diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1f1f99f4c4bfb71389afc7fe1695355ad801f3c0..765441670adcd64066b6015507c734a5de11e1f3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -34,6 +34,7 @@ PROJECT(wolf)
 SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
 SET(CMAKE_INSTALL_PREFIX /usr/local)
+SET(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY TRUE)
 
 IF (NOT CMAKE_BUILD_TYPE)
   SET(CMAKE_BUILD_TYPE "DEBUG")
diff --git a/include/core/common/time_stamp.h b/include/core/common/time_stamp.h
index 5cf7d1d48b0ae036decf7f33a05e0fb1359738b3..7e17ac4f9e1b44337923c8f19230b11fe2f76ea3 100644
--- a/include/core/common/time_stamp.h
+++ b/include/core/common/time_stamp.h
@@ -23,6 +23,7 @@ class TimeStamp
 {
     protected:
         unsigned long int time_stamp_nano_; ///< Time stamp. Expressed in nanoseconds from 1th jan 1970.
+        bool is_valid_; // time stamp has a valid value
 
     public:
         /** \brief Constructor
@@ -60,6 +61,16 @@ class TimeStamp
          */
         ~TimeStamp();
 
+        /** \brief Value of time stamp is valid
+         *
+         */
+        static TimeStamp Invalid ( );
+        bool ok ( ) const;
+        void setOk ( );
+        void setNOk ( );
+
+        static TimeStamp Now();
+
         /** \brief Time stamp to now
          */
         void setToNow();
@@ -174,19 +185,42 @@ class TimeStamp
 
 };
 
+inline wolf::TimeStamp TimeStamp::Invalid ( )
+{
+    return TimeStamp(-1.0);
+}
+
+inline bool TimeStamp::ok ( ) const
+{
+    return is_valid_;
+}
+
+inline void TimeStamp::setOk ( )
+{
+    is_valid_ = true;
+}
+
+inline void TimeStamp::setNOk ( )
+{
+    is_valid_ = false;
+}
+
 inline void TimeStamp::set(const double& ts)
 {
-    time_stamp_nano_ = (ts > 0 ? (unsigned long int)(ts*NANOSECS) : 0);
+    time_stamp_nano_ = (ts >= 0 ? (unsigned long int)(ts*NANOSECS) : 0);
+    is_valid_ = (ts >= 0);
 }
 
 inline void TimeStamp::set(const unsigned long int& sec, const unsigned long int& nanosec)
 {
     time_stamp_nano_ = sec*NANOSECS+nanosec;
+    is_valid_ = true;
 }
 
 inline void TimeStamp::set(const timeval& ts)
 {
     time_stamp_nano_ = (unsigned long int)(ts.tv_sec*NANOSECS) + (unsigned long int)(ts.tv_usec*1000);
+    is_valid_ = (ts.tv_sec >= 0 and ts.tv_usec >= 0);
 }
 
 inline double TimeStamp::get() const
@@ -207,11 +241,13 @@ inline unsigned long int TimeStamp::getNanoSeconds() const
 inline void TimeStamp::operator =(const TimeStamp& ts)
 {
     time_stamp_nano_ = ts.time_stamp_nano_;
+    is_valid_ = ts.is_valid_;
 }
 
 inline void TimeStamp::operator =(const double& ts)
 {
     time_stamp_nano_ = (unsigned long int)(ts*NANOSECS);
+    is_valid_ = (ts >= 0);
 }
 
 inline bool TimeStamp::operator ==(const TimeStamp& ts) const
@@ -254,7 +290,7 @@ inline double TimeStamp::operator -(const TimeStamp& ts) const
     return double((long int)(time_stamp_nano_ - ts.time_stamp_nano_))*1e-9; // long int cast fix overflow in case of negative substraction result
 }
 
-static const TimeStamp InvalidStamp(-1,-1);
+//static const TimeStamp TimeStampInvalid() {return TimeStamp(-1.0);}
 
 } // namespace wolf
 
diff --git a/include/core/processor/processor_logging.h b/include/core/processor/processor_logging.h
index de1d5ead89e38e28f15aa6b1c789350c3a0b0384..bc1f8399aadc6ac344973baa377b8ea8bdb85db7 100644
--- a/include/core/processor/processor_logging.h
+++ b/include/core/processor/processor_logging.h
@@ -9,7 +9,7 @@
 #define _WOLF_PROCESSOR_LOGGING_H_
 
 /// @brief un-comment for IDE highlights.
-//#include "core/utils/logging.h"
+
 
 #define __INTERNAL_WOLF_ASSERT_PROCESSOR \
   static_assert(std::is_base_of<ProcessorBase, \
diff --git a/src/common/time_stamp.cpp b/src/common/time_stamp.cpp
index 528d0ad54872bc077ba74d72be0cb2cb79099d13..595023484187d36e0bb5c8a6e361beda1ff2f089 100644
--- a/src/common/time_stamp.cpp
+++ b/src/common/time_stamp.cpp
@@ -3,8 +3,17 @@
 
 namespace wolf {
 
+TimeStamp TimeStamp::Now ( )
+{
+    TimeStamp t(0);
+    t.setToNow();
+    return t;
+}
+
 std::ostream& operator<<(std::ostream& os, const TimeStamp& _ts)
 {
+    if (!_ts.ok())
+        os << "TimeStamp is invalid! ";
     os << _ts.getSeconds() << "." << std::setfill('0') << std::setw(9) << std::right <<_ts.getNanoSeconds(); // write obj to stream
     os << std::setfill(' ');
     return os;
@@ -13,24 +22,29 @@ std::ostream& operator<<(std::ostream& os, const TimeStamp& _ts)
 TimeStamp::TimeStamp() :
         //time_stamp_(0)
         time_stamp_nano_(0)
+        ,
+        is_valid_(false)
 {
-    setToNow();
+//    setToNow();
 }
 
 TimeStamp::TimeStamp(const TimeStamp& _ts) :
-        time_stamp_nano_(_ts.time_stamp_nano_)
+        time_stamp_nano_(_ts.time_stamp_nano_),
+        is_valid_(_ts.is_valid_)
 {
     //
 }
 
 TimeStamp::TimeStamp(const double& _ts) :
-        time_stamp_nano_(_ts > 0 ? (unsigned long int)(_ts*1e9) : 0)
+        time_stamp_nano_(_ts > 0 ? (unsigned long int)(_ts*1e9) : 0),
+        is_valid_(_ts > 0)
 {
     //
 }
 
 TimeStamp::TimeStamp(const unsigned long int& _sec, const unsigned long int& _nsec) :
-        time_stamp_nano_(_sec*NANOSECS+_nsec)
+        time_stamp_nano_(_sec*NANOSECS+_nsec),
+        is_valid_(true)
 {
     //
 }
@@ -45,6 +59,7 @@ void TimeStamp::setToNow()
     timeval ts;
     gettimeofday(&ts, NULL);
     set(ts);
+    setOk();
 }
 
 TimeStamp TimeStamp::operator +(const double& dt) const
@@ -64,6 +79,7 @@ TimeStamp TimeStamp::operator -(const double& dt) const
 void TimeStamp::operator -=(const double& dt)
 {
     unsigned long int dt_nano = (unsigned long int)(dt*NANOSECS);
+    is_valid_ = (time_stamp_nano_ >= dt_nano);
     time_stamp_nano_ = (dt_nano > time_stamp_nano_ ? 0 : time_stamp_nano_ - dt_nano);
 }
 
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 4d2462f72d4e9bbf2fc6cb2c453389ea02028309..ee3884ba30cdd6f434956ebde18b86b6c424839a 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -18,7 +18,7 @@
 #include "core/state_block/state_angle.h"
 #include "core/tree_manager/factory_tree_manager.h"
 #include "core/tree_manager/tree_manager_base.h"
-#include "core/utils/logging.h"
+
 #include "core/utils/params_server.h"
 #include "core/utils/loader.h"
 #include "core/utils/check_log.h"
@@ -419,56 +419,63 @@ FrameBasePtr Problem::emplaceFrame(FrameType _frame_key_type, //
 
 TimeStamp Problem::getTimeStamp ( ) const
 {
-    if ( processor_is_motion_list_.empty() ) // Use last estimated frame's state
-    {
-        auto last_kf_or_aux = trajectory_ptr_->getLastKeyOrAuxFrame();
+    TimeStamp  ts = TimeStamp::Invalid();
 
-        assert(last_kf_or_aux != nullptr && "Problem has no Keyframe so no timestamp can be obtained!");
+    for (const auto& prc : processor_is_motion_list_)
+        if (prc->getTimeStamp().ok())
+            if ( (not ts.ok() ) or prc->getTimeStamp() > ts)
+                ts = prc->getTimeStamp();
 
-        return last_kf_or_aux->getTimeStamp();
-    }
-    else
+
+    if (not ts.ok())
     {
-        TimeStamp  ts(0);
-        for (const auto& prc : processor_is_motion_list_)
-            if (prc->getTimeStamp() > ts)
-                ts = prc->getTimeStamp();
-        return ts;
+        const auto& last_kf_or_aux = trajectory_ptr_->getLastKeyOrAuxFrame();
+
+        if (last_kf_or_aux)
+            ts = last_kf_or_aux->getTimeStamp(); // Use last estimated frame's state
+
     }
+
+    if (not ts.ok())
+        WOLF_WARN( "Problem has nowhere to find a valid timestamp!");
+
+    return ts;
 }
 
 
 VectorComposite Problem::getState(const StateStructure& _structure) const
 {
     StateStructure structure = (_structure == "" ? getFrameStructure() : _structure);
+
     VectorComposite state;
 
-    if ( processor_is_motion_list_.empty() ) // Use last estimated frame's state
-    {
-        auto last_kf_or_aux = trajectory_ptr_->getLastKeyOrAuxFrame();
-        if (last_kf_or_aux)
-            state = last_kf_or_aux->getState(structure);
-        else
-            state = stateZero(structure);
-    }
-    else // Compose from different processor motion
+    // compose the states of all processor motions into one only state
+    for (const auto& prc : processor_is_motion_list_)
     {
-        // compose the states of all processor motions into one only state
-        for (const auto& prc : processor_is_motion_list_)
+        const auto& prc_state = prc->getState();
+        for (const auto& pair_key_vec : prc_state)
         {
-            const auto& prc_state = prc->getState();
-            for (const auto& pair_key_vec : prc_state)
-            {
-                if (state.count(pair_key_vec.first) == 0) // only add those keys that do not exist yet
-                    state.insert(pair_key_vec);
-            }
+            if (state.count(pair_key_vec.first) == 0) // only add those keys that do not exist yet
+                state.insert(pair_key_vec);
         }
+    }
+
+    // check for empty blocks and fill them with the last KF, or with zeros in the worst case
+    VectorComposite state_last;
+    const auto& last_kf_or_aux = trajectory_ptr_->getLastKeyOrAuxFrame();
+    if (last_kf_or_aux) state_last = last_kf_or_aux->getState(structure);
 
-        // check for empty blocks and fill them with zeros
-        for (const auto& ckey : frame_structure_)
+    for (const auto& ckey : structure)
+    {
+        const auto& key = string(1,ckey);
+        if (state.count(key) == 0)
         {
-            const auto& key = string(1,ckey);
-            if (state.count(key) == 0)
+            auto state_last_it = state_last.find(key);
+
+            if (state_last_it != state_last.end())
+                state.emplace(key, state_last_it->second);
+
+            else
                 state.emplace(key, stateZero(key).at(key));
         }
     }
@@ -480,20 +487,8 @@ VectorComposite Problem::getState (const TimeStamp& _ts, const StateStructure& _
 {
     StateStructure structure = (_structure == "" ? getFrameStructure() : _structure);
 
-    if ( processor_is_motion_list_.empty() ) // Use last estimated frame's state
-    {
-        const auto& last_kf_or_aux = trajectory_ptr_->closestKeyOrAuxFrameToTimeStamp(_ts);
-        if (last_kf_or_aux)
-        {
-            return last_kf_or_aux->getState(structure);
-        }
-        else
-        {
-            return stateZero(structure);
-        }
-    }
-
     VectorComposite state;
+
     for (const auto& prc : processor_is_motion_list_)
     {
         const auto& prc_state = prc->getState(_ts);
@@ -508,12 +503,24 @@ VectorComposite Problem::getState (const TimeStamp& _ts, const StateStructure& _
         }
     }
 
-    // check for empty blocks and fill them with zeros
-    for (const auto& ckey : frame_structure_)
+    // check for empty blocks and fill them with the closest KF to ts, or with zeros in the worst case
+    VectorComposite state_last;
+    const auto& last_kf_or_aux = trajectory_ptr_->closestKeyOrAuxFrameToTimeStamp(_ts);
+    if (last_kf_or_aux) state_last = last_kf_or_aux->getState(structure);
+
+    for (const auto& ckey : structure)
     {
         const auto& key = string(1,ckey);
         if (state.count(key) == 0)
-            state.emplace(key, stateZero(key).at(key));
+        {
+            auto state_last_it = state_last.find(key);
+
+            if (state_last_it != state_last.end())
+                state.emplace(key, state_last_it->second);
+
+            else
+                state.emplace(key, stateZero(key).at(key));
+        }
     }
 
     return state;
diff --git a/test/gtest_ceres_manager.cpp b/test/gtest_ceres_manager.cpp
index 454ff6dfb13d7db63818eafebc10ebec6630cf66..5586332e6eb0470e8ffef1c9b0eb2d9d2fd1b313 100644
--- a/test/gtest_ceres_manager.cpp
+++ b/test/gtest_ceres_manager.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 #include "core/problem/problem.h"
 #include "core/sensor/sensor_base.h"
diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index 457d41fe43f1adb01345065130f416f8ec785185..2c28c2bd442bc8675bf5e71fb82d97141cac8390 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 #include "core/problem/problem.h"
 #include "core/sensor/sensor_base.h"
diff --git a/test/gtest_factor_autodiff_distance_3d.cpp b/test/gtest_factor_autodiff_distance_3d.cpp
index 57235013f2c82a115a4fcafd389ac8421195651e..1a3f492384290e2bb14e8f01af153aa61abc1193 100644
--- a/test/gtest_factor_autodiff_distance_3d.cpp
+++ b/test/gtest_factor_autodiff_distance_3d.cpp
@@ -7,7 +7,7 @@
 
 #include "core/factor/factor_autodiff_distance_3d.h"
 #include "core/problem/problem.h"
-#include "core/utils/logging.h"
+
 #include "core/ceres_wrapper/ceres_manager.h"
 #include "core/math/rotations.h"
 
diff --git a/test/gtest_factor_base.cpp b/test/gtest_factor_base.cpp
index 05c9f8c7980df3bb47aeb80a0b28408302ba0b4c..e1e035bf0ae084d309b51db84b4c49ac62440924 100644
--- a/test/gtest_factor_base.cpp
+++ b/test/gtest_factor_base.cpp
@@ -7,7 +7,7 @@
 
 
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 #include "core/factor/factor_base.h"
 
diff --git a/test/gtest_factory_state_block.cpp b/test/gtest_factory_state_block.cpp
index 726fa7e47566cae2c1071b7c3511ace30f03308e..7edff3ed17f1a5b35e32cd44898ab4d77b48b001 100644
--- a/test/gtest_factory_state_block.cpp
+++ b/test/gtest_factory_state_block.cpp
@@ -10,7 +10,7 @@
 #include "core/sensor/factory_sensor.h"
 
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 using namespace wolf;
 
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 9d1368d3b673bb1d00baf11c8100273cbc813d1d..abdefc83d7d4a3e1f041f5355b3139c1276775cb 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 #include "core/frame/frame_base.h"
 #include "core/sensor/sensor_odom_2d.h"
diff --git a/test/gtest_local_param.cpp b/test/gtest_local_param.cpp
index 39684eaf17c71ab8fcd4637683fe37f05139b5e2..8b6ed4fc1e2ca38cc5618eaf0ee587ff408f5d4d 100644
--- a/test/gtest_local_param.cpp
+++ b/test/gtest_local_param.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 #include "core/state_block/local_parametrization_quaternion.h"
 #include "core/state_block/local_parametrization_homogeneous.h"
diff --git a/test/gtest_logging.cpp b/test/gtest_logging.cpp
index ec6df4414d1934fd4c1f4c3dd989639848dbad82..58480003d32db34aec7b643bfa39c4b8259a2d3b 100644
--- a/test/gtest_logging.cpp
+++ b/test/gtest_logging.cpp
@@ -7,7 +7,7 @@
 
 #include "core/common/wolf.h"
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 TEST(logging, info)
 {
diff --git a/test/gtest_motion_buffer.cpp b/test/gtest_motion_buffer.cpp
index 3c74ede52ce7ec57a153cdcf416b9c84597cadd9..f47e9bd12826c323be8f61c882ed638ba35a5745 100644
--- a/test/gtest_motion_buffer.cpp
+++ b/test/gtest_motion_buffer.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 #include "core/processor/motion_buffer.h"
 
diff --git a/test/gtest_param_prior.cpp b/test/gtest_param_prior.cpp
index 6faf7e424fe24d64bdad85c64c05e0df490da426..a512601e2b75ed7035f3b70745294ccffe1a9596 100644
--- a/test/gtest_param_prior.cpp
+++ b/test/gtest_param_prior.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 #include "core/problem/problem.h"
 #include "core/ceres_wrapper/ceres_manager.h"
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 20e272cfa698f904e3bb63c6d7730b11e0fe4568..0e13554d43eb92416f04321d6039f930b8d5a6e5 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "core/utils/utils_gtest.h"
-//#include "core/utils/logging.h"
+
 
 #include "core/problem/problem.h"
 #include "core/sensor/sensor_base.h"
diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index 509c20d6ee2f9b809f4067ed03128ef7bca059a9..bcf69745cea695fef25bbb2238b0c4fddf334799 100644
--- a/test/gtest_processor_motion.cpp
+++ b/test/gtest_processor_motion.cpp
@@ -8,7 +8,7 @@
 #include "core/utils/utils_gtest.h"
 
 #include "core/common/wolf.h"
-#include "core/utils/logging.h"
+
 
 #include "core/sensor/sensor_odom_2d.h"
 #include "core/processor/processor_odom_2d.h"
diff --git a/test/gtest_processor_odom_3d.cpp b/test/gtest_processor_odom_3d.cpp
index 4a94d3e1b88d1afc89ef80a39b9fad1baa67a1f7..dc24beddd0643d7d64d21deeb59c2068752d50ec 100644
--- a/test/gtest_processor_odom_3d.cpp
+++ b/test/gtest_processor_odom_3d.cpp
@@ -8,7 +8,7 @@
 #include "core/utils/utils_gtest.h"
 
 #include "core/common/wolf.h"
-#include "core/utils/logging.h"
+
 
 #include "core/processor/processor_odom_3d.h"
 
diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp
index e8afad2af2283b3a0aaa2fdb7f9290fc9e633981..7e212b9971b5bf8fb1a46f94141ce61a1a5aab08 100644
--- a/test/gtest_solver_manager.cpp
+++ b/test/gtest_solver_manager.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 #include "core/problem/problem.h"
 #include "core/sensor/sensor_base.h"
diff --git a/test/gtest_state_block.cpp b/test/gtest_state_block.cpp
index 19d9e3cf63623ef275ee5f8fc8111f4e88ece4d1..dbcc4b6745e1c4ed99c1b1843c04fcbd7c1b546d 100644
--- a/test/gtest_state_block.cpp
+++ b/test/gtest_state_block.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 #include "core/state_block/state_block.h"
 #include "core/state_block/state_quaternion.h"
diff --git a/test/gtest_time_stamp.cpp b/test/gtest_time_stamp.cpp
index 169532a42076310bb819b85098e1b063902219f7..f8f70272b239a06f30ce5fdf6eed32308ae95689 100644
--- a/test/gtest_time_stamp.cpp
+++ b/test/gtest_time_stamp.cpp
@@ -3,9 +3,30 @@
 
 #include <thread>
 
+using namespace wolf;
+
+TEST(WolfTestTimeStamp, TimeStampInvalid)
+{
+    auto t = TimeStamp::Invalid();
+    WOLF_DEBUG("t = ", t);
+    ASSERT_FALSE(t.ok());
+
+    t = -1;
+    WOLF_DEBUG("t = ", t);
+    ASSERT_FALSE(t.ok());
+
+    t = 0;
+    WOLF_DEBUG("t = ", t);
+    ASSERT_TRUE(t.ok());
+
+    t = 1;
+    WOLF_DEBUG("t = ", t);
+    ASSERT_TRUE(t.ok());
+}
+
 TEST(WolfTestTimeStamp, TimeStampInitNow)
 {
-  wolf::TimeStamp start;
+  wolf::TimeStamp start = wolf::TimeStamp::Now();
 
   // If we don't sleep, start == time_stamp sometimes.
   // And sometimes start <= time_stamp ...
@@ -13,7 +34,7 @@ TEST(WolfTestTimeStamp, TimeStampInitNow)
 
   ASSERT_NE(start.get(), 0);
 
-  wolf::TimeStamp time_stamp;
+  wolf::TimeStamp time_stamp = wolf::TimeStamp::Now();
 
 //  std::cout << std::fixed;
 //  std::cout << std::setprecision(15);
@@ -137,11 +158,11 @@ TEST(WolfTestTimeStamp, TimeStampEquality)
 
 TEST(WolfTestTimeStamp, TimeStampInequality)
 {
-  wolf::TimeStamp start;
+  wolf::TimeStamp start = wolf::TimeStamp::Now();
 
   std::this_thread::sleep_for(std::chrono::microseconds(1));
 
-  wolf::TimeStamp time_stamp;
+  wolf::TimeStamp time_stamp = wolf::TimeStamp::Now();
 
   // error: no match for ‘operator!=’
   //ASSERT_NE(time_stamp, start);
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index 9be1e82fafac833ca90d000e487072d5488ff240..00f7d83fff99ff39b16fc8a67c2eee9b767cfbe1 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -6,7 +6,7 @@
  */
 
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 #include "core/problem/problem.h"
 #include "core/trajectory/trajectory_base.h"
diff --git a/test/gtest_tree_manager.cpp b/test/gtest_tree_manager.cpp
index acd3da51ab0ddd7ccabe960f06e9dbbc8abe54e9..1d97e2925487f9e363e1292b6ef2c2a82c29fc96 100644
--- a/test/gtest_tree_manager.cpp
+++ b/test/gtest_tree_manager.cpp
@@ -1,5 +1,5 @@
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 #include "core/problem/problem.h"
 #include "dummy/tree_manager_dummy.h"
diff --git a/test/gtest_tree_manager_sliding_window.cpp b/test/gtest_tree_manager_sliding_window.cpp
index db8a2e87d386116c6b1c468b457471aae98e4404..5cbc9550cc9a751a57046807f236486f4d5cbb92 100644
--- a/test/gtest_tree_manager_sliding_window.cpp
+++ b/test/gtest_tree_manager_sliding_window.cpp
@@ -1,5 +1,5 @@
 #include "core/utils/utils_gtest.h"
-#include "core/utils/logging.h"
+
 
 #include "core/problem/problem.h"
 #include "core/tree_manager/tree_manager_sliding_window.h"
diff --git a/wolf_scripts/templates/gtest_template.cpp b/wolf_scripts/templates/gtest_template.cpp
index ccfec27db00cba6d92ac7f5d6b91718db1896be2..2acdaa25f334608ea1e9b9ce2cdec7e4642f6b84 100644
--- a/wolf_scripts/templates/gtest_template.cpp
+++ b/wolf_scripts/templates/gtest_template.cpp
@@ -1,7 +1,7 @@
 #include "core/utils/utils_gtest.h"
 
 #include "wolf.h"
-#include "logging.h"
+//#include "logging.h"
 
 #include "header_file"