diff --git a/include/laser/processor/processor_closeloop_icp.h b/include/laser/processor/processor_closeloop_icp.h
index b0a829d720291e8a8f0e96d0d14fae78c743e5a5..e06f241b84df4f398924c3f40c3e34202932f2c3 100644
--- a/include/laser/processor/processor_closeloop_icp.h
+++ b/include/laser/processor/processor_closeloop_icp.h
@@ -21,7 +21,7 @@ struct ProcessorParamsCloseLoopICP : public ProcessorParamsBase
 {
     int match_past_key_frame;
     ProcessorParamsCloseLoopICP() = default;
-    ProcessorParamsCloseLoopICP(std::string _unique_name, const paramsServer& _server):
+    ProcessorParamsCloseLoopICP(std::string _unique_name, const ParamsServer& _server):
         ProcessorParamsBase(_unique_name, _server)
     {
         match_past_key_frame = _server.getParam<int>(_unique_name + "/match_past_key_frame");
@@ -47,7 +47,7 @@ class ProcessorCloseLoopICP : public ProcessorBase
 
         virtual bool voteForKeyFrame() override;
 
-        static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const paramsServer& _server, const SensorBasePtr sensor_ptr);
+        static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr);
 
         static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr);
 
diff --git a/include/laser/processor/processor_odom_icp.h b/include/laser/processor/processor_odom_icp.h
index 56da0c09150ff9927cc0d706ebdcb6d49b53ad0b..a17429b0986630273689ffa8897b124799aae5db 100644
--- a/include/laser/processor/processor_odom_icp.h
+++ b/include/laser/processor/processor_odom_icp.h
@@ -34,7 +34,7 @@ struct ProcessorParamsOdomICP : public ProcessorParamsTracker
     int vfk_max_points;
 
     ProcessorParamsOdomICP() = default;
-    ProcessorParamsOdomICP(std::string _unique_name, const paramsServer &_server):
+    ProcessorParamsOdomICP(std::string _unique_name, const ParamsServer &_server):
         ProcessorParamsTracker(_unique_name, _server)
     {
         use_point_to_line_distance = _server.getParam<int>(_unique_name + "/use_point_to_line_distance");
@@ -110,7 +110,7 @@ class ProcessorOdomICP : public ProcessorTracker
         virtual void configure(SensorBasePtr _sensor) override;
 
         static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr);
-        static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const paramsServer& _server, const SensorBasePtr sensor_ptr);
+        static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr);
 
 
 
diff --git a/include/laser/processor/processor_tracker_feature_polyline_2D.h b/include/laser/processor/processor_tracker_feature_polyline_2D.h
index 9d4b448a422d294a5132bba917bd0abbbd2caec3..e94731ea71a0dfa712864a7dc9d9c8508e3661c1 100644
--- a/include/laser/processor/processor_tracker_feature_polyline_2D.h
+++ b/include/laser/processor/processor_tracker_feature_polyline_2D.h
@@ -9,7 +9,6 @@
 #define PROCESSOR_TRACKER_FEATURE_POLYLINE_2D_H_
 
 #include "laser/processor/polyline_2D_utils.h"
-#include "core/processor/processor_tracker_feature.h"
 #include "laser/landmark/landmark_polyline_2D.h"
 #include "laser/landmark/landmark_match_polyline_2D.h"
 #include "laser/sensor/sensor_laser_2D.h"
@@ -19,6 +18,9 @@
 #include "laser/factor/factor_point_2D.h"
 #include "laser/factor/factor_point_to_line_2D.h"
 
+#include "core/processor/processor_tracker_feature.h"
+#include "core/utils/params_server.hpp"
+
 //laser_scan_utils
 #include "laser_scan_utils/laser_scan.h"
 #include "laser_scan_utils/line_finder_iterative.h"
@@ -234,6 +236,10 @@ class ProcessorTrackerFeaturePolyline2D : public ProcessorTrackerFeature
                                        const ProcessorParamsBasePtr _params,
                                        const SensorBasePtr _sensor_ptr);
 
+        static ProcessorBasePtr createAutoConf(const std::string& _unique_name,
+                                               const ParamsServer& _server,
+                                               const SensorBasePtr _sensor_ptr);
+
         const FeatureBasePtrList& getLastNewFeatures() const
         {
             return untracked_features_last_;
diff --git a/include/laser/sensor/sensor_laser_2D.h b/include/laser/sensor/sensor_laser_2D.h
index 64caa44e3fd96f374c90b08faa7f1b0336a3c218..200f00badcd386b2ea2d6945f6d244e71b993b1a 100644
--- a/include/laser/sensor/sensor_laser_2D.h
+++ b/include/laser/sensor/sensor_laser_2D.h
@@ -77,7 +77,7 @@ class SensorLaser2D : public SensorBase
 
     public:
         static SensorBasePtr create(const std::string& _unique_name, const Eigen::VectorXs& _extrinsics_po, const IntrinsicsBasePtr _intrinsics);
-        static SensorBasePtr createAutoConf(const std::string& _unique_name, const paramsServer& _server);
+        static SensorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server);
         static IntrinsicsBasePtr createParams(const std::string& _filename_dot_yaml);
 
 };
diff --git a/src/processor/processor_closeloop_icp.cpp b/src/processor/processor_closeloop_icp.cpp
index c2815122e4db9806ec4e83d66a39d19feacd886d..d4f410071df0de2110f27ad7a4878c8ee46ab519 100644
--- a/src/processor/processor_closeloop_icp.cpp
+++ b/src/processor/processor_closeloop_icp.cpp
@@ -56,7 +56,7 @@ ProcessorBasePtr ProcessorCloseLoopICP::create(const std::string& _unique_name,
     return prc_ptr;
 }
 
-ProcessorBasePtr ProcessorCloseLoopICP::createAutoConf(const std::string& _unique_name, const paramsServer& _server, const SensorBasePtr sensor_ptr)
+ProcessorBasePtr ProcessorCloseLoopICP::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr)
 {
     ProcessorCloseLoopICPPtr prc_ptr;
     auto params = std::make_shared<ProcessorParamsCloseLoopICP>();
diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp
index e96debd03fcf2bcbf6f2453f7c25e9fe50989421..4bbf3903b51f348927cb143eec8c30a3745b514f 100644
--- a/src/processor/processor_odom_icp.cpp
+++ b/src/processor/processor_odom_icp.cpp
@@ -188,7 +188,7 @@ ProcessorBasePtr ProcessorOdomICP::create(const std::string& _unique_name, const
     return prc_ptr;
 }
 
-ProcessorBasePtr ProcessorOdomICP::createAutoConf(const std::string& _unique_name, const paramsServer& _server, const SensorBasePtr sensor_ptr)
+ProcessorBasePtr ProcessorOdomICP::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr)
 {
 
     ProcessorOdomICPPtr prc_ptr;
diff --git a/src/processor/processor_tracker_feature_polyline_2D.cpp b/src/processor/processor_tracker_feature_polyline_2D.cpp
index ed3a2af962a180d57f4a0c884abfb801aabd4f81..9c877522e15a4a25e3ad89a9e0e6d661e693edfd 100644
--- a/src/processor/processor_tracker_feature_polyline_2D.cpp
+++ b/src/processor/processor_tracker_feature_polyline_2D.cpp
@@ -1299,6 +1299,12 @@ ProcessorBasePtr ProcessorTrackerFeaturePolyline2D::create(const std::string& _u
     return prc_ptr;
 }
 
+ProcessorBasePtr ProcessorTrackerFeaturePolyline2D::createAutoConf(const std::string& _unique_name,
+                                                                   const ParamsServer& _server,
+                                                                   const SensorBasePtr _sensor_ptr)
+{
+    return nullptr;
+}
 } /* namespace wolf */
 
 // Register in the SensorFactory
@@ -1306,3 +1312,7 @@ ProcessorBasePtr ProcessorTrackerFeaturePolyline2D::create(const std::string& _u
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("TRACKER FEATURE POLYLINE", ProcessorTrackerFeaturePolyline2D)
 } /* namespace wolf */
+#include "core/processor/autoconf_processor_factory.h"
+namespace wolf {
+    WOLF_REGISTER_PROCESSOR_AUTO("TRACKER FEATURE POLYLINE", ProcessorTrackerFeaturePolyline2D)
+} // namespace wolf
\ No newline at end of file
diff --git a/src/sensor/sensor_laser_2D.cpp b/src/sensor/sensor_laser_2D.cpp
index f1ddf33abe02f9d732a62e6182f7dcec8d1b1dbc..ce551eb2d29a2ad5baf0195e1cbbeb04ecfc9500 100644
--- a/src/sensor/sensor_laser_2D.cpp
+++ b/src/sensor/sensor_laser_2D.cpp
@@ -79,7 +79,7 @@ SensorBasePtr SensorLaser2D::create(const std::string& _unique_name, const Eigen
     return sen;
 }
 
-SensorBasePtr SensorLaser2D::createAutoConf(const std::string& _unique_name, const paramsServer& _server)
+SensorBasePtr SensorLaser2D::createAutoConf(const std::string& _unique_name, const ParamsServer& _server)
 {
     // decode extrinsics vector
     Eigen::VectorXs _extrinsics_po = _server.getParam<Eigen::VectorXs>(_unique_name + "/extrinsic/pos", "[0,0,0]");