diff --git a/CMakeLists.txt b/CMakeLists.txt
index 67bc28cab9aaa70bb2e15ca924363aa9933c9da9..dea914f147b2a7ffcb4831dd05d15c7d91107859 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -547,8 +547,8 @@ ENDIF (GLOG_FOUND)
 
 IF(BUILD_EXAMPLES)
   #Build examples
-  MESSAGE("Building examples.")
-  ADD_SUBDIRECTORY(src/examples)
+  MESSAGE("Building demos.")
+  ADD_SUBDIRECTORY(demos)
 ENDIF(BUILD_EXAMPLES)
 
 
diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake
index 75fffc965dca8e814e75185e674c873b319b583f..54a4b4edf5f01dd03e237eeb97d30178ccb14645 100644
--- a/cmake_modules/wolfConfig.cmake
+++ b/cmake_modules/wolfConfig.cmake
@@ -4,9 +4,9 @@ FIND_PATH(
     NAMES wolf.found
     PATHS /usr/local/include/iri-algorithms/wolf/plugin_core)
 IF(wolf_INCLUDE_DIR)
-  MESSAGE("Found vision include dirs: ${wolf_INCLUDE_DIR}")
+  MESSAGE("Found wolf include dirs: ${wolf_INCLUDE_DIR}")
 ELSE(wolf_INCLUDE_DIR)
-  MESSAGE("Couldn't find vision include dirs")
+  MESSAGE("Couldn't find wolf include dirs")
 ENDIF(wolf_INCLUDE_DIR)
 
 FIND_LIBRARY(
@@ -59,7 +59,7 @@ macro(wolf_report_not_found REASON_MSG)
 endmacro(wolf_report_not_found)
 
 if(NOT wolf_FOUND)
-  wolf_report_not_found("TROUBLE DUDE.")
+  wolf_report_not_found("Something went wrong while setting up wolf.")
 endif(NOT wolf_FOUND)
 # Set the include directories for wolf (itself).
 set(wolf_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/ACTIVESEARCH.yaml b/demos/ACTIVESEARCH.yaml
similarity index 100%
rename from src/examples/ACTIVESEARCH.yaml
rename to demos/ACTIVESEARCH.yaml
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_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/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_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_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
similarity index 100%
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
similarity index 100%
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
similarity index 100%
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
similarity index 100%
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
similarity index 100%
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
similarity index 100%
rename from src/examples/test_wolf_autodiffwrapper.cpp
rename to demos/demo_wolf_autodiffwrapper.cpp
diff --git a/src/examples/test_wolf_factories.cpp b/demos/demo_wolf_factories.cpp
similarity index 100%
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
similarity index 100%
rename from src/examples/test_wolf_imported_graph.cpp
rename to demos/demo_wolf_imported_graph.cpp
diff --git a/src/examples/test_wolf_logging.cpp b/demos/demo_wolf_logging.cpp
similarity index 100%
rename from src/examples/test_wolf_logging.cpp
rename to demos/demo_wolf_logging.cpp
diff --git a/src/examples/test_wolf_prunning.cpp b/demos/demo_wolf_prunning.cpp
similarity index 100%
rename from src/examples/test_wolf_prunning.cpp
rename to demos/demo_wolf_prunning.cpp
diff --git a/src/examples/test_wolf_root.cpp b/demos/demo_wolf_root.cpp
similarity index 100%
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
similarity index 100%
rename from src/examples/test_wolf_tree.cpp
rename to demos/demo_wolf_tree.cpp
diff --git a/src/examples/test_yaml.cpp b/demos/demo_yaml.cpp
similarity index 100%
rename from src/examples/test_yaml.cpp
rename to demos/demo_yaml.cpp
diff --git a/src/examples/test_yaml_conversions.cpp b/demos/demo_yaml_conversions.cpp
similarity index 100%
rename from src/examples/test_yaml_conversions.cpp
rename to demos/demo_yaml_conversions.cpp
diff --git a/src/examples/input_M3500b_toro.graph b/demos/input_M3500b_toro.graph
similarity index 100%
rename from src/examples/input_M3500b_toro.graph
rename to demos/input_M3500b_toro.graph
diff --git a/src/examples/map_apriltag_1.yaml b/demos/map_apriltag_1.yaml
similarity index 100%
rename from src/examples/map_apriltag_1.yaml
rename to demos/map_apriltag_1.yaml
diff --git a/src/examples/map_polyline_example.yaml b/demos/map_polyline_example.yaml
similarity index 100%
rename from src/examples/map_polyline_example.yaml
rename to demos/map_polyline_example.yaml
diff --git a/src/examples/maps/map_apriltag_logitech_1234.yaml b/demos/maps/map_apriltag_logitech_1234.yaml
similarity index 100%
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
similarity index 100%
rename from src/examples/processor_image_feature.yaml
rename to demos/processor_image_feature.yaml
diff --git a/src/examples/processor_image_vision_utils.yaml b/demos/processor_image_vision_utils.yaml
similarity index 100%
rename from src/examples/processor_image_vision_utils.yaml
rename to demos/processor_image_vision_utils.yaml
diff --git a/src/examples/processor_imu.yaml b/demos/processor_imu.yaml
similarity index 100%
rename from src/examples/processor_imu.yaml
rename to demos/processor_imu.yaml
diff --git a/src/examples/processor_imu_no_vote.yaml b/demos/processor_imu_no_vote.yaml
similarity index 100%
rename from src/examples/processor_imu_no_vote.yaml
rename to demos/processor_imu_no_vote.yaml
diff --git a/src/examples/processor_imu_t1.yaml b/demos/processor_imu_t1.yaml
similarity index 100%
rename from src/examples/processor_imu_t1.yaml
rename to demos/processor_imu_t1.yaml
diff --git a/src/examples/processor_imu_t6.yaml b/demos/processor_imu_t6.yaml
similarity index 100%
rename from src/examples/processor_imu_t6.yaml
rename to demos/processor_imu_t6.yaml
diff --git a/src/examples/processor_odom_3D.yaml b/demos/processor_odom_3D.yaml
similarity index 100%
rename from src/examples/processor_odom_3D.yaml
rename to demos/processor_odom_3D.yaml
diff --git a/src/examples/processor_tracker_feature_trifocal.yaml b/demos/processor_tracker_feature_trifocal.yaml
similarity index 100%
rename from src/examples/processor_tracker_feature_trifocal.yaml
rename to demos/processor_tracker_feature_trifocal.yaml
diff --git a/src/examples/processor_tracker_landmark_apriltag.yaml b/demos/processor_tracker_landmark_apriltag.yaml
similarity index 100%
rename from src/examples/processor_tracker_landmark_apriltag.yaml
rename to demos/processor_tracker_landmark_apriltag.yaml
diff --git a/src/examples/sensor_imu.yaml b/demos/sensor_imu.yaml
similarity index 100%
rename from src/examples/sensor_imu.yaml
rename to demos/sensor_imu.yaml
diff --git a/src/examples/sensor_odom_3D.yaml b/demos/sensor_odom_3D.yaml
similarity index 100%
rename from src/examples/sensor_odom_3D.yaml
rename to demos/sensor_odom_3D.yaml
diff --git a/src/examples/sensor_odom_3D_HQ.yaml b/demos/sensor_odom_3D_HQ.yaml
similarity index 100%
rename from src/examples/sensor_odom_3D_HQ.yaml
rename to demos/sensor_odom_3D_HQ.yaml
diff --git a/src/examples/solver/test_SPQR.cpp b/demos/solver/test_SPQR.cpp
similarity index 100%
rename from src/examples/solver/test_SPQR.cpp
rename to demos/solver/test_SPQR.cpp
diff --git a/src/examples/solver/test_ccolamd.cpp b/demos/solver/test_ccolamd.cpp
similarity index 100%
rename from src/examples/solver/test_ccolamd.cpp
rename to demos/solver/test_ccolamd.cpp
diff --git a/src/examples/solver/test_ccolamd_blocks.cpp b/demos/solver/test_ccolamd_blocks.cpp
similarity index 100%
rename from src/examples/solver/test_ccolamd_blocks.cpp
rename to demos/solver/test_ccolamd_blocks.cpp
diff --git a/src/examples/solver/test_iQR.cpp b/demos/solver/test_iQR.cpp
similarity index 100%
rename from src/examples/solver/test_iQR.cpp
rename to demos/solver/test_iQR.cpp
diff --git a/src/examples/solver/test_iQR_wolf.cpp b/demos/solver/test_iQR_wolf.cpp
similarity index 100%
rename from src/examples/solver/test_iQR_wolf.cpp
rename to demos/solver/test_iQR_wolf.cpp
diff --git a/src/examples/solver/test_iQR_wolf2.cpp b/demos/solver/test_iQR_wolf2.cpp
similarity index 100%
rename from src/examples/solver/test_iQR_wolf2.cpp
rename to demos/solver/test_iQR_wolf2.cpp
diff --git a/src/examples/solver/test_incremental_ccolamd_blocks.cpp b/demos/solver/test_incremental_ccolamd_blocks.cpp
similarity index 100%
rename from src/examples/solver/test_incremental_ccolamd_blocks.cpp
rename to demos/solver/test_incremental_ccolamd_blocks.cpp
diff --git a/src/examples/solver/test_permutations.cpp b/demos/solver/test_permutations.cpp
similarity index 100%
rename from src/examples/solver/test_permutations.cpp
rename to demos/solver/test_permutations.cpp
diff --git a/src/examples/vision_utils_active_search.yaml b/demos/vision_utils_active_search.yaml
similarity index 100%
rename from src/examples/vision_utils_active_search.yaml
rename to demos/vision_utils_active_search.yaml
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 4c4710918ce02e79ccefd92dbf8889c7d0b23243..3e810a8484b069fa96f320592ef3d510bb76c29d 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -107,7 +107,7 @@ TEST(Problem, Installers)
     ProblemPtr P = Problem::create("PO", 3);
     Eigen::Vector7s xs;
 
-    SensorBasePtr    S = P->installSensor   ("ODOM 3D", "odometer",        xs,         wolf_root + "/src/examples/sensor_odom_3D.yaml");
+    SensorBasePtr    S = P->installSensor   ("ODOM 3D", "odometer",        xs,         wolf_root + "/demos/sensor_odom_3D.yaml");
 
     // install processor tracker (dummy installation under an Odometry sensor -- it's OK for this test)
     ProcessorParamsTrackerFeaturePtr params = std::make_shared<ProcessorParamsTrackerFeature>();
@@ -122,7 +122,7 @@ TEST(Problem, Installers)
     ASSERT_FALSE(P->getProcessorMotion());
 
     // install processor motion
-    ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml");
+    ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/demos/processor_odom_3D.yaml");
 
     // check motion processor is set
     ASSERT_TRUE(P->getProcessorMotion());
@@ -239,7 +239,7 @@ TEST(Problem, StateBlocks)
     Eigen::Vector3s xs2d;
 
     // 2 state blocks, fixed
-    SensorBasePtr    Sm = P->installSensor   ("ODOM 3D", "odometer",xs3d, wolf_root + "/src/examples/sensor_odom_3D.yaml");
+    SensorBasePtr    Sm = P->installSensor   ("ODOM 3D", "odometer",xs3d, wolf_root + "/demos/sensor_odom_3D.yaml");
     ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 2);
 
     // 2 state blocks, fixed
@@ -253,7 +253,7 @@ TEST(Problem, StateBlocks)
     // ProcessorBasePtr pt = std::make_shared<ProcessorTrackerFeatureDummy>(ProcessorTrackerFeatureDummy(params));
     auto pt = ProcessorBase::emplace<ProcessorTrackerFeatureDummy>(St, ProcessorTrackerFeatureDummy(params));
     // St->addProcessor(pt);
-    ProcessorBasePtr pm = P->installProcessor("ODOM 3D",            "odom integrator",      "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml");
+    ProcessorBasePtr pm = P->installProcessor("ODOM 3D",            "odom integrator",      "odometer", wolf_root + "/demos/processor_odom_3D.yaml");
 
     // 2 state blocks, estimated
     auto KF = P->emplaceFrame("PO", 3, KEY, xs3d, 0);
@@ -302,7 +302,7 @@ TEST(Problem, Covariances)
     Eigen::Vector7s xs3d;
     Eigen::Vector3s xs2d;
 
-    SensorBasePtr    Sm = P->installSensor   ("ODOM 3D", "odometer",xs3d, wolf_root + "/src/examples/sensor_odom_3D.yaml");
+    SensorBasePtr    Sm = P->installSensor   ("ODOM 3D", "odometer",xs3d, wolf_root + "/demos/sensor_odom_3D.yaml");
     SensorBasePtr    St = P->installSensor   ("ODOM 2D", "other odometer", xs2d, "");
 
     ProcessorParamsTrackerFeaturePtr params = std::make_shared<ProcessorParamsTrackerFeature>();
@@ -313,7 +313,7 @@ TEST(Problem, Covariances)
     auto pt = ProcessorBase::emplace<ProcessorTrackerFeatureDummy>(St, ProcessorTrackerFeatureDummy(params));
 
     // St->addProcessor(pt);
-    ProcessorBasePtr pm = P->installProcessor("ODOM 3D",            "odom integrator",      "odometer", wolf_root + "/src/examples/processor_odom_3D.yaml");
+    ProcessorBasePtr pm = P->installProcessor("ODOM 3D",            "odom integrator",      "odometer", wolf_root + "/demos/processor_odom_3D.yaml");
 
     // 4 state blocks, estimated
     St->unfixExtrinsics();