Ped::Tvector desired) const;
+  Ped::Twaypoint *getCurrentWaypoint() const;
+  Ped::Twaypoint *updateDestination();
+  void setPosition(double xIn, double yIn);
+  void setX(double xIn);
+  void setY(double yIn);
+  void setType(Ped::Tagent::AgentType typeIn);
+
+  // → VisibleScenarioElement Overrides/Overloads
+public:
+  virtual QPointF getVisiblePosition() const;
+  virtual void setVisiblePosition(const QPointF &positionIn);
+  QString toString() const;
+
+  // Attributes
+protected:
+  // → state machine
+  AgentStateMachine *stateMachine;
+
+  // → waypoints
+  QList<Waypoint *> destinations;
+  Waypoint *currentDestination;
+
+  // → group
+  AgentGroup *group;
+
+  // → force
+  QList<Force *> forces;
+  QStringList disabledForces;
+
+  // → waypoint planner
+  WaypointPlanner *waypointplanner;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/agentcluster.h b/pedsim_simulator/include/pedsim_simulator/element/agentcluster.h
deleted file mode 100644
index 8a0593e3..00000000
--- a/pedsim_simulator/include/pedsim_simulator/element/agentcluster.h
+++ /dev/null
@@ -1,97 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _agentcluster_h_
-#define _agentcluster_h_
-
-#include <pedsim_simulator/element/agent.h>
-
-// Forward Declarations
-class Waypoint;
-class WaitingQueue;
-
-class AgentCluster : public ScenarioElement {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  AgentCluster(double xIn = 0, double yIn = 0, int countIn = 1);
-  virtual ~AgentCluster();
-
-  // Signals
- signals:
-  void positionChanged(double x, double y);
-  void typeChanged(int type);
-
-  // Methods
- public:
-  QList<Agent*> dissolve();
-
-  int getId() const;
-  int getCount() const;
-  void setCount(int countIn);
-  const QList<Waypoint*>& getWaypoints() const;
-  void addWaypoint(Waypoint* waypointIn);
-  bool removeWaypoint(Waypoint* waypointIn);
-  void addWaitingQueue(WaitingQueue* queueIn);
-  bool removeWaitingQueue(WaitingQueue* queueIn);
-  Ped::Tvector getPosition() const;
-  void setPosition(const Ped::Tvector& positionIn);
-  void setPosition(double px, double py);
-  void setX(double xIn);
-  void setY(double yIn);
-  int getType() const;
-  void setType(Ped::Tagent::AgentType typeIn);
-  bool getShallCreateGroups() const;
-  void setShallCreateGroups(bool shallCreateGroupsIn);
-  QSizeF getDistribution() const;
-  void setDistribution(double xIn, double yIn);
-  void setDistributionWidth(double xIn);
-  void setDistributionHeight(double yIn);
-
-  // → ScenarioElement Overrides/Overloads
- public:
-  virtual QPointF getVisiblePosition() const;
-  virtual void setVisiblePosition(const QPointF& positionIn);
-  QString toString() const;
-
-  // Attributes
- protected:
-  int id;
-  Ped::Tvector position;
-  int count;
-  QSizeF distribution;
-  Ped::Tagent::AgentType agentType;
-  bool shallCreateGroups;
-  QList<Waypoint*> waypoints;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/agentcluster.hpp b/pedsim_simulator/include/pedsim_simulator/element/agentcluster.hpp
new file mode 100644
index 00000000..a5c1cf73
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/element/agentcluster.hpp
@@ -0,0 +1,97 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _agentcluster_h_
+#define _agentcluster_h_
+
+#include <pedsim_simulator/element/agent.hpp>
+
+// Forward Declarations
+class Waypoint;
+class WaitingQueue;
+
+class AgentCluster : public ScenarioElement {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  AgentCluster(double xIn = 0, double yIn = 0, int countIn = 1);
+  virtual ~AgentCluster();
+
+  // Signals
+signals:
+  void positionChanged(double x, double y);
+  void typeChanged(int type);
+
+  // Methods
+public:
+  QList<Agent *> dissolve();
+
+  int getId() const;
+  int getCount() const;
+  void setCount(int countIn);
+  const QList<Waypoint *> &getWaypoints() const;
+  void addWaypoint(Waypoint *waypointIn);
+  bool removeWaypoint(Waypoint *waypointIn);
+  void addWaitingQueue(WaitingQueue *queueIn);
+  bool removeWaitingQueue(WaitingQueue *queueIn);
+  Ped::Tvector getPosition() const;
+  void setPosition(const Ped::Tvector &positionIn);
+  void setPosition(double px, double py);
+  void setX(double xIn);
+  void setY(double yIn);
+  int getType() const;
+  void setType(Ped::Tagent::AgentType typeIn);
+  bool getShallCreateGroups() const;
+  void setShallCreateGroups(bool shallCreateGroupsIn);
+  QSizeF getDistribution() const;
+  void setDistribution(double xIn, double yIn);
+  void setDistributionWidth(double xIn);
+  void setDistributionHeight(double yIn);
+
+  // → ScenarioElement Overrides/Overloads
+public:
+  virtual QPointF getVisiblePosition() const;
+  virtual void setVisiblePosition(const QPointF &positionIn);
+  QString toString() const;
+
+  // Attributes
+protected:
+  int id;
+  Ped::Tvector position;
+  int count;
+  QSizeF distribution;
+  Ped::Tagent::AgentType agentType;
+  bool shallCreateGroups;
+  QList<Waypoint *> waypoints;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/agentgroup.h b/pedsim_simulator/include/pedsim_simulator/element/agentgroup.h
deleted file mode 100644
index 82770c34..00000000
--- a/pedsim_simulator/include/pedsim_simulator/element/agentgroup.h
+++ /dev/null
@@ -1,122 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _agentgroup_h_
-#define _agentgroup_h_
-
-#include <pedsim/ped_vector.h>
-#include <pedsim_simulator/element/scenarioelement.h>
-#include <QGraphicsEllipseItem>
-#include <QGraphicsItemGroup>
-#include <QGraphicsLineItem>
-#include <QTimer>
-
-// Forward Declarations
-class Agent;
-
-class AgentGroup : public ScenarioElement {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  AgentGroup();
-  explicit AgentGroup(const QList<Agent*>& agentsIn);
-  explicit AgentGroup(std::initializer_list<Agent*>& agentsIn);
-  virtual ~AgentGroup();
-
-  // Signals
- signals:
-  void membersChanged();
-  void memberAdded(int id);
-  void memberRemoved(int id);
-
-  // Slots
- public slots:
-  void onPositionChanged(double x, double y);
-
-  // Static Methods
- public:
-  static QList<AgentGroup*> divideAgents(const QList<Agent*>& agentsIn);
-  // → Helper
- protected:
-  static void reportSizeDistribution(const QVector<int>& sizeDistributionIn);
-
-  // Methods
-  // → Group members
- public:
-  QList<Agent*>& getMembers();
-  const QList<Agent*>& getMembers() const;
-  bool addMember(Agent* agentIn);
-  bool removeMember(Agent* agentIn);
-  bool setMembers(const QList<Agent*>& agentsIn);
-  bool isEmpty() const;
-  int memberCount() const;
-
-  // → Center of Mass
- public:
-  // 	QPointF getCenterOfMass() const;
-  Ped::Tvector getCenterOfMass() const;
- protected slots:
-  Ped::Tvector updateCenterOfMass();
-
-  // → Recollection
- public:
-  void setRecollect(bool recollectIn);
-  bool isRecollecting() const;
-  double getMaxDistance();
-  int getId() { return id_; }
-
- protected:
-  void updateMaxDistance();
-
-  // → ScenarioElement Overrides
- public:
-  virtual QString toString() const;
-
-  // Attributes
- protected:
-  QList<Agent*> members;
-
-  // → Center of Mass
-  bool dirty;
-  Ped::Tvector cacheCoM;
-  //   → delayed update
-  QTimer comUpdateTimer;
-
-  // → recollecting group
-  bool recollecting;
-  bool dirtyMaxDistance;
-  double cacheMaxDistance;
-
-  int id_;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/agentgroup.hpp b/pedsim_simulator/include/pedsim_simulator/element/agentgroup.hpp
new file mode 100644
index 00000000..1978cf5a
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/element/agentgroup.hpp
@@ -0,0 +1,122 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _agentgroup_h_
+#define _agentgroup_h_
+
+#include <QGraphicsEllipseItem>
+#include <QGraphicsItemGroup>
+#include <QGraphicsLineItem>
+#include <QTimer>
+#include <pedsim/ped_vector.h>
+#include <pedsim_simulator/element/scenarioelement.hpp>
+
+// Forward Declarations
+class Agent;
+
+class AgentGroup : public ScenarioElement {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  AgentGroup();
+  explicit AgentGroup(const QList<Agent *> &agentsIn);
+  explicit AgentGroup(std::initializer_list<Agent *> &agentsIn);
+  virtual ~AgentGroup();
+
+  // Signals
+signals:
+  void membersChanged();
+  void memberAdded(int id);
+  void memberRemoved(int id);
+
+  // Slots
+public slots:
+  void onPositionChanged(double x, double y);
+
+  // Static Methods
+public:
+  static QList<AgentGroup *> divideAgents(const QList<Agent *> &agentsIn);
+  // → Helper
+protected:
+  static void reportSizeDistribution(const QVector<int> &sizeDistributionIn);
+
+  // Methods
+  // → Group members
+public:
+  QList<Agent *> &getMembers();
+  const QList<Agent *> &getMembers() const;
+  bool addMember(Agent *agentIn);
+  bool removeMember(Agent *agentIn);
+  bool setMembers(const QList<Agent *> &agentsIn);
+  bool isEmpty() const;
+  int memberCount() const;
+
+  // → Center of Mass
+public:
+  // 	QPointF getCenterOfMass() const;
+  Ped::Tvector getCenterOfMass() const;
+protected slots:
+  Ped::Tvector updateCenterOfMass();
+
+  // → Recollection
+public:
+  void setRecollect(bool recollectIn);
+  bool isRecollecting() const;
+  double getMaxDistance();
+  int getId() { return id_; }
+
+protected:
+  void updateMaxDistance();
+
+  // → ScenarioElement Overrides
+public:
+  virtual QString toString() const;
+
+  // Attributes
+protected:
+  QList<Agent *> members;
+
+  // → Center of Mass
+  bool dirty;
+  Ped::Tvector cacheCoM;
+  //   → delayed update
+  QTimer comUpdateTimer;
+
+  // → recollecting group
+  bool recollecting;
+  bool dirtyMaxDistance;
+  double cacheMaxDistance;
+
+  int id_;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/areawaypoint.h b/pedsim_simulator/include/pedsim_simulator/element/areawaypoint.h
deleted file mode 100644
index a21b2657..00000000
--- a/pedsim_simulator/include/pedsim_simulator/element/areawaypoint.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _areawaypoint_h_
-#define _areawaypoint_h_
-
-#include <pedsim_simulator/element/waypoint.h>
-#include <QPointF>
-
-class AreaWaypoint : public Waypoint {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  AreaWaypoint(const QString& nameIn, const Ped::Tvector& positionIn,
-               double rIn = 1);
-  AreaWaypoint(const QString& nameIn, double xIn = 0, double yIn = 0,
-               double rIn = 1);
-
-  virtual ~AreaWaypoint();
-
-  // Signals
- signals:
-  void radiusChanged(double radius);
-
-  // Methods
- public:
-  QString getName() const;
-
-  bool isWithinArea(const Ped::Tvector& posIn);
-
-  virtual double getRadius() const;
-  virtual void setRadius(double rIn);
-
-  // → Ped::Twaypoint Overrides
-  virtual Ped::Tvector closestPoint(const Ped::Tvector& posIn,
-                                    bool* withinWaypoint = NULL) const;
-
-  // → ScenarioElement Overrides/Overloads
- public:
-  virtual QPointF getVisiblePosition() const;
-  virtual void setVisiblePosition(const QPointF& positionIn);
-  QString toString() const;
-
-  // Attributes
- public:
-  // double radius;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/areawaypoint.hpp b/pedsim_simulator/include/pedsim_simulator/element/areawaypoint.hpp
new file mode 100644
index 00000000..b91873a6
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/element/areawaypoint.hpp
@@ -0,0 +1,78 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _areawaypoint_h_
+#define _areawaypoint_h_
+
+#include <QPointF>
+#include <pedsim_simulator/element/waypoint.hpp>
+
+class AreaWaypoint : public Waypoint {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  AreaWaypoint(const QString &nameIn, const Ped::Tvector &positionIn,
+               double rIn = 1);
+  AreaWaypoint(const QString &nameIn, double xIn = 0, double yIn = 0,
+               double rIn = 1);
+
+  virtual ~AreaWaypoint();
+
+  // Signals
+signals:
+  void radiusChanged(double radius);
+
+  // Methods
+public:
+  QString getName() const;
+
+  bool isWithinArea(const Ped::Tvector &posIn);
+
+  virtual double getRadius() const;
+  virtual void setRadius(double rIn);
+
+  // → Ped::Twaypoint Overrides
+  virtual Ped::Tvector closestPoint(const Ped::Tvector &posIn,
+                                    bool *withinWaypoint = NULL) const;
+
+  // → ScenarioElement Overrides/Overloads
+public:
+  virtual QPointF getVisiblePosition() const;
+  virtual void setVisiblePosition(const QPointF &positionIn);
+  QString toString() const;
+
+  // Attributes
+public:
+  // double radius;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/attractionarea.h b/pedsim_simulator/include/pedsim_simulator/element/attractionarea.h
deleted file mode 100644
index 90e4d3e5..00000000
--- a/pedsim_simulator/include/pedsim_simulator/element/attractionarea.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _attractionarea_h_
-#define _attractionarea_h_
-
-#include <pedsim/ped_vector.h>
-#include <pedsim_simulator/element/scenarioelement.h>
-#include <QSizeF>
-
-class AttractionArea : public ScenarioElement {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  AttractionArea(const QString& nameIn);
-  virtual ~AttractionArea();
-
-  // Signals
- signals:
-  void positionChanged(double x, double y);
-  void sizeChanged(double width, double height);
-  void strengthChanged(double strength);
-
-  // Methods
- public:
-  QString getName() const;
-  // → Position
-  virtual Ped::Tvector getPosition() const;
-  virtual void setPosition(double xIn, double yIn);
-  virtual void setPosition(const Ped::Tvector& posIn);
-  virtual void setx(double xIn);
-  virtual void sety(double yIn);
-  // → Size
-  virtual QSizeF getSize() const;
-  virtual void setSize(double widthIn, double heightIn);
-  virtual void setSize(const QSizeF& sizeIn);
-  virtual void setWidth(double widthIn);
-  virtual void setHeight(double heightIn);
-  // → Attraction
-  virtual double getStrength() const;
-  virtual void setStrength(double strengthIn);
-
-  int getId() { return id_; }
-
-  // → ScenarioElement Overrides/Overloads
- public:
-  // 	virtual QPointF getVisiblePosition() const;
-  // 	virtual void setVisiblePosition(const QPointF& positionIn);
-  virtual QString toString() const;
-
-  // Attributes
- protected:
-  const QString name;
-  Ped::Tvector position;
-  QSizeF size;
-  double attractionStrength;
-  int id_;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/attractionarea.hpp b/pedsim_simulator/include/pedsim_simulator/element/attractionarea.hpp
new file mode 100644
index 00000000..55dd4720
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/element/attractionarea.hpp
@@ -0,0 +1,89 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _attractionarea_h_
+#define _attractionarea_h_
+
+#include <QSizeF>
+#include <pedsim/ped_vector.h>
+#include <pedsim_simulator/element/scenarioelement.hpp>
+
+class AttractionArea : public ScenarioElement {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  AttractionArea(const QString &nameIn);
+  virtual ~AttractionArea();
+
+  // Signals
+signals:
+  void positionChanged(double x, double y);
+  void sizeChanged(double width, double height);
+  void strengthChanged(double strength);
+
+  // Methods
+public:
+  QString getName() const;
+  // → Position
+  virtual Ped::Tvector getPosition() const;
+  virtual void setPosition(double xIn, double yIn);
+  virtual void setPosition(const Ped::Tvector &posIn);
+  virtual void setx(double xIn);
+  virtual void sety(double yIn);
+  // → Size
+  virtual QSizeF getSize() const;
+  virtual void setSize(double widthIn, double heightIn);
+  virtual void setSize(const QSizeF &sizeIn);
+  virtual void setWidth(double widthIn);
+  virtual void setHeight(double heightIn);
+  // → Attraction
+  virtual double getStrength() const;
+  virtual void setStrength(double strengthIn);
+
+  int getId() { return id_; }
+
+  // → ScenarioElement Overrides/Overloads
+public:
+  // 	virtual QPointF getVisiblePosition() const;
+  // 	virtual void setVisiblePosition(const QPointF& positionIn);
+  virtual QString toString() const;
+
+  // Attributes
+protected:
+  const QString name;
+  Ped::Tvector position;
+  QSizeF size;
+  double attractionStrength;
+  int id_;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/obstacle.h b/pedsim_simulator/include/pedsim_simulator/element/obstacle.h
deleted file mode 100644
index ca45937c..00000000
--- a/pedsim_simulator/include/pedsim_simulator/element/obstacle.h
+++ /dev/null
@@ -1,67 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _obstacle_h_
-#define _obstacle_h_
-
-#include <pedsim/ped_obstacle.h>
-#include <pedsim_simulator/element/scenarioelement.h>
-#include <QGraphicsLineItem>
-
-class Obstacle : public ScenarioElement, public Ped::Tobstacle {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  Obstacle(double ax = 0, double ay = 0, double bx = 1, double by = 1);
-  virtual ~Obstacle();
-
-  // Signals
- signals:
-  void positionChanged();
-
-  // Methods
- public:
-  void setPosition(double ax, double ay, double bx, double by);
-  void setPosition(const QPointF& startIn, const QPointF& endIn);
-  void setX1(double xIn);
-  void setY1(double yIn);
-  void setX2(double xIn);
-  void setY2(double yIn);
-
-  // → ScenarioElement Overrides/Overloads
- public:
-  virtual QPointF getVisiblePosition() const;
-  virtual void setVisiblePosition(const QPointF& positionIn);
-  QString toString() const;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/obstacle.hpp b/pedsim_simulator/include/pedsim_simulator/element/obstacle.hpp
new file mode 100644
index 00000000..b891a765
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/element/obstacle.hpp
@@ -0,0 +1,67 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _obstacle_h_
+#define _obstacle_h_
+
+#include <QGraphicsLineItem>
+#include <pedsim/ped_obstacle.h>
+#include <pedsim_simulator/element/scenarioelement.hpp>
+
+class Obstacle : public ScenarioElement, public Ped::Tobstacle {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  Obstacle(double ax = 0, double ay = 0, double bx = 1, double by = 1);
+  virtual ~Obstacle();
+
+  // Signals
+signals:
+  void positionChanged();
+
+  // Methods
+public:
+  void setPosition(double ax, double ay, double bx, double by);
+  void setPosition(const QPointF &startIn, const QPointF &endIn);
+  void setX1(double xIn);
+  void setY1(double yIn);
+  void setX2(double xIn);
+  void setY2(double yIn);
+
+  // → ScenarioElement Overrides/Overloads
+public:
+  virtual QPointF getVisiblePosition() const;
+  virtual void setVisiblePosition(const QPointF &positionIn);
+  QString toString() const;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/queueingwaypoint.h b/pedsim_simulator/include/pedsim_simulator/element/queueingwaypoint.h
deleted file mode 100644
index 4b3baa44..00000000
--- a/pedsim_simulator/include/pedsim_simulator/element/queueingwaypoint.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _queueingwaypoint_h_
-#define _queueingwaypoint_h_
-
-#include <pedsim_simulator/element/waypoint.h>
-#include <QPointF>
-
-class QueueingWaypoint : public Waypoint {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  QueueingWaypoint(const QString& nameIn, const Ped::Tvector& positionIn);
-  virtual ~QueueingWaypoint();
-
-  // Signals
- signals:
-  void positionChanged(double x, double y);
-
-  // Methods
- public:
-  QString getName() const;
-
-  bool isWithinArea(const Ped::Tvector& posIn);
-
-  virtual Ped::Tvector getForce(const Ped::Tagent& agentIn,
-                                Ped::Tvector* desiredDirectionOut = NULL,
-                                bool* reached = NULL) const;
-  virtual Ped::Tvector closestPoint(const Ped::Tvector& posIn,
-                                    bool* withinWaypoint = NULL) const;
-
-  // → ScenarioElement Overrides/Overloads
- public:
-  virtual QPointF getVisiblePosition() const;
-  virtual void setVisiblePosition(const QPointF& positionIn);
-  QString toString() const;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/queueingwaypoint.hpp b/pedsim_simulator/include/pedsim_simulator/element/queueingwaypoint.hpp
new file mode 100644
index 00000000..fec5f594
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/element/queueingwaypoint.hpp
@@ -0,0 +1,69 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _queueingwaypoint_h_
+#define _queueingwaypoint_h_
+
+#include <QPointF>
+#include <pedsim_simulator/element/waypoint.hpp>
+
+class QueueingWaypoint : public Waypoint {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  QueueingWaypoint(const QString &nameIn, const Ped::Tvector &positionIn);
+  virtual ~QueueingWaypoint();
+
+  // Signals
+signals:
+  void positionChanged(double x, double y);
+
+  // Methods
+public:
+  QString getName() const;
+
+  bool isWithinArea(const Ped::Tvector &posIn);
+
+  virtual Ped::Tvector getForce(const Ped::Tagent &agentIn,
+                                Ped::Tvector *desiredDirectionOut = NULL,
+                                bool *reached = NULL) const;
+  virtual Ped::Tvector closestPoint(const Ped::Tvector &posIn,
+                                    bool *withinWaypoint = NULL) const;
+
+  // → ScenarioElement Overrides/Overloads
+public:
+  virtual QPointF getVisiblePosition() const;
+  virtual void setVisiblePosition(const QPointF &positionIn);
+  QString toString() const;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/scenarioelement.h b/pedsim_simulator/include/pedsim_simulator/element/scenarioelement.h
deleted file mode 100644
index efaeadfb..00000000
--- a/pedsim_simulator/include/pedsim_simulator/element/scenarioelement.h
+++ /dev/null
@@ -1,58 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _scenarioelement_h_
-#define _scenarioelement_h_
-
-#include <QObject>
-
-class ScenarioElement : public QObject {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  ScenarioElement(QObject* parent = nullptr);
-
-  // Signals
- signals:
-  void selectionChanged(bool selected);
-
-  // Methods
- public:
-  // → Selection
-  virtual void setSelected(bool selectedIn) {
-    emit selectionChanged(selectedIn);
-  };
-
-  virtual QString toString() const = 0;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/scenarioelement.hpp b/pedsim_simulator/include/pedsim_simulator/element/scenarioelement.hpp
new file mode 100644
index 00000000..4e986d0c
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/element/scenarioelement.hpp
@@ -0,0 +1,58 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _scenarioelement_h_
+#define _scenarioelement_h_
+
+#include <QObject>
+
+class ScenarioElement : public QObject {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  ScenarioElement(QObject *parent = nullptr);
+
+  // Signals
+signals:
+  void selectionChanged(bool selected);
+
+  // Methods
+public:
+  // → Selection
+  virtual void setSelected(bool selectedIn) {
+    emit selectionChanged(selectedIn);
+  };
+
+  virtual QString toString() const = 0;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/waitingqueue.h b/pedsim_simulator/include/pedsim_simulator/element/waitingqueue.h
deleted file mode 100644
index 87288c39..00000000
--- a/pedsim_simulator/include/pedsim_simulator/element/waitingqueue.h
+++ /dev/null
@@ -1,113 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _waitingqueue_h_
-#define _waitingqueue_h_
-
-#include <pedsim/ped_vector.h>
-#include <pedsim_simulator/element/waypoint.h>
-
-#ifndef Q_MOC_RUN
-#include <ros/ros.h>
-#include <QPointF>
-#endif
-
-// Forward Declarations
-class Agent;
-
-class WaitingQueue : public Waypoint {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  WaitingQueue(const QString& nameIn, Ped::Tvector positionIn,
-               Ped::Tangle directionIn = Ped::Tangle::fromDegree(0));
-  virtual ~WaitingQueue();
-
-  // Signals
- signals:
-  void directionChanged(double radianAngle);
-  // → Waiting Agents
-  void agentMayPass(int id);
-  void agentDequeued(int id);
-  void queueLeaderChanged(int id);
-  void queueEndChanged();
-  void queueEndPositionChanged(double x, double y);
-
-  // Slots
- protected slots:
-  void onTimeChanged(double timeIn);
-  void onLastAgentPositionChanged(double xIn, double yIn);
-
-  // Methods
- public:
-  Ped::Tangle getDirection() const;
-  void setDirection(const Ped::Tangle& angleIn);
-  void setDirection(double xIn, double yIn);
-  void setDirection(const Ped::Tvector& directionIn);
-
-  // → Queueing behavior
-  bool isEmpty() const;
-  Ped::Tvector getQueueEndPosition() const;
-  const Agent* enqueueAgent(Agent* agentIn);
-  bool dequeueAgent(Agent* agentIn);
-  bool hasReachedWaitingPosition();
-
- protected:
-  void resetDequeueTime();
-  void startDequeueTime();
-
- protected:
-  void informAboutEndPosition();
-
-  // → Waypoint Overrides
- public:
-  virtual Ped::Tvector closestPoint(const Ped::Tvector& p,
-                                    bool* withinWaypoint = NULL) const;
-
-  // → ScenarioElement Overrides/Overloads
- public:
-  virtual QPointF getVisiblePosition() const;
-  virtual void setVisiblePosition(const QPointF& positionIn);
-  QString toString() const;
-
-  // Attributes
- protected:
-  Ped::Tangle direction;
-
-  QList<Agent*> queuedAgents;
-
-  // → dequeueing
-  double waitDurationLambda;
-  double dequeueTime;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/waitingqueue.hpp b/pedsim_simulator/include/pedsim_simulator/element/waitingqueue.hpp
new file mode 100644
index 00000000..332d3497
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/element/waitingqueue.hpp
@@ -0,0 +1,113 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _waitingqueue_h_
+#define _waitingqueue_h_
+
+#include <pedsim/ped_vector.h>
+#include <pedsim_simulator/element/waypoint.hpp>
+
+#ifndef Q_MOC_RUN
+#include "rclcpp/rclcpp.hpp"
+#include <QPointF>
+#endif
+
+// Forward Declarations
+class Agent;
+
+class WaitingQueue : public Waypoint {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  WaitingQueue(const QString &nameIn, Ped::Tvector positionIn,
+               Ped::Tangle directionIn = Ped::Tangle::fromDegree(0));
+  virtual ~WaitingQueue();
+
+  // Signals
+signals:
+  void directionChanged(double radianAngle);
+  // → Waiting Agents
+  void agentMayPass(int id);
+  void agentDequeued(int id);
+  void queueLeaderChanged(int id);
+  void queueEndChanged();
+  void queueEndPositionChanged(double x, double y);
+
+  // Slots
+protected slots:
+  void onTimeChanged(double timeIn);
+  void onLastAgentPositionChanged(double xIn, double yIn);
+
+  // Methods
+public:
+  Ped::Tangle getDirection() const;
+  void setDirection(const Ped::Tangle &angleIn);
+  void setDirection(double xIn, double yIn);
+  void setDirection(const Ped::Tvector &directionIn);
+
+  // → Queueing behavior
+  bool isEmpty() const;
+  Ped::Tvector getQueueEndPosition() const;
+  const Agent *enqueueAgent(Agent *agentIn);
+  bool dequeueAgent(Agent *agentIn);
+  bool hasReachedWaitingPosition();
+
+protected:
+  void resetDequeueTime();
+  void startDequeueTime();
+
+protected:
+  void informAboutEndPosition();
+
+  // → Waypoint Overrides
+public:
+  virtual Ped::Tvector closestPoint(const Ped::Tvector &p,
+                                    bool *withinWaypoint = NULL) const;
+
+  // → ScenarioElement Overrides/Overloads
+public:
+  virtual QPointF getVisiblePosition() const;
+  virtual void setVisiblePosition(const QPointF &positionIn);
+  QString toString() const;
+
+  // Attributes
+protected:
+  Ped::Tangle direction;
+
+  QList<Agent *> queuedAgents;
+
+  // → dequeueing
+  double waitDurationLambda;
+  double dequeueTime;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/waypoint.h b/pedsim_simulator/include/pedsim_simulator/element/waypoint.h
deleted file mode 100644
index 1ee8d775..00000000
--- a/pedsim_simulator/include/pedsim_simulator/element/waypoint.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _waypoint_h_
-#define _waypoint_h_
-
-#include <pedsim/ped_waypoint.h>
-#include <pedsim_simulator/element/scenarioelement.h>
-
-class Waypoint : public ScenarioElement, public Ped::Twaypoint {
-  Q_OBJECT
-
- public:
-  explicit Waypoint(const QString& nameIn);
-  Waypoint(const QString& nameIn, const Ped::Tvector& positionIn);
-
-  virtual ~Waypoint();
-
-  // Signals
- signals:
-  void positionChanged(double x, double y);
-
-  // Methods
- public:
-  QString getName() const;
-  // → Ped::Twaypoint Overrides
-  virtual void setPosition(double xIn, double yIn);
-  virtual void setPosition(const Ped::Tvector& posIn);
-  virtual void setx(double xIn);
-  virtual void sety(double yIn);
-  virtual void setRadius(double rIn);
-
-  // Attributes
- protected:
-  const QString name;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/element/waypoint.hpp b/pedsim_simulator/include/pedsim_simulator/element/waypoint.hpp
new file mode 100644
index 00000000..e612c236
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/element/waypoint.hpp
@@ -0,0 +1,66 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _waypoint_h_
+#define _waypoint_h_
+
+#include <pedsim/ped_waypoint.h>
+#include <pedsim_simulator/element/scenarioelement.hpp>
+
+class Waypoint : public ScenarioElement, public Ped::Twaypoint {
+  Q_OBJECT
+
+public:
+  explicit Waypoint(const QString &nameIn);
+  Waypoint(const QString &nameIn, const Ped::Tvector &positionIn);
+
+  virtual ~Waypoint();
+
+  // Signals
+signals:
+  void positionChanged(double x, double y);
+
+  // Methods
+public:
+  QString getName() const;
+  // → Ped::Twaypoint Overrides
+  virtual void setPosition(double xIn, double yIn);
+  virtual void setPosition(const Ped::Tvector &posIn);
+  virtual void setx(double xIn);
+  virtual void sety(double yIn);
+  virtual void setRadius(double rIn);
+
+  // Attributes
+protected:
+  const QString name;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/force/alongwallforce.h b/pedsim_simulator/include/pedsim_simulator/force/alongwallforce.h
deleted file mode 100644
index b5ecde3d..00000000
--- a/pedsim_simulator/include/pedsim_simulator/force/alongwallforce.h
+++ /dev/null
@@ -1,64 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _alongwallforce_h_
-#define _alongwallforce_h_
-
-// Includes
-// → SGDiCoP
-#include <pedsim_simulator/force/force.h>
-
-class AlongWallForce : public Force {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  AlongWallForce(Agent* agentIn);
-
-  // Slots
- public slots:
-  void onForceFactorChanged(double valueIn);
-
-  // Methods
-  // → Force Implementations
- public:
-  virtual QString getName() const { return "AlongWall"; };
-  virtual Ped::Tvector getForce(Ped::Tvector walkingDirection);
-  virtual QString toString() const;
-
-  // Attributes
- protected:
-  double speedThreshold;
-  double angleThresholdDegree;
-  double distanceThreshold;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/force/alongwallforce.hpp b/pedsim_simulator/include/pedsim_simulator/force/alongwallforce.hpp
new file mode 100644
index 00000000..c6e6f36a
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/force/alongwallforce.hpp
@@ -0,0 +1,64 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _alongwallforce_h_
+#define _alongwallforce_h_
+
+// Includes
+// → SGDiCoP
+#include <pedsim_simulator/force/force.hpp>
+
+class AlongWallForce : public Force {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  AlongWallForce(Agent *agentIn);
+
+  // Slots
+public slots:
+  void onForceFactorChanged(double valueIn);
+
+  // Methods
+  // → Force Implementations
+public:
+  virtual QString getName() const { return "AlongWall"; };
+  virtual Ped::Tvector getForce(Ped::Tvector walkingDirection);
+  virtual QString toString() const;
+
+  // Attributes
+protected:
+  double speedThreshold;
+  double angleThresholdDegree;
+  double distanceThreshold;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/force/force.h b/pedsim_simulator/include/pedsim_simulator/force/force.h
deleted file mode 100644
index a5c5ed82..00000000
--- a/pedsim_simulator/include/pedsim_simulator/force/force.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _force_h_
-#define _force_h_
-
-// Includes
-// → PedSim
-#include <pedsim/ped_vector.h>
-// → Qt
-#include <QObject>
-
-// Forward Declarations
-class Agent;
-
-class Force : public QObject {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  Force(Agent* agentIn);
-
-  // Methods
-  void setFactor(double factorIn);
-  double getFactor() const;
-
- public:
-  virtual QString getName() const = 0;
-  virtual Ped::Tvector getForce(Ped::Tvector walkingDirection) = 0;
-  virtual QString toString() const = 0;
-
-  // Attributes
- protected:
-  Agent* const agent;
-  double factor;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/force/force.hpp b/pedsim_simulator/include/pedsim_simulator/force/force.hpp
new file mode 100644
index 00000000..d368415a
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/force/force.hpp
@@ -0,0 +1,66 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _force_h_
+#define _force_h_
+
+// Includes
+// → PedSim
+#include <pedsim/ped_vector.h>
+// → Qt
+#include <QObject>
+
+// Forward Declarations
+class Agent;
+
+class Force : public QObject {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  Force(Agent *agentIn);
+
+  // Methods
+  void setFactor(double factorIn);
+  double getFactor() const;
+
+public:
+  virtual QString getName() const = 0;
+  virtual Ped::Tvector getForce(Ped::Tvector walkingDirection) = 0;
+  virtual QString toString() const = 0;
+
+  // Attributes
+protected:
+  Agent *const agent;
+  double factor;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/force/groupcoherenceforce.h b/pedsim_simulator/include/pedsim_simulator/force/groupcoherenceforce.h
deleted file mode 100644
index 686882eb..00000000
--- a/pedsim_simulator/include/pedsim_simulator/force/groupcoherenceforce.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _groupcoherenceforce_h_
-#define _groupcoherenceforce_h_
-
-// Includes
-// → SGDiCoP
-#include <pedsim_simulator/element/agentgroup.h>
-#include <pedsim_simulator/force/force.h>
-
-class GroupCoherenceForce : public Force {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  GroupCoherenceForce(Agent* agentIn);
-
-  // Slots
- public slots:
-  void onForceFactorGroupCoherenceChanged(double valueIn);
-
-  // Methods
- public:
-  void setGroup(AgentGroup* groupIn);
-  const AgentGroup& getGroup() const;
-
-  // → Force Implementations
- public:
-  virtual QString getName() const { return "GroupCoherence"; };
-  virtual Ped::Tvector getForce(Ped::Tvector walkingDirection);
-  virtual QString toString() const;
-
-  // Attributes
- protected:
-  AgentGroup* group;
-
-  bool usePaperVersion;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/force/groupcoherenceforce.hpp b/pedsim_simulator/include/pedsim_simulator/force/groupcoherenceforce.hpp
new file mode 100644
index 00000000..dc3cc29c
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/force/groupcoherenceforce.hpp
@@ -0,0 +1,69 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _groupcoherenceforce_h_
+#define _groupcoherenceforce_h_
+
+// Includes
+// → SGDiCoP
+#include <pedsim_simulator/element/agentgroup.hpp>
+#include <pedsim_simulator/force/force.hpp>
+
+class GroupCoherenceForce : public Force {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  GroupCoherenceForce(Agent *agentIn);
+
+  // Slots
+public slots:
+  void onForceFactorGroupCoherenceChanged(double valueIn);
+
+  // Methods
+public:
+  void setGroup(AgentGroup *groupIn);
+  const AgentGroup &getGroup() const;
+
+  // → Force Implementations
+public:
+  virtual QString getName() const { return "GroupCoherence"; };
+  virtual Ped::Tvector getForce(Ped::Tvector walkingDirection);
+  virtual QString toString() const;
+
+  // Attributes
+protected:
+  AgentGroup *group;
+
+  bool usePaperVersion;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/force/groupgazeforce.h b/pedsim_simulator/include/pedsim_simulator/force/groupgazeforce.h
deleted file mode 100644
index 005c30aa..00000000
--- a/pedsim_simulator/include/pedsim_simulator/force/groupgazeforce.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _groupgazeforce_h_
-#define _groupgazeforce_h_
-
-// Includes
-// → SGDiCoP
-#include <pedsim_simulator/element/agentgroup.h>
-#include <pedsim_simulator/force/force.h>
-
-class GroupGazeForce : public Force {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  GroupGazeForce(Agent* agentIn);
-
-  // Slots
- public slots:
-  void onForceFactorGroupGazeChanged(double valueIn);
-
-  // Methods
- public:
-  void setGroup(AgentGroup* groupIn);
-  const AgentGroup& getGroup() const;
-
-  // → Force Implementations
- public:
-  virtual QString getName() const { return "GroupGaze"; };
-  virtual Ped::Tvector getForce(Ped::Tvector walkingDirection);
-  virtual QString toString() const;
-
-  // Attributes
- protected:
-  AgentGroup* group;
-  bool usePaperVersion;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/force/groupgazeforce.hpp b/pedsim_simulator/include/pedsim_simulator/force/groupgazeforce.hpp
new file mode 100644
index 00000000..cb14a8b5
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/force/groupgazeforce.hpp
@@ -0,0 +1,68 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _groupgazeforce_h_
+#define _groupgazeforce_h_
+
+// Includes
+// → SGDiCoP
+#include <pedsim_simulator/element/agentgroup.hpp>
+#include <pedsim_simulator/force/force.hpp>
+
+class GroupGazeForce : public Force {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  GroupGazeForce(Agent *agentIn);
+
+  // Slots
+public slots:
+  void onForceFactorGroupGazeChanged(double valueIn);
+
+  // Methods
+public:
+  void setGroup(AgentGroup *groupIn);
+  const AgentGroup &getGroup() const;
+
+  // → Force Implementations
+public:
+  virtual QString getName() const { return "GroupGaze"; };
+  virtual Ped::Tvector getForce(Ped::Tvector walkingDirection);
+  virtual QString toString() const;
+
+  // Attributes
+protected:
+  AgentGroup *group;
+  bool usePaperVersion;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/force/grouprepulsionforce.h b/pedsim_simulator/include/pedsim_simulator/force/grouprepulsionforce.h
deleted file mode 100644
index db58e78f..00000000
--- a/pedsim_simulator/include/pedsim_simulator/force/grouprepulsionforce.h
+++ /dev/null
@@ -1,68 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _grouprepulsionforce_h_
-#define _grouprepulsionforce_h_
-
-// Includes
-// → SGDiCoP
-#include <pedsim_simulator/element/agentgroup.h>
-#include <pedsim_simulator/force/force.h>
-
-class GroupRepulsionForce : public Force {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  GroupRepulsionForce(Agent* agentIn);
-
-  // Slots
- public slots:
-  void onForceFactorGroupRepulsionChanged(double valueIn);
-
-  // Methods
- public:
-  void setGroup(AgentGroup* groupIn);
-  const AgentGroup& getGroup() const;
-
-  // → Force Implementations
- public:
-  virtual QString getName() const { return "GroupRepulsion"; };
-  virtual Ped::Tvector getForce(Ped::Tvector walkingDirection);
-  virtual QString toString() const;
-
-  // Attributes
- protected:
-  AgentGroup* group;
-  double overlapDistance;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/force/grouprepulsionforce.hpp b/pedsim_simulator/include/pedsim_simulator/force/grouprepulsionforce.hpp
new file mode 100644
index 00000000..19e8f0c9
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/force/grouprepulsionforce.hpp
@@ -0,0 +1,68 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _grouprepulsionforce_h_
+#define _grouprepulsionforce_h_
+
+// Includes
+// → SGDiCoP
+#include <pedsim_simulator/element/agentgroup.hpp>
+#include <pedsim_simulator/force/force.hpp>
+
+class GroupRepulsionForce : public Force {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  GroupRepulsionForce(Agent *agentIn);
+
+  // Slots
+public slots:
+  void onForceFactorGroupRepulsionChanged(double valueIn);
+
+  // Methods
+public:
+  void setGroup(AgentGroup *groupIn);
+  const AgentGroup &getGroup() const;
+
+  // → Force Implementations
+public:
+  virtual QString getName() const { return "GroupRepulsion"; };
+  virtual Ped::Tvector getForce(Ped::Tvector walkingDirection);
+  virtual QString toString() const;
+
+  // Attributes
+protected:
+  AgentGroup *group;
+  double overlapDistance;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/force/randomforce.h b/pedsim_simulator/include/pedsim_simulator/force/randomforce.h
deleted file mode 100644
index cb599852..00000000
--- a/pedsim_simulator/include/pedsim_simulator/force/randomforce.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _randomforce_h_
-#define _randomforce_h_
-
-// Includes
-// → SGDiCoP
-#include <pedsim_simulator/force/force.h>
-
-class RandomForce : public Force {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  RandomForce(Agent* agentIn);
-
-  // Slots
- public slots:
-  void onForceFactorChanged(double valueIn);
-
-  // Methods
- public:
-  void setFadingTime(double durationIn);
-  double getFadingTime() const;
-
- protected:
-  static Ped::Tvector computeNewDeviation();
-
-  // → Force Implementations
- public:
-  virtual QString getName() const { return "Random"; };
-  virtual Ped::Tvector getForce(Ped::Tvector walkingDirection);
-  virtual QString toString() const;
-
-  // Attributes
- protected:
-  double fadingDuration;
-  Ped::Tvector lastDeviation;
-  Ped::Tvector nextDeviation;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/force/randomforce.hpp b/pedsim_simulator/include/pedsim_simulator/force/randomforce.hpp
new file mode 100644
index 00000000..78e5f6ed
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/force/randomforce.hpp
@@ -0,0 +1,71 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _randomforce_h_
+#define _randomforce_h_
+
+// Includes
+// → SGDiCoP
+#include <pedsim_simulator/force/force.hpp>
+
+class RandomForce : public Force {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  RandomForce(Agent *agentIn);
+
+  // Slots
+public slots:
+  void onForceFactorChanged(double valueIn);
+
+  // Methods
+public:
+  void setFadingTime(double durationIn);
+  double getFadingTime() const;
+
+protected:
+  static Ped::Tvector computeNewDeviation();
+
+  // → Force Implementations
+public:
+  virtual QString getName() const { return "Random"; };
+  virtual Ped::Tvector getForce(Ped::Tvector walkingDirection);
+  virtual QString toString() const;
+
+  // Attributes
+protected:
+  double fadingDuration;
+  Ped::Tvector lastDeviation;
+  Ped::Tvector nextDeviation;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/orientationhandler.h b/pedsim_simulator/include/pedsim_simulator/orientationhandler.h
deleted file mode 100644
index ed3151f0..00000000
--- a/pedsim_simulator/include/pedsim_simulator/orientationhandler.h
+++ /dev/null
@@ -1,85 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Luigi Palmieri <palmieri@cs.uni-freiburg.de>
-*/
-
-#include <math.h>
-#include <Eigen/Dense>
-#include <Eigen/Geometry>
-#include <iostream>
-
-class OrientationHandler {
- private:
-  /// Quaternion elements
-  double qx_;
-  double qy_;
-  double qz_;
-  double qw_;
-
-  /// robot's heading angle
-  double theta_;
-
-  /// Rotation Matrix
-  Eigen::Matrix3f rotation_matrix_;
-
- public:
-  OrientationHandler() {
-    qx_ = 0.0;
-    qy_ = 0.0;
-    qz_ = 0.0;
-    qw_ = 1.0;
-    theta_ = 0.0;
-  }
-  /// Constructor to call if you know the heading of the robot in a xy plane
-  explicit OrientationHandler(double theta);
-  /// Constructor to call if you know the velocity's components of the robot in
-  /// a xy plane
-  OrientationHandler(double vx, double vy);
-  /// Constructor to call if you know the quaternion's components
-  OrientationHandler(double qw, double qx, double qy, double qz);
-  ~OrientationHandler();
-
-  /// Computes and returns the robot's heading angle Theta (in a xy plane) given
-  /// its quaternion
-  double getTheta(Eigen::Quaternionf quaternion);
-  Eigen::Quaternionf angle2Quaternion(double theta);
-  Eigen::Quaternionf rpy2Quaternion(double roll, double pitch, double yaw);
-
-  /// get the robot's heading angle Theta computed by the constructor
-  double gett();
-
-  /// get the quaternion x component of the current robot orientation
-  double getQx();
-  /// get the quaternion y component of the current robot orientation
-  double getQy();
-  /// get the quaternion z component of the current robot orientation
-  double getQz();
-  /// get the quaternion w component of the current robot orientation
-  double getQw();
-};
diff --git a/pedsim_simulator/include/pedsim_simulator/orientationhandler.hpp b/pedsim_simulator/include/pedsim_simulator/orientationhandler.hpp
new file mode 100644
index 00000000..9761157e
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/orientationhandler.hpp
@@ -0,0 +1,85 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Luigi Palmieri <palmieri@cs.uni-freiburg.de>
+ */
+
+#include <Eigen/Dense>
+#include <Eigen/Geometry>
+#include <iostream>
+#include <math.h>
+
+class OrientationHandler {
+private:
+  /// Quaternion elements
+  double qx_;
+  double qy_;
+  double qz_;
+  double qw_;
+
+  /// robot's heading angle
+  double theta_;
+
+  /// Rotation Matrix
+  Eigen::Matrix3f rotation_matrix_;
+
+public:
+  OrientationHandler() {
+    qx_ = 0.0;
+    qy_ = 0.0;
+    qz_ = 0.0;
+    qw_ = 1.0;
+    theta_ = 0.0;
+  }
+  /// Constructor to call if you know the heading of the robot in a xy plane
+  explicit OrientationHandler(double theta);
+  /// Constructor to call if you know the velocity's components of the robot in
+  /// a xy plane
+  OrientationHandler(double vx, double vy);
+  /// Constructor to call if you know the quaternion's components
+  OrientationHandler(double qw, double qx, double qy, double qz);
+  ~OrientationHandler();
+
+  /// Computes and returns the robot's heading angle Theta (in a xy plane) given
+  /// its quaternion
+  double getTheta(Eigen::Quaternionf quaternion);
+  Eigen::Quaternionf angle2Quaternion(double theta);
+  Eigen::Quaternionf rpy2Quaternion(double roll, double pitch, double yaw);
+
+  /// get the robot's heading angle Theta computed by the constructor
+  double gett();
+
+  /// get the quaternion x component of the current robot orientation
+  double getQx();
+  /// get the quaternion y component of the current robot orientation
+  double getQy();
+  /// get the quaternion z component of the current robot orientation
+  double getQz();
+  /// get the quaternion w component of the current robot orientation
+  double getQw();
+};
diff --git a/pedsim_simulator/include/pedsim_simulator/rng.h b/pedsim_simulator/include/pedsim_simulator/rng.h
deleted file mode 100644
index 336d09e1..00000000
--- a/pedsim_simulator/include/pedsim_simulator/rng.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-#ifndef _rng_h_
-#define _rng_h_
-
-#include <random>
-
-/// -----------------------------------------------------------------
-/// \class RandomNumberGenerator
-/// \details Random number generation for various distributions
-/// -----------------------------------------------------------------
-class RandomNumberGenerator {
- protected:
-  RandomNumberGenerator();
-
-// Singleton Design Pattern
-#define RNG RandomNumberGenerator::getInstance()
- protected:
-  static RandomNumberGenerator* instance;
-
- public:
-  static RandomNumberGenerator& getInstance();
-
-  // Operators
- public:
-  std::default_random_engine& operator()();
-
-  // Attributes
- public:
-  std::default_random_engine randomEngine;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/rng.hpp b/pedsim_simulator/include/pedsim_simulator/rng.hpp
new file mode 100644
index 00000000..3bc0ad1e
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/rng.hpp
@@ -0,0 +1,61 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+#ifndef _rng_h_
+#define _rng_h_
+
+#include <random>
+
+/// -----------------------------------------------------------------
+/// \class RandomNumberGenerator
+/// \details Random number generation for various distributions
+/// -----------------------------------------------------------------
+class RandomNumberGenerator {
+protected:
+  RandomNumberGenerator();
+
+// Singleton Design Pattern
+#define RNG RandomNumberGenerator::getInstance()
+protected:
+  static RandomNumberGenerator *instance;
+
+public:
+  static RandomNumberGenerator &getInstance();
+
+  // Operators
+public:
+  std::default_random_engine &operator()();
+
+  // Attributes
+public:
+  std::default_random_engine randomEngine;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/scenarioreader.h b/pedsim_simulator/include/pedsim_simulator/scenarioreader.h
deleted file mode 100644
index 2783d136..00000000
--- a/pedsim_simulator/include/pedsim_simulator/scenarioreader.h
+++ /dev/null
@@ -1,60 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _scenarioreader_h_
-#define _scenarioreader_h_
-
-#include <pedsim_simulator/scene.h>
-
-#include <QPair>
-#include <QXmlStreamReader>
-
-class ScenarioReader {
-  // Constructor and Destructor
- public:
-  ScenarioReader();
-
-  // Methods
- public:
-  bool readFromFile(const QString& filename);
-
- protected:
-  void processData();
-
-  // Attributes
- private:
-  QXmlStreamReader xmlReader;
-
-  AgentCluster* currentAgents;
-  SpawnArea* currentSpawnArea;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/scenarioreader.hpp b/pedsim_simulator/include/pedsim_simulator/scenarioreader.hpp
new file mode 100644
index 00000000..b58192a1
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/scenarioreader.hpp
@@ -0,0 +1,60 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _scenarioreader_h_
+#define _scenarioreader_h_
+
+#include <pedsim_simulator/scene.hpp>
+
+#include <QPair>
+#include <QXmlStreamReader>
+
+class ScenarioReader {
+  // Constructor and Destructor
+public:
+  ScenarioReader();
+
+  // Methods
+public:
+  bool readFromFile(const QString &filename);
+
+protected:
+  void processData();
+
+  // Attributes
+private:
+  QXmlStreamReader xmlReader;
+
+  AgentCluster *currentAgents;
+  SpawnArea *currentSpawnArea;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/scene.h b/pedsim_simulator/include/pedsim_simulator/scene.h
deleted file mode 100644
index d34812f8..00000000
--- a/pedsim_simulator/include/pedsim_simulator/scene.h
+++ /dev/null
@@ -1,172 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _scene_h_
-#define _scene_h_
-
-#include <pedsim/ped_scene.h>
-#include <pedsim/ped_vector.h>
-#include <QMap>
-#include <QObject>
-#include <QRectF>
-
-#include <pedsim_simulator/utilities.h>
-
-// Forward Declarations
-class QGraphicsScene;
-class Agent;
-class Obstacle;
-class Waypoint;
-class AttractionArea;
-class AgentCluster;
-class AgentGroup;
-class WaitingQueue;
-
-struct SpawnArea {
-  double x, y;
-  int n;
-  int dx, dy;
-  std::vector<QString> waypoints;
-
-  SpawnArea(const double xx, const double yy, const int nn, const int dxi,
-            const int dyi)
-      : x{xx}, y{yy}, n{nn}, dx{dxi}, dy{dyi} {}
-};
-
-class Scene : public QObject, protected Ped::Tscene {
-  Q_OBJECT
-
- public:
-  Scene(QObject* parent = 0);
-  virtual ~Scene();
-
-// Singleton Design Pattern
-#define SCENE Scene::getInstance()
- protected:
-  static Scene* instance;
-
- public:
-  static Scene& getInstance();
-
-  // Signals
- signals:
-  void aboutToStart();
-  void aboutToMoveAgents();
-  void movedAgents();
-  void sceneTimeChanged(double time);
-
-  // → added/removed elements
-  void agentAdded(int id);
-  void agentRemoved(int id);
-  void obstacleAdded(int id);
-  void obstacleRemoved(int id);
-  void waypointAdded(int id);
-  void waypointRemoved(int id);
-  void agentClusterAdded(int id);
-  void agentClusterRemoved(int id);
-  void waitingQueueAdded(QString name);
-  void waitingQueueRemoved(QString name);
-  void attractionAdded(QString name);
-  void attractionRemoved(QString name);
-
-  // Slots
- public slots:
-  void moveAllAgents();
- protected slots:
-  void cleanupScene();
-
-  // Methods
- public:
-  void clear();
-
-  QRectF itemsBoundingRect() const;
-
-  // → elements
-  const QList<Agent*>& getAgents() const;
-  Agent* getAgentById(int idIn) const;
-  QList<AgentGroup*> getGroups();
-  QMap<QString, AttractionArea*> getAttractions();
-  const QList<Obstacle*>& getObstacles() const;
-  const QMap<QString, Waypoint*>& getWaypoints() const;
-  const QMap<QString, AttractionArea*>& getAttractions() const;
-  Waypoint* getWaypointById(int idIn) const;
-  Waypoint* getWaypointByName(const QString& nameIn) const;
-  WaitingQueue* getWaitingQueueByName(const QString& nameIn) const;
-  const QList<AgentCluster*>& getAgentClusters() const;
-  AttractionArea* getAttractionByName(const QString& nameIn) const;
-  AttractionArea* getClosestAttraction(const Ped::Tvector& positionIn,
-                                       double* distanceOut = nullptr) const;
-  std::vector<SpawnArea*> getSpawnAreas() const { return spawn_areas; }
-  void addSpawnArea(SpawnArea* sa) { spawn_areas.emplace_back(sa); }
-
-  // → simulation time
-  double getTime() const;
-  bool hasStarted() const;
-
- protected:
-  void dissolveClusters();
-
- public:
-  virtual void addAgent(Agent* agent);
-  virtual void addObstacle(Obstacle* obstacle);
-  virtual void addWaypoint(Waypoint* waypoint);
-  virtual void addAgentCluster(AgentCluster* clusterIn);
-  virtual void addWaitingQueue(WaitingQueue* queueIn);
-  virtual void addAttraction(AttractionArea* attractionIn);
-  virtual bool removeAgent(Agent* agent);
-  virtual bool removeObstacle(Obstacle* obstacle);
-  virtual bool removeWaypoint(Waypoint* waypoint);
-  virtual bool removeAgentCluster(AgentCluster* clusterIn);
-  virtual bool removeWaitingQueue(WaitingQueue* queueIn);
-  virtual bool removeAttraction(AttractionArea* attractionInIn);
-
-  virtual std::set<const Ped::Tagent*> getNeighbors(double x, double y,
-                                                    double maxDist);
-
-  // obstacle cell locations
-  std::vector<Location> obstacle_cells_;
-
-  // Attributes
- protected:
-  QList<Agent*> agents;
-  QList<Obstacle*> obstacles;
-  QMap<QString, Waypoint*> waypoints;
-  QMap<QString, AttractionArea*> attractions;
-  QList<AgentCluster*> agentClusters;
-  QList<AgentGroup*> agentGroups;
-
-  std::vector<SpawnArea*> spawn_areas;
-
-  // → simulated time
-  double sceneTime;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/scene.hpp b/pedsim_simulator/include/pedsim_simulator/scene.hpp
new file mode 100644
index 00000000..0f342c66
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/scene.hpp
@@ -0,0 +1,172 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _scene_h_
+#define _scene_h_
+
+#include <QMap>
+#include <QObject>
+#include <QRectF>
+#include <pedsim/ped_scene.h>
+#include <pedsim/ped_vector.h>
+
+#include <pedsim_simulator/utilities.hpp>
+
+// Forward Declarations
+class QGraphicsScene;
+class Agent;
+class Obstacle;
+class Waypoint;
+class AttractionArea;
+class AgentCluster;
+class AgentGroup;
+class WaitingQueue;
+
+struct SpawnArea {
+  double x, y;
+  int n;
+  int dx, dy;
+  std::vector<QString> waypoints;
+
+  SpawnArea(const double xx, const double yy, const int nn, const int dxi,
+            const int dyi)
+      : x{xx}, y{yy}, n{nn}, dx{dxi}, dy{dyi} {}
+};
+
+class Scene : public QObject, protected Ped::Tscene {
+  Q_OBJECT
+
+public:
+  Scene(QObject *parent = 0);
+  virtual ~Scene();
+
+// Singleton Design Pattern
+#define SCENE Scene::getInstance()
+protected:
+  static Scene *instance;
+
+public:
+  static Scene &getInstance();
+
+  // Signals
+signals:
+  void aboutToStart();
+  void aboutToMoveAgents();
+  void movedAgents();
+  void sceneTimeChanged(double time);
+
+  // → added/removed elements
+  void agentAdded(int id);
+  void agentRemoved(int id);
+  void obstacleAdded(int id);
+  void obstacleRemoved(int id);
+  void waypointAdded(int id);
+  void waypointRemoved(int id);
+  void agentClusterAdded(int id);
+  void agentClusterRemoved(int id);
+  void waitingQueueAdded(QString name);
+  void waitingQueueRemoved(QString name);
+  void attractionAdded(QString name);
+  void attractionRemoved(QString name);
+
+  // Slots
+public slots:
+  void moveAllAgents();
+protected slots:
+  void cleanupScene();
+
+  // Methods
+public:
+  void clear();
+
+  QRectF itemsBoundingRect() const;
+
+  // → elements
+  const QList<Agent *> &getAgents() const;
+  Agent *getAgentById(int idIn) const;
+  QList<AgentGroup *> getGroups();
+  QMap<QString, AttractionArea *> getAttractions();
+  const QList<Obstacle *> &getObstacles() const;
+  const QMap<QString, Waypoint *> &getWaypoints() const;
+  const QMap<QString, AttractionArea *> &getAttractions() const;
+  Waypoint *getWaypointById(int idIn) const;
+  Waypoint *getWaypointByName(const QString &nameIn) const;
+  WaitingQueue *getWaitingQueueByName(const QString &nameIn) const;
+  const QList<AgentCluster *> &getAgentClusters() const;
+  AttractionArea *getAttractionByName(const QString &nameIn) const;
+  AttractionArea *getClosestAttraction(const Ped::Tvector &positionIn,
+                                       double *distanceOut = nullptr) const;
+  std::vector<SpawnArea *> getSpawnAreas() const { return spawn_areas; }
+  void addSpawnArea(SpawnArea *sa) { spawn_areas.emplace_back(sa); }
+
+  // → simulation time
+  double getTime() const;
+  bool hasStarted() const;
+
+protected:
+  void dissolveClusters();
+
+public:
+  virtual void addAgent(Agent *agent);
+  virtual void addObstacle(Obstacle *obstacle);
+  virtual void addWaypoint(Waypoint *waypoint);
+  virtual void addAgentCluster(AgentCluster *clusterIn);
+  virtual void addWaitingQueue(WaitingQueue *queueIn);
+  virtual void addAttraction(AttractionArea *attractionIn);
+  virtual bool removeAgent(Agent *agent);
+  virtual bool removeObstacle(Obstacle *obstacle);
+  virtual bool removeWaypoint(Waypoint *waypoint);
+  virtual bool removeAgentCluster(AgentCluster *clusterIn);
+  virtual bool removeWaitingQueue(WaitingQueue *queueIn);
+  virtual bool removeAttraction(AttractionArea *attractionInIn);
+
+  virtual std::set<const Ped::Tagent *> getNeighbors(double x, double y,
+                                                     double maxDist);
+
+  // obstacle cell locations
+  std::vector<Location> obstacle_cells_;
+
+  // Attributes
+protected:
+  QList<Agent *> agents;
+  QList<Obstacle *> obstacles;
+  QMap<QString, Waypoint *> waypoints;
+  QMap<QString, AttractionArea *> attractions;
+  QList<AgentCluster *> agentClusters;
+  QList<AgentGroup *> agentGroups;
+
+  std::vector<SpawnArea *> spawn_areas;
+
+  // → simulated time
+  double sceneTime;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/simulator.h b/pedsim_simulator/include/pedsim_simulator/simulator.h
deleted file mode 100644
index b0385d0f..00000000
--- a/pedsim_simulator/include/pedsim_simulator/simulator.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/**
-* Copyright 2014-2016 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-*/
-
-#ifndef SIMULATOR_H
-#define SIMULATOR_H
-
-#include <ros/console.h>
-#include <ros/ros.h>
-
-#include <tf/transform_listener.h>
-#include <functional>
-#include <memory>
-
-#include <pedsim_msgs/AgentForce.h>
-#include <pedsim_msgs/AgentGroup.h>
-#include <pedsim_msgs/AgentGroups.h>
-#include <pedsim_msgs/AgentState.h>
-#include <pedsim_msgs/AgentStates.h>
-#include <pedsim_msgs/LineObstacle.h>
-#include <pedsim_msgs/LineObstacles.h>
-
-#include <geometry_msgs/Point.h>
-#include <geometry_msgs/PoseStamped.h>
-#include <geometry_msgs/PoseWithCovariance.h>
-#include <geometry_msgs/TwistWithCovariance.h>
-#include <nav_msgs/Odometry.h>
-#include <std_msgs/Header.h>
-#include <std_srvs/Empty.h>
-
-#include <pedsim_simulator/agentstatemachine.h>
-#include <pedsim_simulator/config.h>
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/element/agentgroup.h>
-#include <pedsim_simulator/element/attractionarea.h>
-#include <pedsim_simulator/element/obstacle.h>
-#include <pedsim_simulator/element/waitingqueue.h>
-#include <pedsim_simulator/element/waypoint.h>
-#include <pedsim_simulator/scenarioreader.h>
-#include <pedsim_simulator/scene.h>
-
-#include <dynamic_reconfigure/server.h>
-#include <pedsim_simulator/PedsimSimulatorConfig.h>
-
-using SimConfig = pedsim_simulator::PedsimSimulatorConfig;
-
-/// \class Simulator
-/// \brief Simulation wrapper
-/// \details ROS interface to the scene object provided by pedsim
-class Simulator {
- public:
-  explicit Simulator(const ros::NodeHandle& node);
-  virtual ~Simulator();
-  bool initializeSimulation();
-  void runSimulation();
-
-  // callbacks
-  bool onPauseSimulation(std_srvs::Empty::Request& request,
-                         std_srvs::Empty::Response& response);
-  bool onUnpauseSimulation(std_srvs::Empty::Request& request,
-                           std_srvs::Empty::Response& response);
-
-  void spawnCallback(const ros::TimerEvent& event);
-
- protected:
-  void reconfigureCB(SimConfig& config, uint32_t level);
-  dynamic_reconfigure::Server<SimConfig> server_;
-
- private:
-  void updateRobotPositionFromTF();
-  void publishAgents();
-  void publishGroups();
-  void publishObstacles();
-  void publishRobotPosition();
-
- private:
-  ros::NodeHandle nh_;
-  bool paused_;
-  ros::Timer spawn_timer_;
-
-  // publishers
-  ros::Publisher pub_obstacles_;
-  ros::Publisher pub_agent_states_;
-  ros::Publisher pub_agent_groups_;
-  ros::Publisher pub_robot_position_;
-
-  // provided services
-  ros::ServiceServer srv_pause_simulation_;
-  ros::ServiceServer srv_unpause_simulation_;
-
-  // pointers and additional data
-  std::unique_ptr<tf::TransformListener> transform_listener_;
-  Agent* robot_;
-  tf::StampedTransform last_robot_pose_;
-  geometry_msgs::Quaternion last_robot_orientation_;
-
-  inline std::string agentStateToActivity(
-      const AgentStateMachine::AgentState& state) const;
-
-  inline std_msgs::Header createMsgHeader() const;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/simulator.hpp b/pedsim_simulator/include/pedsim_simulator/simulator.hpp
new file mode 100644
index 00000000..0abd8eb7
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/simulator.hpp
@@ -0,0 +1,136 @@
+/**
+ * Copyright 2014-2016 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ */
+
+#ifndef SIMULATOR_H
+#define SIMULATOR_H
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "tf2_msgs/msg/tf_message.hpp"
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/create_timer_ros.h"
+#include "tf2_ros/transform_broadcaster.h"
+#include "tf2_ros/transform_listener.h"
+#include <functional>
+#include <memory>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+#include <pedsim_msgs/msg/agent_force.hpp>
+#include <pedsim_msgs/msg/agent_group.hpp>
+#include <pedsim_msgs/msg/agent_groups.hpp>
+#include <pedsim_msgs/msg/agent_state.hpp>
+#include <pedsim_msgs/msg/agent_states.hpp>
+#include <pedsim_msgs/msg/line_obstacle.hpp>
+#include <pedsim_msgs/msg/line_obstacles.hpp>
+
+#include <geometry_msgs/msg/point.hpp>
+#include <geometry_msgs/msg/pose_stamped.hpp>
+#include <geometry_msgs/msg/pose_with_covariance.hpp>
+#include <geometry_msgs/msg/twist_with_covariance.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+#include <std_msgs/msg/header.hpp>
+#include <std_srvs/srv/empty.hpp>
+
+#include <pedsim_simulator/agentstatemachine.hpp>
+#include <pedsim_simulator/config.hpp>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/element/agentgroup.hpp>
+#include <pedsim_simulator/element/attractionarea.hpp>
+#include <pedsim_simulator/element/obstacle.hpp>
+#include <pedsim_simulator/element/waitingqueue.hpp>
+#include <pedsim_simulator/element/waypoint.hpp>
+#include <pedsim_simulator/scenarioreader.hpp>
+#include <pedsim_simulator/scene.hpp>
+
+//#include <dynamic_reconfigure/server.h>
+//#include <pedsim_simulator/PedsimSimulatorConfig.hpp>
+
+// using SimConfig = pedsim_simulator::PedsimSimulatorConfig;
+using namespace pedsim_msgs::msg;
+
+/// \class Simulator
+/// \brief Simulation wrapper
+/// \details ROS interface to the scene object provided by pedsim
+class Simulator : public rclcpp::Node {
+public:
+  explicit Simulator(const std::string &name);
+  virtual ~Simulator();
+  bool initializeSimulation();
+  void runSimulation();
+
+  //// callbacks
+  void onPauseSimulation(
+      const std::shared_ptr<std_srvs::srv::Empty::Request> request,
+      std::shared_ptr<std_srvs::srv::Empty::Response> response);
+
+  void onUnpauseSimulation(
+      const std::shared_ptr<std_srvs::srv::Empty::Request> request,
+      std::shared_ptr<std_srvs::srv::Empty::Response> response);
+
+  void spawnCallback();
+
+protected:
+  // void reconfigureCB(SimConfig& config, uint32_t level);
+  // dynamic_reconfigure::Server<SimConfig> server_;
+
+private:
+  void updateRobotPositionFromTF();
+  void publishAgents();
+  void publishGroups();
+  void publishObstacles();
+  void publishRobotPosition();
+
+  bool paused_;
+  rclcpp::TimerBase::SharedPtr spawn_timer_;
+
+  // publishers
+  rclcpp::Publisher<LineObstacles>::SharedPtr pub_obstacles_;
+  rclcpp::Publisher<AgentStates>::SharedPtr pub_agent_states_;
+  rclcpp::Publisher<AgentGroups>::SharedPtr pub_agent_groups_;
+  rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr pub_robot_position_;
+
+  // provided services
+  rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_pause_simulation_;
+  rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_unpause_simulation_;
+
+  std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
+  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
+  Agent *robot_;
+
+  geometry_msgs::msg::TransformStamped last_robot_pose_;
+  geometry_msgs::msg::Quaternion last_robot_orientation_;
+  float robot_radius_, agent_radius_, force_factor_social_;
+  inline std::string
+  agentStateToActivity(const AgentStateMachine::AgentState &state) const;
+
+  inline std_msgs::msg::Header createMsgHeader() const;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/utilities.h b/pedsim_simulator/include/pedsim_simulator/utilities.h
deleted file mode 100644
index 94d7a928..00000000
--- a/pedsim_simulator/include/pedsim_simulator/utilities.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-*/
-
-#ifndef UTILITIES_H
-#define UTILITIES_H
-
-/// --------------------------------------
-/// \enum RobotMode
-/// \brief Robot control mode
-/// --------------------------------------
-enum class RobotMode { CONTROLLED = 0, TELEOPERATION = 1, SOCIAL_DRIVE = 2 };
-
-/// \brief Modes for running the simulator
-enum class VisualMode { HEADLESS = 0, MINIMAL = 1, FULL = 2 };
-
-/// --------------------------------------
-/// \struct Location
-/// \brief 2D location/cell
-/// --------------------------------------
-struct Location {
-  float x;
-  float y;
-
-  Location(float xx, float yy) : x(xx), y(yy) {}
-
-  bool operator==(Location a) {
-    if (x == a.x && y == a.y)
-      return true;
-    else
-      return false;
-  }
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/utilities.hpp b/pedsim_simulator/include/pedsim_simulator/utilities.hpp
new file mode 100644
index 00000000..003a7cad
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/utilities.hpp
@@ -0,0 +1,61 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ */
+
+#ifndef UTILITIES_H
+#define UTILITIES_H
+
+/// --------------------------------------
+/// \enum RobotMode
+/// \brief Robot control mode
+/// --------------------------------------
+enum class RobotMode { CONTROLLED = 0, TELEOPERATION = 1, SOCIAL_DRIVE = 2 };
+
+/// \brief Modes for running the simulator
+enum class VisualMode { HEADLESS = 0, MINIMAL = 1, FULL = 2 };
+
+/// --------------------------------------
+/// \struct Location
+/// \brief 2D location/cell
+/// --------------------------------------
+struct Location {
+  float x;
+  float y;
+
+  Location(float xx, float yy) : x(xx), y(yy) {}
+
+  bool operator==(Location a) {
+    if (x == a.x && y == a.y)
+      return true;
+    else
+      return false;
+  }
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/waypointplanner/groupwaypointplanner.h b/pedsim_simulator/include/pedsim_simulator/waypointplanner/groupwaypointplanner.h
deleted file mode 100644
index 4aa43661..00000000
--- a/pedsim_simulator/include/pedsim_simulator/waypointplanner/groupwaypointplanner.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _groupwaypointplanner_h_
-#define _groupwaypointplanner_h_
-
-#include <pedsim_simulator/waypointplanner/waypointplanner.h>
-
-// Forward Declarations
-class AgentGroup;
-
-class GroupWaypointPlanner : public WaypointPlanner {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  GroupWaypointPlanner();
-
-  // Methods
- public:
-  // → Waypoint
-  Waypoint* getDestination() const;
-  void setDestination(Waypoint* waypointIn);
-
-  // → WaypointPlanner Overrides
- public:
-  static Type getPlannerType() { return WaypointPlanner::Group; };
-  virtual Waypoint* getCurrentWaypoint();
-  virtual bool hasCompletedDestination() const;
-
-  virtual QString name() const;
-
-  virtual bool setGroup(AgentGroup* groupIn);
-
-  // Attributes
- protected:
-  AgentGroup* group;
-
-  // → Waypoints
-  Waypoint* destination;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/waypointplanner/groupwaypointplanner.hpp b/pedsim_simulator/include/pedsim_simulator/waypointplanner/groupwaypointplanner.hpp
new file mode 100644
index 00000000..e625f976
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/waypointplanner/groupwaypointplanner.hpp
@@ -0,0 +1,71 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _groupwaypointplanner_h_
+#define _groupwaypointplanner_h_
+
+#include <pedsim_simulator/waypointplanner/waypointplanner.hpp>
+
+// Forward Declarations
+class AgentGroup;
+
+class GroupWaypointPlanner : public WaypointPlanner {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  GroupWaypointPlanner();
+
+  // Methods
+public:
+  // → Waypoint
+  Waypoint *getDestination() const;
+  void setDestination(Waypoint *waypointIn);
+
+  // → WaypointPlanner Overrides
+public:
+  static Type getPlannerType() { return WaypointPlanner::Group; };
+  virtual Waypoint *getCurrentWaypoint();
+  virtual bool hasCompletedDestination() const;
+
+  virtual QString name() const;
+
+  virtual bool setGroup(AgentGroup *groupIn);
+
+  // Attributes
+protected:
+  AgentGroup *group;
+
+  // → Waypoints
+  Waypoint *destination;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/waypointplanner/individualwaypointplanner.h b/pedsim_simulator/include/pedsim_simulator/waypointplanner/individualwaypointplanner.h
deleted file mode 100644
index aabb7748..00000000
--- a/pedsim_simulator/include/pedsim_simulator/waypointplanner/individualwaypointplanner.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _individualwaypointplanner_h_
-#define _individualwaypointplanner_h_
-
-#include <pedsim_simulator/waypointplanner/waypointplanner.h>
-
-// Forward Declarations
-class AgentGroup;
-
-class IndividualWaypointPlanner : public WaypointPlanner {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  IndividualWaypointPlanner();
-
-  // Methods
- public:
-  bool setAgent(Agent* agentIn);
-
-  // → Waypoints
-  Waypoint* getDestination() const;
-  void setDestination(Waypoint* waypointIn);
-
-  // → WaypointPlanner Overrides
- public:
-  static Type getPlannerType() { return WaypointPlanner::Individual; };
-  virtual Waypoint* getCurrentWaypoint();
-  virtual bool hasCompletedDestination() const;
-
-  virtual QString name() const;
-
-  // Attributes
- protected:
-  Agent* agent;
-
-  // → Waypoints
-  Waypoint* destination;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/waypointplanner/individualwaypointplanner.hpp b/pedsim_simulator/include/pedsim_simulator/waypointplanner/individualwaypointplanner.hpp
new file mode 100644
index 00000000..bff34f77
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/waypointplanner/individualwaypointplanner.hpp
@@ -0,0 +1,71 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _individualwaypointplanner_h_
+#define _individualwaypointplanner_h_
+
+#include <pedsim_simulator/waypointplanner/waypointplanner.hpp>
+
+// Forward Declarations
+class AgentGroup;
+
+class IndividualWaypointPlanner : public WaypointPlanner {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  IndividualWaypointPlanner();
+
+  // Methods
+public:
+  bool setAgent(Agent *agentIn);
+
+  // → Waypoints
+  Waypoint *getDestination() const;
+  void setDestination(Waypoint *waypointIn);
+
+  // → WaypointPlanner Overrides
+public:
+  static Type getPlannerType() { return WaypointPlanner::Individual; };
+  virtual Waypoint *getCurrentWaypoint();
+  virtual bool hasCompletedDestination() const;
+
+  virtual QString name() const;
+
+  // Attributes
+protected:
+  Agent *agent;
+
+  // → Waypoints
+  Waypoint *destination;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/waypointplanner/queueingplanner.h b/pedsim_simulator/include/pedsim_simulator/waypointplanner/queueingplanner.h
deleted file mode 100644
index 36e179ca..00000000
--- a/pedsim_simulator/include/pedsim_simulator/waypointplanner/queueingplanner.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _queueingplanner_h_
-#define _queueingplanner_h_
-
-#include <pedsim/ped_vector.h>
-#include <pedsim_simulator/rng.h>
-#include <pedsim_simulator/waypointplanner/waypointplanner.h>
-
-// Forward Declarations
-class WaitingQueue;
-
-class QueueingWaypointPlanner : public WaypointPlanner {
-  Q_OBJECT
-
-  // TODO - change to enum class
-  typedef enum { Unknown, Approaching, Queued, MayPass } QueueingStatus;
-
-  // Constructor and Destructor
- public:
-  QueueingWaypointPlanner();
-
-  // Slots
- protected slots:
-  void onFollowedAgentPositionChanged(double xIn, double yIn);
-  void onAgentMayPassQueue(int id);
-  void onFollowedAgentLeftQueue();
-  void onQueueEndPositionChanged(double xIn, double yIn);
-
-  // Methods
- public:
-  void reset();
-
-  // → Agent
-  virtual Agent* getAgent() const;
-  virtual bool setAgent(Agent* agentIn);
-
-  // → WaitingQueue
-  void setDestination(Waypoint* waypointIn);
-  void setWaitingQueue(WaitingQueue* queueIn);
-  WaitingQueue* getWaitingQueue() const;
-  bool hasReachedQueueEnd() const;
-  void activateApproachingMode();
-  void activateQueueingMode();
-
- protected:
-  void addPrivateSpace(Ped::Tvector& queueEndIn) const;
-  QString createWaypointName() const;
-
-  // → WaypointPlanner Overrides
- public:
-  static Type getPlannerType() { return WaypointPlanner::Individual; };
-  virtual Waypoint* getCurrentWaypoint();
-  virtual Waypoint* getNextWaypoint();
-  virtual bool hasCompletedWaypoint() const;
-  virtual bool hasCompletedDestination() const;
-
-  virtual QString name() const;
-
-  // Attributes
- protected:
-  // → Agent
-  Agent* agent;
-
-  // → WaitingQueue
-  WaitingQueue* waitingQueue;
-  Waypoint* currentWaypoint;
-  const Agent* followedAgent;
-  QueueingStatus status;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/waypointplanner/queueingplanner.hpp b/pedsim_simulator/include/pedsim_simulator/waypointplanner/queueingplanner.hpp
new file mode 100644
index 00000000..86b3306d
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/waypointplanner/queueingplanner.hpp
@@ -0,0 +1,101 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _queueingplanner_h_
+#define _queueingplanner_h_
+
+#include <pedsim/ped_vector.h>
+#include <pedsim_simulator/rng.hpp>
+#include <pedsim_simulator/waypointplanner/waypointplanner.hpp>
+
+// Forward Declarations
+class WaitingQueue;
+
+class QueueingWaypointPlanner : public WaypointPlanner {
+  Q_OBJECT
+
+  // TODO - change to enum class
+  typedef enum { Unknown, Approaching, Queued, MayPass } QueueingStatus;
+
+  // Constructor and Destructor
+public:
+  QueueingWaypointPlanner();
+
+  // Slots
+protected slots:
+  void onFollowedAgentPositionChanged(double xIn, double yIn);
+  void onAgentMayPassQueue(int id);
+  void onFollowedAgentLeftQueue();
+  void onQueueEndPositionChanged(double xIn, double yIn);
+
+  // Methods
+public:
+  void reset();
+
+  // → Agent
+  virtual Agent *getAgent() const;
+  virtual bool setAgent(Agent *agentIn);
+
+  // → WaitingQueue
+  void setDestination(Waypoint *waypointIn);
+  void setWaitingQueue(WaitingQueue *queueIn);
+  WaitingQueue *getWaitingQueue() const;
+  bool hasReachedQueueEnd() const;
+  void activateApproachingMode();
+  void activateQueueingMode();
+
+protected:
+  void addPrivateSpace(Ped::Tvector &queueEndIn) const;
+  QString createWaypointName() const;
+
+  // → WaypointPlanner Overrides
+public:
+  static Type getPlannerType() { return WaypointPlanner::Individual; };
+  virtual Waypoint *getCurrentWaypoint();
+  virtual Waypoint *getNextWaypoint();
+  virtual bool hasCompletedWaypoint() const;
+  virtual bool hasCompletedDestination() const;
+
+  virtual QString name() const;
+
+  // Attributes
+protected:
+  // → Agent
+  Agent *agent;
+
+  // → WaitingQueue
+  WaitingQueue *waitingQueue;
+  Waypoint *currentWaypoint;
+  const Agent *followedAgent;
+  QueueingStatus status;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/waypointplanner/shoppingplanner.h b/pedsim_simulator/include/pedsim_simulator/waypointplanner/shoppingplanner.h
deleted file mode 100644
index ccb9e299..00000000
--- a/pedsim_simulator/include/pedsim_simulator/waypointplanner/shoppingplanner.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _shoppingplanner_h_
-#define _shoppingplanner_h_
-
-#include <pedsim/ped_vector.h>
-#include <pedsim_simulator/waypointplanner/waypointplanner.h>
-
-// Forward Declarations
-class Agent;
-class AttractionArea;
-
-class ShoppingPlanner : public WaypointPlanner {
-  Q_OBJECT
-
-  // Constructor and Destructor
- public:
-  ShoppingPlanner();
-
-  // Signals
- signals:
-  void lostAttraction();
-
- public slots:
-  void loseAttraction();
-
-  // Methods
- public:
-  bool setAgent(Agent* agentIn);
-
-  // → Waypoints
-  AttractionArea* getAttraction() const;
-  bool setAttraction(AttractionArea* attractionIn);
-
- protected:
-  // → Helper Methods
-  QString createWaypointName() const;
-  Ped::Tvector getRandomAttractionPosition() const;
-  Ped::Tvector createRandomOffset() const;
-
-  // → WaypointPlanner Overrides
- public:
-  static Type getPlannerType() { return WaypointPlanner::Individual; };
-  virtual Waypoint* getCurrentWaypoint();
-  virtual Waypoint* getNextWaypoint();
-  virtual bool hasCompletedWaypoint();
-  virtual bool hasCompletedDestination() const;
-
-  virtual QString name() const;
-
-  // Attributes
- protected:
-  Agent* agent;
-  AttractionArea* attraction;
-  // → Waypoints
-  Waypoint* currentWaypoint;
-  double timeReached;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/waypointplanner/shoppingplanner.hpp b/pedsim_simulator/include/pedsim_simulator/waypointplanner/shoppingplanner.hpp
new file mode 100644
index 00000000..15d3488d
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/waypointplanner/shoppingplanner.hpp
@@ -0,0 +1,89 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _shoppingplanner_h_
+#define _shoppingplanner_h_
+
+#include <pedsim/ped_vector.h>
+#include <pedsim_simulator/waypointplanner/waypointplanner.hpp>
+
+// Forward Declarations
+class Agent;
+class AttractionArea;
+
+class ShoppingPlanner : public WaypointPlanner {
+  Q_OBJECT
+
+  // Constructor and Destructor
+public:
+  ShoppingPlanner();
+
+  // Signals
+signals:
+  void lostAttraction();
+
+public slots:
+  void loseAttraction();
+
+  // Methods
+public:
+  bool setAgent(Agent *agentIn);
+
+  // → Waypoints
+  AttractionArea *getAttraction() const;
+  bool setAttraction(AttractionArea *attractionIn);
+
+protected:
+  // → Helper Methods
+  QString createWaypointName() const;
+  Ped::Tvector getRandomAttractionPosition() const;
+  Ped::Tvector createRandomOffset() const;
+
+  // → WaypointPlanner Overrides
+public:
+  static Type getPlannerType() { return WaypointPlanner::Individual; };
+  virtual Waypoint *getCurrentWaypoint();
+  virtual Waypoint *getNextWaypoint();
+  virtual bool hasCompletedWaypoint();
+  virtual bool hasCompletedDestination() const;
+
+  virtual QString name() const;
+
+  // Attributes
+protected:
+  Agent *agent;
+  AttractionArea *attraction;
+  // → Waypoints
+  Waypoint *currentWaypoint;
+  double timeReached;
+};
+
+#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/waypointplanner/waypointplanner.h b/pedsim_simulator/include/pedsim_simulator/waypointplanner/waypointplanner.h
deleted file mode 100644
index abd27a3c..00000000
--- a/pedsim_simulator/include/pedsim_simulator/waypointplanner/waypointplanner.h
+++ /dev/null
@@ -1,62 +0,0 @@
-/**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#ifndef _waypointplanner_h_
-#define _waypointplanner_h_
-
-#include <QObject>
-
-// Forward Declarations
-class Agent;
-class AgentGroup;
-class Waypoint;
-
-class WaypointPlanner : public QObject {
-  Q_OBJECT
-
-  // Enums
- public:
-  typedef enum { Individual, Group, All } Type;
-
-  // Constructor and Destructor
- protected:
-  WaypointPlanner();
-
-  // Methods
- public:
-  static Type getPlannerType();
-  virtual Waypoint* getCurrentWaypoint() = 0;
-  virtual bool hasCompletedDestination() const = 0;
-
-  virtual QString name() const = 0;
-};
-
-#endif
diff --git a/pedsim_simulator/include/pedsim_simulator/waypointplanner/waypointplanner.hpp b/pedsim_simulator/include/pedsim_simulator/waypointplanner/waypointplanner.hpp
new file mode 100644
index 00000000..1e3c2c2d
--- /dev/null
+++ b/pedsim_simulator/include/pedsim_simulator/waypointplanner/waypointplanner.hpp
@@ -0,0 +1,62 @@
+/**
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#ifndef _waypointplanner_h_
+#define _waypointplanner_h_
+
+#include <QObject>
+
+// Forward Declarations
+class Agent;
+class AgentGroup;
+class Waypoint;
+
+class WaypointPlanner : public QObject {
+  Q_OBJECT
+
+  // Enums
+public:
+  typedef enum { Individual, Group, All } Type;
+
+  // Constructor and Destructor
+protected:
+  WaypointPlanner();
+
+  // Methods
+public:
+  static Type getPlannerType();
+  virtual Waypoint *getCurrentWaypoint() = 0;
+  virtual bool hasCompletedDestination() const = 0;
+
+  virtual QString name() const = 0;
+};
+
+#endif
diff --git a/pedsim_simulator/launch/house_demo_crowd_launch.py b/pedsim_simulator/launch/house_demo_crowd_launch.py
new file mode 100644
index 00000000..48263259
--- /dev/null
+++ b/pedsim_simulator/launch/house_demo_crowd_launch.py
@@ -0,0 +1,70 @@
+# Copyright (c) 2018 Intelligent Robotics Lab
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    # Get the launch directory
+    simulator_dir = get_package_share_directory('pedsim_simulator')
+    launch_dir = os.path.join(simulator_dir, 'launch')
+    
+    scene_file = LaunchConfiguration('scene_file')
+    simulation_factor = LaunchConfiguration('simulation_factor')
+    frame_id = LaunchConfiguration('frame_id')
+    
+    # Set env var to print messages to stdout immediately
+    SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
+
+    declare_scene_file_cmd = DeclareLaunchArgument(
+        'scene_file', 
+        default_value=os.path.join(simulator_dir, 'scenarios', 'tb3_house_demo_crowd.xml'),
+        description='')
+
+    declare_simulation_factor_cmd = DeclareLaunchArgument(
+        'simulation_factor', default_value='0.07',
+        description='Top-level namespace')
+
+    frame_id_cmd = DeclareLaunchArgument(
+        'frame_id', default_value='map', description='Reference frame')
+
+    pedsim_simulator_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(launch_dir, 'simulator_launch.py')),
+        launch_arguments={'scene_file': scene_file,
+                          'simulation_factor': simulation_factor}.items()
+    )    
+
+    pedsim_visualizer_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('pedsim_visualizer'), 'launch', 'visualizer_launch.py')),
+        launch_arguments={'frame_id': frame_id}.items()
+    )
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_scene_file_cmd)
+    ld.add_action(declare_simulation_factor_cmd)
+    ld.add_action(frame_id_cmd)
+
+    # Add any conditioned actions
+    ld.add_action(pedsim_visualizer_cmd)
+    ld.add_action(pedsim_simulator_cmd)
+
+    return ld
diff --git a/pedsim_simulator/launch/house_demo_launch.py b/pedsim_simulator/launch/house_demo_launch.py
new file mode 100644
index 00000000..c8ff5da9
--- /dev/null
+++ b/pedsim_simulator/launch/house_demo_launch.py
@@ -0,0 +1,60 @@
+# Copyright (c) 2018 Intelligent Robotics Lab
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    # Get the launch directory
+    simulator_dir = get_package_share_directory('pedsim_simulator')
+    launch_dir = os.path.join(simulator_dir, 'launch')
+    
+    scene_file = LaunchConfiguration('scene_file')
+    simulation_factor = LaunchConfiguration('simulation_factor')
+
+
+    # Set env var to print messages to stdout immediately
+    SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
+
+    declare_scene_file_cmd = DeclareLaunchArgument(
+        'scene_file', 
+        default_value=os.path.join(simulator_dir, 'scenarios', 'scene1.xml'),
+        description='')
+
+    declare_simulation_factor_cmd = DeclareLaunchArgument(
+        'simulation_factor', default_value='0.05',
+        description='Top-level namespace')
+    
+    pedsim_simulator_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(launch_dir, 'simulator_launch.py')),
+        launch_arguments={'scene_file': scene_file,
+                          'simulation_factor': simulation_factor}.items())    
+
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_scene_file_cmd)
+    ld.add_action(declare_simulation_factor_cmd)
+
+    # Add any conditioned actions
+    ld.add_action(pedsim_simulator_cmd)
+
+    return ld
diff --git a/pedsim_simulator/launch/office.launch b/pedsim_simulator/launch/office.launch
new file mode 100644
index 00000000..d3514657
--- /dev/null
+++ b/pedsim_simulator/launch/office.launch
@@ -0,0 +1,37 @@
+<launch>
+  <arg name="kbd_teleop" default="false"/>
+  <arg name="rqt_teleop" default="true"/>
+  <arg name="visualize" default="true"/>
+  <arg name="with_robot" default="true"/>
+
+  <arg name="simulation_factor" default="1.1"/> <!-- Speed up -->
+  <arg name="update_rate" default="25.0"/> <!-- Hz -->
+
+  <!-- Simulator -->
+  <include file="$(find pedsim_simulator)/launch/simulator.launch">
+    <arg name="kbd_teleop" value="$(arg kbd_teleop)"/>
+    <arg name="rqt_teleop" value="$(arg rqt_teleop)"/>
+    <arg name="scene_file" value="$(find pedsim_scenarios)/scenes/office.xml"/>
+    <arg name="with_robot" value="$(arg with_robot)"/>
+    <arg name="simulation_factor" value="$(arg simulation_factor)"/>
+    <arg name="update_rate" value="$(arg update_rate)"/>
+    <arg name="default_queue_size" value="10"/>
+    <arg name="max_robot_speed" value="1.5"/>
+    <arg name="robot_mode" value="1"/>
+
+    <arg name="enable_groups" value="false"/>
+    <arg name="pose_initial_x" value="5.0"/>
+    <arg name="pose_initial_y" value="5.0"/>
+    <arg name="pose_initial_theta" value="0.7"/>
+  </include>
+
+  <!-- Visualizer -->
+  <include file="$(find pedsim_visualizer)/launch/visualizer.launch"/>
+
+  <!-- Rviz -->
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find pedsim_simulator)/rviz/social_contexts_activities.rviz" if="$(arg visualize)"/>
+
+  <!-- Dynamic reconfigure GUI -->
+  <node pkg="rqt_reconfigure" name="rqt_reconfigure" type="rqt_reconfigure" />
+
+</launch>
diff --git a/pedsim_simulator/launch/office_launch.py b/pedsim_simulator/launch/office_launch.py
new file mode 100644
index 00000000..40a61e40
--- /dev/null
+++ b/pedsim_simulator/launch/office_launch.py
@@ -0,0 +1,70 @@
+# Copyright (c) 2018 Intelligent Robotics Lab
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+
+def generate_launch_description():
+    # Get the launch directory
+    simulator_dir = get_package_share_directory('pedsim_simulator')
+    launch_dir = os.path.join(simulator_dir, 'launch')
+    
+    scene_file = LaunchConfiguration('scene_file')
+    simulation_factor = LaunchConfiguration('simulation_factor')
+    frame_id = LaunchConfiguration('frame_id')
+    
+    # Set env var to print messages to stdout immediately
+    SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
+
+    declare_scene_file_cmd = DeclareLaunchArgument(
+        'scene_file', 
+        default_value=os.path.join(simulator_dir, 'scenarios', 'office-cubicles.xml'),
+        description='')
+
+    declare_simulation_factor_cmd = DeclareLaunchArgument(
+        'simulation_factor', default_value='1.0',
+        description='Top-level namespace')
+
+    frame_id_cmd = DeclareLaunchArgument(
+        'frame_id', default_value='map', description='Reference frame')
+
+    pedsim_simulator_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(launch_dir, 'simulator_launch.py')),
+        launch_arguments={'scene_file': scene_file,
+                          'simulation_factor': simulation_factor}.items()
+    )    
+
+    pedsim_visualizer_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('pedsim_visualizer'), 'launch', 'visualizer_launch.py')),
+        launch_arguments={'frame_id': frame_id}.items()
+    )
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_scene_file_cmd)
+    ld.add_action(declare_simulation_factor_cmd)
+    ld.add_action(frame_id_cmd)
+
+    # Add any conditioned actions
+    ld.add_action(pedsim_visualizer_cmd)
+    ld.add_action(pedsim_simulator_cmd)
+
+    return ld
diff --git a/pedsim_simulator/launch/simple_pedestrians.launch b/pedsim_simulator/launch/simple_pedestrians.launch
index 979bce91..a7e97ceb 100644
--- a/pedsim_simulator/launch/simple_pedestrians.launch
+++ b/pedsim_simulator/launch/simple_pedestrians.launch
@@ -4,7 +4,7 @@
   <arg name="visualize" default="true"/>
   <arg name="with_robot" default="true"/>
 
-  <arg name="simulation_factor" default="3.0"/> <!-- Speed up -->
+  <arg name="simulation_factor" default="1.0"/> <!-- Speed up -->
   <arg name="update_rate" default="25.0"/> <!-- Hz -->
 
   <!-- Simulator -->
diff --git a/pedsim_simulator/launch/simulator.launch b/pedsim_simulator/launch/simulator.launch
deleted file mode 100644
index 5e46ed84..00000000
--- a/pedsim_simulator/launch/simulator.launch
+++ /dev/null
@@ -1,36 +0,0 @@
-<launch>
-  <arg name="kbd_teleop" default="false"/>
-  <arg name="rqt_teleop" default="false"/>
-  <arg name="scene_file" default="$(find pedsim_simulator)scenarios/social_contexts.xml"/>
-  <arg name="default_queue_size" default="10"/>
-  <arg name="max_robot_speed" default="1.5"/>
-  <arg name="robot_mode" default="1"/>
-  <arg name="enable_groups" default="true"/>
-  <arg name="with_robot" default="true"/>
-  <arg name="pose_initial_x" default="5.0"/>
-  <arg name="pose_initial_y" default="5.0"/>
-  <arg name="pose_initial_theta" default="0.0"/>
-  <arg name="simulation_factor" default="1"/>
-  <arg name="update_rate" default="25.0"/>
-
-  <!-- main simulator node -->
-  <node name="pedsim_simulator" pkg="pedsim_simulator" type="pedsim_simulator" output="screen">
-    <param name="scene_file" value="$(arg scene_file)" type="string"/>
-    <param name="default_queue_size" value="$(arg default_queue_size)" type="int"/>
-    <param name="max_robot_speed" value="$(arg max_robot_speed)" type="double"/>
-    <param name="robot_mode" value="$(arg robot_mode)" type="int"/>
-    <param name="enable_groups" value="$(arg enable_groups)" type="bool"/>
-    <param name="simulation_factor" value="$(arg simulation_factor)" type="double"/>
-    <param name="update_rate" value="$(arg update_rate)" type="double"/>
-  </node>
-
-  <!-- Robot controller (optional) -->
-  <group ns="pedbot/control" if="$(arg with_robot)">
-    <include file="$(find pedsim_simulator)/launch/robot_controller.launch">
-      <arg name="pose_initial_x" value="$(arg pose_initial_x)"/>
-      <arg name="pose_initial_y" value="$(arg pose_initial_y)"/>
-      <arg name="pose_initial_theta" value="$(arg pose_initial_theta)"/>
-    </include>
-  </group>
-
-</launch>
diff --git a/pedsim_simulator/launch/simulator_launch.py b/pedsim_simulator/launch/simulator_launch.py
new file mode 100644
index 00000000..d109be0e
--- /dev/null
+++ b/pedsim_simulator/launch/simulator_launch.py
@@ -0,0 +1,103 @@
+# Copyright (c) 2018 Intelligent Robotics Lab
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    # Get the launch directory
+    simulator_dir = get_package_share_directory('pedsim_simulator')
+
+    scene_file = LaunchConfiguration('scene_file')
+    default_queue_size = LaunchConfiguration('default_queue_size')
+    max_robot_speed = LaunchConfiguration('max_robot_speed')
+    robot_mode = LaunchConfiguration('robot_mode')
+    robot_radius = LaunchConfiguration('robot_radius')
+    agent_radius = LaunchConfiguration('agent_radius')
+    force_factor_social = LaunchConfiguration('force_factor_social')
+    enable_groups = LaunchConfiguration('enable_groups')
+    simulation_factor = LaunchConfiguration('simulation_factor')
+    update_rate = LaunchConfiguration('update_rate')
+
+    return LaunchDescription([
+        # Set env var to print messages to stdout immediately
+        SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1'),
+
+        DeclareLaunchArgument(
+            'scene_file', 
+            default_value=os.path.join(simulator_dir, 'scenarios', 'social_context.xml'),
+            description=''),
+        
+        DeclareLaunchArgument(
+            'default_queue_size', default_value='1',
+            description=''),
+
+        DeclareLaunchArgument(
+            'max_robot_speed', default_value='1.5',
+            description=''),
+
+        DeclareLaunchArgument(
+            'robot_mode', default_value='0',
+            description=''),
+        DeclareLaunchArgument(
+            'robot_radius', default_value='0.35',
+            description=''),
+        DeclareLaunchArgument(
+            'agent_radius', default_value='0.4',
+            description=''),
+        DeclareLaunchArgument(
+            'force_factor_social', default_value='12.0',
+            description=''),
+
+        DeclareLaunchArgument(
+            'enable_groups', default_value='true',
+            description=''),
+
+        DeclareLaunchArgument(
+            'simulation_factor', default_value='1.0',
+            description='Top-level namespace'),
+
+        DeclareLaunchArgument(
+            'update_rate', default_value='25.0',
+            description=''),
+
+        Node(
+            package='pedsim_simulator',
+            executable='pedsim_simulator',
+            name='pedsim_simulator',
+            output='screen',
+            parameters=[{'scene_file': scene_file},
+                        {'default_queue_size': default_queue_size},
+                        {'max_robot_speed': max_robot_speed},
+                        {'robot_mode': robot_mode},
+                        {'robot_radius': robot_radius},
+                        {'agent_radius': agent_radius},
+                        {'force_factor_social': force_factor_social},
+                        {'enable_groups': enable_groups},
+                        {'simulation_factor': simulation_factor},
+                        {'update_rate': update_rate}]),
+        Node(
+            package='pedsim_tf2',
+            executable='pedsim_tf2_node',
+            name='pedsim_tf2_node',
+            output='screen'),
+        
+
+    ])
diff --git a/pedsim_simulator/launch/sources_and_sinks.launch b/pedsim_simulator/launch/sources_and_sinks.launch
index 2928e222..c9ecd11c 100644
--- a/pedsim_simulator/launch/sources_and_sinks.launch
+++ b/pedsim_simulator/launch/sources_and_sinks.launch
@@ -4,7 +4,7 @@
   <arg name="visualize" default="true"/>
   <arg name="with_robot" default="true"/>
 
-  <arg name="simulation_factor" default="1.0"/> <!-- Speed up -->
+  <arg name="simulation_factor" default="2.0"/> <!-- Speed up -->
   <arg name="update_rate" default="25.0"/> <!-- Hz -->
 
   <!-- Simulator -->
diff --git a/pedsim_simulator/launch/warehouse.launch b/pedsim_simulator/launch/warehouse.launch
new file mode 100644
index 00000000..27573cc3
--- /dev/null
+++ b/pedsim_simulator/launch/warehouse.launch
@@ -0,0 +1,37 @@
+<launch>
+  <arg name="kbd_teleop" default="false"/>
+  <arg name="rqt_teleop" default="true"/>
+  <arg name="visualize" default="true"/>
+  <arg name="with_robot" default="true"/>
+
+  <arg name="simulation_factor" default="1.1"/> <!-- Speed up -->
+  <arg name="update_rate" default="25.0"/> <!-- Hz -->
+
+  <!-- Simulator -->
+  <include file="$(find pedsim_simulator)/launch/simulator.launch">
+    <arg name="kbd_teleop" value="$(arg kbd_teleop)"/>
+    <arg name="rqt_teleop" value="$(arg rqt_teleop)"/>
+    <arg name="scene_file" value="$(find pedsim_scenarios)/scenes/warehouse.xml"/>
+    <arg name="with_robot" value="$(arg with_robot)"/>
+    <arg name="simulation_factor" value="$(arg simulation_factor)"/>
+    <arg name="update_rate" value="$(arg update_rate)"/>
+    <arg name="default_queue_size" value="10"/>
+    <arg name="max_robot_speed" value="1.5"/>
+    <arg name="robot_mode" value="1"/>
+
+    <arg name="enable_groups" value="false"/>
+    <arg name="pose_initial_x" value="0.0"/>
+    <arg name="pose_initial_y" value="0.0"/>
+    <arg name="pose_initial_theta" value="0.0"/>
+  </include>
+
+  <!-- Visualizer -->
+  <include file="$(find pedsim_visualizer)/launch/visualizer.launch"/>
+
+  <!-- Rviz -->
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find pedsim_simulator)/rviz/social_contexts_activities.rviz" if="$(arg visualize)"/>
+
+  <!-- Dynamic reconfigure GUI -->
+  <node pkg="rqt_reconfigure" name="rqt_reconfigure" type="rqt_reconfigure" />
+
+</launch>
diff --git a/pedsim_simulator/maps/map.pgm b/pedsim_simulator/maps/map.pgm
new file mode 100644
index 00000000..869cafc2
--- /dev/null
+++ b/pedsim_simulator/maps/map.pgm
@@ -0,0 +1,5 @@
+P5
+# CREATOR: Map_generator.cpp 0.020 m/pix
+2496 1344
+255
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\ No newline at end of file
diff --git a/pedsim_simulator/maps/map.yaml b/pedsim_simulator/maps/map.yaml
new file mode 100644
index 00000000..3a347d6c
--- /dev/null
+++ b/pedsim_simulator/maps/map.yaml
@@ -0,0 +1,6 @@
+image: map.pgm
+resolution: 0.020000
+origin: [-34.920000, -11.880000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
diff --git a/pedsim_simulator/package.xml b/pedsim_simulator/package.xml
index 68205128..3b7a08a1 100644
--- a/pedsim_simulator/package.xml
+++ b/pedsim_simulator/package.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>pedsim_simulator</name>
   <version>0.1.1</version>
   <description>
@@ -16,34 +17,22 @@
 
   <url type="website">https://github.com/srl-freiburg/pedsim_ros</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>pedsim</build_depend>
-  <build_depend>pedsim_msgs</build_depend>
-  <build_depend>pedsim_srvs</build_depend>
-  <build_depend>pedsim_utils</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>std_srvs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>cmake_modules</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
-
-  <run_depend>cmake_modules</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>pedsim</run_depend>
-  <run_depend>pedsim_msgs</run_depend>
-  <run_depend>pedsim_srvs</run_depend>
-  <run_depend>pedsim_utils</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>std_srvs</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclpy</depend>
+  <depend>pedsim</depend>
+  <depend>pedsim_msgs</depend>
+  <depend>pedsim_srvs</depend>
+  <depend>pedsim_utils</depend>
+  <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>tf2</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 
 </package>
diff --git a/pedsim_simulator/rviz/airport.rviz b/pedsim_simulator/rviz/airport.rviz
index 72f4e5f6..28487a76 100644
--- a/pedsim_simulator/rviz/airport.rviz
+++ b/pedsim_simulator/rviz/airport.rviz
@@ -81,7 +81,7 @@ Visualization Manager:
       Queue Size: 0
       Value: true
     - Alpha: 1
-      Class: spencer_tracking_rviz_plugin/TrackedPersons
+      Class: pedsim_rviz_plugin/TrackedPersons
       Color: 130; 130; 130
       Color map offset: 0
       Color transform: SRL Tracking Colors
@@ -124,7 +124,7 @@ Visualization Manager:
         Use Z position from message: false
         Value: 0
     - Alpha: 1
-      Class: spencer_tracking_rviz_plugin/TrackedGroups
+      Class: pedsim_rviz_plugin/TrackedGroups
       Color: 130; 130; 130
       Color map offset: 0
       Color transform: Rainbow
diff --git a/pedsim_simulator/rviz/airport_activities.rviz b/pedsim_simulator/rviz/airport_activities.rviz
index a0cc3bf4..cda08d60 100644
--- a/pedsim_simulator/rviz/airport_activities.rviz
+++ b/pedsim_simulator/rviz/airport_activities.rviz
@@ -65,7 +65,7 @@ Visualization Manager:
       Queue Size: 0
       Value: true
     - Alpha: 1
-      Class: spencer_tracking_rviz_plugin/TrackedPersons
+      Class: pedsim_rviz_plugin/TrackedPersons
       Color: 130; 130; 130
       Color map offset: 0
       Color transform: Flat
@@ -108,7 +108,7 @@ Visualization Manager:
         Use Z position from message: false
         Value: 0
     - Alpha: 1
-      Class: spencer_tracking_rviz_plugin/TrackedGroups
+      Class: pedsim_rviz_plugin/TrackedGroups
       Color: 130; 130; 130
       Color map offset: 0
       Color transform: Flat
diff --git a/pedsim_simulator/rviz/social_contexts_activities.rviz b/pedsim_simulator/rviz/social_contexts_activities.rviz
index 69fd0f72..d23aaa3c 100644
--- a/pedsim_simulator/rviz/social_contexts_activities.rviz
+++ b/pedsim_simulator/rviz/social_contexts_activities.rviz
@@ -10,8 +10,9 @@ Panels:
         - /Tracking-Visuals1/TrackedPersons1/History as line1
         - /Tracking-Visuals1/TrackedGroups1
         - /Tracking-Visuals1/TrackedGroups1/Render group IDs1
-      Splitter Ratio: 0.583333313
-    Tree Height: 1877
+        - /Map1
+      Splitter Ratio: 0.5833333134651184
+    Tree Height: 540
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -20,7 +21,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -31,16 +32,20 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
-    - Alpha: 0.150000006
+    - Alpha: 0.15000000596046448
       Cell Size: 1
       Class: rviz/Grid
       Color: 52; 52; 52
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -56,7 +61,7 @@ Visualization Manager:
       Enabled: true
       Length: 1
       Name: RobotFrame
-      Radius: 0.100000001
+      Radius: 0.10000000149011612
       Reference Frame: base_footprint
       Value: true
     - Class: rviz/Group
@@ -74,7 +79,7 @@ Visualization Manager:
     - Class: rviz/Group
       Displays:
         - Alpha: 1
-          Class: spencer_tracking_rviz_plugin/TrackedPersons
+          Class: pedsim_rviz_plugin/TrackedPersons
           Color: 130; 130; 130
           Color map offset: 0
           Color transform: SRL Tracking Colors
@@ -85,39 +90,39 @@ Visualization Manager:
           Font color style: Same color
           Font scale: 2
           History as line:
-            Line width: 0.0500000007
+            Line width: 0.05000000074505806
             Value: true
-          History size: 50
+          History size: 10
           Included person IDs: ""
-          Min. history point distance: 0.400000006
+          Min. history point distance: 0.4000000059604645
           Missed alpha: 1
           Name: TrackedPersons
           Occlusion alpha: 1
           Render covariances:
-            Line width: 0.100000001
+            Line width: 0.10000000149011612
             Value: false
           Render detection IDs: false
           Render history: true
           Render person visual: true
           Render track IDs: true
           Render track state: false
-          Render velocities: false
+          Render velocities: true
           Show DELETED tracks: false
           Show MATCHED tracks: true
           Show MISSED tracks: true
           Show OCCLUDED tracks: true
           Style:
-            Line width: 0.0500000007
+            Line width: 0.05000000074505806
             Scaling factor: 1
-            Value: Person meshes
+            Value: Bounding boxes
           Topic: /pedsim_visualizer/tracked_persons
           Unreliable: false
           Value: true
           Z offset:
             Use Z position from message: false
             Value: 0
-        - Alpha: 0.699999988
-          Class: spencer_tracking_rviz_plugin/TrackedGroups
+        - Alpha: 0.699999988079071
+          Class: pedsim_rviz_plugin/TrackedGroups
           Color: 130; 130; 130
           Color map offset: 0
           Color transform: Flat
@@ -140,7 +145,7 @@ Visualization Manager:
           Render history: false
           Single-person groups in constant color: false
           Style:
-            Line width: 0.0500000007
+            Line width: 0.05000000074505806
             Scaling factor: 1
             Value: Simple
           Topic: /pedsim_visualizer/tracked_groups
@@ -152,6 +157,16 @@ Visualization Manager:
             Value: 0
       Enabled: true
       Name: Tracking-Visuals
+    - Alpha: 0.699999988079071
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 244; 244; 244
@@ -167,7 +182,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -177,33 +195,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/XYOrbit
-      Distance: 23.1377792
+      Distance: 25.037342071533203
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 5.18117809
-        Y: 0.234020472
-        Z: -1.48934741e-05
+        X: -1.5071756839752197
+        Y: -4.41190242767334
+        Z: -1.0125102562597021e-5
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.859796882
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.0247968435287476
       Target Frame: <Fixed Frame>
       Value: XYOrbit (rviz)
-      Yaw: 3.87356949
+      Yaw: 4.698585510253906
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 2107
+  Height: 780
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001e2000007f2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006900fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df000003800000016bfb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000007f2000000e600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000011f000003b3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000032000003b3000000b900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650000000000000007800000028700fffffffb0000000800540069006d00650100000000000004500000000000000000000008ea000007f200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001e2000002b2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df000003800000016bfb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000011f000003b3fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000032000003b3000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065000000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003b8000002b200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -212,6 +230,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 2770
-  X: 1031
-  Y: 24
+  Width: 1440
+  X: 2038
+  Y: 254
diff --git a/pedsim_simulator/rviz/sources_and_sinks.rviz b/pedsim_simulator/rviz/sources_and_sinks.rviz
index c3ebae75..880f1454 100644
--- a/pedsim_simulator/rviz/sources_and_sinks.rviz
+++ b/pedsim_simulator/rviz/sources_and_sinks.rviz
@@ -75,7 +75,7 @@ Visualization Manager:
     - Class: rviz/Group
       Displays:
         - Alpha: 1
-          Class: spencer_tracking_rviz_plugin/TrackedPersons
+          Class: pedsim_rviz_plugin/TrackedPersons
           Color: 130; 130; 130
           Color map offset: 0
           Color transform: SRL Tracking Colors
@@ -118,7 +118,7 @@ Visualization Manager:
             Use Z position from message: false
             Value: 0
         - Alpha: 1
-          Class: spencer_tracking_rviz_plugin/TrackedGroups
+          Class: pedsim_rviz_plugin/TrackedGroups
           Color: 130; 130; 130
           Color map offset: 0
           Color transform: Flat
diff --git a/pedsim_simulator/scenarios/office-cubicles.xml b/pedsim_simulator/scenarios/office-cubicles.xml
new file mode 100644
index 00000000..766a2d42
--- /dev/null
+++ b/pedsim_simulator/scenarios/office-cubicles.xml
@@ -0,0 +1,86 @@
+<welcome>
+
+  <waypoint id="O1" x="-15" y="15" r="2" />
+  <waypoint id="O2" x="15" y="-15" r="2" />
+  <waypoint id="O3" x="25" y="15" r="2" />
+
+  <waypoint id="I1" x="-6" y="11" r="2" />
+  <waypoint id="I2" x="2" y="11" r="2" />
+  <waypoint id="I3" x="8" y="11" r="2" />
+  <waypoint id="I4" x="14" y="11" r="2" />
+
+  <waypoint id="J1" x="-6" y="-6" r="2" />
+  <waypoint id="J2" x="2" y="-6" r="2" />
+  <waypoint id="J3" x="8" y="-6" r="2" />
+  <waypoint id="J4" x="14" y="-6" r="2" />
+
+  <agent x="25" y="15" n="5" dx="1.0" dy="1.0">
+   <addwaypoint id="O3" />
+   <addwaypoint id="I4" />
+   <addwaypoint id="J4" />
+   <addwaypoint id="O2" />
+
+   <addwaypoint id="J4" />
+   <addwaypoint id="J2" />
+   <addwaypoint id="I2" />
+   <addwaypoint id="I1" />
+   <addwaypoint id="O1" />
+  </agent>
+
+  <agent x="15" y="-15" n="3" dx="1.0" dy="1.0">   
+   <addwaypoint id="O2" />
+   <addwaypoint id="J4" />
+   <addwaypoint id="J2" />
+   <addwaypoint id="I2" />
+   <addwaypoint id="I1" />
+   <addwaypoint id="O1" />
+
+   <addwaypoint id="O3" />
+   <addwaypoint id="I4" />
+   <addwaypoint id="J4" />
+  </agent>
+
+  <agent x="-15" y="15" n="6" dx="1.0" dy="1.0">
+   <addwaypoint id="O1" />
+   <addwaypoint id="I1" />
+   <addwaypoint id="I3" />
+   <addwaypoint id="J3" />
+   <addwaypoint id="J4" />
+   <addwaypoint id="I4" />
+   <addwaypoint id="I1" />
+  </agent>
+
+
+
+  <!-- outer walls -->
+  <obstacle x1="-10" y1="-10" x2="10" y2="-10"/>
+  <obstacle x1="20" y1="-10" x2="20" y2="10"/>
+  <obstacle x1="20" y1="20" x2="-10" y2="20"/>
+  <obstacle x1="-10" y1="10" x2="-10" y2="-10"/>
+                                            
+  <!-- First corridor wall -->
+  <obstacle x1="-2" y1="-3" x2="0" y2="-3"/>
+  <obstacle x1="0" y1="-3" x2="0" y2="8"/>
+  <obstacle x1="0" y1="8" x2="-2" y2="8"/>
+  <obstacle x1="-2" y1="8" x2="-2" y2="-3"/>
+
+  <!-- Second corridor wall -->
+  <obstacle x1="4" y1="-3" x2="6" y2="-3"/>
+  <obstacle x1="6" y1="-3" x2="6" y2="8"/>
+  <obstacle x1="6" y1="8" x2="4" y2="8"/>
+  <obstacle x1="4" y1="8" x2="4" y2="-3"/>
+
+  <!-- Third corridor wall -->
+  <obstacle x1="10" y1="-3" x2="12" y2="-3"/>
+  <obstacle x1="12" y1="-3" x2="12" y2="8"/>
+  <obstacle x1="12" y1="8" x2="10" y2="8"/>
+  <obstacle x1="10" y1="8" x2="10" y2="-3"/>
+
+  <!-- Transverse corridor wall -->
+  <obstacle x1="-5" y1="12" x2="15" y2="12"/>
+  <obstacle x1="15" y1="12" x2="15" y2="14"/>
+  <obstacle x1="15" y1="14" x2="-5" y2="14"/>
+  <obstacle x1="-5" y1="14" x2="-5" y2="12"/>
+
+  
+</welcome>
diff --git a/pedsim_simulator/scenarios/office.xml b/pedsim_simulator/scenarios/office.xml
new file mode 100644
index 00000000..57dd1208
--- /dev/null
+++ b/pedsim_simulator/scenarios/office.xml
@@ -0,0 +1,175 @@
+<welcome>
+
+  <!-- waypoints - define before the agents! -->
+  <waypoint id="E1" x="-5" y="27.5" r="2" />
+  <waypoint id="E2" x="40" y="27.5" r="2" />
+  <waypoint id="E3" x="30" y="-5" r="2" />
+
+  <waypoint id="F1" x="11" y="22" r="2" />
+  <waypoint id="F2" x="15" y="20" r="2" />
+
+  <waypoint id="T1" x="5" y="5" r="2" />
+  <waypoint id="T2" x="5" y="20" r="2" />
+
+  <waypoint id="C10" x="5" y="27.5" r="2" />
+  <waypoint id="C11" x="15" y="27.5" r="2" />
+  <waypoint id="C12" x="25" y="27.5" r="2" />
+  <waypoint id="C13" x="30" y="27.5" r="2" />
+
+  <waypoint id="C2" x="15" y="12.5" r="2" />
+  <waypoint id="C3" x="5" y="12.5" r="2" />
+
+  <waypoint id="SC1" x="30" y="12.5" r="2" />
+  <waypoint id="SC2" x="22.5" y="20" r="2" />
+  <waypoint id="SC3" x="30" y="20" r="2" />
+
+  <waypoint id="A1" x="5" y="35" r="2" />
+  <waypoint id="A2" x="25" y="35" r="2" />
+
+  <waypoint id="O1" x="40" y="-5" r="2" />
+  <waypoint id="O2" x="-5" y="-5" r="2" />
+  <waypoint id="O3" x="-5" y="35" r="2" />
+  <waypoint id="O4" x="-5" y="5" r="2" />
+  <waypoint id="O5" x="-5" y="20" r="2" />
+
+
+  <!-- agents -->
+  <!-- Teacher/researcher role -->
+  <!-- Enters building, goes to office via fika room. Then goes to lecture hall. -->
+  <agent x="-5" y="27.5" n="1" dx="1.5" dy="1.0">
+	 <addwaypoint id="E1" />
+	 <addwaypoint id="C10" />
+ 	 <addwaypoint id="C11" />
+   <addwaypoint id="F2" />
+
+   <addwaypoint id="C2" />
+   <addwaypoint id="C3" />
+   <addwaypoint id="T2" />
+   <addwaypoint id="O5" />
+
+   <addwaypoint id="T2" />
+   <addwaypoint id="C3" />
+   <addwaypoint id="C2" />
+   <addwaypoint id="SC1" />
+   <addwaypoint id="SC3" />
+   <addwaypoint id="C13" />
+
+   <addwaypoint id="E2" />
+   <addwaypoint id="C13" />
+   <addwaypoint id="C10" />
+  </agent>
+
+  <!-- Admin role -->
+  <!-- Enters building, goes to office via fika room. Then goes to lecture hall. -->
+  <agent x="-5" y="27.5" n="3" dx="1.5" dy="1.0">
+	 <addwaypoint id="E1" />
+	 <addwaypoint id="C10" />
+ 	 <addwaypoint id="A1" />
+   <addwaypoint id="A2" />
+
+   <addwaypoint id="C12" />
+   <addwaypoint id="C13" />
+   <addwaypoint id="SC3" />
+   <addwaypoint id="SC1" />
+
+   <addwaypoint id="E3" />
+   <addwaypoint id="SC1" />
+   <addwaypoint id="C2" />
+   <addwaypoint id="F2" />
+   <addwaypoint id="C11" />
+   <addwaypoint id="C12" />
+
+   <addwaypoint id="A2" />
+   <addwaypoint id="A1" />
+   <addwaypoint id="O3" />
+  </agent>
+
+  <agent x="30" y="-5" n="4" dx="1.0" dy="1.0">
+    <addwaypoint id="E3" />
+    <addwaypoint id="SC1" />
+    <addwaypoint id="SC3" />
+    <addwaypoint id="C13" />
+    <addwaypoint id="E2" />
+    <addwaypoint id="O1" />
+    <addwaypoint id="O2" />
+    <addwaypoint id="O5" />
+    <addwaypoint id="T2" />
+    <addwaypoint id="C3" />
+    <addwaypoint id="C2" />
+    <addwaypoint id="SC1" />
+  </agent>
+
+  <agent x="30" y="-5" n="3" dx="1.0" dy="1.0">
+    <addwaypoint id="E3" />
+    <addwaypoint id="SC1" />
+    <addwaypoint id="C2" />
+    <addwaypoint id="C3" />
+    <addwaypoint id="T2" />
+    <addwaypoint id="O5" />
+    <addwaypoint id="O2" />
+    <addwaypoint id="O1" />
+    <addwaypoint id="E2" />
+    <addwaypoint id="C13" />
+    <addwaypoint id="SC3" />
+    <addwaypoint id="SC1" />
+  </agent>
+
+  <agent x="30" y="-5" n="2" dx="1.0" dy="1.0">
+    <addwaypoint id="E3" />
+    <addwaypoint id="SC1" />
+    <addwaypoint id="SC3" />
+    <addwaypoint id="C13" />
+    <addwaypoint id="C10" />
+    <addwaypoint id="A1" />
+    <addwaypoint id="C10" />
+    <addwaypoint id="C13" />
+    <addwaypoint id="E2" />
+    <addwaypoint id="C13" />
+    <addwaypoint id="SC3" />
+    <addwaypoint id="SC1" />
+    <addwaypoint id="C2" />
+    <addwaypoint id="C3" />
+    <addwaypoint id="T1" />
+    <addwaypoint id="O4" />
+    <addwaypoint id="O2" />
+  </agent>
+
+
+  <!-- walls -->
+  <obstacle x1="0" y1="10" x2="3" y2="10"/>
+  <obstacle x1="0" y1="15" x2="3" y2="15"/>
+                                            
+  <obstacle x1="7" y1="10" x2="25" y2="10"/>
+  <obstacle x1="25" y1="0" x2="25" y2="10"/>
+  <obstacle x1="7" y1="15" x2="10" y2="15"/>
+  <obstacle x1="20" y1="15" x2="25" y2="15"/>
+                                            
+  <obstacle x1="10" y1="15" x2="10" y2="25"/>
+  <obstacle x1="20" y1="15" x2="20" y2="25"/>
+  <obstacle x1="10" y1="15" x2="12" y2="15"/>
+  <obstacle x1="18" y1="15" x2="20" y2="15"/>
+  <obstacle x1="18" y1="25" x2="27" y2="25"/>
+  <obstacle x1="33" y1="25" x2="35" y2="25"/>
+                                            
+  <obstacle x1="0" y1="25" x2="12" y2="25"/>
+  <obstacle x1="0" y1="30" x2="3" y2="30"/>
+  <obstacle x1="7" y1="30" x2="23" y2="30"/>
+  <obstacle x1="27" y1="30" x2="35" y2="30"/>
+
+  <obstacle x1="25" y1="0" x2="27" y2="0"/>
+  <obstacle x1="33" y1="0" x2="35" y2="0"/>
+  <obstacle x1="35" y1="0" x2="35" y2="25"/>
+
+  <!-- Outside walls -->
+  <obstacle x1="0" y1="0" x2="25" y2="0"/>
+  <obstacle x1="0" y1="0" x2="0" y2="3"/>
+  <obstacle x1="0" y1="7" x2="0" y2="18"/>
+  <obstacle x1="0" y1="22" x2="0" y2="25"/>
+
+  <!-- Big wall -->
+  <obstacle x1="-10" y1="-10" x2="-10" y2="40"/>
+  <obstacle x1="-10" y1="-10" x2="45" y2="-10"/>
+  <obstacle x1="-10" y1="40" x2="45" y2="40"/>
+  <obstacle x1="45" y1="-10" x2="45" y2="40"/>
+
+</welcome>
diff --git a/pedsim_simulator/scenarios/social_contexts.xml b/pedsim_simulator/scenarios/social_contexts.xml
index 18d41451..2304683e 100644
--- a/pedsim_simulator/scenarios/social_contexts.xml
+++ b/pedsim_simulator/scenarios/social_contexts.xml
@@ -26,13 +26,13 @@
         <addwaypoint id="robot_goal"/>
     </agent>
     <!--AgentClusters-->
-    <agent x="6" y="5" n="10" dx="3" dy="3" type="0">
+    <agent x="6" y="5" n="1" dx="3" dy="3" type="0">
         <addwaypoint id="bookshop_entry"/>
         <addwaypoint id="bookshop_exit"/>
         <addwaypoint id="coffee_entry"/>
         <addwaypoint id="coffee_exit"/>
     </agent>
-    <agent x="7" y="5" n="5" dx="3" dy="3" type="1">
+    <!--<agent x="7" y="5" n="5" dx="3" dy="3" type="1">
         <addqueue id="info_desk"/>
         <addwaypoint id="bookshop_exit"/>
         <addwaypoint id="coffee_entry"/>
@@ -48,5 +48,5 @@
         <addwaypoint id="coffee_entry"/>
         <addqueue id="info_desk"/>
         <addwaypoint id="bookshop_exit"/>
-    </agent>
+    </agent>-->
 </scenario>
diff --git a/pedsim_simulator/scenarios/tb3_house_demo_crowd.xml b/pedsim_simulator/scenarios/tb3_house_demo_crowd.xml
new file mode 100644
index 00000000..228f7801
--- /dev/null
+++ b/pedsim_simulator/scenarios/tb3_house_demo_crowd.xml
@@ -0,0 +1,93 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This scenario file was created by SGDiCoP on 2014-04-16T15:14:48-->
+<scenario>
+    <!--Obstacles-->
+  <obstacle x1="0.0" y1="-0.2" x2="-4.8" y2="-0.2"/>
+  <obstacle x1="-5.0" y1="2.0" x2="-5.0" y2="-3.6"/>
+  <obstacle x1="-5.0" y1="-4.0" x2="-7.4" y2="-4.0"/>
+  <obstacle x1="-7.5" y1="-4.0" x2="-7.5" y2="4.8"/>
+  <obstacle x1="-7.5" y1="5.2" x2="7.2" y2="5.2"/>
+  <obstacle x1="-7.5" y1="5.2" x2="7.2" y2="5.2"/>
+  <obstacle x1="7.5" y1="5.0" x2="7.5" y2="-5.0"/>
+  <obstacle x1="7.5" y1="-5.0" x2="5.0" y2="-5.0"/>
+  <obstacle x1="5.0" y1="-5.0" x2="5.0" y2="-0.2"/>
+  <obstacle x1="5.6" y1="-0.2" x2="1.6" y2="-0.2"/>
+  <obstacle x1="2.4" y1="4.0" x2="2.4" y2="1.0"/>
+  <obstacle x1="0.0" y1="5.0" x2="0.0" y2="1.4"/>
+  <obstacle x1="2.0" y1="1.4" x2="0.0" y2="1.4"/>
+
+
+  <!--Waypoints (incl. WaitingQueues)-->
+  <!--<waypoint id="wp1" x="-6" y="3" r="0.25"/>
+  <waypoint id="wp2" x="-4" y="2" r="0.25"/>
+  <waypoint id="wp3" x="-2" y="1" r="0.25"/>
+  <waypoint id="wp4" x="1.0" y="0.0" r="0.25"/>
+  <waypoint id="wp5" x="1.0" y="-3" r="0.25"/>-->
+
+  <waypoint id="wp_agent1_0" x="-2"  y="-3" r="0.25"/> 
+  <waypoint id="wp_agent1_1" x="1"  y="-1" r="0.25"/>
+  <waypoint id="wp_agent1_2" x="1"  y="0"  r="0.25"/>
+  <waypoint id="wp_agent1_3" x="-2" y="1"  r="0.25"/>
+  <waypoint id="wp_agent1_4" x="-4" y="2"  r="0.25"/>
+  <waypoint id="wp_agent1_5" x="-6" y="3"  r="0.25"/>
+  <waypoint id="wp_agent1_6" x="-3" y="4"  r="0.25"/>
+  <waypoint id="wp_agent1_7" x="-2" y="4"  r="0.25"/>
+  <waypoint id="wp_agent1_8" x="-1" y="2"  r="0.25"/>
+
+
+  <waypoint id="wp_agent2_1" x="5" y="1"  r="0.25"/>
+  <waypoint id="wp_agent2_2" x="1" y="0"  r="0.25"/>
+  <waypoint id="wp_agent2_3" x="1" y="-3"  r="0.25"/>
+  <waypoint id="wp_agent2_4" x="3" y="-3"  r="0.25"/>
+
+  <waypoint id="wp_agent3_0" x="-6" y="-3"  r="0.25"/>
+  <waypoint id="wp_agent3_1" x="-6" y="0"  r="0.25"/>
+  <waypoint id="wp_agent3_2" x="-6" y="3"  r="0.25"/>
+
+  <waypoint id="coffee_entry" x="5" y="25" r="5"/>
+  <waypoint id="coffee_exit" x="5" y="5" r="5"/>
+
+  <waypoint id="robot_goal" x="22" y="27" r="2"/>
+  <waypoint id="robot_start" x="4" y="4" r="2"/>
+
+  <queue id="info_desk" x="20" y="15" direction="0"/>
+
+
+    <!--Agents-->
+    <agent x="0.0" y="0.0" n="1" dx="0" dy="0" type="2">
+        <addwaypoint id="robot_start"/>
+        <addwaypoint id="robot_goal"/>
+    </agent>
+
+    <agent x="-1" y="-2" n="1" dx="0" dy="0" type="0">
+        <addwaypoint id="wp_agent1_1"/>
+        <addwaypoint id="wp_agent1_2"/>
+        <addwaypoint id="wp_agent1_3"/>
+        <addwaypoint id="wp_agent1_4"/>
+        <addwaypoint id="wp_agent1_5"/>
+        <addwaypoint id="wp_agent1_6"/>
+        <addwaypoint id="wp_agent1_7"/>
+        <addwaypoint id="wp_agent1_8"/>
+        <addwaypoint id="wp_agent1_2"/>
+        <addwaypoint id="wp_agent1_1"/>
+        <addwaypoint id="wp_agent1_0"/>
+    </agent>
+
+    <agent x="6" y="1" n="1" dx="0" dy="0" type="0">
+        <addwaypoint id="wp_agent2_1"/>
+        <addwaypoint id="wp_agent2_2"/>
+        <addwaypoint id="wp_agent2_3"/>
+        <addwaypoint id="wp_agent2_4"/>
+        <addwaypoint id="wp_agent2_2"/>
+        <addwaypoint id="wp_agent2_1"/>
+
+    </agent>
+
+    <agent x="-6" y="-3" n="1" dx="0" dy="0" type="0">
+        <addwaypoint id="wp_agent3_1"/>
+        <addwaypoint id="wp_agent3_2"/>
+        <addwaypoint id="wp_agent3_1"/>
+        <addwaypoint id="wp_agent3_0"/>
+    </agent>
+  
+</scenario>
diff --git a/pedsim_simulator/scenarios/warehouse.xml b/pedsim_simulator/scenarios/warehouse.xml
new file mode 100644
index 00000000..1f8dc54f
--- /dev/null
+++ b/pedsim_simulator/scenarios/warehouse.xml
@@ -0,0 +1,155 @@
+<welcome>
+
+  <!-- waypoints - define before the agents! -->
+  <waypoint id="E1" x="-2" y="27.5" r="2" />
+  <waypoint id="E2" x="37" y="27.5" r="2" />
+  <waypoint id="E3" x="30" y="-2" r="2" />
+
+  <waypoint id="F2" x="15" y="20" r="2" />
+
+  <waypoint id="T2" x="5" y="20" r="2" />
+
+  <waypoint id="C10" x="5" y="27.5" r="2" />
+  <waypoint id="C11" x="15" y="27.5" r="2" />
+  <waypoint id="C12" x="25" y="27.5" r="2" />
+  <waypoint id="C13" x="30" y="27.5" r="2" />
+
+  <waypoint id="C2" x="5" y="7.5" r="2" />
+
+  <waypoint id="SC1" x="30" y="7.5" r="2" />
+  <waypoint id="SC3" x="30" y="20" r="2" />
+
+  <waypoint id="A1" x="5" y="32" r="2" />
+  <waypoint id="A2" x="25" y="32" r="2" />
+
+  <waypoint id="O1" x="40" y="-2" r="2" />
+  <waypoint id="O2" x="-5" y="-2" r="2" />
+  <waypoint id="O3" x="-2" y="32" r="2" />
+  <waypoint id="O5" x="-2" y="20" r="2" />
+
+
+  <!-- agents -->
+  <!-- Teacher/researcher role -->
+  <!-- Enters building, goes to office via fika room. Then goes to lecture hall. -->
+  <agent x="-5" y="27.5" n="3" dx="1.5" dy="1.0">
+   <addwaypoint id="E1" />
+   <addwaypoint id="C10" />
+   <addwaypoint id="C11" />
+   <addwaypoint id="F2" />
+
+   <addwaypoint id="C2" />
+   <addwaypoint id="C2" />
+   <addwaypoint id="C2" />
+   <addwaypoint id="SC1" />
+   <addwaypoint id="SC3" />
+   <addwaypoint id="C13" />
+
+   <addwaypoint id="E2" />
+   <addwaypoint id="C13" />
+   <addwaypoint id="C10" />
+  </agent>
+
+  <!-- Admin role -->
+  <!-- Enters building, goes to office via fika room. Then goes to lecture hall. -->
+  <agent x="-5" y="27.5" n="5" dx="1.5" dy="1.0">
+	 <addwaypoint id="E1" />
+	 <addwaypoint id="C10" />
+ 	 <addwaypoint id="A1" />
+   <addwaypoint id="A2" />
+
+   <addwaypoint id="C12" />
+   <addwaypoint id="C13" />
+   <addwaypoint id="SC3" />
+   <addwaypoint id="SC1" />
+
+   <addwaypoint id="E3" />
+   <addwaypoint id="SC1" />
+   <addwaypoint id="C2" />
+   <addwaypoint id="F2" />
+   <addwaypoint id="C11" />
+   <addwaypoint id="C12" />
+
+   <addwaypoint id="A2" />
+   <addwaypoint id="A1" />
+   <addwaypoint id="O3" />
+  </agent>
+
+  <agent x="30" y="-5" n="4" dx="1.0" dy="1.0">
+    <addwaypoint id="E3" />
+    <addwaypoint id="SC1" />
+    <addwaypoint id="SC3" />
+    <addwaypoint id="C13" />
+    <addwaypoint id="E2" />
+    <addwaypoint id="O1" />
+    <addwaypoint id="O2" />
+    <addwaypoint id="O5" />
+    <addwaypoint id="E1" />
+    <addwaypoint id="C10" />
+    <addwaypoint id="C11" />
+    <addwaypoint id="C12" />
+    <addwaypoint id="E2" />
+    <addwaypoint id="O1" />
+  </agent>
+
+  <agent x="30" y="-5" n="5" dx="1.0" dy="1.0">
+    <addwaypoint id="E3" />
+    <addwaypoint id="SC1" />
+    <addwaypoint id="C2" />
+    <addwaypoint id="C2" />
+    <addwaypoint id="T2" />
+    <addwaypoint id="C10" />
+    <addwaypoint id="C11" />
+    <addwaypoint id="C12" />
+    <addwaypoint id="E2" />
+    <addwaypoint id="O1" />
+  </agent>
+
+  <agent x="30" y="-5" n="7" dx="1.0" dy="1.0">
+    <addwaypoint id="E3" />
+    <addwaypoint id="SC1" />
+    <addwaypoint id="SC3" />
+    <addwaypoint id="C13" />
+    <addwaypoint id="C10" />
+    <addwaypoint id="A1" />
+    <addwaypoint id="C10" />
+    <addwaypoint id="C13" />
+    <addwaypoint id="E2" />
+    <addwaypoint id="C13" />
+    <addwaypoint id="SC3" />
+    <addwaypoint id="SC1" />
+  </agent>
+
+
+  <!-- walls -->
+  <obstacle x1="10" y1="5" x2="25" y2="5"/>
+  <obstacle x1="10" y1="10" x2="25" y2="10"/>
+                                            
+  <!-- obstacle x1="10" y1="15" x2="10" y2="25"/>
+  <obstacle x1="20" y1="15" x2="20" y2="25"/ -->
+  <!-- obstacle x1="10" y1="15" x2="12" y2="15"/>
+  <obstacle x1="18" y1="15" x2="20" y2="15"/ -->
+  <!-- obstacle x1="18" y1="25" x2="27" y2="25"/>
+  <obstacle x1="33" y1="25" x2="35" y2="25"/>
+                                            
+  <obstacle x1="0" y1="25" x2="12" y2="25"/ -->
+  <obstacle x1="0" y1="30" x2="3" y2="30"/>
+  <obstacle x1="7" y1="30" x2="23" y2="30"/>
+  <obstacle x1="27" y1="30" x2="35" y2="30"/>
+
+  <obstacle x1="25" y1="0" x2="27" y2="0"/>
+  <obstacle x1="33" y1="0" x2="35" y2="0"/>
+  <obstacle x1="35" y1="0" x2="35" y2="25"/>
+
+  <!-- Outside walls -->
+  <obstacle x1="0" y1="0" x2="25" y2="0"/>
+  <obstacle x1="0" y1="0" x2="0" y2="18"/>
+  <!-- obstacle x1="0" y1="7" x2="0" y2="18"/ -->
+  <obstacle x1="0" y1="22" x2="0" y2="25"/>
+
+  <!-- Big wall -->
+  <obstacle x1="-10" y1="-10" x2="-10" y2="40"/>
+  <obstacle x1="-10" y1="-10" x2="45" y2="-10"/>
+  <obstacle x1="-10" y1="40" x2="45" y2="40"/>
+  <obstacle x1="45" y1="-10" x2="45" y2="40"/>
+
+</welcome>
diff --git a/pedsim_simulator/scripts/keyboard_teleop.py b/pedsim_simulator/scripts/keyboard_teleop.py
index 63bfc3aa..4c939637 100755
--- a/pedsim_simulator/scripts/keyboard_teleop.py
+++ b/pedsim_simulator/scripts/keyboard_teleop.py
@@ -31,13 +31,11 @@
 # all turtlebot software for simple keyboard teleop
 
 import rospy
-
-from geometry_msgs.msg import Twist
-
-import sys
 import select
+import sys
 import termios
 import tty
+from geometry_msgs.msg import Twist
 
 msg = """
 Control the PedSim robot!
diff --git a/pedsim_simulator/scripts/mock_static_scene.py b/pedsim_simulator/scripts/mock_static_scene.py
index b53a81c8..20dbc5a2 100755
--- a/pedsim_simulator/scripts/mock_static_scene.py
+++ b/pedsim_simulator/scripts/mock_static_scene.py
@@ -1,14 +1,12 @@
 #!/usr/bin/env python
 from __future__ import division
 
+import numpy as np
 import rospy
 import tf
-
-import numpy as np
-
-from std_msgs.msg import Header
-from pedsim_msgs.msg import AgentState, AgentStates
 from pedsim_msgs.msg import AgentGroup, AgentGroups
+from pedsim_msgs.msg import AgentState, AgentStates
+from std_msgs.msg import Header
 
 
 def create_header():
diff --git a/pedsim_simulator/scripts/scenario_to_png.py b/pedsim_simulator/scripts/scenario_to_png.py
index c67b6d6e..6502b3a1 100755
--- a/pedsim_simulator/scripts/scenario_to_png.py
+++ b/pedsim_simulator/scripts/scenario_to_png.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python
-import png, rospkg, numpy
+import numpy
+import png
+import rospkg
 import xml.etree.ElementTree as xml
 
 filename = "social_contexts.xml"
diff --git a/pedsim_simulator/src/agentstatemachine.cpp b/pedsim_simulator/src/agentstatemachine.cpp
index 9c484398..bddb2a6e 100644
--- a/pedsim_simulator/src/agentstatemachine.cpp
+++ b/pedsim_simulator/src/agentstatemachine.cpp
@@ -1,50 +1,48 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/agentstatemachine.h>
-#include <pedsim_simulator/config.h>
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/element/agentgroup.h>
-#include <pedsim_simulator/element/attractionarea.h>
-#include <pedsim_simulator/element/waitingqueue.h>
-#include <pedsim_simulator/rng.h>
-#include <pedsim_simulator/scene.h>
-#include <pedsim_simulator/waypointplanner/groupwaypointplanner.h>
-#include <pedsim_simulator/waypointplanner/individualwaypointplanner.h>
-#include <pedsim_simulator/waypointplanner/queueingplanner.h>
-#include <pedsim_simulator/waypointplanner/shoppingplanner.h>
-
-#include <ros/ros.h>
-
-AgentStateMachine::AgentStateMachine(Agent* agentIn) {
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/agentstatemachine.hpp>
+#include <pedsim_simulator/config.hpp>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/element/agentgroup.hpp>
+#include <pedsim_simulator/element/attractionarea.hpp>
+#include <pedsim_simulator/element/waitingqueue.hpp>
+#include <pedsim_simulator/rng.hpp>
+#include <pedsim_simulator/scene.hpp>
+#include <pedsim_simulator/waypointplanner/groupwaypointplanner.hpp>
+#include <pedsim_simulator/waypointplanner/individualwaypointplanner.hpp>
+#include <pedsim_simulator/waypointplanner/queueingplanner.hpp>
+#include <pedsim_simulator/waypointplanner/shoppingplanner.hpp>
+
+AgentStateMachine::AgentStateMachine(Agent *agentIn) {
   // initialize values
   agent = agentIn;
   individualPlanner = nullptr;
@@ -76,7 +74,7 @@ void AgentStateMachine::doStateTransition() {
   // → randomly get attracted by attractions
   if ((state != StateShopping) && (state != StateQueueing)) {
     double distance = INFINITY;
-    AttractionArea* attraction = nullptr;
+    AttractionArea *attraction = nullptr;
     bool hasGroupAttraction = checkGroupForAttractions(&attraction);
     if (hasGroupAttraction) {
       // inherit groups' attraction
@@ -132,10 +130,10 @@ void AgentStateMachine::doStateTransition() {
 
   // → operate on waypoints/destinations
   if ((state == StateNone) || agent->needNewDestination()) {
-    Ped::Twaypoint* destination = agent->updateDestination();
-    Waypoint* waypoint = dynamic_cast<Waypoint*>(destination);
+    Ped::Twaypoint *destination = agent->updateDestination();
+    Waypoint *waypoint = dynamic_cast<Waypoint *>(destination);
     // TODO: move this to the agent
-    WaitingQueue* waitingQueue = dynamic_cast<WaitingQueue*>(waypoint);
+    WaitingQueue *waitingQueue = dynamic_cast<WaitingQueue *>(waypoint);
 
     if (destination == nullptr)
       activateState(StateWaiting);
@@ -151,9 +149,9 @@ void AgentStateMachine::doStateTransition() {
 }
 
 void AgentStateMachine::activateState(AgentState stateIn) {
-  ROS_DEBUG("Agent %d activating state '%s' (time: %f)", agent->getId(),
-            stateToName(stateIn).toStdString().c_str(), SCENE.getTime());
-
+  RCLCPP_DEBUG(rclcpp::get_logger(""),
+               "Agent %d activating state '%s' (time: %f)", agent->getId(),
+               stateToName(stateIn).toStdString().c_str(), SCENE.getTime());
   // de-activate old state
   deactivateState(state);
 
@@ -163,61 +161,63 @@ void AgentStateMachine::activateState(AgentState stateIn) {
   // set state
   state = stateIn;
 
-  Waypoint* destination =
-      dynamic_cast<Waypoint*>(agent->getCurrentDestination());
+  Waypoint *destination =
+      dynamic_cast<Waypoint *>(agent->getCurrentDestination());
 
   switch (state) {
-    case StateNone:
-      agent->setWaypointPlanner(nullptr);
-      break;
-    case StateWaiting:
-      agent->setWaypointPlanner(nullptr);
-      break;
-    case StateWalking:
-      if (individualPlanner == nullptr)
-        individualPlanner = new IndividualWaypointPlanner();
-      individualPlanner->setAgent(agent);
-      individualPlanner->setDestination(destination);
-      agent->setWaypointPlanner(individualPlanner);
-      break;
-    case StateQueueing:
-      if (queueingPlanner == nullptr)
-        queueingPlanner = new QueueingWaypointPlanner();
-      queueingPlanner->setAgent(agent);
-      queueingPlanner->setDestination(destination);
-      agent->setWaypointPlanner(queueingPlanner);
-      break;
-    case StateGroupWalking:
-      if (groupWaypointPlanner == nullptr)
-        groupWaypointPlanner = new GroupWaypointPlanner();
-      groupWaypointPlanner->setDestination(destination);
-      groupWaypointPlanner->setGroup(agent->getGroup());
-      agent->setWaypointPlanner(groupWaypointPlanner);
-      break;
-    case StateShopping:
-      shallLoseAttraction = false;
-      if (shoppingPlanner == nullptr) shoppingPlanner = new ShoppingPlanner();
-      AttractionArea* attraction =
-          SCENE.getClosestAttraction(agent->getPosition());
-      shoppingPlanner->setAgent(agent);
-      shoppingPlanner->setAttraction(attraction);
-      agent->setWaypointPlanner(shoppingPlanner);
-      agent->disableForce("GroupCoherence");
-      agent->disableForce("GroupGaze");
-
-      // keep other agents informed about the attraction
-      AgentGroup* group = agent->getGroup();
-      if (group != nullptr) {
-        foreach (Agent* member, group->getMembers()) {
-          if (member == agent) continue;
-
-          AgentStateMachine* memberStateMachine = member->getStateMachine();
-          connect(shoppingPlanner, SIGNAL(lostAttraction()), memberStateMachine,
-                  SLOT(loseAttraction()));
-        }
+  case StateNone:
+    agent->setWaypointPlanner(nullptr);
+    break;
+  case StateWaiting:
+    agent->setWaypointPlanner(nullptr);
+    break;
+  case StateWalking:
+    if (individualPlanner == nullptr)
+      individualPlanner = new IndividualWaypointPlanner();
+    individualPlanner->setAgent(agent);
+    individualPlanner->setDestination(destination);
+    agent->setWaypointPlanner(individualPlanner);
+    break;
+  case StateQueueing:
+    if (queueingPlanner == nullptr)
+      queueingPlanner = new QueueingWaypointPlanner();
+    queueingPlanner->setAgent(agent);
+    queueingPlanner->setDestination(destination);
+    agent->setWaypointPlanner(queueingPlanner);
+    break;
+  case StateGroupWalking:
+    if (groupWaypointPlanner == nullptr)
+      groupWaypointPlanner = new GroupWaypointPlanner();
+    groupWaypointPlanner->setDestination(destination);
+    groupWaypointPlanner->setGroup(agent->getGroup());
+    agent->setWaypointPlanner(groupWaypointPlanner);
+    break;
+  case StateShopping:
+    shallLoseAttraction = false;
+    if (shoppingPlanner == nullptr)
+      shoppingPlanner = new ShoppingPlanner();
+    AttractionArea *attraction =
+        SCENE.getClosestAttraction(agent->getPosition());
+    shoppingPlanner->setAgent(agent);
+    shoppingPlanner->setAttraction(attraction);
+    agent->setWaypointPlanner(shoppingPlanner);
+    agent->disableForce("GroupCoherence");
+    agent->disableForce("GroupGaze");
+
+    // keep other agents informed about the attraction
+    AgentGroup *group = agent->getGroup();
+    if (group != nullptr) {
+      foreach (Agent *member, group->getMembers()) {
+        if (member == agent)
+          continue;
+
+        AgentStateMachine *memberStateMachine = member->getStateMachine();
+        connect(shoppingPlanner, SIGNAL(lostAttraction()), memberStateMachine,
+                SLOT(loseAttraction()));
       }
+    }
 
-      break;
+    break;
   }
 
   // inform users
@@ -226,61 +226,64 @@ void AgentStateMachine::activateState(AgentState stateIn) {
 
 void AgentStateMachine::deactivateState(AgentState state) {
   switch (state) {
-    case StateNone:
-      // nothing to do
-      break;
-    case StateWaiting:
-      // nothing to do
-      break;
-    case StateWalking:
-      // nothing to do
-      break;
-    case StateQueueing:
-      // nothing to do
-      break;
-    case StateGroupWalking:
-      // nothing to do
-      break;
-    case StateShopping:
-      // inform other group members
-      shoppingPlanner->loseAttraction();
-
-      // don't worry about other group members
-      AgentGroup* group = agent->getGroup();
-      if (group != nullptr) {
-        foreach (Agent* member, group->getMembers()) {
-          if (member == agent) continue;
-
-          AgentStateMachine* memberStateMachine = member->getStateMachine();
-          disconnect(shoppingPlanner, SIGNAL(lostAttraction()),
-                     memberStateMachine, SLOT(loseAttraction()));
-        }
+  case StateNone:
+    // nothing to do
+    break;
+  case StateWaiting:
+    // nothing to do
+    break;
+  case StateWalking:
+    // nothing to do
+    break;
+  case StateQueueing:
+    // nothing to do
+    break;
+  case StateGroupWalking:
+    // nothing to do
+    break;
+  case StateShopping:
+    // inform other group members
+    shoppingPlanner->loseAttraction();
+
+    // don't worry about other group members
+    AgentGroup *group = agent->getGroup();
+    if (group != nullptr) {
+      foreach (Agent *member, group->getMembers()) {
+        if (member == agent)
+          continue;
+
+        AgentStateMachine *memberStateMachine = member->getStateMachine();
+        disconnect(shoppingPlanner, SIGNAL(lostAttraction()),
+                   memberStateMachine, SLOT(loseAttraction()));
       }
+    }
 
-      break;
+    break;
   }
 }
 
 bool AgentStateMachine::checkGroupForAttractions(
-    AttractionArea** attractionOut) const {
-  AgentGroup* group = agent->getGroup();
+    AttractionArea **attractionOut) const {
+  AgentGroup *group = agent->getGroup();
 
   // check whether the agent is even in a group
   if (group == nullptr) {
-    if (attractionOut != nullptr) *attractionOut = nullptr;
+    if (attractionOut != nullptr)
+      *attractionOut = nullptr;
     return false;
   }
 
   // check all group members
-  foreach (Agent* member, group->getMembers()) {
+  foreach (Agent *member, group->getMembers()) {
     // ignore agent himself
-    if (member == agent) continue;
+    if (member == agent)
+      continue;
 
     // check whether the group member uses ShoppingPlanner
-    WaypointPlanner* planner = member->getWaypointPlanner();
-    ShoppingPlanner* typedPlanner = dynamic_cast<ShoppingPlanner*>(planner);
+    WaypointPlanner *planner = member->getWaypointPlanner();
+    ShoppingPlanner *typedPlanner = dynamic_cast<ShoppingPlanner *>(planner);
     if (typedPlanner != nullptr) {
-      AttractionArea* attraction = typedPlanner->getAttraction();
+      AttractionArea *attraction = typedPlanner->getAttraction();
 
       if (attraction != nullptr) {
         attractionOut = &attraction;
@@ -290,26 +293,27 @@ bool AgentStateMachine::checkGroupForAttractions(
   }
 
   // no group member is attracted to something
-  if (attractionOut != nullptr) *attractionOut = nullptr;
+  if (attractionOut != nullptr)
+    *attractionOut = nullptr;
   return false;
 }
 
 QString AgentStateMachine::stateToName(AgentState stateIn) const {
   switch (stateIn) {
-    case StateNone:
-      return "StateNone";
-    case StateWaiting:
-      return "StateWaiting";
-    case StateWalking:
-      return "StateWalking";
-    case StateQueueing:
-      return "StateQueueing";
-    case StateGroupWalking:
-      return "StateGroupWalking";
-    case StateShopping:
-      return "StateShopping";
-    default:
-      return "UnknownState";
+  case StateNone:
+    return "StateNone";
+  case StateWaiting:
+    return "StateWaiting";
+  case StateWalking:
+    return "StateWalking";
+  case StateQueueing:
+    return "StateQueueing";
+  case StateGroupWalking:
+    return "StateGroupWalking";
+  case StateShopping:
+    return "StateShopping";
+  default:
+    return "UnknownState";
   }
 }
 
diff --git a/pedsim_simulator/src/config.cpp b/pedsim_simulator/src/config.cpp
index d8334044..3c969dfe 100644
--- a/pedsim_simulator/src/config.cpp
+++ b/pedsim_simulator/src/config.cpp
@@ -1,40 +1,40 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/config.h>
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/config.hpp>
 
 // initialize static value
-Config* Config::Config::instance = nullptr;
+Config *Config::Config::instance = nullptr;
 
-Config::Config(QObject* parent) {
+Config::Config(QObject *parent) {
   updateRate = 25.0;
   simulationFactor = 1.0;
 
@@ -62,8 +62,9 @@ Config::Config(QObject* parent) {
   visual_mode = VisualMode::MINIMAL;
 }
 
-Config& Config::getInstance() {
-  if (instance == nullptr) instance = new Config();
+Config &Config::getInstance() {
+  if (instance == nullptr)
+    instance = new Config();
 
   return *instance;
 }
diff --git a/pedsim_simulator/src/element/agent.cpp b/pedsim_simulator/src/element/agent.cpp
index 2043a38f..35cf4f6f 100644
--- a/pedsim_simulator/src/element/agent.cpp
+++ b/pedsim_simulator/src/element/agent.cpp
@@ -1,41 +1,41 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/agentstatemachine.h>
-#include <pedsim_simulator/config.h>
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/element/waypoint.h>
-#include <pedsim_simulator/force/force.h>
-#include <pedsim_simulator/scene.h>
-#include <pedsim_simulator/waypointplanner/waypointplanner.h>
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/agentstatemachine.hpp>
+#include <pedsim_simulator/config.hpp>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/element/waypoint.hpp>
+#include <pedsim_simulator/force/force.hpp>
+#include <pedsim_simulator/scene.hpp>
+#include <pedsim_simulator/waypointplanner/waypointplanner.hpp>
 
 Agent::Agent() {
   // initialize
@@ -54,14 +54,15 @@ Agent::Agent() {
 
 Agent::~Agent() {
   // clean up
-  foreach (Force* currentForce, forces) { delete currentForce; }
+  foreach (Force *currentForce, forces) { delete currentForce; }
 }
 
 /// Calculates the desired force. Same as in lib, but adds graphical
 /// representation
 Ped::Tvector Agent::desiredForce() {
   Ped::Tvector force;
-  if (!disabledForces.contains("Desired")) force = Tagent::desiredForce();
+  if (!disabledForces.contains("Desired"))
+    force = Tagent::desiredForce();
 
   // inform users
   emit desiredForceChanged(force.x, force.y);
@@ -73,7 +74,8 @@ Ped::Tvector Agent::desiredForce() {
 /// representation
 Ped::Tvector Agent::socialForce() const {
   Ped::Tvector force;
-  if (!disabledForces.contains("Social")) force = Tagent::socialForce();
+  if (!disabledForces.contains("Social"))
+    force = Tagent::socialForce();
 
   // inform users
   emit socialForceChanged(force.x, force.y);
@@ -85,7 +87,8 @@ Ped::Tvector Agent::socialForce() const {
 /// representation
 Ped::Tvector Agent::obstacleForce() const {
   Ped::Tvector force;
-  if (!disabledForces.contains("Obstacle")) force = Tagent::obstacleForce();
+  if (!disabledForces.contains("Obstacle"))
+    force = Tagent::obstacleForce();
 
   // inform users
   emit obstacleForceChanged(force.x, force.y);
@@ -96,7 +99,7 @@ Ped::Tvector Agent::obstacleForce() const {
 Ped::Tvector Agent::myForce(Ped::Tvector desired) const {
   // run additional forces
   Ped::Tvector forceValue;
-  foreach (Force* force, forces) {
+  foreach (Force *force, forces) {
     // skip disabled forces
     if (disabledForces.contains(force->getName())) {
       // update graphical representation
@@ -108,7 +111,8 @@ Ped::Tvector Agent::myForce(Ped::Tvector desired) const {
     Ped::Tvector currentForce = force->getForce(desired);
     // → sanity checks
     if (!currentForce.isValid()) {
-      ROS_DEBUG("Invalid Force: %s", force->getName().toStdString().c_str());
+      RCLCPP_DEBUG(rclcpp::get_logger(""), "Invalid Force: %s",
+                   force->getName().toStdString().c_str());
       currentForce = Ped::Tvector();
     }
     forceValue += currentForce;
@@ -124,16 +128,16 @@ Ped::Tvector Agent::myForce(Ped::Tvector desired) const {
   return forceValue;
 }
 
-Ped::Twaypoint* Agent::getCurrentDestination() const {
+Ped::Twaypoint *Agent::getCurrentDestination() const {
   return currentDestination;
 }
 
-Ped::Twaypoint* Agent::updateDestination() {
+Ped::Twaypoint *Agent::updateDestination() {
   // assign new destination
   if (!destinations.isEmpty()) {
     if (currentDestination != nullptr) {
       // cycle through destinations
-      Waypoint* previousDestination = destinations.takeFirst();
+      Waypoint *previousDestination = destinations.takeFirst();
       destinations.append(previousDestination);
     }
     currentDestination = destinations.first();
@@ -194,19 +198,19 @@ void Agent::move(double h) {
   emit accelerationChanged(getax(), getay());
 }
 
-const QList<Waypoint*>& Agent::getWaypoints() const { return destinations; }
+const QList<Waypoint *> &Agent::getWaypoints() const { return destinations; }
 
-bool Agent::setWaypoints(const QList<Waypoint*>& waypointsIn) {
+bool Agent::setWaypoints(const QList<Waypoint *> &waypointsIn) {
   destinations = waypointsIn;
   return true;
 }
 
-bool Agent::addWaypoint(Waypoint* waypointIn) {
+bool Agent::addWaypoint(Waypoint *waypointIn) {
   destinations.append(waypointIn);
   return true;
 }
 
-bool Agent::removeWaypoint(Waypoint* waypointIn) {
+bool Agent::removeWaypoint(Waypoint *waypointIn) {
   const int removeCount = destinations.removeAll(waypointIn);
 
   return (removeCount > 0);
@@ -221,9 +225,10 @@ bool Agent::needNewDestination() const {
   }
 }
 
-Ped::Twaypoint* Agent::getCurrentWaypoint() const {
+Ped::Twaypoint *Agent::getCurrentWaypoint() const {
   // sanity checks
-  if (waypointplanner == nullptr) return nullptr;
+  if (waypointplanner == nullptr)
+    return nullptr;
 
   // ask waypoint planner
   return waypointplanner->getCurrentWaypoint();
@@ -231,11 +236,11 @@ Ped::Twaypoint* Agent::getCurrentWaypoint() const {
 
 bool Agent::isInGroup() const { return (group != nullptr); }
 
-AgentGroup* Agent::getGroup() const { return group; }
+AgentGroup *Agent::getGroup() const { return group; }
 
-void Agent::setGroup(AgentGroup* groupIn) { group = groupIn; }
+void Agent::setGroup(AgentGroup *groupIn) { group = groupIn; }
 
-bool Agent::addForce(Force* forceIn) {
+bool Agent::addForce(Force *forceIn) {
   forces.append(forceIn);
 
   // inform users
@@ -245,7 +250,7 @@ bool Agent::addForce(Force* forceIn) {
   return true;
 }
 
-bool Agent::removeForce(Force* forceIn) {
+bool Agent::removeForce(Force *forceIn) {
   int removeCount = forces.removeAll(forceIn);
 
   // inform users
@@ -255,26 +260,27 @@ bool Agent::removeForce(Force* forceIn) {
   return (removeCount >= 1);
 }
 
-AgentStateMachine* Agent::getStateMachine() const { return stateMachine; }
+AgentStateMachine *Agent::getStateMachine() const { return stateMachine; }
 
-WaypointPlanner* Agent::getWaypointPlanner() const { return waypointplanner; }
+WaypointPlanner *Agent::getWaypointPlanner() const { return waypointplanner; }
 
-void Agent::setWaypointPlanner(WaypointPlanner* plannerIn) {
+void Agent::setWaypointPlanner(WaypointPlanner *plannerIn) {
   waypointplanner = plannerIn;
 }
 
-QList<const Agent*> Agent::getNeighbors() const {
+QList<const Agent *> Agent::getNeighbors() const {
   // upcast neighbors
-  QList<const Agent*> output;
-  for (const Ped::Tagent* neighbor : neighbors) {
-    const Agent* upNeighbor = dynamic_cast<const Agent*>(neighbor);
-    if (upNeighbor != nullptr) output.append(upNeighbor);
+  QList<const Agent *> output;
+  for (const Ped::Tagent *neighbor : neighbors) {
+    const Agent *upNeighbor = dynamic_cast<const Agent *>(neighbor);
+    if (upNeighbor != nullptr)
+      output.append(upNeighbor);
   }
 
   return output;
 }
 
-void Agent::disableForce(const QString& forceNameIn) {
+void Agent::disableForce(const QString &forceNameIn) {
   // disable force by adding it to the list of disabled forces
   disabledForces.append(forceNameIn);
 }
@@ -316,7 +322,7 @@ Ped::Tvector Agent::getMyForce() const { return myforce; }
 
 QPointF Agent::getVisiblePosition() const { return QPointF(getx(), gety()); }
 
-void Agent::setVisiblePosition(const QPointF& positionIn) {
+void Agent::setVisiblePosition(const QPointF &positionIn) {
   // check and apply new position
   if (positionIn != getVisiblePosition())
     setPosition(positionIn.x(), positionIn.y());
diff --git a/pedsim_simulator/src/element/agentcluster.cpp b/pedsim_simulator/src/element/agentcluster.cpp
index 36acf1f3..f214bf42 100644
--- a/pedsim_simulator/src/element/agentcluster.cpp
+++ b/pedsim_simulator/src/element/agentcluster.cpp
@@ -1,38 +1,38 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/element/agentcluster.h>
-#include <pedsim_simulator/element/waitingqueue.h>
-#include <pedsim_simulator/rng.h>
-#include <pedsim_simulator/scene.h>
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/element/agentcluster.hpp>
+#include <pedsim_simulator/element/waitingqueue.hpp>
+#include <pedsim_simulator/rng.hpp>
+#include <pedsim_simulator/scene.hpp>
 
 AgentCluster::AgentCluster(double xIn, double yIn, int countIn) {
   static int lastID = 0;
@@ -48,8 +48,8 @@ AgentCluster::AgentCluster(double xIn, double yIn, int countIn) {
 
 AgentCluster::~AgentCluster() {}
 
-QList<Agent*> AgentCluster::dissolve() {
-  QList<Agent*> agents;
+QList<Agent *> AgentCluster::dissolve() {
+  QList<Agent *> agents;
 
   std::uniform_real_distribution<double> randomX(-distribution.width() / 2,
                                                  distribution.width() / 2);
@@ -58,18 +58,20 @@ QList<Agent*> AgentCluster::dissolve() {
 
   // create and initialize agents
   for (int i = 0; i < count; ++i) {
-    Agent* a = new Agent();
+    Agent *a = new Agent();
 
     double randomizedX = position.x;
     double randomizedY = position.y;
     // handle dx=0 or dy=0 cases
-    if (distribution.width() != 0) randomizedX += randomX(RNG());
-    if (distribution.height() != 0) randomizedY += randomY(RNG());
+    if (distribution.width() != 0)
+      randomizedX += randomX(RNG());
+    if (distribution.height() != 0)
+      randomizedY += randomY(RNG());
     a->setPosition(randomizedX, randomizedY);
     a->setType(agentType);
 
     // add waypoints to the agent
-    foreach (Waypoint* waypoint, waypoints)
+    foreach (Waypoint *waypoint, waypoints)
       a->addWaypoint(waypoint);
 
     // add agent to the scene
@@ -88,14 +90,16 @@ int AgentCluster::getCount() const { return count; }
 
 void AgentCluster::setCount(int countIn) { count = countIn; }
 
-const QList<Waypoint*>& AgentCluster::getWaypoints() const { return waypoints; }
+const QList<Waypoint *> &AgentCluster::getWaypoints() const {
+  return waypoints;
+}
 
-void AgentCluster::addWaypoint(Waypoint* waypointIn) {
+void AgentCluster::addWaypoint(Waypoint *waypointIn) {
   // keep track of waypoint
   waypoints.append(waypointIn);
 }
 
-bool AgentCluster::removeWaypoint(Waypoint* waypointIn) {
+bool AgentCluster::removeWaypoint(Waypoint *waypointIn) {
   // don't keep track of waypoint anymore
   int removedWaypoints = waypoints.removeAll(waypointIn);
 
@@ -106,15 +110,15 @@ bool AgentCluster::removeWaypoint(Waypoint* waypointIn) {
     return false;
 }
 
-void AgentCluster::addWaitingQueue(WaitingQueue* queueIn) {
-  Waypoint* waypoint = dynamic_cast<Waypoint*>(queueIn);
+void AgentCluster::addWaitingQueue(WaitingQueue *queueIn) {
+  Waypoint *waypoint = dynamic_cast<Waypoint *>(queueIn);
 
   // keep track of waiting queues
   waypoints.append(waypoint);
 }
 
-bool AgentCluster::removeWaitingQueue(WaitingQueue* queueIn) {
-  Waypoint* waypoint = dynamic_cast<Waypoint*>(queueIn);
+bool AgentCluster::removeWaitingQueue(WaitingQueue *queueIn) {
+  Waypoint *waypoint = dynamic_cast<Waypoint *>(queueIn);
 
   // don't keep track of waypoint anymore
   int removedWaitingQueues = waypoints.removeAll(waypoint);
@@ -125,7 +129,7 @@ bool AgentCluster::removeWaitingQueue(WaitingQueue* queueIn) {
 
 Ped::Tvector AgentCluster::getPosition() const { return position; }
 
-void AgentCluster::setPosition(const Ped::Tvector& positionIn) {
+void AgentCluster::setPosition(const Ped::Tvector &positionIn) {
   position = positionIn;
 
   // inform users
@@ -187,7 +191,7 @@ QPointF AgentCluster::getVisiblePosition() const {
   return QPointF(position.x, position.y);
 }
 
-void AgentCluster::setVisiblePosition(const QPointF& positionIn) {
+void AgentCluster::setVisiblePosition(const QPointF &positionIn) {
   setPosition(positionIn.x(), positionIn.y());
 }
 
diff --git a/pedsim_simulator/src/element/agentgroup.cpp b/pedsim_simulator/src/element/agentgroup.cpp
index 9ea3c03e..2faceecf 100644
--- a/pedsim_simulator/src/element/agentgroup.cpp
+++ b/pedsim_simulator/src/element/agentgroup.cpp
@@ -1,38 +1,38 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/config.h>
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/element/agentgroup.h>
-#include <pedsim_simulator/rng.h>
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/config.hpp>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/element/agentgroup.hpp>
+#include <pedsim_simulator/rng.hpp>
 
 AgentGroup::AgentGroup() {
   static int staticid = 2000;
@@ -51,7 +51,7 @@ AgentGroup::AgentGroup() {
   updateCenterOfMass();
 }
 
-AgentGroup::AgentGroup(const QList<Agent*>& agentsIn) {
+AgentGroup::AgentGroup(const QList<Agent *> &agentsIn) {
   static int staticid = 0;
   id_ = staticid++;
 
@@ -68,12 +68,12 @@ AgentGroup::AgentGroup(const QList<Agent*>& agentsIn) {
   updateCenterOfMass();
 
   // connect signals
-  foreach (Agent* agent, members)
+  for (Agent *agent : members)
     connect(agent, SIGNAL(positionChanged(double, double)), this,
             SLOT(onPositionChanged(double, double)));
 }
 
-AgentGroup::AgentGroup(std::initializer_list<Agent*>& agentsIn) {
+AgentGroup::AgentGroup(std::initializer_list<Agent *> &agentsIn) {
   static int staticid = 0;
   id_ = staticid++;
 
@@ -85,7 +85,7 @@ AgentGroup::AgentGroup(std::initializer_list<Agent*>& agentsIn) {
   connect(&comUpdateTimer, SIGNAL(timeout()), this, SLOT(updateCenterOfMass()));
 
   // add agents from initializer_list to the member list
-  for (Agent* currentAgent : agentsIn) {
+  for (Agent *currentAgent : agentsIn) {
     members.append(currentAgent);
     connect(currentAgent, SIGNAL(positionChanged(double, double)), this,
             SLOT(onPositionChanged(double, double)));
@@ -104,9 +104,9 @@ void AgentGroup::onPositionChanged(double x, double y) {
   comUpdateTimer.start();
 }
 
-QList<AgentGroup*> AgentGroup::divideAgents(const QList<Agent*>& agentsIn) {
-  QList<AgentGroup*> groups;
-  QList<Agent*> unassignedAgents = agentsIn;
+QList<AgentGroup *> AgentGroup::divideAgents(const QList<Agent *> &agentsIn) {
+  QList<AgentGroup *> groups;
+  QList<Agent *> unassignedAgents = agentsIn;
 
   // initialize Poisson distribution
   std::poisson_distribution<int> distribution(CONFIG.group_size_lambda);
@@ -127,7 +127,8 @@ QList<AgentGroup*> AgentGroup::divideAgents(const QList<Agent*>& agentsIn) {
     groupSize = min(groupSize, agentCount - sizeSum);
 
     // → record group size
-    if (sizeDistribution.size() < groupSize) sizeDistribution.resize(groupSize);
+    if (sizeDistribution.size() < groupSize)
+      sizeDistribution.resize(groupSize);
     sizeDistribution[groupSize - 1]++;
 
     // → update sum over all group sizes
@@ -144,10 +145,10 @@ QList<AgentGroup*> AgentGroup::divideAgents(const QList<Agent*>& agentsIn) {
       // create groups of given size
       for (int groupIter = 0; groupIter < sizeDistribution[groupSize - 1];
            ++groupIter) {
-        Agent* groupLeader = unassignedAgents.takeFirst();
+        Agent *groupLeader = unassignedAgents.takeFirst();
 
         // create a group
-        AgentGroup* newGroup = new AgentGroup();
+        AgentGroup *newGroup = new AgentGroup();
         // and add it to result set
         groups.append(newGroup);
 
@@ -156,8 +157,8 @@ QList<AgentGroup*> AgentGroup::divideAgents(const QList<Agent*>& agentsIn) {
         newGroup->addMember(groupLeader);
 
         // add other agents to group
-        QList<QPair<Agent*, double> > distanceList;
-        foreach (Agent* potentialMember, unassignedAgents) {
+        QList<QPair<Agent *, double>> distanceList;
+        for (Agent *potentialMember : unassignedAgents) {
           Ped::Tvector position = potentialMember->getPosition();
           double distance = (leaderPosition - position).length();
 
@@ -173,11 +174,12 @@ QList<AgentGroup*> AgentGroup::divideAgents(const QList<Agent*>& agentsIn) {
           distanceList.insert(iter, qMakePair(potentialMember, distance));
 
           // reduce list if necessary
-          if (distanceList.size() > groupSize - 1) distanceList.removeFirst();
+          if (distanceList.size() > groupSize - 1)
+            distanceList.removeFirst();
         }
 
         // add neighbors to the group
-        foreach (const auto& member, distanceList) {
+        for (const auto &member : distanceList) {
           newGroup->addMember(member.first);
 
           // don't consider the group member as part of another group
@@ -190,13 +192,14 @@ QList<AgentGroup*> AgentGroup::divideAgents(const QList<Agent*>& agentsIn) {
   return groups;
 }
 
-QList<Agent*>& AgentGroup::getMembers() { return members; }
+QList<Agent *> &AgentGroup::getMembers() { return members; }
 
-const QList<Agent*>& AgentGroup::getMembers() const { return members; }
+const QList<Agent *> &AgentGroup::getMembers() const { return members; }
 
-bool AgentGroup::addMember(Agent* agentIn) {
+bool AgentGroup::addMember(Agent *agentIn) {
   if (members.contains(agentIn)) {
-    ROS_DEBUG("AgentGroup: Couldn't add Agent twice!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "AgentGroup: Couldn't add Agent twice!");
     return false;
   }
 
@@ -216,7 +219,7 @@ bool AgentGroup::addMember(Agent* agentIn) {
   return true;
 }
 
-bool AgentGroup::removeMember(Agent* agentIn) {
+bool AgentGroup::removeMember(Agent *agentIn) {
   bool hasRemovedMember = members.removeOne(agentIn);
 
   // mark cache invalid, if the agent has been removed
@@ -239,7 +242,7 @@ bool AgentGroup::removeMember(Agent* agentIn) {
   }
 }
 
-bool AgentGroup::setMembers(const QList<Agent*>& agentsIn) {
+bool AgentGroup::setMembers(const QList<Agent *> &agentsIn) {
   // set the new members and mark cache invalid
   members = agentsIn;
   dirty = true;
@@ -247,7 +250,7 @@ bool AgentGroup::setMembers(const QList<Agent*>& agentsIn) {
   comUpdateTimer.start();
 
   // connect signals
-  foreach (Agent* agent, members)
+  for (Agent *agent : members)
     connect(agent, SIGNAL(positionChanged(double, double)), this,
             SLOT(onPositionChanged(double, double)));
 
@@ -266,7 +269,7 @@ Ped::Tvector AgentGroup::getCenterOfMass() const {
   // check cache
   if (dirty) {
     // update cache
-    AgentGroup* nonConstThis = const_cast<AgentGroup*>(this);
+    AgentGroup *nonConstThis = const_cast<AgentGroup *>(this);
     nonConstThis->updateCenterOfMass();
   }
 
@@ -274,11 +277,14 @@ Ped::Tvector AgentGroup::getCenterOfMass() const {
 }
 
 Ped::Tvector AgentGroup::updateCenterOfMass() {
-  if (!dirty) return cacheCoM;
+  if (!dirty)
+    return cacheCoM;
 
   // compute center of mass
   Ped::Tvector com;
-  foreach (const Agent* member, members) { com += member->getPosition(); }
+  for (const Agent *member : members) {
+    com += member->getPosition();
+  }
 
   int groupSize = members.size();
   com /= groupSize;
@@ -295,17 +301,18 @@ Ped::Tvector AgentGroup::updateCenterOfMass() {
 void AgentGroup::setRecollect(bool recollectIn) {
   if (recollectIn) {
     // check whether recollecting mode has already been activated
-    if (recollecting) return;
-
-    ROS_DEBUG("AgentGroup needs to recollect! (%s)",
-              toString().toStdString().c_str());
+    if (recollecting)
+      return;
+    RCLCPP_DEBUG(rclcpp::get_logger(""), "AgentGroup needs to recollect! (%s)",
+                 toString().toStdString().c_str());
     recollecting = true;
   } else {
     // check whether recollecting mode hasn't been activated
-    if (!recollecting) return;
-
-    ROS_DEBUG("AgentGroup finished recollecting! (%s)",
-              toString().toStdString().c_str());
+    if (!recollecting)
+      return;
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "AgentGroup finished recollecting! (%s)",
+                 toString().toStdString().c_str());
     recollecting = false;
   }
 }
@@ -313,7 +320,8 @@ void AgentGroup::setRecollect(bool recollectIn) {
 bool AgentGroup::isRecollecting() const { return recollecting; }
 
 double AgentGroup::getMaxDistance() {
-  if (dirty || dirtyMaxDistance) updateMaxDistance();
+  if (dirty || dirtyMaxDistance)
+    updateMaxDistance();
 
   return cacheMaxDistance;
 }
@@ -321,31 +329,37 @@ double AgentGroup::getMaxDistance() {
 void AgentGroup::updateMaxDistance() {
   Ped::Tvector com = getCenterOfMass();
   double maxDistance = 0;
-  foreach (Agent* agent, members) {
+  for (Agent *agent : members) {
     double distance = (com - agent->getPosition()).length();
-    if (distance > maxDistance) maxDistance = distance;
+    if (distance > maxDistance)
+      maxDistance = distance;
   }
   cacheMaxDistance = maxDistance;
   dirtyMaxDistance = false;
 }
 
 void AgentGroup::reportSizeDistribution(
-    const QVector<int>& sizeDistributionIn) {
-  QString sizeDistributionString;
-  int groupSize = 1;
-  foreach (int count, sizeDistributionIn) {
-    sizeDistributionString += tr(" %1: %2;").arg(groupSize).arg(count);
-    groupSize++;
-  }
-  ROS_DEBUG("Group Size Distribution: %s",
-            sizeDistributionString.toStdString().c_str());
+    const QVector<int> &sizeDistributionIn) {
+  // QString sizeDistributionString;
+  // int groupSize = 1;
+  // for (int count : sizeDistributionIn) {
+  //   RCLCPP_DEBUG(rclcpp::get_logger(""), "count: %ld", count);
+  //   sizeDistributionString += tr(" %1: %2;").arg(groupSize, count);
+  //   groupSize++;
+  // }
+
+  // RCLCPP_DEBUG(
+  //   rclcpp::get_logger(""),
+  //   "Group Size Distribution: %s",
+  //   sizeDistributionString.toStdString().c_str());
 }
 
 QString AgentGroup::toString() const {
   QString agentString;
   bool firstMember = true;
-  foreach (Agent* agent, members) {
-    if (!firstMember) agentString += ", ";
+  for (Agent *agent : members) {
+    if (!firstMember)
+      agentString += ", ";
     agentString += agent->toString();
     firstMember = false;
   }
diff --git a/pedsim_simulator/src/element/areawaypoint.cpp b/pedsim_simulator/src/element/areawaypoint.cpp
index 16eaa39e..5203830e 100644
--- a/pedsim_simulator/src/element/areawaypoint.cpp
+++ b/pedsim_simulator/src/element/areawaypoint.cpp
@@ -1,44 +1,44 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/element/areawaypoint.h>
-
-AreaWaypoint::AreaWaypoint(const QString& nameIn,
-                           const Ped::Tvector& positionIn, double rIn)
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/element/areawaypoint.hpp>
+
+AreaWaypoint::AreaWaypoint(const QString &nameIn,
+                           const Ped::Tvector &positionIn, double rIn)
     : Waypoint(nameIn, positionIn) {
   // initialize values
   radius = rIn;
 }
 
-AreaWaypoint::AreaWaypoint(const QString& nameIn, double xIn, double yIn,
+AreaWaypoint::AreaWaypoint(const QString &nameIn, double xIn, double yIn,
                            double rIn)
     : Waypoint(nameIn, Ped::Tvector(xIn, yIn)) {
   // initialize values
@@ -49,32 +49,34 @@ AreaWaypoint::~AreaWaypoint() {}
 
 QString AreaWaypoint::getName() const { return name; }
 
-bool AreaWaypoint::isWithinArea(const Ped::Tvector& posIn) {
+bool AreaWaypoint::isWithinArea(const Ped::Tvector &posIn) {
   Ped::Tvector diff = getPosition() - posIn;
   double distance = diff.length();
 
   return (distance <= radius);
 }
 
-Ped::Tvector AreaWaypoint::closestPoint(const Ped::Tvector& posIn,
-                                        bool* withinWaypoint) const {
+Ped::Tvector AreaWaypoint::closestPoint(const Ped::Tvector &posIn,
+                                        bool *withinWaypoint) const {
   Ped::Tvector diff = position - posIn;
 
   if (diff.length() <= radius) {
-    if (withinWaypoint != NULL) *withinWaypoint = true;
+    if (withinWaypoint != NULL)
+      *withinWaypoint = true;
 
     return posIn;
   } else {
-    if (withinWaypoint != NULL) *withinWaypoint = false;
+    if (withinWaypoint != NULL)
+      *withinWaypoint = false;
 
     Ped::Tvector direction = diff.normalized();
     return position + radius * direction;
   }
 }
 
-double AreaWaypoint::getRadius() const { 
+double AreaWaypoint::getRadius() const {
   return getRadius();
-  // return radius; 
+  // return radius;
 }
 
 void AreaWaypoint::setRadius(double rIn) {
@@ -90,7 +92,7 @@ QPointF AreaWaypoint::getVisiblePosition() const {
   return QPointF(getx(), gety());
 }
 
-void AreaWaypoint::setVisiblePosition(const QPointF& positionIn) {
+void AreaWaypoint::setVisiblePosition(const QPointF &positionIn) {
   setPosition(positionIn.x(), positionIn.y());
 }
 
diff --git a/pedsim_simulator/src/element/attractionarea.cpp b/pedsim_simulator/src/element/attractionarea.cpp
index e5bb6d96..032f213e 100644
--- a/pedsim_simulator/src/element/attractionarea.cpp
+++ b/pedsim_simulator/src/element/attractionarea.cpp
@@ -1,37 +1,37 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/element/attractionarea.h>
-
-AttractionArea::AttractionArea(const QString& nameIn) : name(nameIn) {
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/element/attractionarea.hpp>
+
+AttractionArea::AttractionArea(const QString &nameIn) : name(nameIn) {
   static int staticid = 1000;
   id_ = staticid++;
   // initialize values
@@ -54,7 +54,7 @@ void AttractionArea::setPosition(double xIn, double yIn) {
   emit positionChanged(position.x, position.y);
 }
 
-void AttractionArea::setPosition(const Ped::Tvector& posIn) {
+void AttractionArea::setPosition(const Ped::Tvector &posIn) {
   position = posIn;
 
   // inform users
@@ -85,7 +85,7 @@ void AttractionArea::setSize(double widthIn, double heightIn) {
   emit sizeChanged(size.width(), size.height());
 }
 
-void AttractionArea::setSize(const QSizeF& sizeIn) {
+void AttractionArea::setSize(const QSizeF &sizeIn) {
   size = sizeIn;
 
   // inform users
diff --git a/pedsim_simulator/src/element/obstacle.cpp b/pedsim_simulator/src/element/obstacle.cpp
index b363b6fa..5a4fd662 100644
--- a/pedsim_simulator/src/element/obstacle.cpp
+++ b/pedsim_simulator/src/element/obstacle.cpp
@@ -1,35 +1,35 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
 
-#include <pedsim_simulator/element/obstacle.h>
+#include <pedsim_simulator/element/obstacle.hpp>
 
 Obstacle::Obstacle(double pax, double pay, double pbx, double pby)
     : Tobstacle(pax, pay, pbx, pby){};
@@ -44,7 +44,7 @@ void Obstacle::setPosition(double pax, double pay, double pbx, double pby) {
   emit positionChanged();
 }
 
-void Obstacle::setPosition(const QPointF& startIn, const QPointF& endIn) {
+void Obstacle::setPosition(const QPointF &startIn, const QPointF &endIn) {
   setPosition(startIn.x(), startIn.y(), endIn.x(), endIn.y());
 }
 
@@ -72,7 +72,7 @@ QPointF Obstacle::getVisiblePosition() const {
   return QPointF(getax(), getay());
 }
 
-void Obstacle::setVisiblePosition(const QPointF& positionIn) {
+void Obstacle::setVisiblePosition(const QPointF &positionIn) {
   // compute new end position
   QPointF deltaPos(positionIn.x() - getax(), positionIn.y() - getay());
   QPointF endPos = QPointF(getbx(), getby()) + deltaPos;
diff --git a/pedsim_simulator/src/element/queueingwaypoint.cpp b/pedsim_simulator/src/element/queueingwaypoint.cpp
index e42fdbfa..f029e1a0 100644
--- a/pedsim_simulator/src/element/queueingwaypoint.cpp
+++ b/pedsim_simulator/src/element/queueingwaypoint.cpp
@@ -1,49 +1,50 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
 
 #include <pedsim/ped_agent.h>
-#include <pedsim_simulator/element/queueingwaypoint.h>
+#include <pedsim_simulator/element/queueingwaypoint.hpp>
 
-QueueingWaypoint::QueueingWaypoint(const QString& nameIn,
-                                   const Ped::Tvector& positionIn)
+QueueingWaypoint::QueueingWaypoint(const QString &nameIn,
+                                   const Ped::Tvector &positionIn)
     : Waypoint(nameIn, positionIn) {}
 
 QueueingWaypoint::~QueueingWaypoint() {}
 
 QString QueueingWaypoint::getName() const { return name; }
 
-Ped::Tvector QueueingWaypoint::getForce(const Ped::Tagent& agentIn,
-                                        Ped::Tvector* desiredDirectionOut,
-                                        bool* reached) const {
-  if (reached != nullptr) *reached = false;
+Ped::Tvector QueueingWaypoint::getForce(const Ped::Tagent &agentIn,
+                                        Ped::Tvector *desiredDirectionOut,
+                                        bool *reached) const {
+  if (reached != nullptr)
+    *reached = false;
 
   // compute the force
   Ped::Tvector diff = position - agentIn.getPosition();
@@ -79,8 +80,8 @@ Ped::Tvector QueueingWaypoint::getForce(const Ped::Tagent& agentIn,
   }
 }
 
-Ped::Tvector QueueingWaypoint::closestPoint(const Ped::Tvector& posIn,
-                                            bool* withinWaypoint) const {
+Ped::Tvector QueueingWaypoint::closestPoint(const Ped::Tvector &posIn,
+                                            bool *withinWaypoint) const {
   return position;
 }
 
@@ -88,7 +89,7 @@ QPointF QueueingWaypoint::getVisiblePosition() const {
   return QPointF(getx(), gety());
 }
 
-void QueueingWaypoint::setVisiblePosition(const QPointF& positionIn) {
+void QueueingWaypoint::setVisiblePosition(const QPointF &positionIn) {
   setPosition(positionIn.x(), positionIn.y());
 }
 
diff --git a/pedsim_simulator/src/element/scenarioelement.cpp b/pedsim_simulator/src/element/scenarioelement.cpp
index a7d5599e..e724a21f 100644
--- a/pedsim_simulator/src/element/scenarioelement.cpp
+++ b/pedsim_simulator/src/element/scenarioelement.cpp
@@ -1,35 +1,35 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
 
 // Includes
-#include <pedsim_simulator/element/scenarioelement.h>
+#include <pedsim_simulator/element/scenarioelement.hpp>
 
-ScenarioElement::ScenarioElement(QObject* parent) : QObject(parent) {}
+ScenarioElement::ScenarioElement(QObject *parent) : QObject(parent) {}
diff --git a/pedsim_simulator/src/element/waitingqueue.cpp b/pedsim_simulator/src/element/waitingqueue.cpp
index e8bbc168..03969096 100644
--- a/pedsim_simulator/src/element/waitingqueue.cpp
+++ b/pedsim_simulator/src/element/waitingqueue.cpp
@@ -1,41 +1,41 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/config.h>
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/element/waitingqueue.h>
-#include <pedsim_simulator/rng.h>
-#include <pedsim_simulator/scene.h>
-
-WaitingQueue::WaitingQueue(const QString& nameIn, Ped::Tvector positionIn,
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/config.hpp>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/element/waitingqueue.hpp>
+#include <pedsim_simulator/rng.hpp>
+#include <pedsim_simulator/scene.hpp>
+
+WaitingQueue::WaitingQueue(const QString &nameIn, Ped::Tvector positionIn,
                            Ped::Tangle directionIn)
     : Waypoint(nameIn, positionIn), direction(directionIn) {
   // initialize values
@@ -55,7 +55,7 @@ void WaitingQueue::onTimeChanged(double timeIn) {
     return;
   }
 
-  Agent* firstInLine = queuedAgents.first();
+  Agent *firstInLine = queuedAgents.first();
 
   // check whether waiting started
   if (std::isinf(dequeueTime)) {
@@ -79,7 +79,7 @@ void WaitingQueue::onLastAgentPositionChanged(double xIn, double yIn) {
 
 Ped::Tangle WaitingQueue::getDirection() const { return direction; }
 
-void WaitingQueue::setDirection(const Ped::Tangle& angleIn) {
+void WaitingQueue::setDirection(const Ped::Tangle &angleIn) {
   direction = angleIn;
 
   // inform users
@@ -90,7 +90,7 @@ void WaitingQueue::setDirection(double xIn, double yIn) {
   setDirection(Ped::Tvector(xIn, yIn));
 }
 
-void WaitingQueue::setDirection(const Ped::Tvector& directionIn) {
+void WaitingQueue::setDirection(const Ped::Tvector &directionIn) {
   direction = directionIn.polarAngle();
 
   // inform users
@@ -106,9 +106,9 @@ Ped::Tvector WaitingQueue::getQueueEndPosition() const {
     return queuedAgents.last()->getPosition();
 }
 
-const Agent* WaitingQueue::enqueueAgent(Agent* agentIn) {
+const Agent *WaitingQueue::enqueueAgent(Agent *agentIn) {
   // determine output
-  const Agent* aheadAgent =
+  const Agent *aheadAgent =
       (queuedAgents.isEmpty()) ? nullptr : queuedAgents.last();
 
   // add agent to queue
@@ -136,10 +136,11 @@ const Agent* WaitingQueue::enqueueAgent(Agent* agentIn) {
   return aheadAgent;
 }
 
-bool WaitingQueue::dequeueAgent(Agent* agentIn) {
+bool WaitingQueue::dequeueAgent(Agent *agentIn) {
   // sanity checks
   if (queuedAgents.isEmpty()) {
-    ROS_DEBUG("Cannot dequeue agent from empty waiting queue!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Cannot dequeue agent from empty waiting queue!");
     return false;
   }
 
@@ -151,15 +152,18 @@ bool WaitingQueue::dequeueAgent(Agent* agentIn) {
     queuedAgents.removeFirst();
     dequeueSuccess = true;
   } else {
-    ROS_DEBUG("Dequeueing agent from queue (%s), not in front of the queue",
-              agentIn->toString().toStdString().c_str());
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Dequeueing agent from queue (%s), not in front of the queue",
+                 agentIn->toString().toStdString().c_str());
+
     int removedCount = queuedAgents.removeAll(agentIn);
     dequeueSuccess = (removedCount >= 1);
 
     if (dequeueSuccess == false) {
-      ROS_DEBUG("Agent isn't waiting in queue! (Agent: %s, Queue: %s)",
-                agentIn->toString().toStdString().c_str(),
-                this->toString().toStdString().c_str());
+      RCLCPP_DEBUG(rclcpp::get_logger(""),
+                   "Agent isn't waiting in queue! (Agent: %s, Queue: %s)",
+                   agentIn->toString().toStdString().c_str(),
+                   this->toString().toStdString().c_str());
       return false;
     }
   }
@@ -170,7 +174,7 @@ bool WaitingQueue::dequeueAgent(Agent* agentIn) {
   // update leading position
   if (dequeuedWasFirst) {
     // determine new first agent in line
-    const Agent* newFront =
+    const Agent *newFront =
         (queuedAgents.isEmpty()) ? nullptr : queuedAgents.first();
 
     // reset time for next agent
@@ -194,13 +198,14 @@ bool WaitingQueue::dequeueAgent(Agent* agentIn) {
 }
 
 bool WaitingQueue::hasReachedWaitingPosition() {
-  if (queuedAgents.isEmpty()) return false;
+  if (queuedAgents.isEmpty())
+    return false;
 
   // const double waitingRadius = 0.7;
   const double waitingRadius = 0.3;
 
   // compute distance from where queue starts
-  const Agent* leadingAgent = queuedAgents.first();
+  const Agent *leadingAgent = queuedAgents.first();
   Ped::Tvector diff = leadingAgent->getPosition() - position;
   return (diff.length() < waitingRadius);
 }
@@ -225,14 +230,14 @@ void WaitingQueue::informAboutEndPosition() {
   if (queuedAgents.isEmpty()) {
     emit queueEndPositionChanged(position.x, position.y);
   } else {
-    Agent* lastAgent = queuedAgents.last();
+    Agent *lastAgent = queuedAgents.last();
     Ped::Tvector endPosition = lastAgent->getPosition();
     emit queueEndPositionChanged(endPosition.x, endPosition.y);
   }
 }
 
-Ped::Tvector WaitingQueue::closestPoint(const Ped::Tvector& p,
-                                        bool* withinWaypoint) const {
+Ped::Tvector WaitingQueue::closestPoint(const Ped::Tvector &p,
+                                        bool *withinWaypoint) const {
   return getQueueEndPosition();
 }
 
@@ -240,13 +245,13 @@ QPointF WaitingQueue::getVisiblePosition() const {
   return QPointF(position.x, position.y);
 }
 
-void WaitingQueue::setVisiblePosition(const QPointF& positionIn) {
+void WaitingQueue::setVisiblePosition(const QPointF &positionIn) {
   setPosition(positionIn.x(), positionIn.y());
 }
 
 QString WaitingQueue::toString() const {
   QStringList waitingIDs;
-  foreach (const Agent* agent, queuedAgents)
+  foreach (const Agent *agent, queuedAgents)
     waitingIDs.append(QString::number(agent->getId()));
   QString waitingString = waitingIDs.join(",");
 
diff --git a/pedsim_simulator/src/element/waypoint.cpp b/pedsim_simulator/src/element/waypoint.cpp
index 99e8a566..c272042e 100644
--- a/pedsim_simulator/src/element/waypoint.cpp
+++ b/pedsim_simulator/src/element/waypoint.cpp
@@ -1,39 +1,39 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
 
-#include <pedsim_simulator/element/waypoint.h>
+#include <pedsim_simulator/element/waypoint.hpp>
 
-Waypoint::Waypoint(const QString& nameIn) : name(nameIn) {}
+Waypoint::Waypoint(const QString &nameIn) : name(nameIn) {}
 
-Waypoint::Waypoint(const QString& nameIn, const Ped::Tvector& positionIn)
+Waypoint::Waypoint(const QString &nameIn, const Ped::Tvector &positionIn)
     : Ped::Twaypoint(positionIn), name(nameIn) {}
 
 Waypoint::~Waypoint() {
@@ -51,7 +51,7 @@ void Waypoint::setPosition(double xIn, double yIn) {
   emit positionChanged(getx(), gety());
 }
 
-void Waypoint::setPosition(const Ped::Tvector& posIn) {
+void Waypoint::setPosition(const Ped::Tvector &posIn) {
   setPosition(posIn.x, posIn.y);
 }
 
diff --git a/pedsim_simulator/src/force/alongwallforce.cpp b/pedsim_simulator/src/force/alongwallforce.cpp
index 087da7a9..bd18e28b 100644
--- a/pedsim_simulator/src/force/alongwallforce.cpp
+++ b/pedsim_simulator/src/force/alongwallforce.cpp
@@ -1,43 +1,43 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
 
-#include <pedsim_simulator/config.h>
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/element/obstacle.h>
-#include <pedsim_simulator/force/alongwallforce.h>
-#include <pedsim_simulator/scene.h>
+#include <pedsim_simulator/config.hpp>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/element/obstacle.hpp>
+#include <pedsim_simulator/force/alongwallforce.hpp>
+#include <pedsim_simulator/scene.hpp>
 
-#include <ros/ros.h>
+#include "rclcpp/rclcpp.hpp"
 
-AlongWallForce::AlongWallForce(Agent* agentIn) : Force(agentIn) {
+AlongWallForce::AlongWallForce(Agent *agentIn) : Force(agentIn) {
   // initialize values
   // TODO - put these magic values into a yaml parameter file
   speedThreshold = 0.2;
@@ -56,23 +56,25 @@ void AlongWallForce::onForceFactorChanged(double valueIn) {
 
 Ped::Tvector AlongWallForce::getForce(Ped::Tvector walkingDirection) {
   if (agent == nullptr) {
-    ROS_DEBUG("Cannot compute AlongWallForce for null agent!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Cannot compute AlongWallForce for null agent!");
     return Ped::Tvector();
   }
 
   // check whether the agent is stuck
   // → doesn't move
-  if (agent->getVelocity().length() > speedThreshold) return Ped::Tvector();
+  if (agent->getVelocity().length() > speedThreshold)
+    return Ped::Tvector();
 
   // → walks against an obstacle
   Ped::Tvector force;
   Ped::Tvector agentPosition = agent->getPosition();
-  const QList<Obstacle*>& obstacles = SCENE.getObstacles();
+  const QList<Obstacle *> &obstacles = SCENE.getObstacles();
   // → find closest obstacle
   double minDistance = INFINITY;
   Ped::Tvector minDiff;
-  Obstacle* minObstacle = nullptr;
-  foreach (Obstacle* currentObstacle, obstacles) {
+  Obstacle *minObstacle = nullptr;
+  foreach (Obstacle *currentObstacle, obstacles) {
     Ped::Tvector closestPoint = currentObstacle->closestPoint(agentPosition);
     Ped::Tvector diff = closestPoint - agentPosition;
     double distance = diff.length();
@@ -84,16 +86,18 @@ Ped::Tvector AlongWallForce::getForce(Ped::Tvector walkingDirection) {
   }
 
   // check distance to closest obstacle
-  if (minDistance > distanceThreshold) return Ped::Tvector();
+  if (minDistance > distanceThreshold)
+    return Ped::Tvector();
 
   // check whether closest point is in walking direction
   const Ped::Tangle angleThreshold =
       Ped::Tangle::fromDegree(angleThresholdDegree);
   Ped::Tangle angle = walkingDirection.angleTo(minDiff);
-  if (angle > angleThreshold) return Ped::Tvector();
-
-  ROS_DEBUG("Found Agent %d to be stuck!", agent->getId());
+  if (angle > angleThreshold)
+    return Ped::Tvector();
 
+  RCLCPP_DEBUG(rclcpp::get_logger(""), "Found Agent %d to be stuck!",
+               agent->getId());
   // set force
   // → project to find walking direction
   Ped::Tvector obstacleDirection =
diff --git a/pedsim_simulator/src/force/force.cpp b/pedsim_simulator/src/force/force.cpp
index 8daaab18..4a073c6e 100644
--- a/pedsim_simulator/src/force/force.cpp
+++ b/pedsim_simulator/src/force/force.cpp
@@ -1,38 +1,38 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
 
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/force/force.h>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/force/force.hpp>
 
-Force::Force(Agent* agentIn) : agent(agentIn), factor(1) {}
+Force::Force(Agent *agentIn) : agent(agentIn), factor(1) {}
 
 void Force::setFactor(double factorIn) { factor = factorIn; }
 
diff --git a/pedsim_simulator/src/force/groupcoherenceforce.cpp b/pedsim_simulator/src/force/groupcoherenceforce.cpp
index 0b87216f..50760bf9 100644
--- a/pedsim_simulator/src/force/groupcoherenceforce.cpp
+++ b/pedsim_simulator/src/force/groupcoherenceforce.cpp
@@ -1,41 +1,41 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/config.h>
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/force/groupcoherenceforce.h>
-
-#include <ros/ros.h>
-
-GroupCoherenceForce::GroupCoherenceForce(Agent* agentIn) : Force(agentIn) {
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/config.hpp>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/force/groupcoherenceforce.hpp>
+
+#include "rclcpp/rclcpp.hpp"
+
+GroupCoherenceForce::GroupCoherenceForce(Agent *agentIn) : Force(agentIn) {
   // initialize values
   setFactor(CONFIG.forceGroupCoherence);
   usePaperVersion = true;
@@ -49,14 +49,15 @@ void GroupCoherenceForce::onForceFactorGroupCoherenceChanged(double valueIn) {
   setFactor(valueIn);
 }
 
-void GroupCoherenceForce::setGroup(AgentGroup* groupIn) { group = groupIn; }
+void GroupCoherenceForce::setGroup(AgentGroup *groupIn) { group = groupIn; }
 
-const AgentGroup& GroupCoherenceForce::getGroup() const { return *group; }
+const AgentGroup &GroupCoherenceForce::getGroup() const { return *group; }
 
 Ped::Tvector GroupCoherenceForce::getForce(Ped::Tvector walkingDirection) {
   // sanity checks
   if (group->isEmpty()) {
-    ROS_DEBUG("Computing GroupCoherenceForce for empty group!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Computing GroupCoherenceForce for empty group!");
     return Ped::Tvector();
   }
 
@@ -98,9 +99,9 @@ Ped::Tvector GroupCoherenceForce::getForce(Ped::Tvector walkingDirection) {
     double softenedFactor = factor * (tanh(distance - maxDistance) + 1) / 2;
     force *= softenedFactor;
 
-    ROS_DEBUG("softenedFactor = %f = %f * (tanh(%f - %f)+1) / 2",
-              softenedFactor, factor, distance, maxDistance);
-
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "softenedFactor = %f = %f * (tanh(%f - %f)+1) / 2",
+                 softenedFactor, factor, distance, maxDistance);
     return force;
   }
 }
diff --git a/pedsim_simulator/src/force/groupgazeforce.cpp b/pedsim_simulator/src/force/groupgazeforce.cpp
index ee726258..21f70c13 100644
--- a/pedsim_simulator/src/force/groupgazeforce.cpp
+++ b/pedsim_simulator/src/force/groupgazeforce.cpp
@@ -1,41 +1,41 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/config.h>
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/force/groupgazeforce.h>
-
-#include <ros/ros.h>
-
-GroupGazeForce::GroupGazeForce(Agent* agentIn) : Force(agentIn) {
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/config.hpp>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/force/groupgazeforce.hpp>
+
+#include "rclcpp/rclcpp.hpp"
+
+GroupGazeForce::GroupGazeForce(Agent *agentIn) : Force(agentIn) {
   // initialize values
   setFactor(CONFIG.forceGroupGaze);
   usePaperVersion = true;
@@ -49,21 +49,23 @@ void GroupGazeForce::onForceFactorGroupGazeChanged(double valueIn) {
   setFactor(valueIn);
 }
 
-void GroupGazeForce::setGroup(AgentGroup* groupIn) { group = groupIn; }
+void GroupGazeForce::setGroup(AgentGroup *groupIn) { group = groupIn; }
 
-const AgentGroup& GroupGazeForce::getGroup() const { return *group; }
+const AgentGroup &GroupGazeForce::getGroup() const { return *group; }
 
 Ped::Tvector GroupGazeForce::getForce(Ped::Tvector walkingDirection) {
   // sanity checks
   if (group->isEmpty()) {
-    ROS_DEBUG("Computing GroupGazeForce for empty group!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Computing GroupGazeForce for empty group!");
     return Ped::Tvector();
   }
 
   // 1-agent groups don't need to compute this
   // TODO: maybe we shouldn't add this behavior to such groups
   int memberCount = group->memberCount();
-  if (memberCount <= 1) return Ped::Tvector();
+  if (memberCount <= 1)
+    return Ped::Tvector();
 
   // compute group force
   Ped::Tvector com = group->getCenterOfMass();
diff --git a/pedsim_simulator/src/force/grouprepulsionforce.cpp b/pedsim_simulator/src/force/grouprepulsionforce.cpp
index b61ae0b5..49702d43 100644
--- a/pedsim_simulator/src/force/grouprepulsionforce.cpp
+++ b/pedsim_simulator/src/force/grouprepulsionforce.cpp
@@ -1,41 +1,41 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
 
-#include <pedsim_simulator/config.h>
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/force/grouprepulsionforce.h>
+#include <pedsim_simulator/config.hpp>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/force/grouprepulsionforce.hpp>
 
-#include <ros/ros.h>
+#include "rclcpp/rclcpp.hpp"
 
-GroupRepulsionForce::GroupRepulsionForce(Agent* agentIn) : Force(agentIn) {
+GroupRepulsionForce::GroupRepulsionForce(Agent *agentIn) : Force(agentIn) {
   // initialize values
   setFactor(CONFIG.forceGroupRepulsion);
   overlapDistance = 0.5;
@@ -49,30 +49,33 @@ void GroupRepulsionForce::onForceFactorGroupRepulsionChanged(double valueIn) {
   setFactor(valueIn);
 }
 
-void GroupRepulsionForce::setGroup(AgentGroup* groupIn) { group = groupIn; }
+void GroupRepulsionForce::setGroup(AgentGroup *groupIn) { group = groupIn; }
 
-const AgentGroup& GroupRepulsionForce::getGroup() const { return *group; }
+const AgentGroup &GroupRepulsionForce::getGroup() const { return *group; }
 
 Ped::Tvector GroupRepulsionForce::getForce(Ped::Tvector walkingDirection) {
   // sanity checks
   if (group->isEmpty()) {
-    ROS_DEBUG("Computing GroupRepulsionForce for empty group!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Computing GroupRepulsionForce for empty group!");
     return Ped::Tvector();
   }
 
   // compute group repulsion force
   Ped::Tvector force;
   // → iterate over all group members
-  foreach (Agent* currentAgent, group->getMembers()) {
+  foreach (Agent *currentAgent, group->getMembers()) {
     // → we don't need to take the our agent into account
-    if (agent == currentAgent) continue;
+    if (agent == currentAgent)
+      continue;
 
     // → compute relative distance vector
     Ped::Tvector diff = agent->getPosition() - currentAgent->getPosition();
     double distance = diff.length();
 
     // → check whether other agent is overlapping
-    if (distance < overlapDistance) force += diff;
+    if (distance < overlapDistance)
+      force += diff;
   }
 
   // there is no factor for myForce, hence we have to do it
diff --git a/pedsim_simulator/src/force/randomforce.cpp b/pedsim_simulator/src/force/randomforce.cpp
index 1d1c846c..475b3567 100644
--- a/pedsim_simulator/src/force/randomforce.cpp
+++ b/pedsim_simulator/src/force/randomforce.cpp
@@ -1,42 +1,42 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/config.h>
-#include <pedsim_simulator/force/randomforce.h>
-#include <pedsim_simulator/rng.h>
-#include <pedsim_simulator/scene.h>
-
-#include <ros/ros.h>
-
-RandomForce::RandomForce(Agent* agentIn) : Force(agentIn) {
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/config.hpp>
+#include <pedsim_simulator/force/randomforce.hpp>
+#include <pedsim_simulator/rng.hpp>
+#include <pedsim_simulator/scene.hpp>
+
+#include "rclcpp/rclcpp.hpp"
+
+RandomForce::RandomForce(Agent *agentIn) : Force(agentIn) {
   // initialize values
   setFactor(CONFIG.forceRandom);
   fadingDuration = 1;
@@ -52,7 +52,8 @@ void RandomForce::onForceFactorChanged(double valueIn) { setFactor(valueIn); }
 void RandomForce::setFadingTime(double durationIn) {
   // sanity checks
   if (durationIn < 0) {
-    ROS_DEBUG("Cannot set fading time to invalid value: %f", durationIn);
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Cannot set fading time to invalid value: %f", durationIn);
     return;
   }
 
diff --git a/pedsim_simulator/src/orientationhandler.cpp b/pedsim_simulator/src/orientationhandler.cpp
index 6efb98e8..a3734c08 100644
--- a/pedsim_simulator/src/orientationhandler.cpp
+++ b/pedsim_simulator/src/orientationhandler.cpp
@@ -1,35 +1,35 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Luigi Palmieri <palmieri@cs.uni-freiburg.de>
-*/
-
-#include <pedsim_simulator/orientationhandler.h>
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Luigi Palmieri <palmieri@cs.uni-freiburg.de>
+ */
+
+#include <pedsim_simulator/orientationhandler.hpp>
 
 OrientationHandler::OrientationHandler(double theta) {
   // Below is setup stuff
diff --git a/pedsim_simulator/src/pedsim_xml_to_occ_map.cpp b/pedsim_simulator/src/pedsim_xml_to_occ_map.cpp
new file mode 100644
index 00000000..578c219e
--- /dev/null
+++ b/pedsim_simulator/src/pedsim_xml_to_occ_map.cpp
@@ -0,0 +1,285 @@
+
+/*
+ * Licence: GPLv3 or LGPLv3 at your choice.
+ * Copyright (c) 2019 Chittaranjan Srinivas Swaminathan
+ * Author email: ksatyaki@gmail.com
+ */
+
+#include <iostream>
+#include <numeric>
+
+#include <QFile>
+#include <QXmlStreamReader>
+
+#include <boost/program_options.hpp>
+
+#include <rclcpp/rclcpp.hpp>
+#include <nav_msgs/msg/occupancy_grid.hpp>
+
+struct Obstacle {
+  double x1{0.0};
+  double x2{0.0};
+  double y1{0.0};
+  double y2{0.0};
+  Obstacle(double x1, double x2, double y1, double y2)
+      : x1(x1), x2(x2), y1(y1), y2(y2) {}
+
+  std::vector<std::pair<double, double>> toCells(const double unit) const {
+    int i;               // loop counter
+    double ystep, xstep; // the step on y and x axis
+    double error;        // the error accumulated during the increment
+    double errorprev;    // *vision the previous value of the error variable
+    // int y = y1 - 0.5, x = x1 - 0.5;  // the line points
+    double y = y1, x = x1; // the line points
+    double ddy, ddx; // compulsory variables: the double values of dy and dx
+    double dx = x2 - x1;
+    double dy = y2 - y1;
+    double unit_x, unit_y;
+    unit_x = unit;
+    unit_y = unit;
+
+    if (dy < 0) {
+      ystep = -unit_y;
+      dy = -dy;
+    } else {
+      ystep = unit_y;
+    }
+    if (dx < 0) {
+      xstep = -unit_x;
+      dx = -dx;
+    } else {
+      xstep = unit_x;
+    }
+
+    ddy = 2 * dy; // work with double values for full precision
+    ddx = 2 * dx;
+
+    std::vector<std::pair<double, double>> obstacle_cells; // TODO - reserve.
+    obstacle_cells.emplace_back(std::make_pair(x, y));
+
+    if (ddx >= ddy) {
+      // first octant (0 <= slope <= 1)
+      // compulsory initialization (even for errorprev, needed when dx==dy)
+      errorprev = error = dx; // start in the middle of the square
+      for (i = 0; i <= (int)(dx / unit); i++) {
+        // do not use the first point (already done)
+        x += xstep;
+        error += ddy;
+        if (error > ddx) {
+          // increment y if AFTER the middle ( > )
+          y += ystep;
+          error -= ddx;
+          // three cases (octant == right->right-top for directions
+          // below):
+          if (error + errorprev < ddx) {
+            // bottom square also
+            obstacle_cells.emplace_back(std::make_pair(x, y - ystep));
+          } else if (error + errorprev > ddx) {
+            // left square also
+            obstacle_cells.emplace_back(std::make_pair(x - xstep, y));
+          } else {
+            // corner: bottom and left squares also
+            obstacle_cells.emplace_back(std::make_pair(x, y - ystep));
+            obstacle_cells.emplace_back(std::make_pair(x - xstep, y));
+          }
+        }
+        obstacle_cells.emplace_back(std::make_pair(x, y));
+        errorprev = error;
+      }
+    } else {
+      // the same as above
+      errorprev = error = dy;
+      for (i = 0; i <= (int)(dy / unit); i++) {
+        y += ystep;
+        error += ddx;
+        if (error > ddy) {
+          x += xstep;
+          error -= ddy;
+          if (error + errorprev < ddy) {
+            obstacle_cells.emplace_back(std::make_pair(x - xstep, y));
+          } else if (error + errorprev > ddy) {
+            obstacle_cells.emplace_back(std::make_pair(x, y - ystep));
+          } else {
+            obstacle_cells.emplace_back(std::make_pair(x, y - ystep));
+            obstacle_cells.emplace_back(std::make_pair(x - xstep, y));
+          }
+        }
+        obstacle_cells.emplace_back(std::make_pair(x, y));
+        errorprev = error;
+      }
+    }
+    return obstacle_cells;
+  }
+};
+
+void saveMapPgmAndYaml(const nav_msgs::msg::OccupancyGrid &map,
+                       const std::string &pgmFile,
+                       const std::string &yamlFile) {
+  printf("Received a %d X %d map @ %.3f m/pix", map.info.width,
+                       map.info.height, map.info.resolution);
+
+  printf("Writing map occupancy data to %s", pgmFile.c_str());
+  FILE *out = fopen(pgmFile.c_str(), "w");
+  if (!out) {
+    printf("Couldn't save map file to %s", pgmFile.c_str());
+    return;
+  }
+
+  fprintf(out, "P5\n# CREATOR: Map_generator.cpp %.3f m/pix\n%d %d\n255\n",
+          map.info.resolution, map.info.width, map.info.height);
+  for (unsigned int y = 0; y < map.info.height; y++) {
+    for (unsigned int x = 0; x < map.info.width; x++) {
+      unsigned int i = x + (map.info.height - y - 1) * map.info.width;
+      if (map.data[i] == 0) { // occ [0,0.1)
+        fputc(254, out);
+      } else if (map.data[i] == +100) { // occ (0.65,1]
+        fputc(000, out);
+      } else { // occ [0.1,0.65]
+        fputc(205, out);
+      }
+    }
+  }
+
+  fclose(out);
+
+  printf("Writing map occupancy data to %s", yamlFile.c_str());
+  FILE *yaml = fopen(yamlFile.c_str(), "w");
+
+  fprintf(yaml,
+          "image: %s\nresolution: %f\norigin: [%f, %f, %f]\nnegate: "
+          "0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n\n",
+          pgmFile.c_str(), map.info.resolution, map.info.origin.position.x,
+          map.info.origin.position.y, 0.0);
+
+  fclose(yaml);
+
+  printf("Done\n");
+}
+
+namespace po = boost::program_options;
+
+int main(int argn, char *args[]) {
+
+  std::string iFile, oYaml, oPgm;
+  float resolution = 0.1f;
+  QXmlStreamReader xml_reader;
+
+  // Declare some program options.
+  po::options_description desc("Allowed options");
+  desc.add_options()("help", "produce this help message")(
+      "input,i", po::value<std::string>(), "pedsim scenario XML")(
+      "output,o", po::value<std::string>(), "occupancy map file name")(
+      "resolution,r", po::value<float>(), "occupancy map resolution");
+
+  po::variables_map vm;
+  po::store(po::parse_command_line(argn, args, desc), vm);
+  po::notify(vm);
+
+  if (vm.count("help"))
+    std::cout << desc << std::endl;
+  if (vm.count("input")) {
+    iFile = vm["input"].as<std::string>();
+  }
+  if (vm.count("output")) {
+    oYaml = vm["output"].as<std::string>() + ".yaml";
+    oPgm = vm["output"].as<std::string>() + ".pgm";
+  }
+  if (vm.count("input") == 0 or vm.count("output") == 0) {
+    std::cerr << "WRONG USAGE";
+    std::cout << desc << std::endl;
+  } else {
+    if (vm.count("resolution")) {
+      resolution = vm["resolution"].as<float>();
+    }
+    std::cout << "Output occupancy map YAML: " << oYaml << std::endl;
+    std::cout << "Output occupancy map PNG: " << oYaml << std::endl;
+    std::cout << "Input pedsim XML: " << iFile.c_str() << std::endl;
+    std::cout << "Map resolution: " << resolution << " m/cell" << std::endl;
+  }
+
+  // Steal code from scenarioreader.cpp
+  // open file
+  QFile file(QString::fromStdString(iFile));
+  if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
+    printf("Couldn't open scenario file!");
+    return -1;
+  }
+
+  // read input
+  xml_reader.setDevice(&file);
+
+  std::vector<Obstacle> obs;
+  double x_min = std::numeric_limits<double>::max();
+  double x_max = -std::numeric_limits<double>::min();
+  double y_min = std::numeric_limits<double>::max();
+  double y_max = -std::numeric_limits<double>::min();
+
+  while (!xml_reader.atEnd()) {
+    xml_reader.readNext();
+    if (xml_reader.isStartElement()) {
+      const QString elementName = xml_reader.name().toString();
+      const QXmlStreamAttributes elementAttributes = xml_reader.attributes();
+
+      if ((elementName == "scenario") || (elementName == "welcome")) {
+        // nothing to do
+      } else if (elementName == "obstacle") {
+        const double x1 = elementAttributes.value("x1").toString().toDouble();
+        const double y1 = elementAttributes.value("y1").toString().toDouble();
+        const double x2 = elementAttributes.value("x2").toString().toDouble();
+        const double y2 = elementAttributes.value("y2").toString().toDouble();
+
+        if (x_min > x1)
+          x_min = x1;
+        if (x_min > x2)
+          x_min = x2;
+
+        if (x_max < x1)
+          x_max = x1;
+        if (x_max < x2)
+          x_max = x2;
+
+        if (y_min > y1)
+          y_min = y1;
+        if (y_min > y2)
+          y_min = y2;
+
+        if (y_max < y1)
+          y_max = y1;
+        if (y_max < y2)
+          y_max = y2;
+
+        // Write to nav_msgs
+        obs.emplace_back(Obstacle(x1, x2, y1, y2));
+      }
+    }
+  }
+
+  std::cout << "X is in the range (" << x_min << ", " << x_max << ")\n";
+  std::cout << "Y is in the range (" << y_min << ", " << y_max << ")\n";
+
+  std::vector<std::pair<double, double>> all_obs_points;
+  for (const Obstacle &ob : obs) {
+    auto this_obs_points = ob.toCells(resolution);
+    all_obs_points.insert(all_obs_points.begin(), this_obs_points.begin(),
+                          this_obs_points.end());
+  }
+
+  nav_msgs::msg::OccupancyGrid grid;
+  grid.info.height = (y_max - y_min) / resolution + 2;
+  grid.info.width = (x_max - x_min) / resolution + 2;
+  grid.info.origin.position.x = -10.0;
+  grid.info.origin.position.y = -10.0;
+  grid.info.resolution = resolution;
+
+  grid.data.resize(grid.info.height * grid.info.width);
+
+  for (const auto &point : all_obs_points) {
+    double col = std::round((point.first - x_min) / resolution);
+    double row = std::round((point.second - y_min) / resolution);
+
+    grid.data[row * grid.info.width + col] = 100;
+  }
+
+  saveMapPgmAndYaml(grid, oPgm, oYaml);
+  return 0;
+}
\ No newline at end of file
diff --git a/pedsim_simulator/src/rng.cpp b/pedsim_simulator/src/rng.cpp
index 4f13171d..9ad95894 100644
--- a/pedsim_simulator/src/rng.cpp
+++ b/pedsim_simulator/src/rng.cpp
@@ -1,38 +1,38 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
 
-#include <pedsim_simulator/rng.h>
+#include <pedsim_simulator/rng.hpp>
 
 // Initialize Static Variables
-RandomNumberGenerator* RandomNumberGenerator::instance;
+RandomNumberGenerator *RandomNumberGenerator::instance;
 
 RandomNumberGenerator::RandomNumberGenerator() {
   std::random_device randomDevice;
@@ -40,11 +40,12 @@ RandomNumberGenerator::RandomNumberGenerator() {
   randomEngine.seed(seed);
 }
 
-RandomNumberGenerator& RandomNumberGenerator::getInstance() {
-  if (instance == nullptr) instance = new RandomNumberGenerator;
+RandomNumberGenerator &RandomNumberGenerator::getInstance() {
+  if (instance == nullptr)
+    instance = new RandomNumberGenerator;
   return *instance;
 }
 
-std::default_random_engine& RandomNumberGenerator::operator()() {
+std::default_random_engine &RandomNumberGenerator::operator()() {
   return randomEngine;
 }
diff --git a/pedsim_simulator/src/scenarioreader.cpp b/pedsim_simulator/src/scenarioreader.cpp
index 2a60842b..c49c210e 100644
--- a/pedsim_simulator/src/scenarioreader.cpp
+++ b/pedsim_simulator/src/scenarioreader.cpp
@@ -1,46 +1,46 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/element/agentcluster.h>
-#include <pedsim_simulator/element/areawaypoint.h>
-#include <pedsim_simulator/element/attractionarea.h>
-#include <pedsim_simulator/element/obstacle.h>
-#include <pedsim_simulator/element/waitingqueue.h>
-#include <pedsim_simulator/scenarioreader.h>
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/element/agentcluster.hpp>
+#include <pedsim_simulator/element/areawaypoint.hpp>
+#include <pedsim_simulator/element/attractionarea.hpp>
+#include <pedsim_simulator/element/obstacle.hpp>
+#include <pedsim_simulator/element/waitingqueue.hpp>
+#include <pedsim_simulator/scenarioreader.hpp>
 
 #include <QFile>
 #include <iostream>
 
-#include <ros/ros.h>
+#include "rclcpp/rclcpp.hpp"
 
 ScenarioReader::ScenarioReader() {
   // initialize values
@@ -48,13 +48,14 @@ ScenarioReader::ScenarioReader() {
   currentSpawnArea = nullptr;
 }
 
-bool ScenarioReader::readFromFile(const QString& filename) {
-  ROS_DEBUG("Loading scenario file '%s'.", filename.toStdString().c_str());
+bool ScenarioReader::readFromFile(const QString &filename) {
+  RCLCPP_DEBUG(rclcpp::get_logger(""), "Loading scenario file '%s'.",
+               filename.toStdString().c_str());
 
   // open file
   QFile file(filename);
   if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
-    ROS_DEBUG("Couldn't open scenario file!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""), "Couldn't open scenario file!");
     return false;
   }
 
@@ -69,7 +70,7 @@ bool ScenarioReader::readFromFile(const QString& filename) {
   // check for errors
   if (xmlReader.hasError()) {
     // TODO - fix qstring and std string issues here to show error lines
-    ROS_DEBUG("Error while reading scenario file");
+    RCLCPP_DEBUG(rclcpp::get_logger(""), "Error while reading scenario file");
     return false;
   }
 
@@ -89,17 +90,17 @@ void ScenarioReader::processData() {
       const double y1 = elementAttributes.value("y1").toString().toDouble();
       const double x2 = elementAttributes.value("x2").toString().toDouble();
       const double y2 = elementAttributes.value("y2").toString().toDouble();
-      Obstacle* obs = new Obstacle(x1, y1, x2, y2);
+      Obstacle *obs = new Obstacle(x1, y1, x2, y2);
       SCENE.addObstacle(obs);
     } else if (elementName == "waypoint") {
       const QString id = elementAttributes.value("id").toString();
       const double x = elementAttributes.value("x").toString().toDouble();
       const double y = elementAttributes.value("y").toString().toDouble();
       const double r = elementAttributes.value("r").toString().toDouble();
-      // TODO - make the setting of waypoint behavior optional, 
+      // TODO - make the setting of waypoint behavior optional,
       // and default to SIMPLE.
       const int b = elementAttributes.value("b").toString().toInt();
-      AreaWaypoint* w = new AreaWaypoint(id, x, y, r);
+      AreaWaypoint *w = new AreaWaypoint(id, x, y, r);
       w->setBehavior(static_cast<Ped::Twaypoint::Behavior>(b));
       SCENE.addWaypoint(w);
     } else if (elementName == "queue") {
@@ -112,7 +113,7 @@ void ScenarioReader::processData() {
       const Ped::Tvector position(x, y);
       const Ped::Tangle direction = Ped::Tangle::fromDegree(directionValue);
 
-      WaitingQueue* queue = new WaitingQueue(id, position, direction);
+      WaitingQueue *queue = new WaitingQueue(id, position, direction);
       SCENE.addWaitingQueue(queue);
     } else if (elementName == "attraction") {
       const QString id = elementAttributes.value("id").toString();
@@ -125,7 +126,7 @@ void ScenarioReader::processData() {
       const double strength =
           elementAttributes.value("strength").toString().toDouble();
 
-      AttractionArea* attraction = new AttractionArea(id);
+      AttractionArea *attraction = new AttractionArea(id);
       attraction->setPosition(x, y);
       attraction->setSize(width, height);
       attraction->setStrength(strength);
@@ -137,7 +138,7 @@ void ScenarioReader::processData() {
       const double dx = elementAttributes.value("dx").toString().toDouble();
       const double dy = elementAttributes.value("dy").toString().toDouble();
       const int type = elementAttributes.value("type").toString().toInt();
-      AgentCluster* agentCluster = new AgentCluster(x, y, n);
+      AgentCluster *agentCluster = new AgentCluster(x, y, n);
       agentCluster->setDistribution(dx, dy);
 
       /// TODO - change agents Vmax distribution based on agent type
@@ -152,18 +153,19 @@ void ScenarioReader::processData() {
       const double dx = elementAttributes.value("dx").toString().toDouble();
       const double dy = elementAttributes.value("dy").toString().toDouble();
       const int type = elementAttributes.value("type").toString().toInt();
-      AgentCluster* agentCluster = new AgentCluster(x, y, n);
+      AgentCluster *agentCluster = new AgentCluster(x, y, n);
       agentCluster->setDistribution(dx, dy);
       agentCluster->setType(static_cast<Ped::Tagent::AgentType>(type));
       SCENE.addAgentCluster(agentCluster);
       currentAgents = agentCluster;
 
-      SpawnArea* spawn_area = new SpawnArea(x, y, n, dx, dy);
+      SpawnArea *spawn_area = new SpawnArea(x, y, n, dx, dy);
       SCENE.addSpawnArea(spawn_area);
       currentSpawnArea = spawn_area;
     } else if (elementName == "addwaypoint") {
       if (currentAgents == nullptr) {
-        ROS_DEBUG("Invalid <addwaypoint> element outside of agent element!");
+        RCLCPP_DEBUG(rclcpp::get_logger(""),
+                     "Invalid <addwaypoint> element outside of agent element!");
         return;
       }
 
@@ -176,7 +178,8 @@ void ScenarioReader::processData() {
       }
     } else if (elementName == "addqueue") {
       if (currentAgents == nullptr) {
-        ROS_DEBUG("Invalid <addqueue> element outside of agent element!");
+        RCLCPP_DEBUG(rclcpp::get_logger(""),
+                     "Invalid <addqueue> element outside of agent element!");
         return;
       }
 
@@ -185,7 +188,8 @@ void ScenarioReader::processData() {
       currentAgents->addWaitingQueue(SCENE.getWaitingQueueByName(id));
     } else {
       // inform the user about invalid elements
-      ROS_DEBUG("Unknown element: <%s>", elementName.toStdString().c_str());
+      RCLCPP_DEBUG(rclcpp::get_logger(""), "Unknown element: <%s>",
+                   elementName.toStdString().c_str());
     }
   } else if (xmlReader.isEndElement()) {
     const QString elementName = xmlReader.name().toString();
diff --git a/pedsim_simulator/src/scene.cpp b/pedsim_simulator/src/scene.cpp
index ca2755db..34fa1e59 100644
--- a/pedsim_simulator/src/scene.cpp
+++ b/pedsim_simulator/src/scene.cpp
@@ -1,57 +1,57 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/config.h>
-#include <pedsim_simulator/scene.h>
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/config.hpp>
+#include <pedsim_simulator/scene.hpp>
 
-#include <pedsim/ped_tree.h>
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/element/agentcluster.h>
-#include <pedsim_simulator/element/areawaypoint.h>
-#include <pedsim_simulator/element/attractionarea.h>
-#include <pedsim_simulator/element/obstacle.h>
-#include <pedsim_simulator/element/waitingqueue.h>
-#include <pedsim_simulator/force/alongwallforce.h>
-#include <pedsim_simulator/force/groupcoherenceforce.h>
-#include <pedsim_simulator/force/groupgazeforce.h>
-#include <pedsim_simulator/force/grouprepulsionforce.h>
-#include <pedsim_simulator/force/randomforce.h>
 #include <QGraphicsScene>
-
-#include <ros/ros.h>
+#include <pedsim/ped_tree.h>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/element/agentcluster.hpp>
+#include <pedsim_simulator/element/areawaypoint.hpp>
+#include <pedsim_simulator/element/attractionarea.hpp>
+#include <pedsim_simulator/element/obstacle.hpp>
+#include <pedsim_simulator/element/waitingqueue.hpp>
+#include <pedsim_simulator/force/alongwallforce.hpp>
+#include <pedsim_simulator/force/groupcoherenceforce.hpp>
+#include <pedsim_simulator/force/groupgazeforce.hpp>
+#include <pedsim_simulator/force/grouprepulsionforce.hpp>
+#include <pedsim_simulator/force/randomforce.hpp>
+
+#include "rclcpp/rclcpp.hpp"
 
 // initialize static value
-Scene* Scene::Scene::instance = nullptr;
+Scene *Scene::Scene::instance = nullptr;
 
-Scene::Scene(QObject* parent) {
+Scene::Scene(QObject *parent) {
   // initialize values
   sceneTime = 0;
 
@@ -70,9 +70,10 @@ Scene::~Scene() {
   clear();
 }
 
-Scene& Scene::getInstance() {
+Scene &Scene::getInstance() {
   // create an instance if there hasn't been one yet
-  if (instance == nullptr) instance = new Scene();
+  if (instance == nullptr)
+    instance = new Scene();
   return *instance;
 }
 
@@ -93,17 +94,17 @@ void Scene::clear() {
   obstacles.clear();
 
   // remove all agents groups
-  foreach (AttractionArea* attraction, attractions)
+  for (AttractionArea *attraction : attractions)
     delete attraction;
   attractions.clear();
 
   // remove all agents clusters
-  foreach (AgentCluster* agentCluster, agentClusters)
+  for (AgentCluster *agentCluster : agentClusters)
     delete agentCluster;
   agentClusters.clear();
 
   // remove all agents groups
-  foreach (AgentGroup* group, agentGroups)
+  for (AgentGroup *group : agentGroups)
     delete group;
   agentGroups.clear();
 
@@ -119,7 +120,7 @@ QRectF Scene::itemsBoundingRect() const {
 
   // iterate over all elements
   // → agents
-  foreach (Agent* agent, agents) {
+  for (Agent *agent : agents) {
     if (!boundingRect.contains(agent->getVisiblePosition())) {
       // resize rectangle to include point
       boundingRect |=
@@ -127,7 +128,7 @@ QRectF Scene::itemsBoundingRect() const {
     }
   }
   // → obstacles
-  foreach (Obstacle* obstacle, obstacles) {
+  for (Obstacle *obstacle : obstacles) {
     QPointF startPoint = obstacle->getVisiblePosition();
     QPointF endPoint(obstacle->getbx(), obstacle->getby());
 
@@ -138,9 +139,9 @@ QRectF Scene::itemsBoundingRect() const {
     }
   }
   // → waypoints
-  foreach (Waypoint* waypoint, waypoints) {
-    AreaWaypoint* areaWaypoint = dynamic_cast<AreaWaypoint*>(waypoint);
-    WaitingQueue* waitingQueue = dynamic_cast<WaitingQueue*>(waypoint);
+  for (Waypoint *waypoint : waypoints) {
+    AreaWaypoint *areaWaypoint = dynamic_cast<AreaWaypoint *>(waypoint);
+    WaitingQueue *waitingQueue = dynamic_cast<WaitingQueue *>(waypoint);
 
     // → area waypoints
     if (areaWaypoint != nullptr) {
@@ -162,7 +163,7 @@ QRectF Scene::itemsBoundingRect() const {
     }
   }
   // → agent clusters
-  foreach (AgentCluster* agentCluster, agentClusters) {
+  for (AgentCluster *agentCluster : agentClusters) {
     if (!boundingRect.contains(agentCluster->getVisiblePosition())) {
       // resize rectangle to include point
       boundingRect |= QRectF(
@@ -173,62 +174,64 @@ QRectF Scene::itemsBoundingRect() const {
   return boundingRect;
 }
 
-const QList<Agent*>& Scene::getAgents() const { return agents; }
+const QList<Agent *> &Scene::getAgents() const { return agents; }
 
-QList<AgentGroup*> Scene::getGroups() { return agentGroups; }
+QList<AgentGroup *> Scene::getGroups() { return agentGroups; }
 
-QMap<QString, AttractionArea*> Scene::getAttractions() { return attractions; }
+QMap<QString, AttractionArea *> Scene::getAttractions() { return attractions; }
 
-Agent* Scene::getAgentById(int idIn) const {
-  foreach (Agent* currentAgent, agents) {
-    if (idIn == currentAgent->getId()) return currentAgent;
+Agent *Scene::getAgentById(int idIn) const {
+  for (Agent *currentAgent : agents) {
+    if (idIn == currentAgent->getId())
+      return currentAgent;
   }
 
   return nullptr;
 }
 
-const QList<Obstacle*>& Scene::getObstacles() const { return obstacles; }
+const QList<Obstacle *> &Scene::getObstacles() const { return obstacles; }
 
-const QMap<QString, Waypoint*>& Scene::getWaypoints() const {
+const QMap<QString, Waypoint *> &Scene::getWaypoints() const {
   return waypoints;
 }
 
-const QMap<QString, AttractionArea*>& Scene::getAttractions() const {
+const QMap<QString, AttractionArea *> &Scene::getAttractions() const {
   return attractions;
 }
 
-Waypoint* Scene::getWaypointById(int idIn) const {
-  foreach (Waypoint* currentWaypoint, waypoints) {
-    if (idIn == currentWaypoint->getId()) return currentWaypoint;
+Waypoint *Scene::getWaypointById(int idIn) const {
+  for (Waypoint *currentWaypoint : waypoints) {
+    if (idIn == currentWaypoint->getId())
+      return currentWaypoint;
   }
 
   return nullptr;
 }
 
-Waypoint* Scene::getWaypointByName(const QString& nameIn) const {
+Waypoint *Scene::getWaypointByName(const QString &nameIn) const {
   return waypoints.value(nameIn);
 }
 
-WaitingQueue* Scene::getWaitingQueueByName(const QString& nameIn) const {
-  Waypoint* waypoint = waypoints.value(nameIn);
-  return dynamic_cast<WaitingQueue*>(waypoint);
+WaitingQueue *Scene::getWaitingQueueByName(const QString &nameIn) const {
+  Waypoint *waypoint = waypoints.value(nameIn);
+  return dynamic_cast<WaitingQueue *>(waypoint);
 }
 
-const QList<AgentCluster*>& Scene::getAgentClusters() const {
+const QList<AgentCluster *> &Scene::getAgentClusters() const {
   return agentClusters;
 }
 
-AttractionArea* Scene::getAttractionByName(const QString& nameIn) const {
+AttractionArea *Scene::getAttractionByName(const QString &nameIn) const {
   return attractions.value(nameIn);
 }
 
-AttractionArea* Scene::getClosestAttraction(const Ped::Tvector& positionIn,
-                                            double* distanceOut) const {
+AttractionArea *Scene::getClosestAttraction(const Ped::Tvector &positionIn,
+                                            double *distanceOut) const {
   double minDistance = INFINITY;
-  AttractionArea* minArg = nullptr;
+  AttractionArea *minArg = nullptr;
 
   // find the attraction with minimal distance
-  foreach (AttractionArea* attraction, attractions) {
+  for (AttractionArea *attraction : attractions) {
     double distance = (attraction->getPosition() - positionIn).length();
     if (distance < minDistance) {
       minDistance = distance;
@@ -237,7 +240,8 @@ AttractionArea* Scene::getClosestAttraction(const Ped::Tvector& positionIn,
   }
 
   // additionally return distance
-  if (distanceOut != nullptr) *distanceOut = minDistance;
+  if (distanceOut != nullptr)
+    *distanceOut = minDistance;
 
   return minArg;
 }
@@ -247,41 +251,42 @@ double Scene::getTime() const { return sceneTime; }
 bool Scene::hasStarted() const { return (sceneTime == 0); }
 
 void Scene::dissolveClusters() {
-  foreach (AgentCluster* cluster, agentClusters) {
-    QList<Agent*> newAgents = cluster->dissolve();
+  for (AgentCluster *cluster : agentClusters) {
+    QList<Agent *> newAgents = cluster->dissolve();
 
     // divide agents into groups
-    QList<AgentGroup*> newGroups = AgentGroup::divideAgents(newAgents);
+    QList<AgentGroup *> newGroups = AgentGroup::divideAgents(newAgents);
 
     // apply group forces
-    foreach (AgentGroup* currentGroup, newGroups) {
+    for (AgentGroup *currentGroup : newGroups) {
       if (currentGroup->memberCount() == 1) {
         // we don't need one agent groups
         delete currentGroup;
+        continue;
       } else if (currentGroup->memberCount() > 1) {
         // keep track of groups
         agentGroups.append(currentGroup);
       }
 
       // add group's agents to the scene
-      foreach (Agent* currentAgent, currentGroup->getMembers()) {
+      for (Agent *currentAgent : currentGroup->getMembers()) {
         currentAgent->setWaypoints(cluster->getWaypoints());
 
         if (currentGroup->memberCount() > 1) {
           currentAgent->setGroup(currentGroup);
           // → Gaze Force
-          GroupGazeForce* gazeForce = new GroupGazeForce(currentAgent);
+          GroupGazeForce *gazeForce = new GroupGazeForce(currentAgent);
           gazeForce->setGroup(currentGroup);
           currentAgent->addForce(gazeForce);
 
           // → Coherence Force
-          GroupCoherenceForce* coherenceForce =
+          GroupCoherenceForce *coherenceForce =
               new GroupCoherenceForce(currentAgent);
           coherenceForce->setGroup(currentGroup);
           currentAgent->addForce(coherenceForce);
 
           // → Repulsion Force
-          GroupRepulsionForce* repulsionForce =
+          GroupRepulsionForce *repulsionForce =
               new GroupRepulsionForce(currentAgent);
           repulsionForce->setGroup(currentGroup);
           currentAgent->addForce(repulsionForce);
@@ -296,7 +301,7 @@ void Scene::dissolveClusters() {
   agentClusters.clear();
 }
 
-void Scene::addAgent(Agent* agent) {
+void Scene::addAgent(Agent *agent) {
   // keep track of the agent
   agents.append(agent);
 
@@ -305,17 +310,17 @@ void Scene::addAgent(Agent* agent) {
 
   // add additional forces
   // → Random Force
-  RandomForce* randomForce = new RandomForce(agent);
+  RandomForce *randomForce = new RandomForce(agent);
   agent->addForce(randomForce);
   // → Along Wall Force
-  AlongWallForce* alongWallForce = new AlongWallForce(agent);
+  AlongWallForce *alongWallForce = new AlongWallForce(agent);
   agent->addForce(alongWallForce);
 
   // inform users
   emit agentAdded(agent->getId());
 }
 
-void Scene::addObstacle(Obstacle* obstacle) {
+void Scene::addObstacle(Obstacle *obstacle) {
   // keep track of the obstacle
   obstacles.append(obstacle);
 
@@ -326,7 +331,7 @@ void Scene::addObstacle(Obstacle* obstacle) {
   emit obstacleAdded(obstacle->getid());
 }
 
-void Scene::addWaypoint(Waypoint* waypoint) {
+void Scene::addWaypoint(Waypoint *waypoint) {
   // keep track of the waypoints
   waypoints.insert(waypoint->getName(), waypoint);
 
@@ -337,7 +342,7 @@ void Scene::addWaypoint(Waypoint* waypoint) {
   emit waypointAdded(waypoint->getId());
 }
 
-void Scene::addAgentCluster(AgentCluster* clusterIn) {
+void Scene::addAgentCluster(AgentCluster *clusterIn) {
   // keep track of agent clusters
   agentClusters.append(clusterIn);
 
@@ -345,24 +350,26 @@ void Scene::addAgentCluster(AgentCluster* clusterIn) {
   emit agentClusterAdded(clusterIn->getId());
 }
 
-void Scene::addWaitingQueue(WaitingQueue* queueIn) {
+void Scene::addWaitingQueue(WaitingQueue *queueIn) {
   // sanity checks
   if (queueIn == nullptr) {
-    ROS_DEBUG("Cannot add null to the list of waiting queues!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Cannot add null to the list of waiting queues!");
     return;
   }
 
   // add waiting queue as waypoint to the scene
-  addWaypoint(dynamic_cast<Waypoint*>(queueIn));
+  addWaypoint(dynamic_cast<Waypoint *>(queueIn));
 
   // inform users
   emit waitingQueueAdded(queueIn->getName());
 }
 
-void Scene::addAttraction(AttractionArea* attractionIn) {
+void Scene::addAttraction(AttractionArea *attractionIn) {
   // sanity checks
   if (attractionIn == nullptr) {
-    ROS_DEBUG("Cannot add null to the list of attractions!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Cannot add null to the list of attractions!");
     return;
   }
 
@@ -373,23 +380,24 @@ void Scene::addAttraction(AttractionArea* attractionIn) {
   emit attractionAdded(attractionIn->getName());
 }
 
-bool Scene::removeAgent(Agent* agent) {
+bool Scene::removeAgent(Agent *agent) {
   // don't keep track of agent anymore
   agents.removeAll(agent);
 
   // remove agent from all groups
-  QList<AgentGroup*> groupsToRemove;
-  foreach (AgentGroup* currentGroup, agentGroups) {
+  QList<AgentGroup *> groupsToRemove;
+  for (AgentGroup *currentGroup : agentGroups) {
     currentGroup->removeMember(agent);
 
     // check whether the group is empty and can be removed
-    if (currentGroup->isEmpty()) groupsToRemove.append(currentGroup);
+    if (currentGroup->isEmpty())
+      groupsToRemove.append(currentGroup);
   }
 
   // remove unnecessary groups
   // note: use QObject::deleteLater() to keep the group valid till after the
   // agent's destructor
-  foreach (AgentGroup* currentGroup, groupsToRemove) {
+  for (AgentGroup *currentGroup : groupsToRemove) {
     agentGroups.removeAll(currentGroup);
     currentGroup->deleteLater();
   }
@@ -401,7 +409,7 @@ bool Scene::removeAgent(Agent* agent) {
   return Ped::Tscene::removeAgent(agent);
 }
 
-bool Scene::removeObstacle(Obstacle* obstacle) {
+bool Scene::removeObstacle(Obstacle *obstacle) {
   // don't keep track of obstacle anymore
   obstacles.removeAll(obstacle);
 
@@ -412,13 +420,13 @@ bool Scene::removeObstacle(Obstacle* obstacle) {
   return Ped::Tscene::removeObstacle(obstacle);
 }
 
-bool Scene::removeWaypoint(Waypoint* waypoint) {
+bool Scene::removeWaypoint(Waypoint *waypoint) {
   // don't keep track of waypoint anymore
   waypoints.remove(waypoint->getName());
 
   // remove waypoint from all agent clusters
   // (it is also removed from all agents in Ped::Tscene::removeWaypoint())
-  foreach (AgentCluster* cluster, agentClusters)
+  for (AgentCluster *cluster : agentClusters)
     cluster->removeWaypoint(waypoint);
 
   // inform users
@@ -428,12 +436,13 @@ bool Scene::removeWaypoint(Waypoint* waypoint) {
   return Ped::Tscene::removeWaypoint(waypoint);
 }
 
-bool Scene::removeAgentCluster(AgentCluster* clusterIn) {
+bool Scene::removeAgentCluster(AgentCluster *clusterIn) {
   // don't keep track of agent cluster anymore
   int removedClusters = agentClusters.removeAll(clusterIn);
 
   // report when the cluster wasn't part of the scene
-  if (removedClusters == 0) return false;
+  if (removedClusters == 0)
+    return false;
 
   // inform users
   emit agentClusterRemoved(clusterIn->getId());
@@ -445,10 +454,11 @@ bool Scene::removeAgentCluster(AgentCluster* clusterIn) {
   return true;
 }
 
-bool Scene::removeWaitingQueue(WaitingQueue* queueIn) {
+bool Scene::removeWaitingQueue(WaitingQueue *queueIn) {
   // sanity checks
   if (queueIn == nullptr) {
-    ROS_DEBUG("Cannot remove null from the list of waiting queues!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Cannot remove null from the list of waiting queues!");
     return false;
   }
 
@@ -456,7 +466,8 @@ bool Scene::removeWaitingQueue(WaitingQueue* queueIn) {
   int removedCount = waypoints.remove(queueIn->getName());
 
   // check whether the queue was removed
-  if (removedCount == 0) return false;
+  if (removedCount == 0)
+    return false;
 
   // inform users
   emit waitingQueueRemoved(queueIn->getName());
@@ -468,10 +479,11 @@ bool Scene::removeWaitingQueue(WaitingQueue* queueIn) {
   return true;
 }
 
-bool Scene::removeAttraction(AttractionArea* attractionInIn) {
+bool Scene::removeAttraction(AttractionArea *attractionInIn) {
   // sanity checks
   if (attractionInIn == nullptr) {
-    ROS_DEBUG("Cannot remove null from the list of attractions!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Cannot remove null from the list of attractions!");
     return false;
   }
 
@@ -479,7 +491,8 @@ bool Scene::removeAttraction(AttractionArea* attractionInIn) {
   int removedCount = attractions.remove(attractionInIn->getName());
 
   // check whether the queue was removed
-  if (removedCount == 0) return false;
+  if (removedCount == 0)
+    return false;
 
   // inform users
   emit attractionRemoved(attractionInIn->getName());
@@ -491,16 +504,16 @@ bool Scene::removeAttraction(AttractionArea* attractionInIn) {
   return true;
 }
 
-std::set<const Ped::Tagent*> Scene::getNeighbors(double x, double y,
-                                                 double maxDist) {
-  std::set<const Ped::Tagent*> potentialNeighbours =
+std::set<const Ped::Tagent *> Scene::getNeighbors(double x, double y,
+                                                  double maxDist) {
+  std::set<const Ped::Tagent *> potentialNeighbours =
       Ped::Tscene::getNeighbors(x, y, maxDist);
   Ped::Tvector position(x, y);
 
   // filter according to euclidean distance
   auto agentIter = potentialNeighbours.begin();
   while (agentIter != potentialNeighbours.end()) {
-    const Ped::Tagent& candidate = **agentIter;
+    const Ped::Tagent &candidate = **agentIter;
     Ped::Tvector candidatePos = candidate.getPosition();
     double distance = (candidatePos - position).length();
 
@@ -517,7 +530,8 @@ std::set<const Ped::Tagent*> Scene::getNeighbors(double x, double y,
 
 void Scene::moveAllAgents() {
   // inform users when there is going to be the first update
-  if (sceneTime == 0) emit aboutToStart();
+  if (sceneTime == 0)
+    emit aboutToStart();
 
   // clean up scene if necessary
   double cleanupInterval = 2.0;
@@ -528,7 +542,8 @@ void Scene::moveAllAgents() {
   emit aboutToMoveAgents();
 
   // dissolve agent clusters
-  if (!agentClusters.isEmpty()) dissolveClusters();
+  if (!agentClusters.isEmpty())
+    dissolveClusters();
 
   // update scene time
   sceneTime += CONFIG.getTimeStepSize();
@@ -553,7 +568,8 @@ void Scene::moveAllAgents() {
                           agent->getx(), agent->gety());
     if (d < agent_next_wp->getRadius()) {
       // At sink waypoint.
-      ROS_DEBUG_STREAM("Killing agent: " << agent->getId());
+      RCLCPP_DEBUG_STREAM(rclcpp::get_logger(""),
+                          "Killing agent: " << agent->getId());
       removeAgent(agent);
     }
   }
diff --git a/pedsim_simulator/src/simulate_diff_drive_robot.cpp b/pedsim_simulator/src/simulate_diff_drive_robot.cpp
index cf14d3d4..4cf4768f 100644
--- a/pedsim_simulator/src/simulate_diff_drive_robot.cpp
+++ b/pedsim_simulator/src/simulate_diff_drive_robot.cpp
@@ -1,7 +1,9 @@
-#include <geometry_msgs/Twist.h>
-#include <ros/ros.h>
+#include "rclcpp/rclcpp.hpp"
 
-#include <tf/transform_broadcaster.h>
+#include "tf2_ros/transform_broadcaster.h"
+#include "tf2_ros/transform_listener.h"
+#include <geometry_msgs/msgs/twist.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 
 #include <boost/thread.hpp>
 #include <boost/thread/mutex.hpp>
@@ -10,7 +12,7 @@ double g_updateRate, g_simulationFactor;
 std::string g_worldFrame, g_robotFrame;
 geometry_msgs::Twist g_currentTwist;
 tf::Transform g_currentPose;
-boost::shared_ptr<tf::TransformBroadcaster> g_transformBroadcaster;
+std::shared_ptr<tf2_ros::TransformBroadcaster> g_transformBroadcaster;
 boost::mutex mutex;
 
 /// Simulates robot motion of a differential-drive robot with translational and
@@ -55,24 +57,24 @@ void updateLoop() {
   }
 }
 
-void onTwistReceived(const geometry_msgs::Twist::ConstPtr& twist) {
+void onTwistReceived(const geometry_msgs::Twist::ConstPtr &twist) {
   boost::mutex::scoped_lock lock(mutex);
   g_currentTwist = *twist;
 }
 
-int main(int argc, char** argv) {
-  ros::init(argc, argv, "simulate_diff_drive_robot");
-  ros::NodeHandle nodeHandle("");
-  ros::NodeHandle privateHandle("~");
+int main(int argc, char **argv) {
+  auto private_node_ = rclcpp::Node::make_shared("simulate_diff_drive_robot");
 
   // Process parameters
   privateHandle.param<std::string>("world_frame", g_worldFrame, "odom");
   privateHandle.param<std::string>("robot_frame", g_robotFrame,
                                    "base_footprint");
 
-  privateHandle.param<double>("/pedsim_simulator/simulation_factor", g_simulationFactor,
-                              1.0);  // set to e.g. 2.0 for 2x speed
-  privateHandle.param<double>("/pedsim_simulator/update_rate", g_updateRate, 25.0);  // in Hz
+  privateHandle.param<double>("/pedsim_simulator/simulation_factor",
+                              g_simulationFactor,
+                              1.0); // set to e.g. 2.0 for 2x speed
+  privateHandle.param<double>("/pedsim_simulator/update_rate", g_updateRate,
+                              25.0); // in Hz
 
   double initialX = 0.0, initialY = 0.0, initialTheta = 0.0;
   privateHandle.param<double>("pose_initial_x", initialX, 0.0);
@@ -84,7 +86,8 @@ int main(int argc, char** argv) {
   g_currentPose.setRotation(tf::createQuaternionFromRPY(0, 0, initialTheta));
 
   // Create ROS subscriber and TF broadcaster
-  g_transformBroadcaster.reset(new tf::TransformBroadcaster());
+  g_transformBroadcaster =
+      std::make_shared<tf2_ros::TransformBroadcaster>(this);
   ros::Subscriber twistSubscriber =
       nodeHandle.subscribe<geometry_msgs::Twist>("cmd_vel", 3, onTwistReceived);
 
diff --git a/pedsim_simulator/src/simulator.cpp b/pedsim_simulator/src/simulator.cpp
index 010b4223..c4f2d106 100644
--- a/pedsim_simulator/src/simulator.cpp
+++ b/pedsim_simulator/src/simulator.cpp
@@ -1,60 +1,59 @@
 /**
-* Copyright 2014-2016 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
+ * Copyright 2014-2016 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
 
 #include <QApplication>
 #include <algorithm>
 
-#include <pedsim_simulator/element/agentcluster.h>
-#include <pedsim_simulator/scene.h>
-#include <pedsim_simulator/simulator.h>
+#include <pedsim_simulator/element/agentcluster.hpp>
+#include <pedsim_simulator/scene.hpp>
+#include <pedsim_simulator/simulator.hpp>
 
-#include <pedsim_utils/geometry.h>
+#include <pedsim_utils/geometry.hpp>
 
 using namespace pedsim;
-
-Simulator::Simulator(const ros::NodeHandle& node) : nh_(node) {
-  dynamic_reconfigure::Server<SimConfig>::CallbackType f;
-  f = boost::bind(&Simulator::reconfigureCB, this, _1, _2);
-  server_.setCallback(f);
+using namespace pedsim_msgs::msg;
+using std::placeholders::_1;
+using std::placeholders::_2;
+
+Simulator::Simulator(const std::string &name) : Node(name) {
+  // dynamic_reconfigure::Server<SimConfig>::CallbackType f;
+  // f = boost::bind(&Simulator::reconfigureCB, this, _1, _2);
+  // server_.setCallback(f);
 }
 
 Simulator::~Simulator() {
-  // shutdown service servers and publishers
-  pub_obstacles_.shutdown();
-  pub_agent_states_.shutdown();
-  pub_agent_groups_.shutdown();
-  pub_robot_position_.shutdown();
+  // shutdown service servers
 
-  srv_pause_simulation_.shutdown();
-  srv_unpause_simulation_.shutdown();
+  // srv_pause_simulation_.shutdown();
+  // srv_unpause_simulation_.shutdown();
 
   delete robot_;
   QCoreApplication::exit(0);
@@ -62,99 +61,122 @@ Simulator::~Simulator() {
 
 bool Simulator::initializeSimulation() {
   int queue_size = 0;
-  nh_.param<int>("default_queue_size", queue_size, 1);
-  ROS_INFO_STREAM("Using default queue size of "
-                  << queue_size << " for publisher queues... "
-                  << (queue_size == 0
-                          ? "NOTE: This means the queues are of infinite size!"
-                          : ""));
-
-  // setup ros publishers
-  pub_obstacles_ =
-      nh_.advertise<pedsim_msgs::LineObstacles>("simulated_walls", queue_size);
-  pub_agent_states_ =
-      nh_.advertise<pedsim_msgs::AgentStates>("simulated_agents", queue_size);
-  pub_agent_groups_ =
-      nh_.advertise<pedsim_msgs::AgentGroups>("simulated_groups", queue_size);
-  pub_robot_position_ =
-      nh_.advertise<nav_msgs::Odometry>("robot_position", queue_size);
-
-  // services
-  srv_pause_simulation_ = nh_.advertiseService(
-      "pause_simulation", &Simulator::onPauseSimulation, this);
-  srv_unpause_simulation_ = nh_.advertiseService(
-      "unpause_simulation", &Simulator::onUnpauseSimulation, this);
+  std::string scene_file_param;
+  int op_mode = 1;
 
-  // setup TF listener and other pointers
-  transform_listener_.reset(new tf::TransformListener());
+  paused_ = false;
   robot_ = nullptr;
 
-  // load additional parameters
-  std::string scene_file_param;
-  nh_.param<std::string>("scene_file", scene_file_param, "");
+  declare_parameter("scene_file", rclcpp::ParameterValue(""));
+  get_parameter("scene_file", scene_file_param);
   if (scene_file_param == "") {
-    ROS_ERROR_STREAM("Invalid scene file: " << scene_file_param);
+    RCLCPP_ERROR_STREAM(get_logger(),
+                        "Invalid scene file: " << scene_file_param);
     return false;
   }
 
-  ROS_INFO_STREAM("Loading scene [" << scene_file_param << "] for simulation");
+  RCLCPP_INFO_STREAM(get_logger(), "Loading scene [" << scene_file_param
+                                                     << "] for simulation");
 
   const QString scenefile = QString::fromStdString(scene_file_param);
   ScenarioReader scenario_reader;
   if (scenario_reader.readFromFile(scenefile) == false) {
-    ROS_ERROR_STREAM(
+    RCLCPP_ERROR_STREAM(
+        get_logger(),
         "Could not load the scene file, please check the paths and param "
         "names : "
-        << scene_file_param);
+            << scene_file_param);
     return false;
   }
+  // load additional parameters
+  declare_parameter("enable_groups", rclcpp::ParameterValue(true));
+  get_parameter("enable_groups", CONFIG.groups_enabled);
+  declare_parameter("max_robot_speed", rclcpp::ParameterValue(1.5));
+  get_parameter("max_robot_speed", CONFIG.max_robot_speed);
+  declare_parameter("update_rate", rclcpp::ParameterValue(25.0));
+  get_parameter("update_rate", CONFIG.updateRate);
+  declare_parameter("simulation_factor", rclcpp::ParameterValue(1.0));
+  get_parameter("simulation_factor", CONFIG.simulationFactor);
+  declare_parameter("robot_mode", rclcpp::ParameterValue(1));
+  get_parameter("robot_mode", op_mode);
+  declare_parameter("default_queue_size", rclcpp::ParameterValue(1));
+  get_parameter("default_queue_size", queue_size);
+  declare_parameter("robot_radius", rclcpp::ParameterValue(0.35));
+  get_parameter("robot_radius", robot_radius_);
+  declare_parameter("agent_radius", rclcpp::ParameterValue(0.35));
+  get_parameter("agent_radius", agent_radius_);
+  declare_parameter("force_factor_social", rclcpp::ParameterValue(10.0));
+  get_parameter("force_factor_social", force_factor_social_);
 
-  nh_.param<bool>("enable_groups", CONFIG.groups_enabled, true);
-  nh_.param<double>("max_robot_speed", CONFIG.max_robot_speed, 1.5);
-  nh_.param<double>("update_rate", CONFIG.updateRate, 25.0);
-  nh_.param<double>("simulation_factor", CONFIG.simulationFactor, 1.0);
-
-  int op_mode = 1;
-  nh_.param<int>("robot_mode", op_mode, 1);
   CONFIG.robot_mode = static_cast<RobotMode>(op_mode);
+  RCLCPP_INFO_STREAM(
+      get_logger(),
+      "Using default queue size of "
+          << queue_size << " for publisher queues... "
+          << (queue_size == 0
+                  ? "NOTE: This means the queues are of infinite size!"
+                  : ""));
+
+  // setup ros2 publishers
+  pub_obstacles_ = create_publisher<LineObstacles>(
+      "pedsim_simulator/simulated_walls", queue_size);
+  pub_agent_states_ = create_publisher<AgentStates>(
+      "pedsim_simulator/simulated_agents", queue_size);
+  pub_agent_groups_ = create_publisher<AgentGroups>(
+      "pedsim_simulator/simulated_groups", queue_size);
+  pub_robot_position_ = create_publisher<nav_msgs::msg::Odometry>(
+      "pedsim_simulator/robot_position", queue_size);
 
-  paused_ = false;
+  // services
+  srv_pause_simulation_ = create_service<std_srvs::srv::Empty>(
+      "pedsim_simulator/pause_simulation",
+      std::bind(&Simulator::onPauseSimulation, this, _1, _2));
+  srv_unpause_simulation_ = create_service<std_srvs::srv::Empty>(
+      "pedsim_simulator/unpause_simulation",
+      std::bind(&Simulator::onUnpauseSimulation, this, _1, _2));
+  // setup TF2 listener
+  tf_buffer_ = std::make_shared<tf2_ros::Buffer>(get_clock());
+  auto timer_interface = std::make_shared<tf2_ros::CreateTimerROS>(
+      get_node_base_interface(), get_node_timers_interface());
+  tf_buffer_->setCreateTimerInterface(timer_interface);
+  tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
 
   spawn_timer_ =
-      nh_.createTimer(ros::Duration(5.0), &Simulator::spawnCallback, this);
-
+      create_wall_timer(1000ms, std::bind(&Simulator::spawnCallback, this));
   return true;
 }
 
 void Simulator::runSimulation() {
-  ros::Rate r(CONFIG.updateRate);
-
-  while (ros::ok()) {
+  rclcpp::Rate r(CONFIG.updateRate);
+  while (rclcpp::ok()) {
     if (!robot_) {
       // setup the robot
-      for (Agent* agent : SCENE.getAgents()) {
+      for (Agent *agent : SCENE.getAgents()) {
+        agent->setForceFactorSocial(force_factor_social_);
         if (agent->getType() == Ped::Tagent::ROBOT) {
           robot_ = agent;
+          agent->SetRadius(robot_radius_);
           last_robot_orientation_ =
               poseFrom2DVelocity(robot_->getvx(), robot_->getvy());
-        }
+        } else
+          agent->SetRadius(agent_radius_);
       }
     }
-
     if (!paused_) {
       updateRobotPositionFromTF();
       SCENE.moveAllAgents();
-
       publishAgents();
       publishGroups();
       publishRobotPosition();
-      publishObstacles();  // TODO - no need to do this all the time.
+      publishObstacles(); // TODO - no need to do this all the time.
     }
-    ros::spinOnce();
+
+    rclcpp::spin_some(shared_from_this());
     r.sleep();
   }
 }
 
+/*
 void Simulator::reconfigureCB(pedsim_simulator::PedsimSimulatorConfig& config,
                               uint32_t level) {
   CONFIG.updateRate = config.update_rate;
@@ -178,29 +200,28 @@ void Simulator::reconfigureCB(pedsim_simulator::PedsimSimulatorConfig& config,
   ROS_INFO_STREAM("Updated sim with live config: Rate=" << CONFIG.updateRate
                                                         << " incoming rate="
                                                         << config.update_rate);
-}
-
-bool Simulator::onPauseSimulation(std_srvs::Empty::Request& request,
-                                  std_srvs::Empty::Response& response) {
+}*/
+void Simulator::onPauseSimulation(
+    const std::shared_ptr<std_srvs::srv::Empty::Request> request,
+    std::shared_ptr<std_srvs::srv::Empty::Response> response) {
   paused_ = true;
-  return true;
 }
 
-bool Simulator::onUnpauseSimulation(std_srvs::Empty::Request& request,
-                                    std_srvs::Empty::Response& response) {
+void Simulator::onUnpauseSimulation(
+    const std::shared_ptr<std_srvs::srv::Empty::Request> request,
+    std::shared_ptr<std_srvs::srv::Empty::Response> response) {
   paused_ = false;
-  return true;
 }
 
-void Simulator::spawnCallback(const ros::TimerEvent& event) {
-  ROS_DEBUG_STREAM("Spawning new agents.");
+void Simulator::spawnCallback() {
+  RCLCPP_DEBUG(get_logger(), "Spawning new agents.");
 
-  for (const auto& sa : SCENE.getSpawnAreas()) {
-    AgentCluster* agentCluster = new AgentCluster(sa->x, sa->y, sa->n);
+  for (const auto &sa : SCENE.getSpawnAreas()) {
+    AgentCluster *agentCluster = new AgentCluster(sa->x, sa->y, sa->n);
     agentCluster->setDistribution(sa->dx, sa->dy);
     agentCluster->setType(static_cast<Ped::Tagent::AgentType>(0));
 
-    for (const auto& wp_name : sa->waypoints) {
+    for (const auto &wp_name : sa->waypoints) {
       agentCluster->addWaypoint(SCENE.getWaypointByName(wp_name));
     }
 
@@ -209,49 +230,53 @@ void Simulator::spawnCallback(const ros::TimerEvent& event) {
 }
 
 void Simulator::updateRobotPositionFromTF() {
-  if (!robot_) return;
+  if (!robot_)
+    return;
 
   if (CONFIG.robot_mode == RobotMode::TELEOPERATION ||
       CONFIG.robot_mode == RobotMode::CONTROLLED) {
     robot_->setTeleop(true);
     robot_->setVmax(CONFIG.max_robot_speed);
-
-    // Get robot position via TF
-    tf::StampedTransform tfTransform;
+    geometry_msgs::msg::TransformStamped tf_msg;
     try {
-      transform_listener_->lookupTransform("odom", "base_footprint",
-                                           ros::Time(0), tfTransform);
-    } catch (tf::TransformException& e) {
-      ROS_WARN_STREAM_THROTTLE(
-          5.0,
-          "TF lookup from base_footprint to odom failed. Reason: " << e.what());
+      // Check if the transform is available
+      tf_msg = tf_buffer_->lookupTransform("odom", "base_footprint",
+                                           tf2::TimePointZero);
+    } catch (tf2::TransformException &e) {
+      auto &clk = *this->get_clock();
+      RCLCPP_WARN_THROTTLE(get_logger(), clk, 5000, "%s", e.what());
       return;
     }
+    tf2::Transform tfTransform;
+    tf2::impl::Converter<true, false>::convert(tf_msg.transform, tfTransform);
 
     const double x = tfTransform.getOrigin().x();
     const double y = tfTransform.getOrigin().y();
-    const double dx = x - last_robot_pose_.getOrigin().x(),
-                 dy = y - last_robot_pose_.getOrigin().y();
+    const double dx = x - last_robot_pose_.transform.translation.x,
+                 dy = y - last_robot_pose_.transform.translation.y;
     const double dt =
-        tfTransform.stamp_.toSec() - last_robot_pose_.stamp_.toSec();
+        tf_msg.header.stamp.sec - last_robot_pose_.header.stamp.sec;
     double vx = dx / dt, vy = dy / dt;
 
-    if (!std::isfinite(vx)) vx = 0;
-    if (!std::isfinite(vy)) vy = 0;
+    if (!std::isfinite(vx))
+      vx = 0;
+    if (!std::isfinite(vy))
+      vy = 0;
 
     robot_->setX(x);
     robot_->setY(y);
     robot_->setvx(vx);
     robot_->setvy(vy);
 
-    last_robot_pose_ = tfTransform;
+    last_robot_pose_ = tf_msg;
   }
 }
 
 void Simulator::publishRobotPosition() {
-  if (robot_ == nullptr) return;
+  if (robot_ == nullptr)
+    return;
 
-  nav_msgs::Odometry robot_location;
+  nav_msgs::msg::Odometry robot_location;
   robot_location.header = createMsgHeader();
   robot_location.child_frame_id = "odom";
 
@@ -268,7 +293,7 @@ void Simulator::publishRobotPosition() {
   robot_location.twist.twist.linear.x = robot_->getvx();
   robot_location.twist.twist.linear.y = robot_->getvy();
 
-  pub_robot_position_.publish(robot_location);
+  pub_robot_position_->publish(robot_location);
 }
 
 void Simulator::publishAgents() {
@@ -276,19 +301,19 @@ void Simulator::publishAgents() {
     return;
   }
 
-  pedsim_msgs::AgentStates all_status;
+  AgentStates all_status;
   all_status.header = createMsgHeader();
 
-  auto VecToMsg = [](const Ped::Tvector& v) {
-    geometry_msgs::Vector3 gv;
+  auto VecToMsg = [](const Ped::Tvector &v) {
+    geometry_msgs::msg::Vector3 gv;
     gv.x = v.x;
     gv.y = v.y;
     gv.z = v.z;
     return gv;
   };
 
-  for (const Agent* a : SCENE.getAgents()) {
-    pedsim_msgs::AgentState state;
+  for (const Agent *a : SCENE.getAgents()) {
+    AgentState state;
     state.header = createMsgHeader();
 
     state.id = a->getId();
@@ -296,6 +321,8 @@ void Simulator::publishAgents() {
     state.pose.position.x = a->getx();
     state.pose.position.y = a->gety();
     state.pose.position.z = a->getz();
+    auto theta = std::atan2(a->getvy(), a->getvx());
+    state.pose.orientation = pedsim::angleToQuaternion(theta);
 
     state.twist.linear.x = a->getvx();
     state.twist.linear.y = a->getvy();
@@ -304,7 +331,7 @@ void Simulator::publishAgents() {
     AgentStateMachine::AgentState sc = a->getStateMachine()->getCurrentState();
     state.social_state = agentStateToActivity(sc);
     if (a->getType() == Ped::Tagent::ELDER) {
-      state.social_state = pedsim_msgs::AgentState::TYPE_STANDING;
+      state.social_state = AgentState::TYPE_STANDING;
     }
 
     // Skip robot.
@@ -313,7 +340,7 @@ void Simulator::publishAgents() {
     }
 
     // Forces.
-    pedsim_msgs::AgentForce agent_forces;
+    AgentForce agent_forces;
     agent_forces.desired_force = VecToMsg(a->getDesiredDirection());
     agent_forces.obstacle_force = VecToMsg(a->getObstacleForce());
     agent_forces.social_force = VecToMsg(a->getSocialForce());
@@ -327,13 +354,14 @@ void Simulator::publishAgents() {
     all_status.agent_states.push_back(state);
   }
 
-  pub_agent_states_.publish(all_status);
+  pub_agent_states_->publish(all_status);
 }
 
 void Simulator::publishGroups() {
   if (!CONFIG.groups_enabled) {
-    ROS_DEBUG_STREAM("Groups are disabled, no group data published: flag="
-                     << CONFIG.groups_enabled);
+    RCLCPP_DEBUG_STREAM(get_logger(),
+                        "Groups are disabled, no group data published: flag="
+                            << CONFIG.groups_enabled);
     return;
   }
 
@@ -341,32 +369,33 @@ void Simulator::publishGroups() {
     return;
   }
 
-  pedsim_msgs::AgentGroups sim_groups;
+  AgentGroups sim_groups;
   sim_groups.header = createMsgHeader();
 
-  for (const auto& ped_group : SCENE.getGroups()) {
-    if (ped_group->memberCount() <= 1) continue;
+  for (const auto &ped_group : SCENE.getGroups()) {
+    if (ped_group->memberCount() <= 1)
+      continue;
 
-    pedsim_msgs::AgentGroup group;
+    pedsim_msgs::msg::AgentGroup group;
     group.group_id = ped_group->getId();
     group.age = 10;
     const Ped::Tvector com = ped_group->getCenterOfMass();
     group.center_of_mass.position.x = com.x;
     group.center_of_mass.position.y = com.y;
 
-    for (const auto& member : ped_group->getMembers()) {
+    for (const auto &member : ped_group->getMembers()) {
       group.members.emplace_back(member->getId());
     }
     sim_groups.groups.emplace_back(group);
   }
-  pub_agent_groups_.publish(sim_groups);
+  pub_agent_groups_->publish(sim_groups);
 }
 
 void Simulator::publishObstacles() {
-  pedsim_msgs::LineObstacles sim_obstacles;
+  LineObstacles sim_obstacles;
   sim_obstacles.header = createMsgHeader();
-  for (const auto& obstacle : SCENE.getObstacles()) {
-    pedsim_msgs::LineObstacle line_obstacle;
+  for (const auto &obstacle : SCENE.getObstacles()) {
+    LineObstacle line_obstacle;
     line_obstacle.start.x = obstacle->getax();
     line_obstacle.start.y = obstacle->getay();
     line_obstacle.start.z = 0.0;
@@ -375,35 +404,36 @@ void Simulator::publishObstacles() {
     line_obstacle.end.z = 0.0;
     sim_obstacles.obstacles.push_back(line_obstacle);
   }
-  pub_obstacles_.publish(sim_obstacles);
+  pub_obstacles_->publish(sim_obstacles);
 }
 
 std::string Simulator::agentStateToActivity(
-    const AgentStateMachine::AgentState& state) const {
+    const AgentStateMachine::AgentState &state) const {
   std::string activity = "Unknown";
   switch (state) {
-    case AgentStateMachine::AgentState::StateWalking:
-      activity = pedsim_msgs::AgentState::TYPE_INDIVIDUAL_MOVING;
-      break;
-    case AgentStateMachine::AgentState::StateGroupWalking:
-      activity = pedsim_msgs::AgentState::TYPE_GROUP_MOVING;
-      break;
-    case AgentStateMachine::AgentState::StateQueueing:
-      activity = pedsim_msgs::AgentState::TYPE_WAITING_IN_QUEUE;
-      break;
-    case AgentStateMachine::AgentState::StateShopping:
-      break;
-    case AgentStateMachine::AgentState::StateNone:
-      break;
-    case AgentStateMachine::AgentState::StateWaiting:
-      break;
+  case AgentStateMachine::AgentState::StateWalking:
+    activity = AgentState::TYPE_INDIVIDUAL_MOVING;
+    break;
+  case AgentStateMachine::AgentState::StateGroupWalking:
+    activity = AgentState::TYPE_GROUP_MOVING;
+    break;
+  case AgentStateMachine::AgentState::StateQueueing:
+    activity = AgentState::TYPE_WAITING_IN_QUEUE;
+    break;
+  case AgentStateMachine::AgentState::StateShopping:
+    break;
+  case AgentStateMachine::AgentState::StateNone:
+    break;
+  case AgentStateMachine::AgentState::StateWaiting:
+    break;
   }
   return activity;
 }
 
-std_msgs::Header Simulator::createMsgHeader() const {
-  std_msgs::Header msg_header;
-  msg_header.stamp = ros::Time::now();
+std_msgs::msg::Header Simulator::createMsgHeader() const {
+  std_msgs::msg::Header msg_header;
+  msg_header.stamp = rclcpp::Clock().now();
+  ;
   msg_header.frame_id = "odom";
   return msg_header;
 }
diff --git a/pedsim_simulator/src/simulator_node.cpp b/pedsim_simulator/src/simulator_node.cpp
index c8d5d3d4..abe7eec9 100644
--- a/pedsim_simulator/src/simulator_node.cpp
+++ b/pedsim_simulator/src/simulator_node.cpp
@@ -1,54 +1,53 @@
 /**
-* Copyright 2016 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-*/
+ * Copyright 2016 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ */
 
-#include <signal.h>
 #include <QApplication>
+#include <signal.h>
 
-#include <pedsim_simulator/simulator.h>
+#include <pedsim_simulator/simulator.hpp>
 
-int main(int argc, char** argv) {
+int main(int argc, char *argv[]) {
   QApplication app(argc, argv);
+  rclcpp::init(argc, argv);
 
   // initialize resources
-  ros::init(argc, argv, "pedsim_simulator");
-  ros::NodeHandle node("~");
-  Simulator sm(node);
+  auto sm = std::make_shared<Simulator>("pedsim_simulator");
 
   // use default SIGINT handler so CTRL+C works
   signal(SIGINT, SIG_DFL);
 
-  if (sm.initializeSimulation()) {
-    ROS_INFO("node initialized, now running ");
-    sm.runSimulation();
+  if (sm->initializeSimulation()) {
+    RCLCPP_INFO(sm->get_logger(), "node initialized, now running");
+    sm->runSimulation();
   } else {
-    ROS_WARN("Could not initialize simulation, aborting");
+    RCLCPP_WARN(sm->get_logger(), "Could not initialize simulation, aborting");
     return EXIT_FAILURE;
   }
 
diff --git a/pedsim_simulator/src/waypointplanner/groupwaypointplanner.cpp b/pedsim_simulator/src/waypointplanner/groupwaypointplanner.cpp
index 3e1de8d5..88f3cb0b 100644
--- a/pedsim_simulator/src/waypointplanner/groupwaypointplanner.cpp
+++ b/pedsim_simulator/src/waypointplanner/groupwaypointplanner.cpp
@@ -1,39 +1,39 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
 
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/element/agentgroup.h>
-#include <pedsim_simulator/element/areawaypoint.h>
-#include <pedsim_simulator/element/waitingqueue.h>
-#include <pedsim_simulator/waypointplanner/groupwaypointplanner.h>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/element/agentgroup.hpp>
+#include <pedsim_simulator/element/areawaypoint.hpp>
+#include <pedsim_simulator/element/waitingqueue.hpp>
+#include <pedsim_simulator/waypointplanner/groupwaypointplanner.hpp>
 
 GroupWaypointPlanner::GroupWaypointPlanner() {
   // initialize values
@@ -41,34 +41,35 @@ GroupWaypointPlanner::GroupWaypointPlanner() {
   destination = nullptr;
 }
 
-bool GroupWaypointPlanner::setGroup(AgentGroup* groupIn) {
+bool GroupWaypointPlanner::setGroup(AgentGroup *groupIn) {
   group = groupIn;
 
   return true;
 }
 
-Waypoint* GroupWaypointPlanner::getDestination() const { return destination; }
+Waypoint *GroupWaypointPlanner::getDestination() const { return destination; }
 
-void GroupWaypointPlanner::setDestination(Waypoint* waypointIn) {
+void GroupWaypointPlanner::setDestination(Waypoint *waypointIn) {
   destination = waypointIn;
 }
 
-Waypoint* GroupWaypointPlanner::getCurrentWaypoint() { return destination; }
+Waypoint *GroupWaypointPlanner::getCurrentWaypoint() { return destination; }
 
 bool GroupWaypointPlanner::hasCompletedDestination() const {
   if (destination == nullptr) {
-    ROS_DEBUG("GroupWaypointPlanner: No destination set!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "GroupWaypointPlanner: No destination set!");
     return true;
   }
 
   // check whether group has reached waypoint
   Ped::Tvector com = group->getCenterOfMass();
-  AreaWaypoint* areaWaypoint = dynamic_cast<AreaWaypoint*>(destination);
+  AreaWaypoint *areaWaypoint = dynamic_cast<AreaWaypoint *>(destination);
   if (areaWaypoint != nullptr) {
     return areaWaypoint->isWithinArea(com);
   } else {
-    ROS_DEBUG("Unknown Waypoint type: %s",
-              destination->toString().toStdString().c_str());
+    RCLCPP_DEBUG(rclcpp::get_logger(""), "Unknown Waypoint type: %s",
+                 destination->toString().toStdString().c_str());
     return true;
   }
 }
diff --git a/pedsim_simulator/src/waypointplanner/individualwaypointplanner.cpp b/pedsim_simulator/src/waypointplanner/individualwaypointplanner.cpp
index a0ac8196..51c9f7ef 100644
--- a/pedsim_simulator/src/waypointplanner/individualwaypointplanner.cpp
+++ b/pedsim_simulator/src/waypointplanner/individualwaypointplanner.cpp
@@ -1,38 +1,38 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
 
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/element/areawaypoint.h>
-#include <pedsim_simulator/element/waitingqueue.h>
-#include <pedsim_simulator/waypointplanner/individualwaypointplanner.h>
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/element/areawaypoint.hpp>
+#include <pedsim_simulator/element/waitingqueue.hpp>
+#include <pedsim_simulator/waypointplanner/individualwaypointplanner.hpp>
 
 IndividualWaypointPlanner::IndividualWaypointPlanner() {
   // initialize values
@@ -40,36 +40,37 @@ IndividualWaypointPlanner::IndividualWaypointPlanner() {
   destination = nullptr;
 }
 
-bool IndividualWaypointPlanner::setAgent(Agent* agentIn) {
+bool IndividualWaypointPlanner::setAgent(Agent *agentIn) {
   agent = agentIn;
   return true;
 }
 
-Waypoint* IndividualWaypointPlanner::getDestination() const {
+Waypoint *IndividualWaypointPlanner::getDestination() const {
   return destination;
 }
 
-void IndividualWaypointPlanner::setDestination(Waypoint* waypointIn) {
+void IndividualWaypointPlanner::setDestination(Waypoint *waypointIn) {
   destination = waypointIn;
 }
 
-Waypoint* IndividualWaypointPlanner::getCurrentWaypoint() {
+Waypoint *IndividualWaypointPlanner::getCurrentWaypoint() {
   return destination;
 }
 
 bool IndividualWaypointPlanner::hasCompletedDestination() const {
   if (destination == nullptr) {
-    ROS_DEBUG("IndividualWaypointPlanner: No destination set!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "IndividualWaypointPlanner: No destination set!");
     return true;
   }
 
   // check whether group has reached waypoint
-  AreaWaypoint* areaWaypoint = dynamic_cast<AreaWaypoint*>(destination);
+  AreaWaypoint *areaWaypoint = dynamic_cast<AreaWaypoint *>(destination);
   if (areaWaypoint != nullptr) {
     return areaWaypoint->isWithinArea(agent->getPosition());
   } else {
-    ROS_DEBUG("Unknown Waypoint type: %s",
-              destination->toString().toStdString().c_str());
+    RCLCPP_DEBUG(rclcpp::get_logger(""), "Unknown Waypoint type: %s",
+                 destination->toString().toStdString().c_str());
     return true;
   }
 }
diff --git a/pedsim_simulator/src/waypointplanner/queueingplanner.cpp b/pedsim_simulator/src/waypointplanner/queueingplanner.cpp
index aab9ba4c..113259d8 100644
--- a/pedsim_simulator/src/waypointplanner/queueingplanner.cpp
+++ b/pedsim_simulator/src/waypointplanner/queueingplanner.cpp
@@ -1,39 +1,39 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/element/queueingwaypoint.h>
-#include <pedsim_simulator/element/waitingqueue.h>
-#include <pedsim_simulator/utilities.h>
-#include <pedsim_simulator/waypointplanner/queueingplanner.h>
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/element/queueingwaypoint.hpp>
+#include <pedsim_simulator/element/waitingqueue.hpp>
+#include <pedsim_simulator/utilities.hpp>
+#include <pedsim_simulator/waypointplanner/queueingplanner.hpp>
 
 QueueingWaypointPlanner::QueueingWaypointPlanner() {
   // initialize values
@@ -48,7 +48,8 @@ void QueueingWaypointPlanner::onFollowedAgentPositionChanged(double xIn,
                                                              double yIn) {
   // sanity checks
   if (currentWaypoint == nullptr) {
-    ROS_DEBUG(
+    RCLCPP_DEBUG(
+        rclcpp::get_logger(""),
         "Queued agent cannot update queueing position, because there's no "
         "waypoint set!");
     return;
@@ -61,7 +62,8 @@ void QueueingWaypointPlanner::onFollowedAgentPositionChanged(double xIn,
   // TODO: integrate update importance to waypoint (force?)
   const double minUpdateDistance = 0.7;
   Ped::Tvector diff = followedPosition - currentWaypoint->getPosition();
-  if (diff.length() < minUpdateDistance) return;
+  if (diff.length() < minUpdateDistance)
+    return;
 
   currentWaypoint->setPosition(followedPosition);
 }
@@ -100,18 +102,21 @@ void QueueingWaypointPlanner::onFollowedAgentLeftQueue() {
 void QueueingWaypointPlanner::onQueueEndPositionChanged(double xIn,
                                                         double yIn) {
   // there's nothing to do when the agent is already enqueued
-  if (status != QueueingWaypointPlanner::Approaching) return;
+  if (status != QueueingWaypointPlanner::Approaching)
+    return;
 
   if (hasReachedQueueEnd()) {
     // change mode
     activateQueueingMode();
   } else {
     // don't update if the planner hasn't determined waypoint yet
-    if (currentWaypoint == nullptr) return;
+    if (currentWaypoint == nullptr)
+      return;
 
     // update destination
     Ped::Tvector newDestination(xIn, yIn);
-    if (!waitingQueue->isEmpty()) addPrivateSpace(newDestination);
+    if (!waitingQueue->isEmpty())
+      addPrivateSpace(newDestination);
     currentWaypoint->setPosition(newDestination);
   }
 }
@@ -136,23 +141,24 @@ void QueueingWaypointPlanner::reset() {
   followedAgent = nullptr;
 }
 
-Agent* QueueingWaypointPlanner::getAgent() const { return agent; }
+Agent *QueueingWaypointPlanner::getAgent() const { return agent; }
 
-bool QueueingWaypointPlanner::setAgent(Agent* agentIn) {
+bool QueueingWaypointPlanner::setAgent(Agent *agentIn) {
   agent = agentIn;
   return true;
 }
 
-void QueueingWaypointPlanner::setDestination(Waypoint* waypointIn) {
-  WaitingQueue* queue = dynamic_cast<WaitingQueue*>(waypointIn);
+void QueueingWaypointPlanner::setDestination(Waypoint *waypointIn) {
+  WaitingQueue *queue = dynamic_cast<WaitingQueue *>(waypointIn);
 
   // sanity checks
   if (queue == nullptr) {
-    ROS_ERROR(
-        "Waypoint provided to QueueingWaypointPlanner isn't a waiting queue! "
-        "(%s)",
-        (waypointIn == nullptr) ? "null"
-                                : waypointIn->toString().toStdString().c_str());
+    RCLCPP_ERROR(rclcpp::get_logger(""),
+                 "Waypoint provided to QueueingWaypointPlanner isn't a waiting "
+                 "queue! (%s)",
+                 (waypointIn == nullptr)
+                     ? "null"
+                     : waypointIn->toString().toStdString().c_str());
     return;
   }
 
@@ -160,7 +166,7 @@ void QueueingWaypointPlanner::setDestination(Waypoint* waypointIn) {
   setWaitingQueue(queue);
 }
 
-void QueueingWaypointPlanner::setWaitingQueue(WaitingQueue* queueIn) {
+void QueueingWaypointPlanner::setWaitingQueue(WaitingQueue *queueIn) {
   // clean up old waiting queue
   reset();
 
@@ -176,7 +182,7 @@ void QueueingWaypointPlanner::setWaitingQueue(WaitingQueue* queueIn) {
   }
 }
 
-WaitingQueue* QueueingWaypointPlanner::getWaitingQueue() const {
+WaitingQueue *QueueingWaypointPlanner::getWaitingQueue() const {
   return waitingQueue;
 }
 
@@ -184,7 +190,8 @@ bool QueueingWaypointPlanner::hasReachedQueueEnd() const {
   const double endPositionRadius = 2.0;
 
   // sanity checks
-  if (waitingQueue == nullptr) return false;
+  if (waitingQueue == nullptr)
+    return false;
 
   Ped::Tvector queueEnd = waitingQueue->getQueueEndPosition();
   Ped::Tvector diff = queueEnd - agent->getPosition();
@@ -233,7 +240,7 @@ void QueueingWaypointPlanner::activateQueueingMode() {
   }
 
   // deactivate problematic forces
-  agent->disableForce("Social");  /// Uncomment to enable chaotic queues mode
+  agent->disableForce("Social"); /// Uncomment to enable chaotic queues mode
   agent->disableForce("Random");
   agent->disableForce("GroupCoherence");
   agent->disableForce("GroupGaze");
@@ -245,7 +252,7 @@ void QueueingWaypointPlanner::activateQueueingMode() {
 }
 
 /// Affects the behavior at the end of the queue and hence the shape
-void QueueingWaypointPlanner::addPrivateSpace(Ped::Tvector& queueEndIn) const {
+void QueueingWaypointPlanner::addPrivateSpace(Ped::Tvector &queueEndIn) const {
   std::uniform_real_distribution<double> spacing_range_(0.2, 0.8);
   std::uniform_real_distribution<double> heading_range_(-45.0, 45.0);
 
@@ -266,20 +273,23 @@ QString QueueingWaypointPlanner::createWaypointName() const {
       .arg(waitingQueue->getName());
 }
 
-Waypoint* QueueingWaypointPlanner::getCurrentWaypoint() {
-  if (hasCompletedWaypoint()) currentWaypoint = getNextWaypoint();
+Waypoint *QueueingWaypointPlanner::getCurrentWaypoint() {
+  if (hasCompletedWaypoint())
+    currentWaypoint = getNextWaypoint();
 
   return currentWaypoint;
 }
 
-Waypoint* QueueingWaypointPlanner::getNextWaypoint() {
+Waypoint *QueueingWaypointPlanner::getNextWaypoint() {
   // sanity checks
   if (agent == nullptr) {
-    ROS_DEBUG("Cannot determine queueing waypoint without agent!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Cannot determine queueing waypoint without agent!");
     return nullptr;
   }
   if (waitingQueue == nullptr) {
-    ROS_DEBUG("Cannot determine queueing waypoint without waiting queues!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "Cannot determine queueing waypoint without waiting queues!");
     return nullptr;
   }
 
@@ -293,7 +303,8 @@ Waypoint* QueueingWaypointPlanner::getNextWaypoint() {
 }
 
 bool QueueingWaypointPlanner::hasCompletedWaypoint() const {
-  if (currentWaypoint == nullptr) return true;
+  if (currentWaypoint == nullptr)
+    return true;
 
   // update waypoint, if necessary
   if (status == QueueingWaypointPlanner::Approaching) {
@@ -308,7 +319,8 @@ bool QueueingWaypointPlanner::hasCompletedWaypoint() const {
 
 bool QueueingWaypointPlanner::hasCompletedDestination() const {
   if (waitingQueue == nullptr) {
-    ROS_DEBUG("QueueingWaypointPlanner: No waiting queue set!");
+    RCLCPP_DEBUG(rclcpp::get_logger(""),
+                 "QueueingWaypointPlanner: No waiting queue set!");
     return true;
   }
 
diff --git a/pedsim_simulator/src/waypointplanner/shoppingplanner.cpp b/pedsim_simulator/src/waypointplanner/shoppingplanner.cpp
index 3bee3706..6629f21b 100644
--- a/pedsim_simulator/src/waypointplanner/shoppingplanner.cpp
+++ b/pedsim_simulator/src/waypointplanner/shoppingplanner.cpp
@@ -1,41 +1,41 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
-
-#include <pedsim_simulator/rng.h>
-#include <pedsim_simulator/scene.h>
-#include <pedsim_simulator/waypointplanner/shoppingplanner.h>
-
-#include <pedsim_simulator/element/agent.h>
-#include <pedsim_simulator/element/areawaypoint.h>
-#include <pedsim_simulator/element/attractionarea.h>
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
+
+#include <pedsim_simulator/rng.hpp>
+#include <pedsim_simulator/scene.hpp>
+#include <pedsim_simulator/waypointplanner/shoppingplanner.hpp>
+
+#include <pedsim_simulator/element/agent.hpp>
+#include <pedsim_simulator/element/areawaypoint.hpp>
+#include <pedsim_simulator/element/attractionarea.hpp>
 
 ShoppingPlanner::ShoppingPlanner() {
   // initialize values
@@ -56,7 +56,7 @@ void ShoppingPlanner::loseAttraction() {
   emit lostAttraction();
 }
 
-bool ShoppingPlanner::setAgent(Agent* agentIn) {
+bool ShoppingPlanner::setAgent(Agent *agentIn) {
   /// NOTE - should the robot be allowed to shop?
   /// who funds robot's shopping expenses??
   // if (agentIn->getType() == 2)
@@ -74,9 +74,9 @@ bool ShoppingPlanner::setAgent(Agent* agentIn) {
   return true;
 }
 
-AttractionArea* ShoppingPlanner::getAttraction() const { return attraction; }
+AttractionArea *ShoppingPlanner::getAttraction() const { return attraction; }
 
-bool ShoppingPlanner::setAttraction(AttractionArea* attractionIn) {
+bool ShoppingPlanner::setAttraction(AttractionArea *attractionIn) {
   attraction = attractionIn;
 
   // reset waypoint
@@ -86,14 +86,16 @@ bool ShoppingPlanner::setAttraction(AttractionArea* attractionIn) {
   return true;
 }
 
-Waypoint* ShoppingPlanner::getCurrentWaypoint() {
-  if (hasCompletedWaypoint()) currentWaypoint = getNextWaypoint();
+Waypoint *ShoppingPlanner::getCurrentWaypoint() {
+  if (hasCompletedWaypoint())
+    currentWaypoint = getNextWaypoint();
 
   return currentWaypoint;
 }
 
 bool ShoppingPlanner::hasCompletedWaypoint() {
-  if (currentWaypoint == nullptr) return true;
+  if (currentWaypoint == nullptr)
+    return true;
 
   // check whether agent has reached the waypoint and has been there for a given
   // time
@@ -120,9 +122,9 @@ bool ShoppingPlanner::hasCompletedDestination() const {
   return false;
 }
 
-Waypoint* ShoppingPlanner::getNextWaypoint() {
+Waypoint *ShoppingPlanner::getNextWaypoint() {
   bool hadWaypoint = (currentWaypoint != nullptr);
-  Waypoint* oldWaypoint = currentWaypoint;
+  Waypoint *oldWaypoint = currentWaypoint;
 
   // set new waypoint
   // TODO: create random attraction point in attraction
@@ -196,7 +198,8 @@ Ped::Tvector ShoppingPlanner::createRandomOffset() const {
       Ped::Tvector::fromPolar(Ped::Tangle::fromDegree(angle), radius);
 
   // only update for significant shopping idea change
-  if (randomOffset.lengthSquared() < 2.0) return Ped::Tvector(0, 0, 0);
+  if (randomOffset.lengthSquared() < 2.0)
+    return Ped::Tvector(0, 0, 0);
 
   return randomOffset;
 }
diff --git a/pedsim_simulator/src/waypointplanner/waypointplanner.cpp b/pedsim_simulator/src/waypointplanner/waypointplanner.cpp
index f9cd1d4e..8b1731fb 100644
--- a/pedsim_simulator/src/waypointplanner/waypointplanner.cpp
+++ b/pedsim_simulator/src/waypointplanner/waypointplanner.cpp
@@ -1,34 +1,34 @@
 /**
-* Copyright 2014 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-* \author Sven Wehner <mail@svenwehner.de>
-*/
+ * Copyright 2014 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ * \author Sven Wehner <mail@svenwehner.de>
+ */
 
-#include <pedsim_simulator/waypointplanner/waypointplanner.h>
+#include <pedsim_simulator/waypointplanner/waypointplanner.hpp>
 
 WaypointPlanner::WaypointPlanner() {}
diff --git a/pedsim_srvs/CMakeLists.txt b/pedsim_srvs/CMakeLists.txt
index 2df16cc1..77879ee2 100644
--- a/pedsim_srvs/CMakeLists.txt
+++ b/pedsim_srvs/CMakeLists.txt
@@ -1,33 +1,25 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(pedsim_srvs)
 
-
-set( MESSAGE_DEPENDENCIES
-    pedsim_msgs
-    std_msgs
-)
-
-find_package(catkin REQUIRED 
-  COMPONENTS
-  message_generation
-  ${MESSAGE_DEPENDENCIES}
-)
-
-include_directories(${catkin_INCLUDE_DIRS})
-link_directories(${catkin_LIBRARY_DIRS})
-
-
-# the services
-add_service_files( DIRECTORY srv
-  FILES
-  SetAgentState.srv
-  GetAgentState.srv
-  SetAllAgentsState.srv
-  GetAllAgentsState.srv
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_BUILD_TYPE DEBUG)
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(pedsim_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/GetAgentState.srv"
+  "srv/GetAllAgentsState.srv"
+  "srv/SetAgentState.srv"
+  "srv/SetAllAgentsState.srv"
+  DEPENDENCIES builtin_interfaces std_msgs pedsim_msgs
 )
 
-generate_messages(DEPENDENCIES ${MESSAGE_DEPENDENCIES})
-
-#add_dependencies(some_target ${PROJECT_NAME}_gencpp)
+ament_export_dependencies(rosidl_default_runtime)
 
-catkin_package( CATKIN_DEPENDS message_runtime ${MESSAGE_DEPENDENCIES})
\ No newline at end of file
+ament_package()
\ No newline at end of file
diff --git a/pedsim_srvs/package.xml b/pedsim_srvs/package.xml
index 07a5465d..c1eaf86b 100644
--- a/pedsim_srvs/package.xml
+++ b/pedsim_srvs/package.xml
@@ -1,28 +1,25 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>pedsim_srvs</name>
   <version>0.0.1</version>
+  
   <description>The pedsim_srvs package</description>
-
-  <maintainer email="okal@cs.uni-freiburg.de">batman</maintainer>
-
-  <license>BSD</license>
-
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>pedsim_msgs</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-
-  <run_depend>message_runtime</run_depend>
-  <run_depend>pedsim_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>std_msgs</run_depend>
-
-
- 
-</package>
\ No newline at end of file
+  <maintainer email="jonatan.gines@urjc.es">jginesclavero</maintainer>
+  <license>Apache License, Version 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>pedsim_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>rosidl_default_generators</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+   
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/pedsim_tf2/CMakeLists.txt b/pedsim_tf2/CMakeLists.txt
new file mode 100644
index 00000000..b0c82f36
--- /dev/null
+++ b/pedsim_tf2/CMakeLists.txt
@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.5)
+project(pedsim_tf2)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_BUILD_TYPE DEBUG)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(pedsim_msgs REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2 REQUIRED)
+set(dependencies
+    rclcpp
+    pedsim_msgs
+    tf2_geometry_msgs
+    tf2_ros
+    tf2
+)
+
+include_directories(include)
+
+add_executable(pedsim_tf2_node src/pedsim_tf2_node.cpp)
+ament_target_dependencies(pedsim_tf2_node ${dependencies})
+
+install(TARGETS
+  pedsim_tf2_node
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_export_dependencies(${dependencies})
+
+ament_package()
diff --git a/pedsim_tf2/include/pedsim_tf2/pedsim_tf2_node.hpp b/pedsim_tf2/include/pedsim_tf2/pedsim_tf2_node.hpp
new file mode 100644
index 00000000..0b0150cd
--- /dev/null
+++ b/pedsim_tf2/include/pedsim_tf2/pedsim_tf2_node.hpp
@@ -0,0 +1,48 @@
+
+// Copyright 2020 Intelligent Robotics Lab
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/* Author: jginesclavero jonatan.gines@urjc.es */
+
+/* Mantainer: jginesclavero jonatan.gines@urjc.es */
+#ifndef PEDSIMTF2NODE__H
+#define PEDSIMTF2NODE__H
+
+#include "rclcpp/rclcpp.hpp"
+#include "tf2_ros/transform_broadcaster.h"
+#include "tf2_ros/transform_listener.h"
+#include <pedsim_msgs/msg/agent_states.hpp>
+#include <pedsim_msgs/msg/tracked_person.hpp>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+using namespace geometry_msgs::msg;
+
+namespace pedsim {
+class PedsimTF2 : public rclcpp::Node {
+public:
+  PedsimTF2(const std::string &name);
+  void step();
+
+private:
+  void agentsCallback(const pedsim_msgs::msg::AgentStates::SharedPtr msg);
+  bool getTFfromAgent(pedsim_msgs::msg::AgentState actor, TransformStamped &tf);
+
+  rclcpp::Subscription<pedsim_msgs::msg::AgentStates>::SharedPtr sub_;
+  pedsim_msgs::msg::AgentStates::SharedPtr states_;
+  std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
+  double rand_angle;
+  bool angle_generated;
+};
+}; // namespace pedsim
+
+#endif
diff --git a/pedsim_tf2/package.xml b/pedsim_tf2/package.xml
new file mode 100644
index 00000000..7f1d67cc
--- /dev/null
+++ b/pedsim_tf2/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>pedsim_tf2</name>
+  <version>0.0.1</version>
+  
+  <description>Package to publish pedsim info into tf tree</description>
+
+  <maintainer email="jonatan.gines@urjc.es">jginesclavero</maintainer>
+ 
+  <license>Apache License, Version 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>pedsim_msgs</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2</depend>
+
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/pedsim_tf2/src/pedsim_tf2_node.cpp b/pedsim_tf2/src/pedsim_tf2_node.cpp
new file mode 100644
index 00000000..e4183f04
--- /dev/null
+++ b/pedsim_tf2/src/pedsim_tf2_node.cpp
@@ -0,0 +1,86 @@
+// Copyright 2020 Intelligent Robotics Lab
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+/* Author: jginesclavero jonatan.gines@urjc.es */
+
+/* Mantainer: jginesclavero jonatan.gines@urjc.es */
+#include "pedsim_tf2/pedsim_tf2_node.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include <algorithm>
+#include <math.h>
+
+using std::placeholders::_1;
+using namespace std::chrono_literals;
+using namespace geometry_msgs::msg;
+
+namespace pedsim {
+PedsimTF2::PedsimTF2(const std::string &name) : Node(name), states_() {
+  sub_ = create_subscription<pedsim_msgs::msg::AgentStates>(
+      "pedsim_simulator/simulated_agents", rclcpp::SensorDataQoS(),
+      std::bind(&PedsimTF2::agentsCallback, this, std::placeholders::_1));
+  tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
+}
+
+void PedsimTF2::agentsCallback(
+    const pedsim_msgs::msg::AgentStates::SharedPtr msg) {
+  states_ = msg;
+}
+
+bool PedsimTF2::getTFfromAgent(pedsim_msgs::msg::AgentState actor,
+                               TransformStamped &tf) {
+  double theta = std::atan2(actor.twist.linear.y, actor.twist.linear.x);
+  tf2::Quaternion qt;
+  qt.setRPY(0.0, 0.0, theta);
+  qt.normalize();
+  tf.transform.translation.x = actor.pose.position.x;
+  tf.transform.translation.y = actor.pose.position.y;
+  tf.transform.translation.z = actor.pose.position.z;
+  tf.transform.rotation = tf2::toMsg(qt);
+  if (std::isnan(theta) || std::isnan(tf.transform.translation.x) ||
+      std::isnan(tf.transform.translation.y) ||
+      std::isnan(tf.transform.translation.z)) {
+    return false;
+  }
+  return true;
+}
+
+void PedsimTF2::step() {
+  rclcpp::Rate loop_rate(50ms);
+  while (rclcpp::ok()) {
+    if (states_ != NULL) {
+      for (auto actor : states_->agent_states) {
+        TransformStamped agent_tf;
+        if (getTFfromAgent(actor, agent_tf)) {
+          agent_tf.header.frame_id = "map";
+          agent_tf.header.stamp = now();
+          agent_tf.child_frame_id = "agent_" + std::to_string(actor.id);
+          tf_broadcaster_->sendTransform(agent_tf);
+        }
+      }
+    }
+    rclcpp::spin_some(shared_from_this());
+    loop_rate.sleep();
+  }
+}
+
+}; // namespace pedsim
+
+int main(int argc, char *argv[]) {
+  rclcpp::init(argc, argv);
+
+  auto pedsim_tf2 = std::make_shared<pedsim::PedsimTF2>("pedsim_tf2_node");
+  pedsim_tf2->step();
+  rclcpp::shutdown();
+
+  return 0;
+}
\ No newline at end of file
diff --git a/pedsim_utils/CMakeLists.txt b/pedsim_utils/CMakeLists.txt
index f6db0f93..db19d2fc 100644
--- a/pedsim_utils/CMakeLists.txt
+++ b/pedsim_utils/CMakeLists.txt
@@ -1,33 +1,23 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(pedsim_utils)
-add_compile_options(-Wall -Wunused -std=c++11)
 
-set(PACKAGE_DEPS
-  cmake_modules
-  geometry_msgs
-  pedsim_msgs
-  roscpp
-  rospy
-)
-find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPS})
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_BUILD_TYPE DEBUG)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
-  CATKIN_DEPENDS ${PACKAGE_DEPS}
-  LIBRARIES ${PROJECT_NAME}
-  INCLUDE_DIRS
-    include
+set(dependencies
+  geometry_msgs
+  rclcpp
 )
 
-###########
-## Build ##
-###########
-include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS})
-include_directories(include)
-include_directories(${catkin_INCLUDE_DIRS})
+include_directories(
+  include
+  ${EIGEN3_INCLUDE_DIRS}
+)
 
 set(LIBRARY_NAME ${PROJECT_NAME})
 add_library(${LIBRARY_NAME}
@@ -35,40 +25,24 @@ add_library(${LIBRARY_NAME}
   src/${PROJECT_NAME}/pedsim_utils.cpp
 )
 
-add_dependencies(${LIBRARY_NAME}
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-)
-
-target_link_libraries(${LIBRARY_NAME}
-  ${catkin_LIBRARIES}
+ament_target_dependencies(${LIBRARY_NAME}
+  ${dependencies}
 )
 
-#############
-## Install ##
-#############
 
-## Mark executables and/or libraries for installation
-install(TARGETS ${LIBRARY_NAME}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+install(DIRECTORY include/
+  DESTINATION include/
 )
 
-## Mark cpp header files for installation
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-  PATTERN ".svn" EXCLUDE
+install(TARGETS
+  ${LIBRARY_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_pedsim_utils.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+ament_export_include_directories(include)
+ament_export_libraries(${LIBRARY_NAME})
+ament_export_dependencies(${dependencies})
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ament_package()
diff --git a/pedsim_utils/include/pedsim_utils/geometry.h b/pedsim_utils/include/pedsim_utils/geometry.h
deleted file mode 100644
index f1de54a3..00000000
--- a/pedsim_utils/include/pedsim_utils/geometry.h
+++ /dev/null
@@ -1,24 +0,0 @@
-
-
-#include <geometry_msgs/Quaternion.h>
-
-#include <eigen3/Eigen/Dense>
-#include <eigen3/Eigen/Geometry>
-
-namespace pedsim {
-
-geometry_msgs::Quaternion angleToQuaternion(const double theta);
-
-geometry_msgs::Quaternion rpyToQuaternion(const double roll, const double pitch,
-                                          const double yaw);
-
-geometry_msgs::Quaternion toQuaternionMsg(const Eigen::Quaternionf& quaternion);
-
-geometry_msgs::Quaternion poseFrom2DVelocity(const double vx, const double vy);
-
-std::vector<std::pair<float, float>> LineObstacleToCells(const float x1,
-                                                         const float y1,
-                                                         const float x2,
-                                                         const float y2);
-
-}  // namespace pedsim
diff --git a/pedsim_utils/include/pedsim_utils/geometry.hpp b/pedsim_utils/include/pedsim_utils/geometry.hpp
new file mode 100644
index 00000000..d57bc7ca
--- /dev/null
+++ b/pedsim_utils/include/pedsim_utils/geometry.hpp
@@ -0,0 +1,25 @@
+
+
+#include <geometry_msgs/msg/quaternion.hpp>
+
+#include <eigen3/Eigen/Dense>
+#include <eigen3/Eigen/Geometry>
+
+using namespace geometry_msgs::msg;
+
+namespace pedsim {
+
+Quaternion angleToQuaternion(const double theta);
+
+Quaternion rpyToQuaternion(const double roll, const double pitch,
+                           const double yaw);
+
+Quaternion toQuaternionMsg(const Eigen::Quaternionf &quaternion);
+
+Quaternion poseFrom2DVelocity(const double vx, const double vy);
+
+std::vector<std::pair<float, float>>
+LineObstacleToCells(const float x1, const float y1, const float x2,
+                    const float y2, const float resolution);
+
+} // namespace pedsim
diff --git a/pedsim_utils/package.xml b/pedsim_utils/package.xml
index a7f593d6..30c06678 100644
--- a/pedsim_utils/package.xml
+++ b/pedsim_utils/package.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>pedsim_utils</name>
   <version>0.1.0</version>
   <description>
@@ -12,27 +13,12 @@
   <license>BSD</license>
 
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>cmake_modules</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>pedsim_msgs</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>eigen</build_depend>
-
-  <build_export_depend>cmake_modules</build_export_depend>
-  <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>pedsim_msgs</build_export_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <build_export_depend>eigen</build_export_depend>
-
-  <exec_depend>cmake_modules</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>pedsim_msgs</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>eigen</exec_depend>
+  <depend>geometry_msgs</depend>
+  <depend>rclcpp</depend>
 
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>
diff --git a/pedsim_utils/src/pedsim_utils/geometry.cpp b/pedsim_utils/src/pedsim_utils/geometry.cpp
index c3465230..afa12915 100644
--- a/pedsim_utils/src/pedsim_utils/geometry.cpp
+++ b/pedsim_utils/src/pedsim_utils/geometry.cpp
@@ -1,9 +1,11 @@
 
-#include <pedsim_utils/geometry.h>
+#include <pedsim_utils/geometry.hpp>
+
+using namespace geometry_msgs::msg;
 
 namespace pedsim {
 
-geometry_msgs::Quaternion angleToQuaternion(const double theta) {
+Quaternion angleToQuaternion(const double theta) {
   Eigen::Matrix3f rotation_matrix(Eigen::Matrix3f::Identity());
   rotation_matrix(0, 0) = std::cos(theta);
   rotation_matrix(0, 1) = -std::sin(theta);
@@ -19,8 +21,8 @@ geometry_msgs::Quaternion angleToQuaternion(const double theta) {
   return toQuaternionMsg(quaternion.normalized());
 }
 
-geometry_msgs::Quaternion rpyToQuaternion(const double roll, const double pitch,
-                                          const double yaw) {
+Quaternion rpyToQuaternion(const double roll, const double pitch,
+                           const double yaw) {
   Eigen::Quaternionf r_m = Eigen::AngleAxisf(roll, Eigen::Vector3f::UnitX()) *
                            Eigen::AngleAxisf(pitch, Eigen::Vector3f::UnitY()) *
                            Eigen::AngleAxisf(yaw, Eigen::Vector3f::UnitZ());
@@ -28,9 +30,8 @@ geometry_msgs::Quaternion rpyToQuaternion(const double roll, const double pitch,
   return toQuaternionMsg(r_m.normalized());
 }
 
-geometry_msgs::Quaternion toQuaternionMsg(
-    const Eigen::Quaternionf& quaternion) {
-  geometry_msgs::Quaternion gq;
+Quaternion toQuaternionMsg(const Eigen::Quaternionf &quaternion) {
+  Quaternion gq;
   gq.x = quaternion.x();
   gq.y = quaternion.y();
   gq.z = quaternion.z();
@@ -38,27 +39,26 @@ geometry_msgs::Quaternion toQuaternionMsg(
   return std::move(gq);
 }
 
-geometry_msgs::Quaternion poseFrom2DVelocity(const double vx, const double vy) {
+Quaternion poseFrom2DVelocity(const double vx, const double vy) {
   const double theta = std::atan2(vy, vx);
   return rpyToQuaternion(M_PI / 2.0, theta + (M_PI / 2.0), 0.0);
 }
 
-std::vector<std::pair<float, float>> LineObstacleToCells(const float x1,
-                                                         const float y1,
-                                                         const float x2,
-                                                         const float y2) {
-  int i;             // loop counter
-  int ystep, xstep;  // the step on y and x axis
-  int error;         // the error accumulated during the increment
-  int errorprev;     // *vision the previous value of the error variable
+std::vector<std::pair<float, float>>
+LineObstacleToCells(const float x1, const float y1, const float x2,
+                    const float y2, const float resolution) {
+  float i;            // loop counter
+  float ystep, xstep; // the step on y and x axis
+  float error;        // the error accumulated during the increment
+  float errorprev;    // *vision the previous value of the error variable
   // int y = y1 - 0.5, x = x1 - 0.5;  // the line points
-  int y = y1, x = x1;  // the line points
-  int ddy, ddx;        // compulsory variables: the double values of dy and dx
-  int dx = x2 - x1;
-  int dy = y2 - y1;
-  double unit_x, unit_y;
-  unit_x = 1;
-  unit_y = 1;
+  float y = y1, x = x1; // the line points
+  float ddy, ddx;       // compulsory variables: the double values of dy and dx
+  float dx = x2 - x1;
+  float dy = y2 - y1;
+  float unit_x, unit_y;
+  unit_x = resolution;
+  unit_y = resolution;
 
   if (dy < 0) {
     ystep = -unit_y;
@@ -73,17 +73,17 @@ std::vector<std::pair<float, float>> LineObstacleToCells(const float x1,
     xstep = unit_x;
   }
 
-  ddy = 2 * dy;  // work with double values for full precision
+  ddy = 2 * dy; // work with double values for full precision
   ddx = 2 * dx;
 
-  std::vector<std::pair<float, float>> obstacle_cells;  // TODO - reserve.
+  std::vector<std::pair<float, float>> obstacle_cells; // TODO - reserve.
   obstacle_cells.emplace_back(std::make_pair(x, y));
 
   if (ddx >= ddy) {
     // first octant (0 <= slope <= 1)
     // compulsory initialization (even for errorprev, needed when dx==dy)
-    errorprev = error = dx;  // start in the middle of the square
-    for (i = 0; i < dx; i++) {
+    errorprev = error = dx; // start in the middle of the square
+    for (i = 0; i < dx; i = i + resolution) {
       // do not use the first point (already done)
       x += xstep;
       error += ddy;
@@ -111,7 +111,7 @@ std::vector<std::pair<float, float>> LineObstacleToCells(const float x1,
   } else {
     // the same as above
     errorprev = error = dy;
-    for (i = 0; i < dy; i++) {
+    for (i = 0; i < dy; i = i + resolution) {
       y += ystep;
       error += ddx;
       if (error > ddy) {
@@ -133,4 +133,4 @@ std::vector<std::pair<float, float>> LineObstacleToCells(const float x1,
   return obstacle_cells;
 }
 
-}  // namespace pedsim
+} // namespace pedsim
diff --git a/pedsim_utils/src/pedsim_utils/pedsim_utils.cpp b/pedsim_utils/src/pedsim_utils/pedsim_utils.cpp
index f7a7937f..5c08ee6c 100644
--- a/pedsim_utils/src/pedsim_utils/pedsim_utils.cpp
+++ b/pedsim_utils/src/pedsim_utils/pedsim_utils.cpp
@@ -1,3 +1,3 @@
 
 
-#include <pedsim_utils/geometry.h>
+#include <pedsim_utils/geometry.hpp>
diff --git a/pedsim_visualizer/CMakeLists.txt b/pedsim_visualizer/CMakeLists.txt
index 63488491..81b3fe0b 100644
--- a/pedsim_visualizer/CMakeLists.txt
+++ b/pedsim_visualizer/CMakeLists.txt
@@ -1,83 +1,58 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(pedsim_visualizer)
-add_definitions(-Wall -Wunused -std=c++11 -pipe -Wunused -Wextra)
 
-set(PACKAGE_DEPS
-  geometry_msgs
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_BUILD_TYPE DEBUG)
+
+set(dependencies
+  rclcpp
+  rclpy
+  std_msgs
   pedsim_msgs
   pedsim_utils
-  roscpp
-  rospy
-  std_msgs
   visualization_msgs
-  dynamic_reconfigure
+  geometry_msgs
 )
-find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPS})
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(pedsim_msgs REQUIRED)
+find_package(pedsim_utils REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(Boost REQUIRED)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
 ################################################
 
-generate_dynamic_reconfigure_options(
-  config/PedsimVisualizer.cfg
-)
+#generate_dynamic_reconfigure_options(
+#  config/PedsimVisualizer.cfg
+#)
 
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
-  CATKIN_DEPENDS ${PACKAGE_DEPS}
-  INCLUDE_DIRS include
-)
-
-###########
-## Build ##
-###########
 include_directories(include)
-include_directories(${catkin_INCLUDE_DIRS})
-link_directories(${catkin_LIBRARY_DIRS})
 
 set(EXECUTABLE_NAME ${PROJECT_NAME}_node)
 add_executable(${EXECUTABLE_NAME}
   src/sim_visualizer_node.cpp
   src/sim_visualizer.cpp
 )
+ament_target_dependencies(${EXECUTABLE_NAME} ${dependencies})
 
-add_dependencies(${EXECUTABLE_NAME} ${catkin_EXPORTED_TARGETS})
-add_dependencies(${EXECUTABLE_NAME} ${PROJECT_NAME}_gencfg)
-
-target_link_libraries(${EXECUTABLE_NAME}
-  ${catkin_LIBRARIES}
-)
-
-#############
-## Install ##
-#############
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
-## Mark executables and/or libraries for installation
-install(TARGETS ${EXECUTABLE_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(TARGETS
+  ${EXECUTABLE_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
-## Mark cpp header files for installation
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
-  PATTERN ".svn" EXCLUDE
-)
-
-
-#############
-## Testing ##
-#############
+ament_export_include_directories(include)
+ament_export_dependencies(${dependencies})
 
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_pedsim_visualizer.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+ament_package()
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/pedsim_visualizer/include/pedsim_visualizer/sim_visualizer.h b/pedsim_visualizer/include/pedsim_visualizer/sim_visualizer.h
deleted file mode 100644
index 523155da..00000000
--- a/pedsim_visualizer/include/pedsim_visualizer/sim_visualizer.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/**
-* Copyright 2014-2016 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-*/
-
-#ifndef SIM_VISUALIZER_H
-#define SIM_VISUALIZER_H
-
-#include <ros/console.h>
-#include <ros/ros.h>
-
-#include <tf/transform_listener.h>
-#include <functional>
-#include <memory>
-#include <queue>
-
-#include <pedsim_msgs/AgentForce.h>
-#include <pedsim_msgs/AgentGroup.h>
-#include <pedsim_msgs/AgentGroups.h>
-#include <pedsim_msgs/AgentState.h>
-#include <pedsim_msgs/AgentStates.h>
-#include <pedsim_msgs/LineObstacle.h>
-#include <pedsim_msgs/LineObstacles.h>
-
-#include <pedsim_msgs/SocialActivities.h>
-#include <pedsim_msgs/SocialActivity.h>
-#include <pedsim_msgs/SocialRelation.h>
-#include <pedsim_msgs/SocialRelations.h>
-#include <pedsim_msgs/TrackedGroup.h>
-#include <pedsim_msgs/TrackedGroups.h>
-#include <pedsim_msgs/TrackedPerson.h>
-#include <pedsim_msgs/TrackedPersons.h>
-
-#include <geometry_msgs/Point.h>
-#include <geometry_msgs/PoseStamped.h>
-#include <geometry_msgs/PoseWithCovariance.h>
-#include <geometry_msgs/TwistWithCovariance.h>
-#include <nav_msgs/GridCells.h>
-#include <nav_msgs/Odometry.h>
-#include <std_msgs/ColorRGBA.h>
-#include <std_msgs/Header.h>
-#include <std_srvs/Empty.h>
-#include <visualization_msgs/Marker.h>
-#include <visualization_msgs/MarkerArray.h>
-
-#include <dynamic_reconfigure/server.h>
-#include <pedsim_visualizer/PedsimVisualizerConfig.h>
-
-namespace pedsim {
-
-class SimVisualizer {
- public:
-  using VizConfig = pedsim_visualizer::PedsimVisualizerConfig;
-
-  explicit SimVisualizer(const ros::NodeHandle& node_in);
-  ~SimVisualizer();
-  SimVisualizer(const SimVisualizer& other) = delete;
-
-  void run();
-
-  // callbacks.
-  void agentStatesCallBack(const pedsim_msgs::AgentStatesConstPtr& agents);
-  void agentGroupsCallBack(const pedsim_msgs::AgentGroupsConstPtr& groups);
-  void obstaclesCallBack(const pedsim_msgs::LineObstaclesConstPtr& obstacles);
-
- protected:
-  /// publishers
-  void publishAgentVisuals();
-  void publishRelationVisuals();
-  void publishActivityVisuals();
-  void publishGroupVisuals();
-  void publishObstacleVisuals();
-
- private:
-  void setupPublishersAndSubscribers();
-
-  ros::NodeHandle nh_;
-
-  /// publishers
-  ros::Publisher pub_obstacles_visuals_;
-  ros::Publisher pub_person_visuals_;
-  ros::Publisher pub_group_visuals_;
-
-  /// Subscribers.
-  ros::Subscriber sub_states_;
-  ros::Subscriber sub_groups_;
-  ros::Subscriber sub_obstacles_;
-
-  /// Local data queues.
-  std::queue<pedsim_msgs::AgentStatesConstPtr> q_people_;
-  std::queue<pedsim_msgs::AgentGroupsConstPtr> q_groups_;
-  std::queue<pedsim_msgs::LineObstaclesConstPtr> q_obstacles_;
-};
-}  // namespace pedsim
-
-#endif
diff --git a/pedsim_visualizer/include/pedsim_visualizer/sim_visualizer.hpp b/pedsim_visualizer/include/pedsim_visualizer/sim_visualizer.hpp
new file mode 100644
index 00000000..596612cf
--- /dev/null
+++ b/pedsim_visualizer/include/pedsim_visualizer/sim_visualizer.hpp
@@ -0,0 +1,122 @@
+/**
+ * Copyright 2014-2016 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ */
+
+#ifndef SIM_VISUALIZER_H
+#define SIM_VISUALIZER_H
+
+#include <functional>
+#include <memory>
+#include <queue>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include <pedsim_msgs/msg/agent_force.hpp>
+#include <pedsim_msgs/msg/agent_group.hpp>
+#include <pedsim_msgs/msg/agent_groups.hpp>
+#include <pedsim_msgs/msg/agent_state.hpp>
+#include <pedsim_msgs/msg/agent_states.hpp>
+#include <pedsim_msgs/msg/line_obstacle.hpp>
+#include <pedsim_msgs/msg/line_obstacles.hpp>
+#include <pedsim_msgs/msg/social_activities.hpp>
+#include <pedsim_msgs/msg/social_activity.hpp>
+#include <pedsim_msgs/msg/social_relation.hpp>
+#include <pedsim_msgs/msg/social_relations.hpp>
+
+#include <pedsim_msgs/msg/tracked_group.hpp>
+#include <pedsim_msgs/msg/tracked_groups.hpp>
+#include <pedsim_msgs/msg/tracked_person.hpp>
+#include <pedsim_msgs/msg/tracked_persons.hpp>
+
+#include <geometry_msgs/msg/point.hpp>
+#include <geometry_msgs/msg/pose_stamped.hpp>
+#include <geometry_msgs/msg/pose_with_covariance.hpp>
+#include <geometry_msgs/msg/twist_with_covariance.hpp>
+
+#include <visualization_msgs/msg/marker.hpp>
+#include <visualization_msgs/msg/marker_array.hpp>
+
+#include <pedsim_utils/geometry.hpp>
+
+//#include <dynamic_reconfigure/server.h>
+//#include <pedsim_visualizer/PedsimVisualizerConfig.h>
+
+namespace pedsim {
+
+class SimVisualizer : public rclcpp::Node {
+public:
+  // using VizConfig = pedsim_visualizer::PedsimVisualizerConfig;
+
+  explicit SimVisualizer(const std::string &name);
+  ////SimVisualizer(const SimVisualizer& other) = delete;
+
+  void run();
+
+  // callbacks.
+  void
+  agentStatesCallBack(const pedsim_msgs::msg::AgentStates::SharedPtr agents);
+  void
+  agentGroupsCallBack(const pedsim_msgs::msg::AgentGroups::SharedPtr groups);
+  void
+  obstaclesCallBack(const pedsim_msgs::msg::LineObstacles::SharedPtr obstacles);
+
+protected:
+  /// publishers
+  void publishAgentVisuals();
+  void publishGroupVisuals();
+  void publishObstacleVisuals();
+
+private:
+  void setupPublishersAndSubscribers();
+
+  /// publishers
+  rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr
+      pub_obstacles_visuals_;
+  rclcpp::Publisher<pedsim_msgs::msg::TrackedPersons>::SharedPtr
+      pub_person_visuals_;
+  rclcpp::Publisher<pedsim_msgs::msg::TrackedGroups>::SharedPtr
+      pub_group_visuals_;
+
+  /// Subscribers.
+  rclcpp::Subscription<pedsim_msgs::msg::AgentStates>::SharedPtr sub_states_;
+  rclcpp::Subscription<pedsim_msgs::msg::AgentGroups>::SharedPtr sub_groups_;
+  rclcpp::Subscription<pedsim_msgs::msg::LineObstacles>::SharedPtr
+      sub_obstacles_;
+  /// Local data queues.
+  std::queue<pedsim_msgs::msg::AgentStates::SharedPtr> q_people_;
+  std::queue<pedsim_msgs::msg::AgentGroups::SharedPtr> q_groups_;
+  std::queue<pedsim_msgs::msg::LineObstacles::SharedPtr> q_obstacles_;
+
+  std::string frame_id_;
+  bool walls_published_;
+  float walls_resolution_;
+};
+} // namespace pedsim
+
+#endif
diff --git a/pedsim_visualizer/launch/visualizer.launch b/pedsim_visualizer/launch/visualizer.launch
deleted file mode 100644
index b21942a2..00000000
--- a/pedsim_visualizer/launch/visualizer.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-
-  <node name="pedsim_visualizer" type="pedsim_visualizer_node" pkg="pedsim_visualizer" output="screen"/>
-  
-</launch>
diff --git a/pedsim_visualizer/launch/visualizer_launch.py b/pedsim_visualizer/launch/visualizer_launch.py
new file mode 100644
index 00000000..2c4d861f
--- /dev/null
+++ b/pedsim_visualizer/launch/visualizer_launch.py
@@ -0,0 +1,55 @@
+# Copyright (c) 2020 Intelligent Robotics Lab
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Get the launch directory    
+
+    # Set env var to print messages to stdout immediately
+    SetEnvironmentVariable('RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
+    frame_id = LaunchConfiguration('frame_id')
+    walls_resolution = LaunchConfiguration('walls_resolution')
+
+    frame_id_cmd = DeclareLaunchArgument(
+        'frame_id', default_value='map', description='Reference frame')
+
+    walls_resolution_cmd = DeclareLaunchArgument(
+        'walls_resolution', default_value='0.2', description='Obstacles walls resolution')
+
+    visualizer_cmd = Node(
+        package='pedsim_visualizer',
+        executable='pedsim_visualizer_node',
+        name='pedsim_visualizer_node',
+        output='screen',
+        parameters=[{
+            "frame_id": frame_id,
+            "walls_resolution": walls_resolution
+        }]
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    ld.add_action(frame_id_cmd)
+    ld.add_action(walls_resolution_cmd)
+
+    # Declare the launch options
+    ld.add_action(visualizer_cmd)
+
+    return ld
diff --git a/pedsim_visualizer/package.xml b/pedsim_visualizer/package.xml
index 239e696e..2ca18a5d 100644
--- a/pedsim_visualizer/package.xml
+++ b/pedsim_visualizer/package.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>pedsim_visualizer</name>
   <version>0.1.0</version>
   <description>The pedsim_visualizer package</description>
@@ -8,32 +9,18 @@
 
   <license>BSD</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>pedsim_msgs</build_depend>
-  <build_depend>pedsim_utils</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>visualization_msgs</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
+  <depend>pedsim_msgs</depend>
+  <depend>pedsim_utils</depend>
+  <depend>rclcpp</depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>visualization_msgs</depend>
 
-  <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>pedsim_msgs</build_export_depend>
-  <build_export_depend>pedsim_utils</build_export_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>rospy</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>visualization_msgs</build_export_depend>
-
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>pedsim_msgs</exec_depend>
-  <exec_depend>pedsim_utils</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>rospy</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>visualization_msgs</exec_depend>
-  <exec_depend>dynamic_reconfigure</exec_depend>
+  <!--<depend>dynamic_reconfigure</depend>-->
 
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>
diff --git a/pedsim_visualizer/src/sim_visualizer.cpp b/pedsim_visualizer/src/sim_visualizer.cpp
index ede15cee..2061476d 100644
--- a/pedsim_visualizer/src/sim_visualizer.cpp
+++ b/pedsim_visualizer/src/sim_visualizer.cpp
@@ -1,78 +1,74 @@
 /**
-* Copyright 2014-2016 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-*/
-
-#include <pedsim_visualizer/sim_visualizer.h>
-
-#include <pedsim_utils/geometry.h>
+ * Copyright 2014-2016 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ */
+
+#include <pedsim_visualizer/sim_visualizer.hpp>
+using std::placeholders::_1;
+using namespace std::chrono_literals;
 
 namespace pedsim {
 
-SimVisualizer::SimVisualizer(const ros::NodeHandle& node_in) : nh_{node_in} {
+SimVisualizer::SimVisualizer(const std::string &name) : Node(name) {
+  declare_parameter("frame_id", rclcpp::ParameterValue("map"));
+  frame_id_ = get_parameter("frame_id").get_value<std::string>();
+  declare_parameter("walls_resolution", rclcpp::ParameterValue(1.0));
+  get_parameter("walls_resolution", walls_resolution_);
+  walls_published_ = false;
   setupPublishersAndSubscribers();
 }
-SimVisualizer::~SimVisualizer() {
-  pub_obstacles_visuals_.shutdown();
-  pub_person_visuals_.shutdown();
-  pub_group_visuals_.shutdown();
-
-  /// Subscribers.
-  sub_states_.shutdown();
-  sub_groups_.shutdown();
-  sub_obstacles_.shutdown();
-}
 
 void SimVisualizer::run() {
-  ros::Rate r(25.);
+  rclcpp::Rate loop_rate(40ms);
 
-  while (ros::ok()) {
+  while (rclcpp::ok()) {
+    if (!walls_published_)
+      publishObstacleVisuals();
     publishAgentVisuals();
     publishGroupVisuals();
-    publishObstacleVisuals();
-
-    ros::spinOnce();
-    r.sleep();
+    rclcpp::spin_some(shared_from_this());
+    loop_rate.sleep();
   }
 }
 
 // callbacks.
 void SimVisualizer::agentStatesCallBack(
-    const pedsim_msgs::AgentStatesConstPtr& agents) {
+    const pedsim_msgs::msg::AgentStates::SharedPtr agents) {
   q_people_.emplace(agents);
 }
+
 void SimVisualizer::agentGroupsCallBack(
-    const pedsim_msgs::AgentGroupsConstPtr& groups) {
+    const pedsim_msgs::msg::AgentGroups::SharedPtr groups) {
   q_groups_.emplace(groups);
 }
 
 void SimVisualizer::obstaclesCallBack(
-    const pedsim_msgs::LineObstaclesConstPtr& obstacles) {
+    const pedsim_msgs::msg::LineObstacles::SharedPtr obstacles) {
   q_obstacles_.emplace(obstacles);
 }
 
@@ -84,27 +80,28 @@ void SimVisualizer::publishAgentVisuals() {
 
   const auto current_states = q_people_.front();
 
-  pedsim_msgs::TrackedPersons tracked_people;
+  pedsim_msgs::msg::TrackedPersons tracked_people;
   tracked_people.header = current_states->header;
+  tracked_people.header.frame_id = frame_id_;
+  for (const auto &agent_state : current_states->agent_states) {
+    if (agent_state.type == 2)
+      continue;
 
-  for (const auto& agent_state : current_states->agent_states) {
-    if (agent_state.type == 2) continue;
-
-    pedsim_msgs::TrackedPerson person;
+    pedsim_msgs::msg::TrackedPerson person;
     person.track_id = agent_state.id;
     person.is_occluded = false;
     person.detection_id = agent_state.id;
 
     const double theta =
         std::atan2(agent_state.twist.linear.y, agent_state.twist.linear.x);
-    geometry_msgs::PoseWithCovariance pose_with_cov;
+    geometry_msgs::msg::PoseWithCovariance pose_with_cov;
     pose_with_cov.pose.position.x = agent_state.pose.position.x;
     pose_with_cov.pose.position.y = agent_state.pose.position.y;
     pose_with_cov.pose.position.z = agent_state.pose.position.z;
     pose_with_cov.pose.orientation = angleToQuaternion(theta);
     person.pose = pose_with_cov;
 
-    geometry_msgs::TwistWithCovariance twist_with_cov;
+    geometry_msgs::msg::TwistWithCovariance twist_with_cov;
     twist_with_cov.twist.linear.x = agent_state.twist.linear.x;
     twist_with_cov.twist.linear.y = agent_state.twist.linear.y;
     person.twist = twist_with_cov;
@@ -112,34 +109,35 @@ void SimVisualizer::publishAgentVisuals() {
     tracked_people.tracks.push_back(person);
   }
 
-  pub_person_visuals_.publish(tracked_people);
+  pub_person_visuals_->publish(tracked_people);
   q_people_.pop();
 }
 
 void SimVisualizer::publishGroupVisuals() {
   if (q_groups_.empty()) {
-    ROS_DEBUG_STREAM("Skipping publishing groups");
+    RCLCPP_DEBUG(get_logger(), "Skipping publishing groups");
     return;
   }
 
   const auto sim_groups = q_groups_.front();
 
-  pedsim_msgs::TrackedGroups tracked_groups;
+  pedsim_msgs::msg::TrackedGroups tracked_groups;
   tracked_groups.header = sim_groups->header;
+  tracked_groups.header.frame_id = frame_id_;
 
-  for (const auto& ag : sim_groups->groups) {
-    pedsim_msgs::TrackedGroup group;
+  for (const auto &ag : sim_groups->groups) {
+    pedsim_msgs::msg::TrackedGroup group;
     group.group_id = ag.group_id;
 
     // TODO - update.
     // group.age = ag.age;
-    group.centerOfGravity.pose = ag.center_of_mass;
+    group.center_of_gravity.pose = ag.center_of_mass;
     std::copy(ag.members.begin(), ag.members.end(),
               std::back_inserter(group.track_ids));
     tracked_groups.groups.emplace_back(group);
   }
 
-  pub_group_visuals_.publish(tracked_groups);
+  pub_group_visuals_->publish(tracked_groups);
   q_groups_.pop();
 }
 
@@ -149,50 +147,62 @@ void SimVisualizer::publishObstacleVisuals() {
   }
 
   const auto current_obstacles = q_obstacles_.front();
-
-  visualization_msgs::Marker walls_marker;
-  walls_marker.header.frame_id = "odom";
-  walls_marker.header.stamp = ros::Time();
+  visualization_msgs::msg::Marker walls_marker;
+  walls_marker.header.frame_id = frame_id_;
+  walls_marker.header.stamp = now();
   walls_marker.id = 10000;
-  walls_marker.color.a = 1.0;
+  walls_marker.color.a = 0.4;
   walls_marker.color.r = 0.647059;
   walls_marker.color.g = 0.164706;
   walls_marker.color.b = 0.164706;
-  walls_marker.scale.x = 1.0;
-  walls_marker.scale.y = 1.0;
+  walls_marker.scale.x = walls_resolution_;
+  walls_marker.scale.y = walls_resolution_;
   walls_marker.scale.z = 2.0;
   walls_marker.pose.position.z = walls_marker.scale.z / 2.0;
-  walls_marker.type = visualization_msgs::Marker::CUBE_LIST;
+  walls_marker.type = visualization_msgs::msg::Marker::CUBE_LIST;
 
-  for (const auto& line : current_obstacles->obstacles) {
-    for (const auto& cell : LineObstacleToCells(line.start.x, line.start.y,
-                                                line.end.x, line.end.y)) {
-      geometry_msgs::Point p;
+  for (const auto &line : current_obstacles->obstacles) {
+    for (const auto &cell :
+         LineObstacleToCells(line.start.x, line.start.y, line.end.x, line.end.y,
+                             walls_resolution_)) {
+      geometry_msgs::msg::Point p;
       p.x = cell.first;
       p.y = cell.second;
       p.z = 0.0;
       walls_marker.points.push_back(p);
     }
   }
-
-  pub_obstacles_visuals_.publish(walls_marker);
+  pub_obstacles_visuals_->publish(walls_marker);
+  walls_published_ = true;
 }
 
 void SimVisualizer::setupPublishersAndSubscribers() {
-  pub_obstacles_visuals_ =
-      nh_.advertise<visualization_msgs::Marker>("walls", 1, true);
+  pub_obstacles_visuals_ = create_publisher<visualization_msgs::msg::Marker>(
+      "/pedsim_visualizer/walls",
+      rclcpp::QoS(rclcpp::KeepLast(1)).transient_local().reliable());
   pub_person_visuals_ =
-      nh_.advertise<pedsim_msgs::TrackedPersons>("tracked_persons", 1);
+      create_publisher<pedsim_msgs::msg::TrackedPersons>(
+          "/pedsim_visualizer/tracked_persons", rclcpp::SystemDefaultsQoS());
   pub_group_visuals_ =
-      nh_.advertise<pedsim_msgs::TrackedGroups>("tracked_groups", 1);
+      create_publisher<pedsim_msgs::msg::TrackedGroups>(
+          "/pedsim_visualizer/tracked_groups", rclcpp::SystemDefaultsQoS());
 
   // TODO - get simulator node name by param.
-  sub_states_ = nh_.subscribe("/pedsim_simulator/simulated_agents", 1,
-                              &SimVisualizer::agentStatesCallBack, this);
-  sub_obstacles_ = nh_.subscribe("/pedsim_simulator/simulated_walls", 1,
-                                 &SimVisualizer::obstaclesCallBack, this);
-  sub_groups_ = nh_.subscribe("/pedsim_simulator/simulated_groups", 1,
-                              &SimVisualizer::agentGroupsCallBack, this);
+
+  sub_states_ = create_subscription<pedsim_msgs::msg::AgentStates>(
+      "/pedsim_simulator/simulated_agents", rclcpp::SystemDefaultsQoS(),
+      std::bind(&SimVisualizer::agentStatesCallBack, this,
+                std::placeholders::_1));
+
+  sub_groups_ = create_subscription<pedsim_msgs::msg::AgentGroups>(
+      "/pedsim_simulator/simulated_groups", rclcpp::SystemDefaultsQoS(),
+      std::bind(&SimVisualizer::agentGroupsCallBack, this,
+                std::placeholders::_1));
+
+  sub_obstacles_ = create_subscription<pedsim_msgs::msg::LineObstacles>(
+      "/pedsim_simulator/simulated_walls", rclcpp::SystemDefaultsQoS(),
+      std::bind(&SimVisualizer::obstaclesCallBack, this,
+                std::placeholders::_1));
 }
 
-}  // namespace pedsim
+} // namespace pedsim
diff --git a/pedsim_visualizer/src/sim_visualizer_node.cpp b/pedsim_visualizer/src/sim_visualizer_node.cpp
index 28f1c6af..b348dccd 100644
--- a/pedsim_visualizer/src/sim_visualizer_node.cpp
+++ b/pedsim_visualizer/src/sim_visualizer_node.cpp
@@ -1,41 +1,38 @@
 /**
-* Copyright 2014-2016 Social Robotics Lab, University of Freiburg
-*
-* Redistribution and use in source and binary forms, with or without
-* modification, are permitted provided that the following conditions are met:
-*
-*    # Redistributions of source code must retain the above copyright
-*       notice, this list of conditions and the following disclaimer.
-*    # Redistributions in binary form must reproduce the above copyright
-*       notice, this list of conditions and the following disclaimer in the
-*       documentation and/or other materials provided with the distribution.
-*    # Neither the name of the University of Freiburg nor the names of its
-*       contributors may be used to endorse or promote products derived from
-*       this software without specific prior written permission.
-*
-* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-* POSSIBILITY OF SUCH DAMAGE.
-*
-* \author Billy Okal <okal@cs.uni-freiburg.de>
-*/
+ * Copyright 2014-2016 Social Robotics Lab, University of Freiburg
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *    # Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *    # Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *    # Neither the name of the University of Freiburg nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \author Billy Okal <okal@cs.uni-freiburg.de>
+ */
 
-#include <pedsim_visualizer/sim_visualizer.h>
-
-int main(int argc, char** argv) {
-  ros::init(argc, argv, "pedsim_visualizer");
-  ros::NodeHandle node("~");
-
-  pedsim::SimVisualizer viz(node);
-  viz.run();
+#include <pedsim_visualizer/sim_visualizer.hpp>
 
+int main(int argc, char *argv[]) {
+  rclcpp::init(argc, argv);
+  auto viz = std::make_shared<pedsim::SimVisualizer>("pedsim_visualizer_node");
+  viz->run();
   return 0;
 }