diff --git a/cmake_modules/wolfgnssConfig.cmake b/cmake_modules/wolfgnssConfig.cmake
index f5637549db88d73cce0259e80f1306e4e1ba94b0..3b869ca4216af1558f4526306a637f34e3010aff 100644
--- a/cmake_modules/wolfgnssConfig.cmake
+++ b/cmake_modules/wolfgnssConfig.cmake
@@ -59,7 +59,7 @@ macro(wolf_report_not_found REASON_MSG)
 endmacro(wolf_report_not_found)
 
 if(NOT wolfgnss_FOUND)
-  wolf_report_not_found("TROUBLE DUDE.")
+  wolf_report_not_found("Something went wrong while setting up wolf gnss.")
 endif(NOT wolfgnss_FOUND)
 # Set the include directories for wolf (itself).
 set(wolfgnss_FOUND TRUE)
\ No newline at end of file
diff --git a/src/examples/.gitignore b/demos/.gitignore
similarity index 100%
rename from src/examples/.gitignore
rename to demos/.gitignore
diff --git a/src/examples/CMakeLists.txt b/demos/CMakeLists.txt
similarity index 100%
rename from src/examples/CMakeLists.txt
rename to demos/CMakeLists.txt
diff --git a/src/examples/camera_Dinesh_LAAS_params.yaml b/demos/camera_Dinesh_LAAS_params.yaml
similarity index 100%
rename from src/examples/camera_Dinesh_LAAS_params.yaml
rename to demos/camera_Dinesh_LAAS_params.yaml
diff --git a/src/examples/camera_Dinesh_LAAS_params_notangentrect.yaml b/demos/camera_Dinesh_LAAS_params_notangentrect.yaml
similarity index 100%
rename from src/examples/camera_Dinesh_LAAS_params_notangentrect.yaml
rename to demos/camera_Dinesh_LAAS_params_notangentrect.yaml
diff --git a/src/examples/camera_logitech_c300_640_480.yaml b/demos/camera_logitech_c300_640_480.yaml
similarity index 100%
rename from src/examples/camera_logitech_c300_640_480.yaml
rename to demos/camera_logitech_c300_640_480.yaml
diff --git a/src/examples/camera_params.yaml b/demos/camera_params.yaml
similarity index 100%
rename from src/examples/camera_params.yaml
rename to demos/camera_params.yaml
diff --git a/src/examples/camera_params_1280x960_ideal.yaml b/demos/camera_params_1280x960_ideal.yaml
similarity index 100%
rename from src/examples/camera_params_1280x960_ideal.yaml
rename to demos/camera_params_1280x960_ideal.yaml
diff --git a/src/examples/camera_params_canonical.yaml b/demos/camera_params_canonical.yaml
similarity index 100%
rename from src/examples/camera_params_canonical.yaml
rename to demos/camera_params_canonical.yaml
diff --git a/src/examples/camera_params_ueye.yaml b/demos/camera_params_ueye.yaml
similarity index 100%
rename from src/examples/camera_params_ueye.yaml
rename to demos/camera_params_ueye.yaml
diff --git a/src/examples/camera_params_ueye_radial_dist.yaml b/demos/camera_params_ueye_radial_dist.yaml
similarity index 100%
rename from src/examples/camera_params_ueye_radial_dist.yaml
rename to demos/camera_params_ueye_radial_dist.yaml
diff --git a/src/examples/camera_params_ueye_sim.yaml b/demos/camera_params_ueye_sim.yaml
similarity index 100%
rename from src/examples/camera_params_ueye_sim.yaml
rename to demos/camera_params_ueye_sim.yaml
diff --git a/src/examples/camera_params_vga_ideal.yaml b/demos/camera_params_vga_ideal.yaml
similarity index 100%
rename from src/examples/camera_params_vga_ideal.yaml
rename to demos/camera_params_vga_ideal.yaml
diff --git a/src/examples/test_2_lasers_offline.cpp b/demos/demo_2_lasers_offline.cpp
similarity index 100%
rename from src/examples/test_2_lasers_offline.cpp
rename to demos/demo_2_lasers_offline.cpp
diff --git a/src/examples/Test_ORB.png b/demos/demo_ORB.png
similarity index 100%
rename from src/examples/Test_ORB.png
rename to demos/demo_ORB.png
diff --git a/src/examples/test_analytic_odom_factor.cpp b/demos/demo_analytic_odom_factor.cpp
similarity index 100%
rename from src/examples/test_analytic_odom_factor.cpp
rename to demos/demo_analytic_odom_factor.cpp
diff --git a/src/examples/test_apriltag.cpp b/demos/demo_apriltag.cpp
similarity index 100%
rename from src/examples/test_apriltag.cpp
rename to demos/demo_apriltag.cpp
diff --git a/src/examples/test_autodiff.cpp b/demos/demo_autodiff.cpp
similarity index 100%
rename from src/examples/test_autodiff.cpp
rename to demos/demo_autodiff.cpp
diff --git a/src/examples/test_capture_laser_2D.cpp b/demos/demo_capture_laser_2D.cpp
similarity index 100%
rename from src/examples/test_capture_laser_2D.cpp
rename to demos/demo_capture_laser_2D.cpp
diff --git a/src/examples/test_ceres_2_lasers.cpp b/demos/demo_ceres_2_lasers.cpp
similarity index 100%
rename from src/examples/test_ceres_2_lasers.cpp
rename to demos/demo_ceres_2_lasers.cpp
diff --git a/src/examples/test_ceres_2_lasers_polylines.cpp b/demos/demo_ceres_2_lasers_polylines.cpp
similarity index 100%
rename from src/examples/test_ceres_2_lasers_polylines.cpp
rename to demos/demo_ceres_2_lasers_polylines.cpp
diff --git a/src/examples/test_diff_drive.cpp b/demos/demo_diff_drive.cpp
similarity index 100%
rename from src/examples/test_diff_drive.cpp
rename to demos/demo_diff_drive.cpp
diff --git a/src/examples/test_eigen_quaternion.cpp b/demos/demo_eigen_quaternion.cpp
similarity index 100%
rename from src/examples/test_eigen_quaternion.cpp
rename to demos/demo_eigen_quaternion.cpp
diff --git a/src/examples/test_eigen_template.cpp b/demos/demo_eigen_template.cpp
similarity index 100%
rename from src/examples/test_eigen_template.cpp
rename to demos/demo_eigen_template.cpp
diff --git a/src/examples/test_factor_AHP.cpp b/demos/demo_factor_AHP.cpp
similarity index 100%
rename from src/examples/test_factor_AHP.cpp
rename to demos/demo_factor_AHP.cpp
diff --git a/src/examples/test_factor_imu.cpp b/demos/demo_factor_imu.cpp
similarity index 100%
rename from src/examples/test_factor_imu.cpp
rename to demos/demo_factor_imu.cpp
diff --git a/src/examples/test_factor_odom_3D.cpp b/demos/demo_factor_odom_3D.cpp
similarity index 100%
rename from src/examples/test_factor_odom_3D.cpp
rename to demos/demo_factor_odom_3D.cpp
diff --git a/src/examples/test_faramotics_simulation.cpp b/demos/demo_faramotics_simulation.cpp
similarity index 100%
rename from src/examples/test_faramotics_simulation.cpp
rename to demos/demo_faramotics_simulation.cpp
diff --git a/src/examples/test_fcn_ptr.cpp b/demos/demo_fcn_ptr.cpp
similarity index 100%
rename from src/examples/test_fcn_ptr.cpp
rename to demos/demo_fcn_ptr.cpp
diff --git a/src/examples/Test_gazebo_x-10cm_y-20cm.jpg b/demos/demo_gazebo_x-10cm_y-20cm.jpg
similarity index 100%
rename from src/examples/Test_gazebo_x-10cm_y-20cm.jpg
rename to demos/demo_gazebo_x-10cm_y-20cm.jpg
diff --git a/src/examples/Test_gazebo_x-10cm_y00cm.jpg b/demos/demo_gazebo_x-10cm_y00cm.jpg
similarity index 100%
rename from src/examples/Test_gazebo_x-10cm_y00cm.jpg
rename to demos/demo_gazebo_x-10cm_y00cm.jpg
diff --git a/src/examples/Test_gazebo_x-20cm_y-10cm.jpg b/demos/demo_gazebo_x-20cm_y-10cm.jpg
similarity index 100%
rename from src/examples/Test_gazebo_x-20cm_y-10cm.jpg
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diff --git a/src/examples/Test_gazebo_x-20cm_y-20cm.jpg b/demos/demo_gazebo_x-20cm_y-20cm.jpg
similarity index 100%
rename from src/examples/Test_gazebo_x-20cm_y-20cm.jpg
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diff --git a/src/examples/Test_gazebo_x-20cm_y00cm.jpg b/demos/demo_gazebo_x-20cm_y00cm.jpg
similarity index 100%
rename from src/examples/Test_gazebo_x-20cm_y00cm.jpg
rename to demos/demo_gazebo_x-20cm_y00cm.jpg
diff --git a/src/examples/Test_gazebo_x00cm_y-10cm.jpg b/demos/demo_gazebo_x00cm_y-10cm.jpg
similarity index 100%
rename from src/examples/Test_gazebo_x00cm_y-10cm.jpg
rename to demos/demo_gazebo_x00cm_y-10cm.jpg
diff --git a/src/examples/Test_gazebo_x00cm_y-20cm.jpg b/demos/demo_gazebo_x00cm_y-20cm.jpg
similarity index 100%
rename from src/examples/Test_gazebo_x00cm_y-20cm.jpg
rename to demos/demo_gazebo_x00cm_y-20cm.jpg
diff --git a/src/examples/Test_gazebo_x00cm_y00cm.jpg b/demos/demo_gazebo_x00cm_y00cm.jpg
similarity index 100%
rename from src/examples/Test_gazebo_x00cm_y00cm.jpg
rename to demos/demo_gazebo_x00cm_y00cm.jpg
diff --git a/src/examples/test_image.cpp b/demos/demo_image.cpp
similarity index 100%
rename from src/examples/test_image.cpp
rename to demos/demo_image.cpp
diff --git a/src/examples/test_imuDock.cpp b/demos/demo_imuDock.cpp
similarity index 100%
rename from src/examples/test_imuDock.cpp
rename to demos/demo_imuDock.cpp
diff --git a/src/examples/test_imuDock_autoKFs.cpp b/demos/demo_imuDock_autoKFs.cpp
similarity index 100%
rename from src/examples/test_imuDock_autoKFs.cpp
rename to demos/demo_imuDock_autoKFs.cpp
diff --git a/src/examples/test_imuPlateform_Offline.cpp b/demos/demo_imuPlateform_Offline.cpp
similarity index 100%
rename from src/examples/test_imuPlateform_Offline.cpp
rename to demos/demo_imuPlateform_Offline.cpp
diff --git a/src/examples/test_imu_constrained0.cpp b/demos/demo_imu_constrained0.cpp
similarity index 100%
rename from src/examples/test_imu_constrained0.cpp
rename to demos/demo_imu_constrained0.cpp
diff --git a/src/examples/test_kf_callback.cpp b/demos/demo_kf_callback.cpp
similarity index 100%
rename from src/examples/test_kf_callback.cpp
rename to demos/demo_kf_callback.cpp
diff --git a/src/examples/test_list_remove.cpp b/demos/demo_list_remove.cpp
similarity index 100%
rename from src/examples/test_list_remove.cpp
rename to demos/demo_list_remove.cpp
diff --git a/src/examples/test_map_yaml.cpp b/demos/demo_map_yaml.cpp
similarity index 100%
rename from src/examples/test_map_yaml.cpp
rename to demos/demo_map_yaml.cpp
diff --git a/src/examples/test_matrix_prod.cpp b/demos/demo_matrix_prod.cpp
similarity index 100%
rename from src/examples/test_matrix_prod.cpp
rename to demos/demo_matrix_prod.cpp
diff --git a/src/examples/test_mpu.cpp b/demos/demo_mpu.cpp
similarity index 100%
rename from src/examples/test_mpu.cpp
rename to demos/demo_mpu.cpp
diff --git a/src/examples/test_polylines.cpp b/demos/demo_polylines.cpp
similarity index 100%
rename from src/examples/test_polylines.cpp
rename to demos/demo_polylines.cpp
diff --git a/src/examples/test_processor_imu.cpp b/demos/demo_processor_imu.cpp
similarity index 100%
rename from src/examples/test_processor_imu.cpp
rename to demos/demo_processor_imu.cpp
diff --git a/src/examples/test_processor_imu_jacobians.cpp b/demos/demo_processor_imu_jacobians.cpp
similarity index 100%
rename from src/examples/test_processor_imu_jacobians.cpp
rename to demos/demo_processor_imu_jacobians.cpp
diff --git a/src/examples/test_processor_odom_3D.cpp b/demos/demo_processor_odom_3D.cpp
similarity index 100%
rename from src/examples/test_processor_odom_3D.cpp
rename to demos/demo_processor_odom_3D.cpp
diff --git a/src/examples/test_processor_tracker_feature.cpp b/demos/demo_processor_tracker_feature.cpp
similarity index 100%
rename from src/examples/test_processor_tracker_feature.cpp
rename to demos/demo_processor_tracker_feature.cpp
diff --git a/src/examples/test_processor_tracker_landmark.cpp b/demos/demo_processor_tracker_landmark.cpp
similarity index 100%
rename from src/examples/test_processor_tracker_landmark.cpp
rename to demos/demo_processor_tracker_landmark.cpp
diff --git a/src/examples/test_processor_tracker_landmark_image.cpp b/demos/demo_processor_tracker_landmark_image.cpp
similarity index 100%
rename from src/examples/test_processor_tracker_landmark_image.cpp
rename to demos/demo_processor_tracker_landmark_image.cpp
diff --git a/src/examples/test_projection_points.cpp b/demos/demo_projection_points.cpp
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rename from src/examples/test_projection_points.cpp
rename to demos/demo_projection_points.cpp
diff --git a/src/examples/test_sh_ptr.cpp b/demos/demo_sh_ptr.cpp
similarity index 100%
rename from src/examples/test_sh_ptr.cpp
rename to demos/demo_sh_ptr.cpp
diff --git a/src/examples/test_simple_AHP.cpp b/demos/demo_simple_AHP.cpp
similarity index 100%
rename from src/examples/test_simple_AHP.cpp
rename to demos/demo_simple_AHP.cpp
diff --git a/src/examples/test_sort_keyframes.cpp b/demos/demo_sort_keyframes.cpp
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rename from src/examples/test_sort_keyframes.cpp
rename to demos/demo_sort_keyframes.cpp
diff --git a/src/examples/test_sparsification.cpp b/demos/demo_sparsification.cpp
similarity index 100%
rename from src/examples/test_sparsification.cpp
rename to demos/demo_sparsification.cpp
diff --git a/src/examples/test_state_quaternion.cpp b/demos/demo_state_quaternion.cpp
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rename from src/examples/test_state_quaternion.cpp
rename to demos/demo_state_quaternion.cpp
diff --git a/src/examples/test_tracker_ORB.cpp b/demos/demo_tracker_ORB.cpp
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rename from src/examples/test_tracker_ORB.cpp
rename to demos/demo_tracker_ORB.cpp
diff --git a/src/examples/test_virtual_hierarchy.cpp b/demos/demo_virtual_hierarchy.cpp
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rename from src/examples/test_virtual_hierarchy.cpp
rename to demos/demo_virtual_hierarchy.cpp
diff --git a/src/examples/test_wolf_autodiffwrapper.cpp b/demos/demo_wolf_autodiffwrapper.cpp
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rename from src/examples/test_wolf_autodiffwrapper.cpp
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diff --git a/src/examples/test_wolf_factories.cpp b/demos/demo_wolf_factories.cpp
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rename from src/examples/test_wolf_factories.cpp
rename to demos/demo_wolf_factories.cpp
diff --git a/src/examples/test_wolf_imported_graph.cpp b/demos/demo_wolf_imported_graph.cpp
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rename from src/examples/test_wolf_imported_graph.cpp
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diff --git a/src/examples/test_wolf_logging.cpp b/demos/demo_wolf_logging.cpp
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rename from src/examples/test_wolf_logging.cpp
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diff --git a/src/examples/test_wolf_prunning.cpp b/demos/demo_wolf_prunning.cpp
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rename from src/examples/test_wolf_prunning.cpp
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diff --git a/src/examples/test_wolf_root.cpp b/demos/demo_wolf_root.cpp
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rename from src/examples/test_wolf_root.cpp
rename to demos/demo_wolf_root.cpp
diff --git a/src/examples/test_wolf_tree.cpp b/demos/demo_wolf_tree.cpp
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rename from src/examples/test_wolf_tree.cpp
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diff --git a/src/examples/test_yaml.cpp b/demos/demo_yaml.cpp
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diff --git a/src/examples/test_yaml_conversions.cpp b/demos/demo_yaml_conversions.cpp
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rename from src/examples/test_yaml_conversions.cpp
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diff --git a/src/examples/input_M3500b_toro.graph b/demos/input_M3500b_toro.graph
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rename from src/examples/input_M3500b_toro.graph
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diff --git a/src/examples/map_apriltag_1.yaml b/demos/map_apriltag_1.yaml
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diff --git a/src/examples/map_polyline_example.yaml b/demos/map_polyline_example.yaml
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rename from src/examples/map_polyline_example.yaml
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diff --git a/src/examples/maps/map_apriltag_logitech_1234.yaml b/demos/maps/map_apriltag_logitech_1234.yaml
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rename from src/examples/maps/map_apriltag_logitech_1234.yaml
rename to demos/maps/map_apriltag_logitech_1234.yaml
diff --git a/src/examples/processor_image_feature.yaml b/demos/processor_image_feature.yaml
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diff --git a/src/examples/processor_image_vision_utils.yaml b/demos/processor_image_vision_utils.yaml
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diff --git a/src/examples/processor_imu.yaml b/demos/processor_imu.yaml
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diff --git a/src/examples/processor_imu_no_vote.yaml b/demos/processor_imu_no_vote.yaml
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diff --git a/src/examples/processor_imu_t1.yaml b/demos/processor_imu_t1.yaml
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diff --git a/src/examples/processor_imu_t6.yaml b/demos/processor_imu_t6.yaml
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diff --git a/src/examples/processor_odom_3D.yaml b/demos/processor_odom_3D.yaml
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rename from src/examples/processor_odom_3D.yaml
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diff --git a/src/examples/processor_tracker_landmark_apriltag.yaml b/demos/processor_tracker_landmark_apriltag.yaml
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diff --git a/src/examples/sensor_odom_3D.yaml b/demos/sensor_odom_3D.yaml
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diff --git a/src/examples/sensor_odom_3D_HQ.yaml b/demos/sensor_odom_3D_HQ.yaml
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diff --git a/src/examples/solver/test_SPQR.cpp b/demos/solver/test_SPQR.cpp
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diff --git a/src/examples/solver/test_ccolamd_blocks.cpp b/demos/solver/test_ccolamd_blocks.cpp
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diff --git a/src/examples/solver/test_iQR.cpp b/demos/solver/test_iQR.cpp
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diff --git a/src/examples/solver/test_iQR_wolf2.cpp b/demos/solver/test_iQR_wolf2.cpp
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diff --git a/src/examples/solver/test_incremental_ccolamd_blocks.cpp b/demos/solver/test_incremental_ccolamd_blocks.cpp
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