diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 3ae6df78e82d0129570c877f4be2e0d5ac796c7e..11d85fa384bd868c0e8f9d47eb8dadf38d87826a 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -4,6 +4,15 @@ stages:
   - demos
   
 ############ YAML ANCHORS ############
+.print_variables_template: &print_variables_definition
+  # Print variables
+  - echo $WOLF_CORE_BRANCH
+  - echo $WOLF_GNSS_BRANCH
+  - echo $WOLF_ROS_NODE_BRANCH
+  - echo $CI_COMMIT_BRANCH
+  - echo $WOLF_ROS_GNSS_BRANCH
+  - echo $GNSSUTILS_BRANCH
+
 .preliminaries_template: &preliminaries_definition
   ## Install ssh-agent if not already installed, it is required by Docker.
   ## (change apt-get to yum if you use an RPM-based image)
@@ -90,9 +99,12 @@ stages:
   - if [ -d gnss_utils ]; then
   -   echo "directory gnss_utils exists"
   -   cd gnss_utils
+  -   git checkout devel
+  -   git pull
+  -   git checkout $GNSSUTILS_BRANCH
   -   git pull
   - else
-  -   git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/gauss_project/gnss_utils.git
+  -   git clone -b $GNSSUTILS_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/gauss_project/gnss_utils.git
   -   cd gnss_utils
   -   git submodule update --init
   - fi
@@ -124,17 +136,13 @@ stages:
 .clone_wolfrosnode_template: &clone_wolfrosnode_definition
   - roscd
   - cd ../src
-  - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
-  - cd wolf_ros_node
-  - git checkout $WOLF_ROS_CORE_BRANCH
+  - git clone -b $WOLF_ROS_NODE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
 
 .build_and_test_template: &build_and_test_definition
   - roscd
   - cd ../src
-  - git clone ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
-  - cd wolf_ros_gnss
-  - git checkout $CI_COMMIT_BRANCH
-  - cd ../..
+  - git clone -b $CI_COMMIT_BRANCH ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
+  - cd ..
   - catkin_make
 
 ############ LICENSE HEADERS ############
@@ -143,6 +151,7 @@ license_headers:
   image: labrobotica/wolf_deps_ros:20.04
   cache: []
   before_script:
+    - *print_variables_definition
     - *preliminaries_definition
     - *install_wolf_definition
   script:
@@ -163,6 +172,7 @@ build_and_test:bionic:
       paths:
       - ci_deps/gnss/
   before_script:
+    - *print_variables_definition
     - *preliminaries_definition
     - *install_wolf_definition
     - *install_gnssutils_definition
@@ -187,6 +197,7 @@ build_and_test:focal:
       paths:
       - ci_deps/gnss/
   before_script:
+    - *print_variables_definition
     - *preliminaries_definition
     - *install_wolf_definition
     - *install_gnssutils_definition
@@ -202,7 +213,8 @@ demo_gnss:
   variables:
     WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
     WOLF_GNSS_BRANCH: $WOLF_GNSS_BRANCH
-    WOLF_ROS_CORE_BRANCH: $WOLF_ROS_CORE_BRANCH
+    GNSSUTILS_BRANCH: $GNSSUTILS_BRANCH
+    WOLF_ROS_NODE_BRANCH: $WOLF_ROS_NODE_BRANCH
     WOLF_ROS_GNSS_BRANCH: $CI_COMMIT_BRANCH
   trigger: 
     project: mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_gnss_imu
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3de46d0c3ee9c5b1a95b720b9394e590c3581b16..74945dbdfde8cad0d498daa269180c977abfbfda 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,13 +1,11 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(wolf_ros_gnss)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++14)
+## Compile as C++14
+add_compile_options(-std=c++14) 
+# -fPIC and -rdynamic ensure unique singleton instance across shared libraries (for factories) see: https://stackoverflow.com/a/8626922
+SET(CMAKE_CXX_FLAGS "-fPIC -rdynamic")
 
-# SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/wolf_ros_wrapper/cmake_modules")
-## 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 COMPONENTS
   roscpp
   sensor_msgs
@@ -25,96 +23,14 @@ find_package(novatel_oem7_msgs QUIET)
 ## System dependencies are found with CMake's conventions
 find_package(wolfcore REQUIRED)
 find_package(wolfgnss REQUIRED)
+find_package(gnss_utils REQUIRED)
 
-## 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
-#  iri_gnss_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/WolfROS.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
+# produces the XXXConfig.cmake file among other things
 catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES wolf_ros1
-#  CATKIN_DEPENDS roscpp sensor_msgs std_msgs
-#  DEPENDS system_lib
 )
 
 ###########
@@ -123,10 +39,6 @@ catkin_package(
 
 set(INCLUDE_DIRS
 	include
-  	${EIGEN_INCLUDE_DIRS}
-  	${wolfcore_INCLUDE_DIRS}
-  	${wolfgnss_INCLUDE_DIRS}
-  	${gnss_utils_INCLUDE_DIRS}
   	${catkin_INCLUDE_DIRS}
   	)
   	
@@ -144,13 +56,6 @@ set(SUB_SRCS
 	src/subscriber_gnss_ublox.cpp
 	)
 
-set(LIBRARIES
-    ${wolfcore_LIBRARIES}
-    ${wolfgnss_LIBRARIES}
-    ${iri_gnss_msgs_LIBRARIES}
-    ${catkin_LIBRARIES}
-    )
-
 
 # OPTIONAL iri_gnss_msgs dependant code
 if (iri_gnss_msgs_FOUND)
@@ -179,92 +84,33 @@ endif()
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-message("Wolf include path: ${wolfcore_INCLUDE_DIRS}")
-message("iri_gnss_msgs include path: ${iri_gnss_msgs_INCLUDE_DIRS}")
 include_directories(${INCLUDE_DIRS})
-# link_directories(/usr/local/lib/iri-algorithms)
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/wolf_ros.cpp
-# )
+
 add_library(publisher_${PROJECT_NAME} ${PUB_SRCS})
 add_library(subscriber_${PROJECT_NAME} ${SUB_SRCS})
 
-## 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}_node ${PROJECT_NAME}_gencfg)
-# add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg"
-# set_target_properties(${PROJECT_NAME} PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-#add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
-#add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
-if (iri_gnss_msgs_FOUND)
-	add_dependencies(subscriber_${PROJECT_NAME} iri_gnss_msgs_generate_messages_cpp)
-endif()
-if (novatel_oem7_msgs_FOUND)
-	add_dependencies(subscriber_${PROJECT_NAME} novatel_oem7_msgs_generate_messages_cpp)
-endif()
+# if (iri_gnss_msgs_FOUND)
+# 	add_dependencies(subscriber_${PROJECT_NAME} iri_gnss_msgs_generate_messages_cpp)
+# endif()
+# if (novatel_oem7_msgs_FOUND)
+# 	add_dependencies(subscriber_${PROJECT_NAME} novatel_oem7_msgs_generate_messages_cpp)
+# endif()
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(subscriber_${PROJECT_NAME} ${LIBRARIES})
-target_link_libraries(publisher_${PROJECT_NAME} ${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
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
+target_link_libraries(subscriber_${PROJECT_NAME} 
+	wolfcore
+	wolfgnss
+	${catkin_LIBRARIES}
+	)
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+if (iri_gnss_msgs_FOUND OR novatel_oem7_msgs_FOUND)
+	target_link_libraries(subscriber_${PROJECT_NAME} ${LIBRARIES})
+endif()
 
-#############
-## Testing ##
-#############
 
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_wolf_ros.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+target_link_libraries(publisher_${PROJECT_NAME} 
+	wolfcore
+	wolfgnss
 
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+	${catkin_LIBRARIES}
+	)