diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 2d704e580b4ea5180c36fede5e8b7e1b639f24b7..355377d34fc5eace45662a92970c30c837fe3ad7 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -116,8 +116,6 @@ license_headers:
     - key: wolf-focal
       paths:
       - ci_deps/wolf/
-  except:
-    - master
   before_script:
     - *preliminaries_definition
     - *install_wolf_definition
@@ -135,8 +133,6 @@ build_and_test:bionic:
     - key: imu-bionic
       paths:
       - ci_deps/imu/
-  except:
-    - master
   before_script:
     - *preliminaries_definition
     - *install_wolf_definition
@@ -156,8 +152,6 @@ build_and_test:focal:
     - key: imu-focal
       paths:
       - ci_deps/imu/
-  except:
-    - master
   before_script:
     - *preliminaries_definition
     - *install_wolf_definition
diff --git a/README.md b/README.md
index a57f7feee2fcd5c8e128af029ced7c7fcf31dec4..3a01e8c1efec2103eb85f0868bf27a3f4c49acef 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,4 @@
-WOLF - Windowed Localization Frames | bodydynamics Plugin
-===================================
+WOLF Bodydynamics Plugin
+========================
 
-For installation guide and code documentation, please visit the [documentation website](http://mobile_robotics.pages.iri.upc-csic.es/wolf_projects/wolf_lib/wolf-doc-sphinx/).
-
-TODO
+For installation guide and code documentation, please visit the [documentation website](http://www.iri.upc.edu/wolf).
diff --git a/cmake_modules/wolfbodydynamicsConfig.cmake b/cmake_modules/wolfbodydynamicsConfig.cmake
index c1eabae603cf15bca171950f3e8f5937506ec80f..cfb538c1d7d49ef39ea0f6994488f9bc59d27724 100644
--- a/cmake_modules/wolfbodydynamicsConfig.cmake
+++ b/cmake_modules/wolfbodydynamicsConfig.cmake
@@ -48,7 +48,7 @@ macro(wolf_report_not_found REASON_MSG)
   # FindPackage() use the camelcase library name, not uppercase.
   if (wolfbodydynamics_FIND_QUIETLY)
     message(STATUS "Failed to find wolf bodydynamics- " ${REASON_MSG} ${ARGN})
-  else (wolfbodydynamics_FIND_REQUIRED)
+  elseif(wolfbodydynamics_FIND_REQUIRED)
     message(FATAL_ERROR "Failed to find wolf bodydynamics - " ${REASON_MSG} ${ARGN})
   else()
     # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
diff --git a/include/bodydynamics/processor/processor_force_torque_preint.h b/include/bodydynamics/processor/processor_force_torque_preint.h
index 4de0c9357ff363e87790e3429aa9e85b171a8777..c834f71b8e1fc42b2d9d8e7dfd1ee43157627d43 100644
--- a/include/bodydynamics/processor/processor_force_torque_preint.h
+++ b/include/bodydynamics/processor/processor_force_torque_preint.h
@@ -126,8 +126,8 @@ namespace wolf{
 
 inline void ProcessorForceTorquePreint::configure(SensorBasePtr _sensor)
 {
-    sensor_ikin_   = _sensor->getProblem()->getSensor(params_motion_force_torque_preint_->sensor_ikin_name);
-    sensor_angvel_ = _sensor->getProblem()->getSensor(params_motion_force_torque_preint_->sensor_angvel_name);
+    sensor_ikin_   = _sensor->getProblem()->findSensor(params_motion_force_torque_preint_->sensor_ikin_name);
+    sensor_angvel_ = _sensor->getProblem()->findSensor(params_motion_force_torque_preint_->sensor_angvel_name);
 };
 
 inline Eigen::VectorXd ProcessorForceTorquePreint::deltaZero() const
diff --git a/src/processor/processor_inertial_kinematics.cpp b/src/processor/processor_inertial_kinematics.cpp
index d9dc8630d7dbd048bd8be48e3cb919b52a4c0014..46eb8f944900d0eff9596ad239351d19ec74f1a3 100644
--- a/src/processor/processor_inertial_kinematics.cpp
+++ b/src/processor/processor_inertial_kinematics.cpp
@@ -72,7 +72,7 @@ inline void ProcessorInertialKinematics::processCapture(CaptureBasePtr _capture)
     auto buffer_frame_it = buffer_frame_.getContainer().begin();
     auto buffer_capture_it = buffer_capture_.getContainer().begin();
 
-    auto sensor_angvel = getProblem()->getSensor(params_ikin_->sensor_angvel_name);
+    auto sensor_angvel = getProblem()->findSensor(params_ikin_->sensor_angvel_name);
     while ((buffer_frame_it != buffer_frame_.getContainer().end())
         && (buffer_capture_it != buffer_capture_.getContainer().end()))
     {
@@ -126,7 +126,7 @@ inline bool ProcessorInertialKinematics::createInertialKinematicsFactor(CaptureI
     Eigen::Matrix3d B_I_q = _cap_ikin->getBIq();
     Eigen::Vector3d B_Lc_m = _cap_ikin->getBLcm();
     auto sensor_ikin = std::static_pointer_cast<SensorInertialKinematics>(getSensor());
-    auto sensor_angvel_base = getProblem()->getSensor(params_ikin_->sensor_angvel_name);
+    auto sensor_angvel_base = getProblem()->findSensor(params_ikin_->sensor_angvel_name);
     Eigen::Matrix3d Qp = pow(sensor_ikin->getPbcNoiseStd(), 2) * Eigen::Matrix3d::Identity();
     Eigen::Matrix3d Qv = pow(sensor_ikin->getVbcNoiseStd(), 2) * Eigen::Matrix3d::Identity();
     Eigen::Matrix3d Qw = sensor_angvel_base->getNoiseCov().bottomRightCorner<3,3>();