diff --git a/include/laser/processor/params_icp.h b/include/laser/processor/params_icp.h
index 9c57708c337730b005b57cf4bcd3c94df75edc19..fe3e1ed7c92efdcf5a4f66ce8418a8c7afa34e1d 100644
--- a/include/laser/processor/params_icp.h
+++ b/include/laser/processor/params_icp.h
@@ -22,9 +22,11 @@
 #ifndef INCLUDE_LASER_PROCESSOR_PARAMS_ICP_H_
 #define INCLUDE_LASER_PROCESSOR_PARAMS_ICP_H_
 
-#include "core/common/wolf.h"
 #include "laser_scan_utils/icp.h"
 
+#include <core/common/wolf.h>
+#include <core/utils/params_server.h>
+
 namespace wolf {
 
 WOLF_PTR_TYPEDEFS(ProcessorOdomIcp);
diff --git a/include/laser/processor/processor_odom_icp.h b/include/laser/processor/processor_odom_icp.h
index 9ef7904912e713aebad83e338fcca6bd9cce2e7f..e21bbf3e5c78a2f3985a23b8f553fb4e38bf5881 100644
--- a/include/laser/processor/processor_odom_icp.h
+++ b/include/laser/processor/processor_odom_icp.h
@@ -25,11 +25,12 @@
 /**************************
  *      WOLF includes     *
  **************************/
+#include "laser/processor/params_icp.h"
+#include "laser/sensor/sensor_laser_2d.h"
+
 #include "core/common/wolf.h"
 #include "core/processor/processor_tracker.h"
 #include "core/processor/motion_provider.h"
-#include "laser/processor/params_icp.h"
-#include "laser/sensor/sensor_laser_2d.h"
 
 /**************************
  *      ICP includes      *
diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp
index aa4bbd55eb9e30eee6606fa94ace0d0c8ba68e30..c012b9839644d5ce53d347c79f16401c97ce82f2 100644
--- a/src/processor/processor_odom_icp.cpp
+++ b/src/processor/processor_odom_icp.cpp
@@ -21,14 +21,15 @@
 //--------LICENSE_END--------
 #include "laser/processor/processor_odom_icp.h"
 #include "laser/math/laser_tools.h"
+#include "laser/capture/capture_laser_2d.h"
+#include "laser/feature/feature_icp_align.h"
+
 #include "core/math/covariance.h"
 #include "core/math/rotations.h"
 #include "core/math/SE3.h"
 #include "core/math/SE2.h"
-#include "laser/capture/capture_laser_2d.h"
 #include "core/factor/factor_relative_pose_2d_with_extrinsics.h"
 #include "core/factor/factor_relative_pose_3d.h"
-#include "laser/feature/feature_icp_align.h"
 
 using namespace laserscanutils;
 namespace wolf