diff --git a/hello_plugin/CMakeLists.txt b/hello_plugin/CMakeLists.txt
index 75722dccbde1b387a589a419b75be6a9d146fbe9..4582cc4090cd73d4e19f2a66cb9140df2c4d47b7 100644
--- a/hello_plugin/CMakeLists.txt
+++ b/hello_plugin/CMakeLists.txt
@@ -4,7 +4,9 @@ INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
 
 # ADD_EXECUTABLE(hello_plugin hello_plugin.cpp sensor_odom_2D.cpp processor_odom_2D.cpp)
 ADD_EXECUTABLE(hello_plugin hello_plugin.cpp)
+ADD_EXECUTABLE(params_autoconf params_autoconf.cpp)
 target_link_libraries(hello_plugin class_loader boost_system console_bridge wolf yaml-cpp ${CERES_LIBRARIES})
+target_link_libraries(params_autoconf class_loader boost_system console_bridge wolf yaml-cpp )
 # These lines always at the end
 SET(HDRS_PLUGIN ${HDRS_PLUGIN}   PARENT_SCOPE    )
 SET(SRCS_PLUGIN ${SRCS_PLUGIN}    PARENT_SCOPE    )
diff --git a/hello_plugin/hello_plugin.cpp b/hello_plugin/hello_plugin.cpp
index 86baf7eb83c957293828e3a10f98d5a5f083b7b1..9077d04f300a9bcd9c52677a8992c04716144013 100644
--- a/hello_plugin/hello_plugin.cpp
+++ b/hello_plugin/hello_plugin.cpp
@@ -56,6 +56,7 @@ int main(int argc, char** argv) {
         cout << s._name << " " << s._type << " " << s._name_assoc_sensor << endl;
         procesorMap.insert(pair<string, ProcessorBasePtr>(s._name,problem->installProcessor(s._type, s._name, s._name_assoc_sensor, server)));
     }
+
     problem->print(4,1,1,1);
     Vector2s motion_data(1.0, 0.0);                     // Will advance 1m at each keyframe, will not turn.
     Matrix2s motion_cov = 0.1 * Matrix2s::Identity();
diff --git a/hello_plugin/params.yaml b/hello_plugin/params.yaml
index ff190b7334b2cd1941da436b0846499bf965446a..db5fab3faaa036d7ba02f7f30c6a21468098330f 100644
--- a/hello_plugin/params.yaml
+++ b/hello_plugin/params.yaml
@@ -20,6 +20,11 @@ config:
       type: "RANGE BEARING"
       name: "rb_processor"
       sensorname: "rb"
+    -
+      type: "ODOM 2D"
+      name: "my_proc_test"
+      sensorname: "odom"
+      follow: "../hello_plugin/params_conf.yaml"
 files:
   - "/home/jcasals/workspace/wip/wolf/lib/libsensor_odo.so"
   - "/home/jcasals/workspace/wip/wolf/lib/librange_bearing.so"
\ No newline at end of file
diff --git a/hello_plugin/params_autoconf.cpp b/hello_plugin/params_autoconf.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..cf95715f84451676b6ad36a477c68a8c9a57a405
--- /dev/null
+++ b/hello_plugin/params_autoconf.cpp
@@ -0,0 +1,71 @@
+/*
+ *  params_autoconf.cpp
+ *
+ *  Created on: Feb 15, 2019
+ *      Author: jcasals
+ */
+#include <class_loader/class_loader.hpp>
+#include "base/sensor/sensor_base.h"
+#include "base/wolf.h"
+// #include "sensor_odom_2D.cpp"
+#include <yaml-cpp/yaml.h>
+#include "parser_yaml.hpp"
+#include "base/params_server.hpp"
+
+#include "../hello_wolf/capture_range_bearing.h"
+#include "../hello_wolf/feature_range_bearing.h"
+#include "../hello_wolf/constraint_range_bearing.h"
+#include "../hello_wolf/landmark_point_2D.h"
+#include "base/processor/processor_odom_2D.h"
+
+#include "base/solver/solver_factory.h"
+#include "base/ceres_wrapper/ceres_manager.h"
+
+using namespace std;
+using namespace class_loader;
+using namespace wolf;
+using namespace Eigen;
+
+int main(int argc, char** argv) {
+    string file = "";
+    if(argc > 1) file = argv[1];
+    parserYAML parser = parserYAML(file);
+    parser.parse();
+    paramsServer server = paramsServer(parser.getParams(), parser.sensorsSerialization(), parser.processorsSerialization());
+    cout << "PRINTING SERVER MAP" << endl;
+    server.print();
+    cout << "-----------------------------------" << endl;
+    /**
+       It seems to be a requirement that each file is loaded by its own ClassLoader object, otherwise I get
+       a segmentation fault. Likewise, it seems that these ClassLoaders must be allocated at the heap, because
+       the constructor refuses to build an object if I try to do local (stack) allocation, i.e `ClassLoader(it)` is not allowed but `new ClassLoader(it)` is.
+     **/
+    vector<ClassLoader*> class_loaders = vector<ClassLoader*>();
+    for(auto it : parser.getFiles()) {
+        auto c = new ClassLoader(it);
+        class_loaders.push_back(c);
+    }
+    ProblemPtr problem = Problem::create("PO 2D");
+    auto sensorMap = map<string, SensorBasePtr>();
+    auto procesorMap = map<string, ProcessorBasePtr>();
+    for(auto s : server.getSensors()){
+        cout << s._name << " " << s._type << endl;
+        sensorMap.insert(pair<string, SensorBasePtr>(s._name,problem->installSensor(s._type, s._name, server)));
+    }
+    for(auto s : server.getProcessors()){
+        cout << s._name << " " << s._type << " " << s._name_assoc_sensor << endl;
+        procesorMap.insert(pair<string, ProcessorBasePtr>(s._name,problem->installProcessor(s._type, s._name, s._name_assoc_sensor, server)));
+    }
+    auto prc = ProcessorParamsOdom2D("my_proc_test", server);
+
+    std::cout << "prc.cov_det " << prc.cov_det << std::endl;
+    std::cout << "prc.unmeasured_perturbation_std " << prc.unmeasured_perturbation_std << std::endl;
+    std::cout << "prc.angle_turned " << prc.angle_turned << std::endl;
+    std::cout << "prc.dist_traveled " << prc.dist_traveled << std::endl;
+    std::cout << "prc.max_buff_length " << prc.max_buff_length << std::endl;
+    std::cout << "prc.max_time_span " << prc.max_time_span << std::endl;
+    std::cout << "prc.time_tolerance " << prc.time_tolerance << std::endl;
+    std::cout << "prc.voting_active " << prc.voting_active << std::endl;
+
+    return 0;
+}
diff --git a/hello_plugin/params_conf.yaml b/hello_plugin/params_conf.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0d80a5802f5da772f59c29adf12257c8f79663d3
--- /dev/null
+++ b/hello_plugin/params_conf.yaml
@@ -0,0 +1,8 @@
+cov_det: 100
+unmeasured_perturbation_std: 100
+angle_turned: 100
+dist_traveled: 100
+max_buff_length: 100
+max_time_span: 100
+time_tolerance: 100
+voting_active: false
\ No newline at end of file
diff --git a/hello_plugin/parser_yaml.hpp b/hello_plugin/parser_yaml.hpp
index 455561e01219fed6a80ea41118ed787af92fc6e7..ffe2adc5f5f5779dd91fd500ca9573d90564376a 100644
--- a/hello_plugin/parser_yaml.hpp
+++ b/hello_plugin/parser_yaml.hpp
@@ -140,13 +140,20 @@ void parserYAML::walkTreeR(YAML::Node n, vector<string>& tags, string hdr){
     }
     case YAML::NodeType::Map : {
         for(const auto& kv : n){
+            // If the key's value starts with a $ (i.e. $key) then its value is parsed as a literal map,
+            //otherwise the parser recursively parses the map
             regex r("^\\$.*");
             if(not regex_match(kv.first.as<string>(), r)){
-                tags.push_back(kv.first.as<string>());
-                if(tags.size() == 2) this->updateActiveName(kv.first.as<string>());
-                walkTreeR(kv.second, tags, hdr +"/"+ kv.first.as<string>());
-                tags.pop_back();
-                if(tags.size() == 1) this->updateActiveName("");
+                regex rr("follow");
+                if(not regex_match(kv.first.as<string>(), rr)) {
+                    tags.push_back(kv.first.as<string>());
+                    if(tags.size() == 2) this->updateActiveName(kv.first.as<string>());
+                    walkTreeR(kv.second, tags, hdr +"/"+ kv.first.as<string>());
+                    tags.pop_back();
+                    if(tags.size() == 1) this->updateActiveName("");
+                }else{
+                    walkTree(kv.second.as<string>(), tags, hdr);
+                }
             }else{
                 string key = kv.first.as<string>();
                 key = key.substr(1,key.size() - 1);
diff --git a/include/base/converter.h b/include/base/converter.h
index 357a5f81d9fa31f014353317b445e5d61b586e4d..2bff920a96c853c460a6aabc3fd863ecc1c6212c 100644
--- a/include/base/converter.h
+++ b/include/base/converter.h
@@ -116,6 +116,12 @@ struct converter<int>{
     }
 };
 template<>
+struct converter<unsigned int>{
+    static unsigned int convert(std::string val){
+        return stod(val);
+    }
+};
+template<>
 struct converter<double>{
     static double convert(std::string val){
         return stod(val);
diff --git a/include/base/processor/processor_IMU.h b/include/base/processor/processor_IMU.h
index 98c7cffeef534a179e2127eb4b775e437a92c8d6..64d97861c8915db1e1ea5b29f9022c8361cc2b46 100644
--- a/include/base/processor/processor_IMU.h
+++ b/include/base/processor/processor_IMU.h
@@ -11,7 +11,12 @@ WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsIMU);
 
 struct ProcessorParamsIMU : public ProcessorParamsMotion
 {
-        //
+  ProcessorParamsIMU() = default;
+  ProcessorParamsIMU(std::string _unique_name, const paramsServer& _server):
+    ProcessorParamsMotion(_unique_name, _server)
+  {
+    //
+  }
 };
 
 WOLF_PTR_TYPEDEFS(ProcessorIMU);
diff --git a/include/base/processor/processor_base.h b/include/base/processor/processor_base.h
index 23ac82daa6ff6ea65bc3172d4fa0726890e5dff1..fb5c9e64739ec1b68190c2bc719d2772f241ae23 100644
--- a/include/base/processor/processor_base.h
+++ b/include/base/processor/processor_base.h
@@ -11,6 +11,7 @@ class SensorBase;
 #include "base/node_base.h"
 #include "base/time_stamp.h"
 #include "base/frame_base.h"
+#include "base/params_server.hpp"
 
 // std
 #include <memory>
@@ -108,7 +109,6 @@ class PackKeyFrameBuffer
 struct ProcessorParamsBase
 {
     ProcessorParamsBase() = default;
-
     ProcessorParamsBase(bool _voting_active,
                         Scalar _time_tolerance)
       : voting_active(_voting_active)
@@ -116,6 +116,11 @@ struct ProcessorParamsBase
     {
       //
     }
+    ProcessorParamsBase(std::string _unique_name, const paramsServer& _server)
+    {
+        voting_active = _server.getParam<bool>(_unique_name + "/voting_active", "false");
+        time_tolerance = _server.getParam<Scalar>(_unique_name + "/time_tolerance", "0");
+    }
 
     virtual ~ProcessorParamsBase() = default;
 
diff --git a/include/base/processor/processor_diff_drive.h b/include/base/processor/processor_diff_drive.h
index e219b552f566153659b3f3643ce9a3210b89efe4..dc7f77c80855097907585f2689e4b8d093d6d82d 100644
--- a/include/base/processor/processor_diff_drive.h
+++ b/include/base/processor/processor_diff_drive.h
@@ -10,6 +10,7 @@
 
 #include "base/processor/processor_motion.h"
 #include "base/diff_drive_tools.h"
+#include "base/params_server.hpp"
 
 namespace wolf {
 
@@ -17,19 +18,13 @@ WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsDiffDrive);
 
 struct ProcessorParamsDiffDrive : public ProcessorParamsMotion
 {
-//  ProcessorParamsDiffDrive(const Scalar _time_tolerance,
-//                           const Scalar _dist_travel_th,
-//                           const Scalar _theta_traveled_th,
-//                           const Scalar _cov_det_th,
-//                           const Scalar _unmeasured_perturbation_std = 0.0001) :
-//    dist_traveled_th_(_dist_travel_th),
-//    theta_traveled_th_(_theta_traveled_th),
-//    cov_det_th_(_cov_det_th),
-//    unmeasured_perturbation_std_(_unmeasured_perturbation_std)
-//  {
-//      time_tolerance = _time_tolerance;
-//  }
   Scalar unmeasured_perturbation_std = 0.0001;
+  ProcessorParamsDiffDrive();
+  ProcessorParamsDiffDrive(std::string _unique_name, const paramsServer& _server):
+    ProcessorParamsMotion(_unique_name, _server)
+  {
+    unmeasured_perturbation_std = _server.getParam<Scalar>(_unique_name + "/unmeasured_perturbation_std", "0.0001");
+  }
 };
 
 /**
diff --git a/include/base/processor/processor_motion.h b/include/base/processor/processor_motion.h
index df43f9f841e51c7d8d0cae06354b04c0752b159d..cb7957e1a713b89a52213dffad45c1d5bd2069f9 100644
--- a/include/base/processor/processor_motion.h
+++ b/include/base/processor/processor_motion.h
@@ -12,6 +12,7 @@
 #include "base/capture/capture_motion.h"
 #include "base/processor/processor_base.h"
 #include "base/time_stamp.h"
+#include "base/params_server.hpp"
 
 // std
 #include <iomanip>
@@ -27,6 +28,15 @@ struct ProcessorParamsMotion : public ProcessorParamsBase
         unsigned int max_buff_length  = 10;
         Scalar dist_traveled    = 5;
         Scalar angle_turned     = 0.5;
+    ProcessorParamsMotion() = default;
+    ProcessorParamsMotion(std::string _unique_name, const paramsServer& _server):
+        ProcessorParamsBase(_unique_name, _server)
+    {
+      max_time_span   = _server.getParam<Scalar>(_unique_name + "/max_time_span", "0.5");
+      max_buff_length = _server.getParam<unsigned int>(_unique_name + "/max_buff_length", "10");
+      dist_traveled   = _server.getParam<Scalar>(_unique_name + "/dist_traveled", "5");
+      angle_turned    = _server.getParam<Scalar>(_unique_name + "/angle_turned", "0.5");
+    }
 };
 
 /** \brief class for Motion processors
diff --git a/include/base/processor/processor_odom_2D.h b/include/base/processor/processor_odom_2D.h
index af8856455ae55f9269f95e7b7ca8bd796db242e3..a8a8942c73218571677b6653fdbf994645fba84f 100644
--- a/include/base/processor/processor_odom_2D.h
+++ b/include/base/processor/processor_odom_2D.h
@@ -23,6 +23,14 @@ struct ProcessorParamsOdom2D : public ProcessorParamsMotion
 {
     Scalar cov_det                  = 1.0;      // 1 rad^2
     Scalar unmeasured_perturbation_std = 0.001;    // no particular dimension: the same for displacement and angle
+
+    ProcessorParamsOdom2D() = default;
+    ProcessorParamsOdom2D(std::string _unique_name, const paramsServer& _server):
+        ProcessorParamsMotion(_unique_name, _server)
+    {
+      cov_det                     = _server.getParam<Scalar>(_unique_name + "/cov_det", "1.0");
+      unmeasured_perturbation_std = _server.getParam<Scalar>(_unique_name + "/unmeasured_perturbation_std", "0.001");
+    }
 };
 
 class ProcessorOdom2D : public ProcessorMotion
diff --git a/include/base/processor/processor_odom_3D.h b/include/base/processor/processor_odom_3D.h
index 491ae23c7593d2b9c13ad52ed2b90f046a91274a..21bad23eac1aab6c455f1eba5edd098fd25ccb20 100644
--- a/include/base/processor/processor_odom_3D.h
+++ b/include/base/processor/processor_odom_3D.h
@@ -21,7 +21,12 @@ WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsOdom3D);
 
 struct ProcessorParamsOdom3D : public ProcessorParamsMotion
 {
-        //
+  ProcessorParamsOdom3D() = default;
+  ProcessorParamsOdom3D(std::string _unique_name, const paramsServer& _server):
+    ProcessorParamsMotion(_unique_name, _server)
+  {
+    //
+  }
 };
 
 WOLF_PTR_TYPEDEFS(ProcessorOdom3D);
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 37859c19ea9713f5ca503c3b9fd9ac7abb7441db..c4e1ce8bee30236fa0ba79626d2588898a4f2b15 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -84,6 +84,10 @@ target_link_libraries(gtest_motion_buffer ${PROJECT_NAME})
 wolf_add_gtest(gtest_pack_KF_buffer gtest_pack_KF_buffer.cpp)
 target_link_libraries(gtest_pack_KF_buffer ${PROJECT_NAME})
 
+# YAML parser
+wolf_add_gtest(gtest_parser_yaml gtest_parser_yaml.cpp)
+target_link_libraries(gtest_parser_yaml ${PROJECT_NAME})
+
 # Problem class test
 wolf_add_gtest(gtest_problem gtest_problem.cpp)
 target_link_libraries(gtest_problem ${PROJECT_NAME})
diff --git a/test/gtest_parser_yaml.cpp b/test/gtest_parser_yaml.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b25e7a4b30e303c3f76c4e7196e431d0a4bbd79b
--- /dev/null
+++ b/test/gtest_parser_yaml.cpp
@@ -0,0 +1,24 @@
+#include "utils_gtest.h"
+#include "base/converter.h"
+#include "../hello_plugin/parser_yaml.hpp"
+
+using namespace std;
+using namespace wolf;
+
+TEST(ParserYAML, RegularParse)
+{
+  string file = "";
+  file = "../test/params1.yaml";
+  parserYAML parser = parserYAML(file);
+  parser.parse();
+  auto params = parser.getParams();
+  for(auto it : params)
+    cout << it.first << " %% " << it.second << endl;
+  ASSERT_EQ(params["odom/intrinsic/k_rot_to_rot"], "0.1");
+}
+
+int main(int argc, char **argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/test/params1.yaml b/test/params1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..db5fab3faaa036d7ba02f7f30c6a21468098330f
--- /dev/null
+++ b/test/params1.yaml
@@ -0,0 +1,30 @@
+config:
+  sensors: 
+    -
+      type: "ODOM 2D"
+      name: "odom"
+      intrinsic:
+        k_disp_to_disp: 0.1
+        k_rot_to_rot: 0.1 
+      extrinsic:
+        pos: [1,2,3]
+    -
+      type: "RANGE BEARING"
+      name: "rb"
+  processors:
+    -
+      type: "ODOM 2D"
+      name: "processor1"
+      sensorname: "odom"
+    -
+      type: "RANGE BEARING"
+      name: "rb_processor"
+      sensorname: "rb"
+    -
+      type: "ODOM 2D"
+      name: "my_proc_test"
+      sensorname: "odom"
+      follow: "../hello_plugin/params_conf.yaml"
+files:
+  - "/home/jcasals/workspace/wip/wolf/lib/libsensor_odo.so"
+  - "/home/jcasals/workspace/wip/wolf/lib/librange_bearing.so"
\ No newline at end of file