diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2197f29a6fb1e93f4ce61160c88ff4c9503acf6c
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(wolf_demo_uav_identification)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES wolf_demo_uav_identification
+# CATKIN_DEPENDS other_catkin_pkg
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/wolf_demo_uav_identification.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/wolf_demo_uav_identification_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_wolf_demo_uav_identification.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/launch/demo_bodydynamics.launch b/launch/demo_uav_identification.launch
similarity index 100%
rename from launch/demo_bodydynamics.launch
rename to launch/demo_uav_identification.launch
diff --git a/yaml/apriltag_vio.yaml b/yaml/apriltag_vio.yaml
deleted file mode 100644
index b06c16227e301851ea4ca4d32ef43d465f068e4e..0000000000000000000000000000000000000000
--- a/yaml/apriltag_vio.yaml
+++ /dev/null
@@ -1,119 +0,0 @@
-config:
-
- debug:
- profiling: true
- profiling_file: "~/wolf_demo_apriltag_profiling.txt"
- print_problem: false
- print_depth: 2 # only if print_problem
- print_state: false # only if print_problem
- print_constr_by: false # only if print_problem
- print_metric: false # only if print_problem
- print_state_blocks: false # only if print_problem
- print_period: 1 # only if print_problem
-
- problem:
- node_rate: 100
- follow: "tree_manager.yaml"
- frame_structure: "POV"
- dimension: 3
- prior:
- mode: "factor"
- $state:
- P: [0,0,0]
- O: [1,0,0,0] # x,y,z,w (1,0,0,0) means: X front, Y right, Z down
- V: [0,0,0]
- $sigma:
- P: [0.00001, 0.00001, 0.00001]
- O: [0.01, 0.01, 0.01]
- V: [0.1, 0.1, 0.1]
- time_tolerance: 0.001
-
- solver:
- follow: "solver.yaml"
-
- sensors:
- -
- type: "SensorCamera"
- name: "CAMERA"
- plugin: "vision"
- extrinsic:
- pose: [0,0,0, 0,0,0,1] # Simu (e.g. circle.bag)
- follow: "camera_simu.yaml"
- -
- type: "SensorImu"
- name: "IMU"
- plugin: "imu"
- extrinsic:
- pose: [0,0,0, 0,0,0,1]
- follow: "imu_intrinsics.yaml"
-
- processors:
- -
- type: "ProcessorTrackerLandmarkApriltag"
- name: "APRILTAG PROC"
- sensor_name: "CAMERA"
- plugin: "apriltag"
- follow: "processor_tracker_landmark_apriltag.yaml"
- -
- type: "ProcessorImu"
- name: "IMU PROC"
- sensor_name: "IMU"
- plugin: "imu"
- apply_loss_function: false
- follow: "processor_imu.yaml"
- state_getter: true
- state_priority: 1
-
- ROS subscriber:
- -
- package: "wolf_ros_vision"
- type: "SubscriberCamera"
- topic: "/camera_simu/image_raw"
- sensor_name: "CAMERA"
- -
- package: "wolf_ros_imu"
- type: "SubscriberImu"
- topic: "/imu/imu_raw"
- sensor_name: "IMU"
- imu_x_axis: 1
- imu_y_axis: 2
- imu_z_axis: 3
- cov_source: "sensor"
- in_degrees: false
-
- ROS publisher:
- -
- type: "PublisherGraph"
- topic: "graph"
- package: "wolf_ros_node"
- period: 0.1
- viz_scale: 0.3
- text_scale: 0.3
- landmark_text_z_offset: 0.3
- landmark_length: 0.5
- frame_width: 0.01
- frame_length: 0.1
- frame_vel_scale: 1.0
- -
- type: "PublisherTf"
- topic: " "
- package: "wolf_ros_node"
- period: 0.1
- map_frame_id: "map"
- odom_frame_id: "odom"
- base_frame_id: "base_footprint"
- publish_odom_tf: true
- -
- type: "PublisherApriltagDebug"
- processor_name: "APRILTAG PROC"
- topic: "image_debug"
- package: "wolf_ros_apriltag"
- period: 0.1
- # -
- # type: "PublisherImuBias"
- # package: "wolf_ros_imu"
- # topic: "/imu_bias"
- # sensor_name: "IMU"
- # period: "5"
-
- use_debug_img: true