diff --git a/hello_wolf/processor_range_bearing.h b/hello_wolf/processor_range_bearing.h
index be9159c30dcb72cdeb54872db4ef64f4e35fa3de..6cfdd7d8943f13b4fb757c071582d99e9b6c3ea5 100644
--- a/hello_wolf/processor_range_bearing.h
+++ b/hello_wolf/processor_range_bearing.h
@@ -22,19 +22,19 @@ WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsRangeBearing);
 struct ProcessorParamsRangeBearing : public ProcessorParamsBase
 {
         // We do not need special parameters, but in case you need they should be defined here.
-  ProcessorParamsRangeBearing()
-  {
-    //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
-  }
-  ProcessorParamsRangeBearing(std::string _unique_name, const paramsServer& _server):
-    ProcessorParamsBase(_unique_name, _server)
-  {
-    //
-  }
-  std::string print()
-  {
-    return "\n" + ProcessorParamsBase::print();
-  }
+        ProcessorParamsRangeBearing()
+        {
+            //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
+        }
+        ProcessorParamsRangeBearing(std::string _unique_name, const paramsServer& _server) :
+                ProcessorParamsBase(_unique_name, _server)
+        {
+            //
+        }
+        std::string print()
+        {
+            return "\n" + ProcessorParamsBase::print();
+        }
 };
 
 using namespace Eigen;
diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
index 37d6c9ee11c6f9c518ccbcdeb01bc9fa3f2c20a5..8e6c9ee6b2a8debaa727ef8128c47e8c20b2d3c4 100644
--- a/include/core/processor/processor_odom_2D.h
+++ b/include/core/processor/processor_odom_2D.h
@@ -21,18 +21,19 @@ WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsOdom2D);
 
 struct ProcessorParamsOdom2D : public ProcessorParamsMotion
 {
-    Scalar cov_det                  = 1.0;      // 1 rad^2
-    ProcessorParamsOdom2D() = default;
-    ProcessorParamsOdom2D(std::string _unique_name, const wolf::paramsServer & _server):
-        ProcessorParamsMotion(_unique_name, _server)
-    {
-        cov_det = _server.getParam<Scalar>(_unique_name + "/cov_det", "1.0");
-    }
-  std::string print()
-  {
-    return "\n" + ProcessorParamsMotion::print() + "cov_det: " + std::to_string(cov_det) + "\n";
-  }
+        Scalar cov_det = 1.0;      // 1 rad^2
+        ProcessorParamsOdom2D() = default;
+        ProcessorParamsOdom2D(std::string _unique_name, const wolf::paramsServer & _server) :
+                ProcessorParamsMotion(_unique_name, _server)
+        {
+            cov_det = _server.getParam<Scalar>(_unique_name + "/cov_det", "1.0");
+        }
+        std::string print()
+        {
+            return "\n" + ProcessorParamsMotion::print() + "cov_det: " + std::to_string(cov_det) + "\n";
+        }
 };
+
 class ProcessorOdom2D : public ProcessorMotion
 {
     public:
diff --git a/include/core/utils/params_server.hpp b/include/core/utils/params_server.hpp
index 5c2eee90c8802dd3a12acc8f53594fb7a0d8001e..4a58b290b31d38b29cea102431e2335c2597f1ee 100644
--- a/include/core/utils/params_server.hpp
+++ b/include/core/utils/params_server.hpp
@@ -2,30 +2,38 @@
 #define PARAMS_SERVER_HPP
 
 #include "core/utils/converter.h"
+//#include "core/yaml/parser_yaml.hpp"
+
 #include <vector>
 #include <regex>
 #include <map>
 
 namespace wolf{
+
 class paramsServer{
     struct ParamsInitSensor{
         std::string _type;
         std::string _name;
     };
+
     struct ParamsInitProcessor{
         std::string _type;
         std::string _name;
         std::string _name_assoc_sensor;
     };
+
     std::map<std::string, std::string> _params;
     std::map<std::string,ParamsInitSensor> _paramsSens;
     std::map<std::string,ParamsInitProcessor> _paramsProc;
-public:
+
+    public:
+
     paramsServer(){
         _params = std::map<std::string, std::string>();
         _paramsSens = std::map<std::string,ParamsInitSensor>();
         _paramsProc = std::map<std::string,ParamsInitProcessor>();
     }
+
     paramsServer(std::map<std::string, std::string> params,
                  std::vector<std::array<std::string,2>> sensors,
                  std::vector<std::array<std::string,3>> procs){
@@ -41,24 +49,37 @@ public:
             _paramsProc.insert(std::pair<std::string,ParamsInitProcessor>(it.at(1), pProcs));
         }
     }
+
+//    paramsServer(std::string _file)
+//    {
+//        parserYAML parser = parserYAML(_file);
+//        parser.parse();
+//        paramsServer(parser.getParams(), parser.sensorsSerialization(), parser.processorsSerialization());
+//    }
+
     ~paramsServer(){
         //
     }
+
     void print(){
         for(auto it : _params)
             std::cout << it.first << "~~" << it.second << std::endl;
     }
+
     void addInitParamsSensor(std::string type, std::string name){
         ParamsInitSensor params = {type, name};
         _paramsSens.insert(std::pair<std::string, ParamsInitSensor>(type + "/" + name + "/", params));
     }
+
     void addInitParamsProcessor(std::string type, std::string name, std::string name_assoc_sensor){
         ParamsInitProcessor params = {type, name, name_assoc_sensor};
         _paramsProc.insert(std::pair<std::string, ParamsInitProcessor>(type + "/" + name + "/", params));
     }
+
     void addParam(std::string key, std::string value){
         _params.insert(std::pair<std::string, std::string>(key, value));
     }
+
     template<typename T>
     T getParam(std::string key, std::string def_value) const {
         if(_params.find(key) != _params.end()){
@@ -67,6 +88,7 @@ public:
             return converter<T>::convert(def_value);
         }
     }
+
     template<typename T>
     T getParam(std::string key) const {
         if(_params.find(key) != _params.end()){
@@ -75,16 +97,20 @@ public:
             throw std::runtime_error("The following key: '" + key + "' has not been found in the parameters server and no default value was provided.");
         }
     }
+
     std::vector<ParamsInitSensor> getSensors(){
         std::vector<ParamsInitSensor> rtn = std::vector<ParamsInitSensor>();
         std::transform(this->_paramsSens.begin(), this->_paramsSens.end(), back_inserter(rtn), [](const std::pair<std::string,ParamsInitSensor> v){return v.second;});
         return rtn;
     }
+
     std::vector<ParamsInitProcessor> getProcessors(){
         std::vector<ParamsInitProcessor> rtn = std::vector<ParamsInitProcessor>();
         std::transform(this->_paramsProc.begin(), this->_paramsProc.end(), back_inserter(rtn), [](const std::pair<std::string,ParamsInitProcessor> v){return v.second;});
         return rtn;
     }
 };
+
 }
-#endif
\ No newline at end of file
+
+#endif