diff --git a/yaml/IRI/params.yaml b/yaml/IRI/params.yaml
index 4b3137253b511ccb33da83a7a52bcec3497b72be..4dd4c6d6da909423a501135d27183b6861c96e66 100644
--- a/yaml/IRI/params.yaml
+++ b/yaml/IRI/params.yaml
@@ -38,6 +38,10 @@ config:
     compute_cov: true
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -
diff --git a/yaml/IRI/params_only_gnss.yaml b/yaml/IRI/params_only_gnss.yaml
index f960229c2c51837d4bfc58341e3f72af340fca0b..f91af26105a93e713705eb0f4f3f863812172861 100644
--- a/yaml/IRI/params_only_gnss.yaml
+++ b/yaml/IRI/params_only_gnss.yaml
@@ -28,6 +28,10 @@ config:
     compute_cov: false
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -
diff --git a/yaml/M600a/params.yaml b/yaml/M600a/params.yaml
index d2a909bf7e380e08488b9c186b001122b9b17f7c..27c54ccde53206ffa08729f7774b30a3172b9761 100644
--- a/yaml/M600a/params.yaml
+++ b/yaml/M600a/params.yaml
@@ -28,6 +28,10 @@ config:
     compute_cov: true
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -
diff --git a/yaml/M600a/params_only_gnss.yaml b/yaml/M600a/params_only_gnss.yaml
index f960229c2c51837d4bfc58341e3f72af340fca0b..f91af26105a93e713705eb0f4f3f863812172861 100644
--- a/yaml/M600a/params_only_gnss.yaml
+++ b/yaml/M600a/params_only_gnss.yaml
@@ -28,6 +28,10 @@ config:
     compute_cov: false
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -
diff --git a/yaml/M600b/params.yaml b/yaml/M600b/params.yaml
index d2a909bf7e380e08488b9c186b001122b9b17f7c..27c54ccde53206ffa08729f7774b30a3172b9761 100644
--- a/yaml/M600b/params.yaml
+++ b/yaml/M600b/params.yaml
@@ -28,6 +28,10 @@ config:
     compute_cov: true
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -
diff --git a/yaml/M600b/params_only_gnss.yaml b/yaml/M600b/params_only_gnss.yaml
index f960229c2c51837d4bfc58341e3f72af340fca0b..f91af26105a93e713705eb0f4f3f863812172861 100644
--- a/yaml/M600b/params_only_gnss.yaml
+++ b/yaml/M600b/params_only_gnss.yaml
@@ -28,6 +28,10 @@ config:
     compute_cov: false
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -
diff --git a/yaml/atlantic/params.yaml b/yaml/atlantic/params.yaml
index 0fc823b78292fec15e02fd101a6b8af141152d95..c2ede11cd8457c50e10978a9e797681a6da21ed9 100644
--- a/yaml/atlantic/params.yaml
+++ b/yaml/atlantic/params.yaml
@@ -17,7 +17,7 @@ config:
     prior:
       #follow: "../prior/POV_factor.yaml"
       follow: "../prior/POV_fix.yaml"
-      
+  
   solver:
     max_num_iterations: 20
     verbose: 0
@@ -28,6 +28,10 @@ config:
     compute_cov: true
     cov_enum: 3
     cov_period: 1
+  
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -
diff --git a/yaml/atlantic/params_only_gnss.yaml b/yaml/atlantic/params_only_gnss.yaml
index f960229c2c51837d4bfc58341e3f72af340fca0b..225a486e2d9770dcf45628cb0c1d53462a6f298d 100644
--- a/yaml/atlantic/params_only_gnss.yaml
+++ b/yaml/atlantic/params_only_gnss.yaml
@@ -17,7 +17,7 @@ config:
     prior:
       #follow: "../prior/PO_factor.yaml"
       follow: "../prior/PO_fix.yaml"
-      
+    
   solver:
     max_num_iterations: 20
     verbose: 0
@@ -28,6 +28,10 @@ config:
     compute_cov: false
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -
diff --git a/yaml/scrab/params.yaml b/yaml/scrab/params.yaml
index f54d088423133ee40f8a5460c4990c02b65a214c..579dc422e13498edf617b0fa04dbfcf02f561cca 100644
--- a/yaml/scrab/params.yaml
+++ b/yaml/scrab/params.yaml
@@ -28,6 +28,10 @@ config:
     compute_cov: true
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -
diff --git a/yaml/scrab/params_only_gnss.yaml b/yaml/scrab/params_only_gnss.yaml
index f960229c2c51837d4bfc58341e3f72af340fca0b..f91af26105a93e713705eb0f4f3f863812172861 100644
--- a/yaml/scrab/params_only_gnss.yaml
+++ b/yaml/scrab/params_only_gnss.yaml
@@ -28,6 +28,10 @@ config:
     compute_cov: false
     cov_enum: 3
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -
diff --git a/yaml/tree_manager/sliding_window_10_0.yaml b/yaml/tree_manager/sliding_window_10_0.yaml
index 26fa9e3756d53d4f7758c17652a960cf597a1684..90abd14c9e7f1679c5b373102adefcc9f6700983 100644
--- a/yaml/tree_manager/sliding_window_10_0.yaml
+++ b/yaml/tree_manager/sliding_window_10_0.yaml
@@ -1,4 +1,5 @@
-type: "TreeManagerSlidingWindow" 
+type: "TreeManagerSlidingWindow"
+plugin: "core"
 n_frames: 10
 n_fix_first_frames: 0
 viral_remove_empty_parent: true
\ No newline at end of file
diff --git a/yaml/tree_manager/sliding_window_10_1.yaml b/yaml/tree_manager/sliding_window_10_1.yaml
index ae15151ef3be52fd1e4f20f980519a0342d0e246..73cd25d8a0cdb9e7d75869e223613eb57767f6a0 100644
--- a/yaml/tree_manager/sliding_window_10_1.yaml
+++ b/yaml/tree_manager/sliding_window_10_1.yaml
@@ -1,4 +1,5 @@
 type: "TreeManagerSlidingWindow" 
+plugin: "core"
 n_frames: 10
 n_fix_first_frames: 1
 viral_remove_empty_parent: true
\ No newline at end of file
diff --git a/yaml/tree_manager/sliding_window_20_0.yaml b/yaml/tree_manager/sliding_window_20_0.yaml
index 1b984838f7afb992cc14aad848a8fe3320502eeb..67636106f78494beaf186b8299a5ba807a800bca 100644
--- a/yaml/tree_manager/sliding_window_20_0.yaml
+++ b/yaml/tree_manager/sliding_window_20_0.yaml
@@ -1,4 +1,5 @@
 type: "TreeManagerSlidingWindow" 
+plugin: "core"
 n_frames: 20
 n_fix_first_frames: 0
 viral_remove_empty_parent: true
\ No newline at end of file
diff --git a/yaml/tree_manager/sliding_window_20_1.yaml b/yaml/tree_manager/sliding_window_20_1.yaml
index cf536655f641f932e58352ccae2920a91d6bf71e..46cc2eaec3a6831c1ee0c9645a7b64b3abcab294 100644
--- a/yaml/tree_manager/sliding_window_20_1.yaml
+++ b/yaml/tree_manager/sliding_window_20_1.yaml
@@ -1,4 +1,5 @@
 type: "TreeManagerSlidingWindow" 
+plugin: "core"
 n_frames: 20
 n_fix_first_frames: 1
 viral_remove_empty_parent: true
\ No newline at end of file
diff --git a/yaml/tree_manager/sliding_window_20_10.yaml b/yaml/tree_manager/sliding_window_20_10.yaml
index 3f9ada05b5344735a376939be0901c3b08a44822..d8e32fc66889acccc5479bf8316499c41db9d16f 100644
--- a/yaml/tree_manager/sliding_window_20_10.yaml
+++ b/yaml/tree_manager/sliding_window_20_10.yaml
@@ -1,4 +1,5 @@
 type: "TreeManagerSlidingWindow" 
+plugin: "core"
 n_frames: 20
 n_fix_first_frames: 10
 viral_remove_empty_parent: true
\ No newline at end of file
diff --git a/yaml/tree_manager/sliding_window_dual_10_5_10_0.yaml b/yaml/tree_manager/sliding_window_dual_10_5_10_0.yaml
index 78c70d725b30893829a7330d56b59c72fc6de604..f0cab25672a00ccea4d01f2ef7f33f1547a2b24d 100644
--- a/yaml/tree_manager/sliding_window_dual_10_5_10_0.yaml
+++ b/yaml/tree_manager/sliding_window_dual_10_5_10_0.yaml
@@ -1,4 +1,5 @@
 type: "TreeManagerSlidingWindowDualRate" 
+plugin: "core"
 n_frames: 10
 n_frames_recent: 5
 rate_old_frames: 10
diff --git a/yaml/tree_manager/sliding_window_dual_20_10_10_0.yaml b/yaml/tree_manager/sliding_window_dual_20_10_10_0.yaml
index b5f5fcbd553ea10e1527227a7665888ad7f99fbc..eda47e3b143c980e79207f5e45fc64a9bcfd9697 100644
--- a/yaml/tree_manager/sliding_window_dual_20_10_10_0.yaml
+++ b/yaml/tree_manager/sliding_window_dual_20_10_10_0.yaml
@@ -1,4 +1,5 @@
 type: "TreeManagerSlidingWindowDualRate" 
+plugin: "core"
 n_frames: 20
 n_frames_recent: 10
 rate_old_frames: 10
diff --git a/yaml/tree_manager/sliding_window_dual_20_5_10_10.yaml b/yaml/tree_manager/sliding_window_dual_20_5_10_10.yaml
index 1c74b39f440f2b244c4d8cfec4a7a41f19414871..e79b74626e999d781a9fe7944ee20595caf43ed2 100644
--- a/yaml/tree_manager/sliding_window_dual_20_5_10_10.yaml
+++ b/yaml/tree_manager/sliding_window_dual_20_5_10_10.yaml
@@ -1,4 +1,5 @@
 type: "TreeManagerSlidingWindowDualRate" 
+plugin: "core"
 n_frames: 20
 n_frames_recent: 5
 rate_old_frames: 10
diff --git a/yaml/tree_manager/sliding_window_dual_30_10_10_10.yaml b/yaml/tree_manager/sliding_window_dual_30_10_10_10.yaml
index e2e32b25088dd6afc316585642b428792167cc0e..f1059181f1f8a2965223c024f0686846e0f428c2 100644
--- a/yaml/tree_manager/sliding_window_dual_30_10_10_10.yaml
+++ b/yaml/tree_manager/sliding_window_dual_30_10_10_10.yaml
@@ -1,4 +1,5 @@
 type: "TreeManagerSlidingWindowDualRate" 
+plugin: "core"
 n_frames: 30
 n_frames_recent: 10
 rate_old_frames: 10
diff --git a/yaml/tucan/params.yaml b/yaml/tucan/params.yaml
index c9791adbf345374cde4076ae17989d3cb92bdae7..de097dc4a60dfe61e16332069a6a6759c4da8290 100644
--- a/yaml/tucan/params.yaml
+++ b/yaml/tucan/params.yaml
@@ -28,6 +28,10 @@ config:
     compute_cov: true
     cov_enum: 4 #GAUSS_TUCAN
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -
diff --git a/yaml/tucan/params_only_gnss.yaml b/yaml/tucan/params_only_gnss.yaml
index 6ac199d6cac61bf48345957472f292ae8efa6519..4ac9dff93d7d70ead68b7a33b8b5e7304128aacc 100644
--- a/yaml/tucan/params_only_gnss.yaml
+++ b/yaml/tucan/params_only_gnss.yaml
@@ -28,6 +28,10 @@ config:
     compute_cov: true
     cov_enum: 5 #GAUSS_TUCAN_ONLY_POSITION
     cov_period: 1
+      
+  map:
+    type: "MapBase"
+    plugin: "core"
     
   sensors:
     -