diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000000000000000000000000000000000000..3ae6df78e82d0129570c877f4be2e0d5ac796c7e
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,208 @@
+stages:
+  - license
+  - build_and_test
+  - demos
+  
+############ YAML ANCHORS ############
+.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)
+  - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
+
+  ## Run ssh-agent (inside the build environment)
+  - eval $(ssh-agent -s)
+
+  ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
+  ## We're using tr to fix line endings which makes ed25519 keys work
+  ## without extra base64 encoding.
+  ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
+  - mkdir -p ~/.ssh
+  - chmod 700 ~/.ssh  
+  - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
+  # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
+  - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
+
+  # update apt
+  - apt-get update
+
+  # create ci_deps folder (if not exists)
+  - mkdir -pv ci_deps
+
+  # manually source ros setup.bash
+  - source /root/catkin_ws/devel/setup.bash
+  - roscd # check that it works
+
+.license_header_template: &license_header_definition
+  - cd $CI_PROJECT_DIR
+
+  # configure git
+  - export CI_NEW_BRANCH=ci_processing$RANDOM
+  - echo creating new temporary branch... $CI_NEW_BRANCH
+  - git config --global user.email "${CI_EMAIL}"
+  - git config --global user.name "${CI_USERNAME}"
+  - git checkout -b $CI_NEW_BRANCH # temporary branch
+
+  # license headers
+  - export CURRENT_YEAR=$( date +'%Y' )
+  - echo "current year:" ${CURRENT_YEAR}
+  - if [ -f license_header_${CURRENT_YEAR}.txt ]; then
+      # add license headers to new files
+  -   echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
+  -   ./ci_deps/wolf/wolf_scripts/license_manager.sh --add --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
+  - else
+      # update license headers of all files
+  -   export PREV_YEAR=$(( CURRENT_YEAR-1 ))
+  -   echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
+  -   git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
+  -   sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
+  -   ./ci_deps/wolf/wolf_scripts/license_manager.sh --update --path=. --license-header=license_header_${CURRENT_YEAR}.txt --exclude=ci_deps
+  - fi
+
+  # push changes (if any)
+  - if git commit -a -m "[skip ci] license headers added or modified" ; then
+  -   git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
+  -   git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
+  - else
+  -   echo "No changes, nothing to commit!"
+  - fi
+
+.install_wolf_template: &install_wolf_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
+  - if [ -d wolf ]; then
+  -   echo "directory wolf exists"
+  -   cd wolf
+  -   git checkout devel
+  -   git pull
+  -   git checkout $WOLF_CORE_BRANCH
+  -   git pull
+  - else
+  -   git clone -b $WOLF_CORE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
+  -   cd wolf
+  - fi
+  - mkdir -pv build
+  - cd build
+  - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=OFF -DBUILD_TESTS=OFF ..
+  - make -j$(nproc)
+  - make install
+
+.install_gnssutils_template: &install_gnssutils_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
+  - if [ -d gnss_utils ]; then
+  -   echo "directory gnss_utils exists"
+  -   cd gnss_utils
+  -   git pull
+  - else
+  -   git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/gauss_project/gnss_utils.git
+  -   cd gnss_utils
+  -   git submodule update --init
+  - fi
+  - mkdir -pv build
+  - cd build
+  - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF ..
+  - make -j$(nproc)
+  - make install
+
+.install_wolfgnss_template: &install_wolfgnss_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
+  - if [ -d gnss ]; then
+  -   echo "directory gnss exists"
+  -   cd gnss
+  -   git checkout devel
+  -   git pull
+  -   git checkout $WOLF_GNSS_BRANCH
+  -   git pull
+  - else
+  -   git clone -b $WOLF_GNSS_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/gnss.git
+  -   cd gnss
+  - fi
+  - mkdir -pv build
+  - cd build
+  - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF ..
+  - make -j$(nproc)
+  - make install
+
+.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 $WOLF_ROS_CORE_BRANCH
+
+.build_and_test_template: &build_and_test_definition
+  - roscd
+  - cd ../src
+  - git clone ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
+  - cd wolf_ros_gnss
+  - git checkout $CI_COMMIT_BRANCH
+  - cd ../..
+  - catkin_make
+
+############ LICENSE HEADERS ############
+license_headers:
+  stage: license
+  image: labrobotica/wolf_deps_ros:20.04
+  cache: []
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+  script:
+    - *license_header_definition
+
+############ UBUNTU 18.04 TEST ############
+build_and_test:bionic:
+  stage: build_and_test
+  image: labrobotica/wolf_deps_ros:18.04
+  cache:
+    - key: wolf-bionic
+      paths:
+      - ci_deps/wolf/
+    - key: gnssutils-bionic
+      paths:
+      - ci_deps/gnss_utils/
+    - key: gnss-bionic
+      paths:
+      - ci_deps/gnss/
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+    - *install_gnssutils_definition
+    - *install_wolfgnss_definition
+    - *clone_wolfrosnode_definition
+    - ldconfig
+  script:
+    - *build_and_test_definition
+
+############ UBUNTU 20.04 TEST ############
+build_and_test:focal:
+  stage: build_and_test
+  image: labrobotica/wolf_deps_ros:20.04
+  cache:
+    - key: wolf-focal
+      paths:
+      - ci_deps/wolf/
+    - key: gnssutils-focal
+      paths:
+      - ci_deps/gnss_utils/
+    - key: gnss-focal
+      paths:
+      - ci_deps/gnss/
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+    - *install_gnssutils_definition
+    - *install_wolfgnss_definition
+    - *clone_wolfrosnode_definition
+    - ldconfig
+  script:
+    - *build_and_test_definition
+
+############ RUN DEMOS ############
+demo_gnss:
+  stage: demos
+  variables:
+    WOLF_CORE_BRANCH: $WOLF_CORE_BRANCH
+    WOLF_GNSS_BRANCH: $WOLF_GNSS_BRANCH
+    WOLF_ROS_CORE_BRANCH: $WOLF_ROS_CORE_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 f09930c24466631f9aa754d72cf148aac9aee461..3de46d0c3ee9c5b1a95b720b9394e590c3581b16 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ 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++11)
+add_compile_options(-std=c++14)
 
 # SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/wolf_ros_wrapper/cmake_modules")
 ## Find catkin macros and libraries
@@ -11,18 +11,19 @@ add_compile_options(-std=c++11)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   sensor_msgs
-  iri_gnss_msgs
   std_msgs
   tf
+  tf_conversions
   dynamic_reconfigure
   wolf_ros_node
 )
 
+# OPTIONAL PACKAGES
+find_package(iri_gnss_msgs QUIET)
+find_package(novatel_oem7_msgs QUIET)
+
 ## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-# find_package(Ceres REQUIRED)
-# find_package(Eigen3 REQUIRED)
-find_package(wolf REQUIRED)
+find_package(wolfcore REQUIRED)
 find_package(wolfgnss REQUIRED)
 
 ## Uncomment this if the package has a setup.py. This macro ensures
@@ -120,24 +121,74 @@ catkin_package(
 ## Build ##
 ###########
 
+set(INCLUDE_DIRS
+	include
+  	${EIGEN_INCLUDE_DIRS}
+  	${wolfcore_INCLUDE_DIRS}
+  	${wolfgnss_INCLUDE_DIRS}
+  	${gnss_utils_INCLUDE_DIRS}
+  	${catkin_INCLUDE_DIRS}
+  	)
+  	
+set(PUB_SRCS
+	#src/publisher_gnss_fix.cpp
+	src/publisher_gnss_tf.cpp
+	src/publisher_gnss_accuracy.cpp
+	src/publisher_tracker_gnss_info.cpp
+	)
+	
+set(SUB_SRCS
+	src/subscriber_gnss_fix.cpp
+	src/subscriber_gnss_fix_publisher_ecef.cpp
+	src/subscriber_gnss_receiver.cpp
+	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)
+	message("iri_gnss_msgs FOUND: compiling dependant code")
+	list(APPEND SUB_SRCS 
+				src/subscriber_gnss.cpp
+				src/subscriber_gnss_tdcp.cpp
+				)
+    list(APPEND INCLUDE_DIRS ${iri_gnss_msgs_INCLUDE_DIRS})
+    list(APPEND LIBRARIES ${iri_gnss_msgs_LIBRARIES})
+endif()
+
+# OPTIONAL iri_gnss_msgs dependant code
+if (novatel_oem7_msgs_FOUND)
+	message("novatel_oem7_msgs FOUND: compiling dependant code")
+	list(APPEND SUB_SRCS 
+				src/subscriber_gnss_novatel.cpp
+				)
+	if (iri_gnss_msgs_FOUND)
+		list(APPEND SUB_SRCS 
+		  			src/subscriber_gnss_fix_novatel_publisher_ecef.cpp
+		  			)
+	endif()
+    list(APPEND INCLUDE_DIRS ${novatel_oem7_msgs_INCLUDE_DIRS})
+endif()
+
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-message("Wolf include path: ${wolf_INCLUDE_DIR}")
-include_directories(
-    include
-  ${EIGEN_INCLUDE_DIRS}
-  ${wolf_INCLUDE_DIRS}
-  ${wolfgnss_INCLUDE_DIRS}
-  ${gnss_utils_INCLUDE_DIRS}
-  ${catkin_INCLUDE_DIRS}
-  ${CERES_INCLUDE_DIRS}
-)
+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(wolf_subscriber_gnss src/wolf_ros_subscriber_gnss.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
@@ -159,13 +210,16 @@ add_library(wolf_subscriber_gnss src/wolf_ros_subscriber_gnss.cpp)
 ## 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()
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(wolf_subscriber_gnss 
-					  ${wolf_LIBRARIES} 
-					  ${wolfgnss_LIBRARIES} 
-					  ${iri_gnss_msgs_LIBRARIES}
-					  )
+target_link_libraries(subscriber_${PROJECT_NAME} ${LIBRARIES})
+target_link_libraries(publisher_${PROJECT_NAME} ${LIBRARIES})
 
 #############
 ## Install ##
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..281d399f13dfd23087acc56303dd38d68162587c
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,619 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
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+  Developers that use the GNU GPL protect your rights with two steps:
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+
+  Nothing in this License shall be construed as excluding or limiting
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+
+  12. No Surrender of Others' Freedom.
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+  If conditions are imposed on you (whether by court order, agreement or
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+
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+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
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+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
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diff --git a/README.md b/README.md
index 12660697df8618b3725cd2bb87c321d118d25cc2..2a5b9a680d0722f9aab4ac52b3868a35665ea734 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,28 @@
 # wolf_ros_gnss
 
+This is the ros package of the [WOLF GNSS plugin](https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/gnss).
+
+# Other dependencies
+
+**iri_gnss_msgs**
+
+Clone package and generate ROS messages. In a new terminal:
+
+```
+roscd
+cd ../src
+git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/gauss_project/iri_gnss_msgs.git
+cd ..
+catkin_make --only-pkg-with-deps iri_gnss_msgs
+```
+**Novatel OEM7 msgs**
+
+Clone package and generate ROS messages. In a new terminal:
+
+```
+roscd
+cd ../src
+git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/gauss_project/novatel_oem7_driver.git
+cd ..
+catkin_make --only-pkg-with-deps novatel_oem7_msgs
+```
\ No newline at end of file
diff --git a/include/publisher_gnss_accuracy.h b/include/publisher_gnss_accuracy.h
new file mode 100644
index 0000000000000000000000000000000000000000..57ca6cfb27e97a50d925f07cb779f29fac88352e
--- /dev/null
+++ b/include/publisher_gnss_accuracy.h
@@ -0,0 +1,64 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef PUBLISHER_GNSS_ACCURACY_H
+#define PUBLISHER_GNSS_ACCURACY_H
+
+/**************************
+ *      WOLF includes     *
+ **************************/
+#include "core/problem/problem.h"
+
+#include "publisher.h"
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+#include <visualization_msgs/Marker.h>
+
+namespace wolf
+{
+
+class PublisherGnssAccuracy: public Publisher
+{
+        visualization_msgs::Marker PL_marker_msg_;
+        std_msgs::ColorRGBA marker_color_;
+        SensorBasePtr sensor_;
+        double k_H_, k_V_;
+
+    public:
+        PublisherGnssAccuracy(const std::string& _unique_name,
+                              const ParamsServer& _server,
+                              const ProblemPtr _problem);
+        WOLF_PUBLISHER_CREATE(PublisherGnssAccuracy);
+
+        virtual ~PublisherGnssAccuracy(){};
+
+        void initialize(ros::NodeHandle &nh, const std::string& topic) override;
+
+        void publishDerived() override;
+};
+
+WOLF_REGISTER_PUBLISHER(PublisherGnssAccuracy)
+}
+
+#endif
diff --git a/include/publisher_gnss_fix.h b/include/publisher_gnss_fix.h
new file mode 100644
index 0000000000000000000000000000000000000000..a4f0caf70dcbfe8f693342c7d5651cc067962e10
--- /dev/null
+++ b/include/publisher_gnss_fix.h
@@ -0,0 +1,78 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef PUBLISHER_FIX_H
+#define PUBLISHER_FIX_H
+
+/**************************
+ *      WOLF includes     *
+ **************************/
+#include "core/problem/problem.h"
+
+#include "publisher.h"
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+#include <geometry_msgs/PoseWithCovarianceStamped.h>
+#include <visualization_msgs/Marker.h>
+#include <tf/transform_listener.h>
+
+namespace wolf
+{
+
+class PublishGnssFix: public Publisher
+{
+        geometry_msgs::PoseArray pose_array_msg_;
+        geometry_msgs::PoseStamped pose_msg_;
+        visualization_msgs::Marker marker_msg_;
+        SensorBasePtr sensor_;
+        std::string frame_id_, map_frame_id_;
+
+        ros::Publisher pub_pose_array_, pub_marker_, pub_pose_;
+
+    public:
+        PublishGnssFix(const std::string& _unique_name,
+                      const ParamsServer& _server,
+                      const ProblemPtr _problem);
+        WOLF_PUBLISHER_CREATE(PublishGnssFix);
+
+        virtual ~PublishGnssFix(){};
+
+        void initialize(ros::NodeHandle &nh, const std::string& topic) override;
+
+        void publishDerived() override;
+
+        void publishPose(const geometry_msgs::Pose pose, const ros::Time& stamp);
+
+    protected:
+
+        bool listenTf();
+        Eigen::Quaterniond q_frame_;
+        Eigen::Vector3d t_frame_;
+        tf::TransformListener tfl_;
+};
+
+WOLF_REGISTER_PUBLISHER(PublishGnssFix)
+}
+
+#endif
diff --git a/include/publisher_gnss_tf.h b/include/publisher_gnss_tf.h
new file mode 100644
index 0000000000000000000000000000000000000000..6779049080bb5e17a560cb611db673b48fd42158
--- /dev/null
+++ b/include/publisher_gnss_tf.h
@@ -0,0 +1,61 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef PUBLISHER_GNSS_TF_H
+#define PUBLISHER_GNSS_TF_H
+
+/**************************
+ *      WOLF includes     *
+ **************************/
+#include "core/problem/problem.h"
+#include "gnss/sensor/sensor_gnss.h"
+
+#include "publisher.h"
+
+#include <tf/transform_broadcaster.h>
+
+namespace wolf
+{
+
+class PublisherGnssTf: public Publisher
+{
+        std::string map_frame_id_, enu_frame_id_, ecef_frame_id_;
+        tf::StampedTransform T_enu_map_, T_ecef_enu_;
+        tf::TransformBroadcaster tfb_;
+        SensorGnssPtr sensor_gnss_;
+
+    public:
+        PublisherGnssTf(const std::string& _unique_name,
+                       const ParamsServer& _server,
+                       const ProblemPtr _problem);
+        WOLF_PUBLISHER_CREATE(PublisherGnssTf);
+
+        virtual ~PublisherGnssTf(){};
+
+        void initialize(ros::NodeHandle &nh, const std::string& topic) override;
+
+        void publishDerived() override;
+};
+
+WOLF_REGISTER_PUBLISHER(PublisherGnssTf)
+}
+
+#endif
diff --git a/include/publisher_tracker_gnss_info.h b/include/publisher_tracker_gnss_info.h
new file mode 100644
index 0000000000000000000000000000000000000000..ce057285292583562c24510723ede5976093d589
--- /dev/null
+++ b/include/publisher_tracker_gnss_info.h
@@ -0,0 +1,64 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef PUBLISHER_TRACKER_GNSS_INFO_H
+#define PUBLISHER_TRACKER_GNSS_INFO_H
+
+/**************************
+ *      WOLF includes     *
+ **************************/
+#include "core/problem/problem.h"
+#include "gnss/processor/processor_tracker_gnss.h"
+
+#include "publisher.h"
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+
+namespace wolf
+{
+
+class PublisherTrackerGnssInfo: public Publisher
+{
+    protected:
+
+        ProcessorTrackerGnssPtr processor_tracker_gnss_;
+        ros::Publisher publisher_untracked_;
+
+    public:
+        PublisherTrackerGnssInfo(const std::string& _unique_name,
+                                 const ParamsServer& _server,
+                                 const ProblemPtr _problem);
+        WOLF_PUBLISHER_CREATE(PublisherTrackerGnssInfo);
+
+        virtual ~PublisherTrackerGnssInfo(){};
+
+        void initialize(ros::NodeHandle &nh, const std::string& topic) override;
+
+        void publishDerived() override;
+};
+
+WOLF_REGISTER_PUBLISHER(PublisherTrackerGnssInfo)
+}
+
+#endif
diff --git a/include/subscriber_gnss.h b/include/subscriber_gnss.h
new file mode 100644
index 0000000000000000000000000000000000000000..a1efaf42c05807dbba09f5d814555ca5dcc2e274
--- /dev/null
+++ b/include/subscriber_gnss.h
@@ -0,0 +1,86 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef SUBSCRIBER_GNSS_H
+#define SUBSCRIBER_GNSS_H
+/**************************
+ *      WOLF includes     *
+ **************************/
+#include <core/yaml/parser_yaml.h>
+#include <core/common/wolf.h>
+#include <core/problem/problem.h>
+#include <core/utils/params_server.h>
+#include <gnss/capture/capture_gnss.h>
+#include <gnss/sensor/sensor_gnss.h>
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+#include <iri_gnss_msgs/Observation.h>
+#include <iri_gnss_msgs/Navigation.h>
+#include <iri_gnss_msgs/iri_gnss_msgs_to_gnss_utils.h>
+
+/**************************
+ *      STD includes      *
+ **************************/
+#include <iostream>
+#include <iomanip>
+#include <queue>
+
+/**************************
+ *    WOLF-ROS includes   *
+ **************************/
+#include "subscriber.h"
+
+/**************************
+ *     Other includes     *
+ **************************/
+#include "gnss_utils/navigation.h"
+#include "gnss_utils/observations.h"
+
+namespace wolf
+{
+
+class SubscriberGnss : public Subscriber
+{
+    protected:
+
+        ros::Subscriber sub_nav_;
+        std::shared_ptr<GnssUtils::Navigation> last_nav_ptr_;
+
+    public:
+        // Constructor
+        SubscriberGnss(const std::string& _unique_name,
+                       const ParamsServer& _server,
+                       const SensorBasePtr _sensor_ptr);
+        WOLF_SUBSCRIBER_CREATE(SubscriberGnss);
+
+        virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
+
+        void callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg);
+
+        void callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg);
+};
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnss);
+
+}
+#endif
diff --git a/include/subscriber_gnss_fix.h b/include/subscriber_gnss_fix.h
new file mode 100644
index 0000000000000000000000000000000000000000..b005546970c81e9906d8a45a50a00bf9401710ed
--- /dev/null
+++ b/include/subscriber_gnss_fix.h
@@ -0,0 +1,80 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef SUBSCRIBER_GNSS_FIX_H
+#define SUBSCRIBER_GNSS_FIX_H
+/**************************
+ *      WOLF includes     *
+ **************************/
+#include <core/yaml/parser_yaml.h>
+#include <core/common/wolf.h>
+#include <core/problem/problem.h>
+#include <core/utils/params_server.h>
+#include <gnss/capture/capture_gnss_fix.h>
+#include <gnss/sensor/sensor_gnss.h>
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+#include <sensor_msgs/NavSatFix.h>
+
+/**************************
+ *      STD includes      *
+ **************************/
+#include <iostream>
+#include <iomanip>
+#include <queue>
+
+/**************************
+ *    WOLF-ROS includes   *
+ **************************/
+#include "subscriber.h"
+
+/**************************
+ *     Other includes     *
+ **************************/
+#include "gnss_utils/gnss_utils.h"
+
+namespace wolf
+{
+
+class SubscriberGnssFix : public Subscriber
+{
+        std::string cov_mode_;
+        double cov_factor_;
+        Eigen::Matrix3d cov_;
+
+    public:
+        // Constructor
+        SubscriberGnssFix(const std::string& _unique_name,
+                          const ParamsServer& _server,
+                          const SensorBasePtr _sensor_ptr);
+        WOLF_SUBSCRIBER_CREATE(SubscriberGnssFix);
+
+        virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
+
+        void callback(const sensor_msgs::NavSatFix::ConstPtr& msg);
+};
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnssFix)
+
+}
+#endif
diff --git a/include/subscriber_gnss_fix_novatel_publisher_ecef.h b/include/subscriber_gnss_fix_novatel_publisher_ecef.h
new file mode 100644
index 0000000000000000000000000000000000000000..d171317ce3a27fff25faa80ffa5cb89e22cf78cb
--- /dev/null
+++ b/include/subscriber_gnss_fix_novatel_publisher_ecef.h
@@ -0,0 +1,62 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef SUBSCRIBER_GNSS_FIX_NOVATEL_PUBLISHER_ECEF_H
+#define SUBSCRIBER_GNSS_FIX_NOVATEL_PUBLISHER_ECEF_H
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+#include "novatel_oem7_msgs/BESTPOS.h"
+
+/**************************
+ *      STD includes      *
+ **************************/
+#include <iostream>
+#include <iomanip>
+#include <queue>
+
+/**************************
+ *    WOLF-ROS includes   *
+ **************************/
+#include "subscriber_gnss_fix_publisher_ecef.h"
+
+namespace wolf
+{
+
+class SubscriberGnssFixNovatelPublisherEcef : public SubscriberGnssFixPublisherEcef
+{
+    public:
+        // Constructor
+        SubscriberGnssFixNovatelPublisherEcef(const std::string& _unique_name,
+                          const ParamsServer& _server,
+                          const SensorBasePtr _sensor_ptr);
+        WOLF_SUBSCRIBER_CREATE(SubscriberGnssFixNovatelPublisherEcef);
+
+        void initialize(ros::NodeHandle& nh, const std::string& topic) override;
+
+        void callback(const novatel_oem7_msgs::BESTPOS::ConstPtr& msg);
+};
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnssFixNovatelPublisherEcef)
+
+}
+#endif
diff --git a/include/subscriber_gnss_fix_publisher_ecef.h b/include/subscriber_gnss_fix_publisher_ecef.h
new file mode 100644
index 0000000000000000000000000000000000000000..4099db417cb13a6986120886a5c3a44a53d75e99
--- /dev/null
+++ b/include/subscriber_gnss_fix_publisher_ecef.h
@@ -0,0 +1,91 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef SUBSCRIBER_GNSS_FIX_PUBLISHER_ECEF_H
+#define SUBSCRIBER_GNSS_FIX_PUBLISHER_ECEF_H
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+#include <sensor_msgs/NavSatFix.h>
+#include <geometry_msgs/PoseArray.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <visualization_msgs/Marker.h>
+#include <tf/transform_listener.h>
+
+/**************************
+ *      STD includes      *
+ **************************/
+#include <iostream>
+#include <iomanip>
+#include <queue>
+
+/**************************
+ *    WOLF-ROS includes   *
+ **************************/
+#include "subscriber.h"
+
+namespace wolf
+{
+
+class SubscriberGnssFixPublisherEcef : public Subscriber
+{
+    protected:
+        // TF
+        tf::TransformListener tfl_;
+        bool ENU_defined_;
+        Eigen::Matrix3d R_enu_ecef_;
+        Eigen::Vector3d t_enu_ecef_;
+
+        // publisher
+        ros::Time last_publish_stamp_;
+        double period_, line_size_;
+        int max_points_;
+        bool pose_array_, pose_, marker_;
+        geometry_msgs::PoseArray pose_array_msg_;
+        geometry_msgs::PoseStamped pose_msg_;
+        visualization_msgs::Marker marker_msg_;
+        std_msgs::ColorRGBA marker_color_;
+        ros::Publisher pub_pose_array_, pub_marker_, pub_pose_;
+
+    public:
+        // Constructor
+        SubscriberGnssFixPublisherEcef(const std::string& _unique_name,
+                          const ParamsServer& _server,
+                          const SensorBasePtr _sensor_ptr);
+        WOLF_SUBSCRIBER_CREATE(SubscriberGnssFixPublisherEcef);
+
+        void initialize(ros::NodeHandle& nh, const std::string& topic) override;
+
+        void callback(const sensor_msgs::NavSatFix::ConstPtr& msg);
+
+        void computeAndPublish(const Eigen::Vector3d& LatLonAlt, const ros::Time& stamp);
+
+    protected:
+        bool listenTf();
+
+        void publishPose(const geometry_msgs::Pose pose, const ros::Time& stamp);
+};
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnssFixPublisherEcef)
+
+}
+#endif
diff --git a/include/subscriber_gnss_novatel.h b/include/subscriber_gnss_novatel.h
new file mode 100644
index 0000000000000000000000000000000000000000..4bead2903d4b02b68947771194a10c4554ad3a19
--- /dev/null
+++ b/include/subscriber_gnss_novatel.h
@@ -0,0 +1,72 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef SUBSCRIBER_GNSS_NOVATEL_H
+#define SUBSCRIBER_GNSS_NOVATEL_H
+/**************************
+ *      WOLF includes     *
+ **************************/
+#include <core/yaml/parser_yaml.h>
+#include <core/common/wolf.h>
+#include <core/problem/problem.h>
+#include <core/utils/params_server.h>
+#include <gnss/capture/capture_gnss.h>
+#include <gnss/sensor/sensor_gnss.h>
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+#include "novatel_oem7_msgs/Oem7RawMsg.h"
+
+/**************************
+ *    WOLF-ROS includes   *
+ **************************/
+#include "subscriber_gnss_receiver.h"
+
+/**************************
+ *     Other includes     *
+ **************************/
+#include "gnss_utils/navigation.h"
+#include "gnss_utils/observations.h"
+#include "gnss_utils/receivers/novatel_raw.h"
+
+namespace wolf
+{
+
+class SubscriberGnssNovatel : public SubscriberGnssReceiver
+{
+    public:
+        // Constructor
+        SubscriberGnssNovatel(const std::string& _unique_name,
+                              const ParamsServer& _server,
+                              const SensorBasePtr _sensor_ptr);
+        WOLF_SUBSCRIBER_CREATE(SubscriberGnssNovatel);
+
+        void initialize(ros::NodeHandle& nh, const std::string& topic) override;
+
+        void callback(const novatel_oem7_msgs::Oem7RawMsg& msg);
+
+};
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnssNovatel);
+
+}
+#endif
diff --git a/include/subscriber_gnss_receiver.h b/include/subscriber_gnss_receiver.h
new file mode 100644
index 0000000000000000000000000000000000000000..b02880e0f7815e23b16ff6356edbe1702ecc8872
--- /dev/null
+++ b/include/subscriber_gnss_receiver.h
@@ -0,0 +1,108 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef SUBSCRIBER_GNSS_RECEIVER_H
+#define SUBSCRIBER_GNSS_RECEIVER_H
+/**************************
+ *      WOLF includes     *
+ **************************/
+#include <gnss/internal/config.h>
+#include <core/yaml/parser_yaml.h>
+#include <core/common/wolf.h>
+#include <core/problem/problem.h>
+#include <core/utils/params_server.h>
+#include <gnss/capture/capture_gnss.h>
+#include <gnss/sensor/sensor_gnss.h>
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+#include <std_msgs/Bool.h>
+#include <geometry_msgs/PoseArray.h>
+#include <visualization_msgs/Marker.h>
+#include <tf/transform_listener.h>
+
+/**************************
+ *    WOLF-ROS includes   *
+ **************************/
+#include "subscriber.h"
+
+/**************************
+ *     Other includes     *
+ **************************/
+#include "gnss_utils/gnss_utils.h"
+#include "gnss_utils/navigation.h"
+#include "gnss_utils/observations.h"
+#include "gnss_utils/receiver_raw_base.h"
+
+namespace wolf
+{
+
+class SubscriberGnssReceiver : public Subscriber
+{
+    public:
+        // Constructor
+        SubscriberGnssReceiver(const std::string& _unique_name,
+                               const ParamsServer& _server,
+                               const SensorBasePtr _sensor_ptr,
+                               GnssUtils::ReceiverRawAbstractPtr _receiver);
+
+        void initialize(ros::NodeHandle& nh, const std::string& topic) override;
+
+    protected:
+
+        void createCaptureAndProcess(const ros::Time& _stamp);
+
+        GnssUtils::ReceiverRawAbstractPtr receiver_;
+
+        // sats available
+        bool process_not_available_;
+        bool sats_available_;
+        ros::Publisher pub_available_;
+
+        // Publish fix
+        void publishFixComp();
+        void fillMsgs(const geometry_msgs::Pose pose, const std::string& comp);
+        void publish(const ros::Time& stamp, const std::string& comp);
+        bool publish_fix_;
+        std::string topic_fix_;
+        GnssUtils::Options compute_pos_opt_;
+
+        // comparative
+        std::map<std::string, geometry_msgs::PoseStamped> pose_msgs_;
+        std::map<std::string, geometry_msgs::PoseArray> pose_array_msgs_;
+        std::map<std::string, visualization_msgs::Marker> marker_msgs_;
+        std::map<std::string, bool> last_fixes_ok_;
+        std::map<std::string, geometry_msgs::Pose> last_fixes_pose_;
+        std::map<std::string, ros::Publisher> publishers_pose_, publishers_pose_array_, publishers_marker_;
+        std::vector<std::string> comp_options_;
+
+        //TF
+        bool listenTf();
+        bool ENU_defined_;
+        Eigen::Matrix3d R_enu_ecef_;
+        Eigen::Vector3d t_enu_ecef_;
+        tf::TransformListener tfl_;
+};
+
+}
+#endif
diff --git a/include/subscriber_gnss_tdcp.h b/include/subscriber_gnss_tdcp.h
new file mode 100644
index 0000000000000000000000000000000000000000..9b176ada5e12ced7b6008213c81c5dfc023f2298
--- /dev/null
+++ b/include/subscriber_gnss_tdcp.h
@@ -0,0 +1,89 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef SUBSCRIBER_GNSS_TDCP_H
+#define SUBSCRIBER_GNSS_TDCP_H
+/**************************
+ *      WOLF includes     *
+ **************************/
+#include <core/yaml/parser_yaml.h>
+#include <core/common/wolf.h>
+#include <core/problem/problem.h>
+#include <core/utils/params_server.h>
+#include <gnss/capture/capture_gnss.h>
+#include <gnss/sensor/sensor_gnss.h>
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+#include <iri_gnss_msgs/Observation.h>
+#include <iri_gnss_msgs/Navigation.h>
+#include <iri_gnss_msgs/iri_gnss_msgs_to_gnss_utils.h>
+
+/**************************
+ *      STD includes      *
+ **************************/
+#include <iostream>
+#include <iomanip>
+#include <queue>
+
+/**************************
+ *    WOLF-ROS includes   *
+ **************************/
+#include "subscriber.h"
+
+/**************************
+ *     Other includes     *
+ **************************/
+#include "gnss_utils/gnss_utils.h"
+
+namespace wolf
+{
+
+class SubscriberGnssTdcp : public Subscriber
+{
+    protected:
+
+        ros::Subscriber sub_nav_;
+        std::shared_ptr<GnssUtils::Navigation> last_nav_ptr_;
+
+        //prcopt_t prcopt_;
+        //bool new_obs_;
+
+    public:
+        // Constructor
+        SubscriberGnssTdcp(const std::string& _unique_name,
+                           const ParamsServer& _server,
+                           const SensorBasePtr _sensor_ptr);
+        WOLF_SUBSCRIBER_CREATE(SubscriberGnssTdcp);
+
+        virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
+
+        void callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg);
+
+        void callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg);
+
+};
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnssTdcp);
+
+}
+#endif
diff --git a/include/subscriber_gnss_ublox.h b/include/subscriber_gnss_ublox.h
new file mode 100644
index 0000000000000000000000000000000000000000..c7c380112c870fe4408435c7b827980f4206c3c3
--- /dev/null
+++ b/include/subscriber_gnss_ublox.h
@@ -0,0 +1,80 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef SUBSCRIBER_GNSS_UBLOX_H
+#define SUBSCRIBER_GNSS_UBLOX_H
+/**************************
+ *      WOLF includes     *
+ **************************/
+#include <core/yaml/parser_yaml.h>
+#include <core/common/wolf.h>
+#include <core/problem/problem.h>
+#include <core/utils/params_server.h>
+#include <gnss/capture/capture_gnss.h>
+#include <gnss/sensor/sensor_gnss.h>
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+#include <std_msgs/UInt8MultiArray.h>
+
+/**************************
+ *    WOLF-ROS includes   *
+ **************************/
+#include "subscriber_gnss_receiver.h"
+
+/**************************
+ *     Other includes     *
+ **************************/
+#include "gnss_utils/navigation.h"
+#include "gnss_utils/observations.h"
+#include "gnss_utils/receivers/ublox_raw.h"
+
+namespace wolf
+{
+
+class SubscriberGnssUblox : public SubscriberGnssReceiver
+{
+    public:
+        // Constructor
+        SubscriberGnssUblox(const std::string& _unique_name,
+                            const ParamsServer& _server,
+                            const SensorBasePtr _sensor_ptr);
+        WOLF_SUBSCRIBER_CREATE(SubscriberGnssUblox);
+        virtual ~SubscriberGnssUblox();
+
+        virtual void initialize(ros::NodeHandle& nh, const std::string& topic);
+
+        void callback(const std_msgs::UInt8MultiArray& msg);
+
+        double secondsSinceLastCallback() override;
+
+    protected:
+        long unsigned int n_msgs_;
+        ros::Time reseted_stamp_;
+        bool reset_driver_node_;
+        double max_topic_delay_, reset_duration_;
+};
+
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnssUblox);
+}
+#endif
diff --git a/include/wolf_ros_subscriber_gnss.h b/include/wolf_ros_subscriber_gnss.h
deleted file mode 100644
index 79562aaedc4d5c3a7f4cdcd69d1b846f94770715..0000000000000000000000000000000000000000
--- a/include/wolf_ros_subscriber_gnss.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/**************************
- *      WOLF includes     *
- **************************/
-#include <core/yaml/parser_yaml.hpp>
-#include <core/common/wolf.h>
-#include <core/problem/problem.h>
-#include <core/utils/params_server.hpp>
-#include <gnss/capture/capture_gnss.h>
-#include <gnss/sensor/sensor_gnss.h>
-
-/**************************
- *      ROS includes      *
- **************************/
-#include <ros/ros.h>
-#include <iri_gnss_msgs/Observation.h>
-#include <iri_gnss_msgs/Navigation.h>
-#include <iri_gnss_msgs/iri_gnss_msgs_to_gnssutils.h>
-
-/**************************
- *      STD includes      *
- **************************/
-#include <iostream>
-#include <iomanip>
-#include <queue>
-
-/**************************
- *    WOLF-ROS includes   *
- **************************/
-#include "wolf_ros_subscriber.h"
-#include "subscriber_factory.h"
-#include "gnss_utils.h"
-
-using namespace wolf;
-
-class WolfSubscriberWrapperGnss : public WolfSubscriberWrapper
-{
-    protected:
-
-        ros::Subscriber sub_nav_;
-        GNSSUtils::Navigation last_nav_;
-        bool last_nav_valid_;
-
-    public:
-        // Constructor
-        WolfSubscriberWrapperGnss(const SensorBasePtr& sensor_ptr);
-
-        virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
-
-        void callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg);
-
-        void callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg);
-
-        static std::shared_ptr<WolfSubscriberWrapper> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
-};
-
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberWrapperGnss)
diff --git a/license_header_2022.txt b/license_header_2022.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c987025f9dba3e7af993051b9bdf4b5ff400e0d
--- /dev/null
+++ b/license_header_2022.txt
@@ -0,0 +1,17 @@
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
diff --git a/package.xml b/package.xml
index fdff95eeee06e07be2f64fbf5c27cb94d3530753..4b2aeb94d591abab0a5567d20c3a5c7a581ee33b 100644
--- a/package.xml
+++ b/package.xml
@@ -55,6 +55,7 @@
   <build_depend>iri_gnss_msgs</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>wolf_ros_node</build_depend>
+  <build_depend>novatel_oem7_msgs</build_depend>
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
diff --git a/src/publisher_gnss_accuracy.cpp b/src/publisher_gnss_accuracy.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a2ef3ca4ffab3a22328e4f0c59e8dcf9c2d20199
--- /dev/null
+++ b/src/publisher_gnss_accuracy.cpp
@@ -0,0 +1,132 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "publisher_gnss_accuracy.h"
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+#include "tf/transform_datatypes.h"
+
+namespace wolf
+{
+
+PublisherGnssAccuracy::PublisherGnssAccuracy(const std::string& _unique_name,
+                             const ParamsServer& _server,
+                             const ProblemPtr _problem) :
+        Publisher(_unique_name, _server, _problem)
+{
+    Eigen::Vector4d col = _server.getParam<Eigen::Vector4d>(prefix_ + "/marker_color");
+    marker_color_.r = col(0);
+    marker_color_.g = col(1);
+    marker_color_.b = col(2);
+    marker_color_.a = col(3);
+    sensor_ = _problem->getSensor(_server.getParam<std::string>(prefix_ + "/sensor"));
+    k_H_    = _server.getParam<double>(prefix_ + "/k_H");
+    k_V_    = _server.getParam<double>(prefix_ + "/k_V");
+}
+
+void PublisherGnssAccuracy::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+    nh.param<std::string>("map_frame_id", PL_marker_msg_.header.frame_id, "map");
+
+    PL_marker_msg_.type = visualization_msgs::Marker::CYLINDER;
+    PL_marker_msg_.action = visualization_msgs::Marker::ADD;
+    PL_marker_msg_.ns = "PL";
+    PL_marker_msg_.color = marker_color_;
+    PL_marker_msg_.pose.orientation = tf::createQuaternionMsgFromYaw(0);
+
+    publisher_ = nh.advertise<visualization_msgs::Marker>(topic, 1);
+}
+
+void PublisherGnssAccuracy::publishDerived()
+{
+    // CURRENT POSITION
+    VectorComposite current_state = problem_->getState("PO");
+    TimeStamp loc_ts = problem_->getTimeStamp();
+
+    // state not ready
+    if (current_state.count('P') == 0 or
+        current_state.count('O') == 0 or
+        not loc_ts.ok())
+    {
+        return;
+    }
+
+    // fill position of GNSS antenna
+    Eigen::Vector3d p = Eigen::Vector3d::Zero();
+    // 2D
+    if (problem_->getDim() == 2)
+        p.head(2) = current_state['P'] + Eigen::Rotation2Dd(current_state['O'](0)) * sensor_->getP()->getState().head(2);
+    // 3D
+    else
+        p = current_state['P'] + Eigen::Quaterniond(Eigen::Vector4d(current_state['O'])) * sensor_->getP()->getState();
+
+    // COVARIANCE
+    bool new_cov = false;
+    Eigen::MatrixXd cov(3,3);
+    // 2D
+    if (problem_->getDim() == 2)
+        throw std::runtime_error("not implemented");
+    // 3D
+    else
+    {
+        new_cov = problem_->getCovarianceBlock(problem_->getLastFrame()->getP(),
+                                               problem_->getLastFrame()->getP(),
+                                               cov, 0, 0);
+        WOLF_DEBUG_COND(not new_cov, "Last KF covariance could not be recovered, using the previous one");
+    }
+
+    // PROTECTION LEVELS
+    double HPL, VPL;
+    if (new_cov)
+    {
+        // Horizontal
+        Eigen::SelfAdjointEigenSolver<Eigen::Matrix2d> es(cov.topLeftCorner<2,2>(), Eigen::EigenvaluesOnly);
+
+        if (es.info() == Eigen::Success)
+            HPL = k_H_ * sqrt(es.eigenvalues().maxCoeff());
+        else
+            new_cov = false;
+
+        WOLF_WARN_COND(not new_cov, "eigen decomposition failed! Cov horizontal:\n", cov.topLeftCorner<2,2>());
+
+        // Vertical
+        VPL = k_V_ * sqrt(cov(2,2));
+    }
+
+    // CYLINDER MARKER
+    PL_marker_msg_.header.stamp = ros::Time(loc_ts.getSeconds(), loc_ts.getNanoSeconds());
+    PL_marker_msg_.pose.position.x = p(0);
+    PL_marker_msg_.pose.position.y = p(1);
+    PL_marker_msg_.pose.position.z = p(2);
+
+    if (new_cov)
+    {
+        PL_marker_msg_.scale.x = HPL;
+        PL_marker_msg_.scale.y = HPL;
+        PL_marker_msg_.scale.z = VPL;
+    }
+    publisher_.publish(PL_marker_msg_);
+}
+
+}
diff --git a/src/publisher_gnss_fix.cpp b/src/publisher_gnss_fix.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..70f6e3f5dd88f87e7d50a01fa58c6a8ec5d4555e
--- /dev/null
+++ b/src/publisher_gnss_fix.cpp
@@ -0,0 +1,167 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include <ros/ros.h>
+#include "tf/transform_datatypes.h"
+#include "tf_conversions/tf_eigen.h"
+#include "../include/publisher_gnss_fix.h"
+
+namespace wolf
+{
+
+PublishGnssFix::PublishGnssFix(const std::string& _unique_name,
+                             const ParamsServer& _server,
+                             const ProblemPtr _problem) :
+        Publisher(_unique_name, _server, _problem)
+{
+    sensor_     = _problem->getSensor(_server.getParam<std::string>(prefix_ + "/sensor"));
+    frame_id_   = _server.getParam<std::string>(prefix_ + "/frame_id");
+}
+
+void PublishGnssFix::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+    nh.param<std::string>("map_frame_id", map_frame_id_, "map");
+
+    // initialize msg and publisher
+    pose_msg_.header.frame_id = frame_id_;
+
+    pub_pose_ = nh.advertise<geometry_msgs::PoseWithCovarianceStamped>(topic, 1);
+}
+
+void PublishGnssFix::publishDerived()
+{
+    VectorComposite current_state = problem_->getState("PO");
+    TimeStamp loc_ts = problem_->getTimeStamp();
+
+    // state not ready
+    if (current_state.count('P') == 0 or
+        current_state.count('O') == 0 or
+        loc_ts == TimeStamp(0))
+    {
+        return;
+    }
+
+
+    // fill vector and quaternion
+    Eigen::Vector3d p = Eigen::Vector3d::Zero();
+    Eigen::Quaterniond q;
+
+    // 2D
+    if (problem_->getDim() == 2)
+    {
+        if (extrinsics_)
+        {
+            p.head(2) = current_state['P'] + Eigen::Rotation2Dd(current_state['O'](0)) * sensor_->getP()->getState().head(2);
+            if (sensor_->getO())
+                q = Eigen::Quaterniond(Eigen::AngleAxisd(current_state['O'](0) + sensor_->getO()->getState()(0),
+                                                         Eigen::Vector3d::UnitZ()));
+            else
+                q = Eigen::Quaterniond(Eigen::AngleAxisd(current_state['O'](0),
+                                                         Eigen::Vector3d::UnitZ()));
+        }
+        else
+        {
+            p.head(2) = current_state['P'];
+            q = Eigen::Quaterniond(Eigen::AngleAxisd(current_state['O'](0), Eigen::Vector3d::UnitZ()));
+        }
+    }
+    // 3D
+    else
+    {
+        if (extrinsics_)
+        {
+            p = current_state['P'] + Eigen::Quaterniond(Eigen::Vector4d(current_state['O'])) * sensor_->getP()->getState();
+            if (sensor_->getO())
+                q = Eigen::Quaterniond(Eigen::Vector4d(current_state['O'])) * Eigen::Quaterniond(Eigen::Vector4d(sensor_->getO()->getState()));
+            else
+                q = Eigen::Quaterniond(Eigen::Vector4d(current_state['O']));
+        }
+        else
+        {
+            p = current_state['P'];
+            q = Eigen::Quaterniond(Eigen::Vector4d(current_state['O']));
+        }
+    }
+
+    // Change frame
+    if (frame_id_ != map_frame_id_ and listenTf())
+    {
+        p = t_frame_ + q_frame_ * p;
+        q = q_frame_ * q;
+    }
+
+    // Fill Pose msg
+    geometry_msgs::Pose pose_msg;
+    pose_msg.position.x = p(0);
+    pose_msg.position.y = p(1);
+    pose_msg.position.z = p(2);
+
+    pose_msg.orientation.x = q.x();
+    pose_msg.orientation.y = q.y();
+    pose_msg.orientation.z = q.z();
+    pose_msg.orientation.w = q.w();
+    publishPose(pose_msg, ros::Time(loc_ts.getSeconds(), loc_ts.getNanoSeconds()));
+}
+
+void PublishGnssFix::publishPose(const geometry_msgs::Pose pose, const ros::Time& stamp)
+{
+    // fill msgs and publish
+    if (pub_pose_.getNumSubscribers() != 0)
+    {
+        pose_msg_.header.stamp = stamp;
+        pose_msg_.pose = pose;
+
+        pub_pose_.publish(pose_msg_);
+    }
+    if (pub_pose_array_.getNumSubscribers() != 0)
+    {
+        pose_array_msg_.header.stamp = stamp;
+        pose_array_msg_.poses.push_back(pose);
+
+        pub_pose_array_.publish(pose_array_msg_);
+    }
+    if (pub_marker_.getNumSubscribers() != 0)
+    {
+        marker_msg_.header.stamp = stamp;
+        marker_msg_.points.push_back(pose.position);
+
+        pub_marker_.publish(marker_msg_);
+    }
+}
+
+bool PublishGnssFix::listenTf()
+{
+    tf::StampedTransform T;
+    if ( tfl_.waitForTransform(frame_id_, map_frame_id_, ros::Time(0), ros::Duration(0.01)) )
+    {
+        tfl_.lookupTransform(frame_id_, map_frame_id_, ros::Time(0), T);
+
+        Eigen::Matrix3d R;
+        tf::matrixTFToEigen(T.getBasis(), R);
+        tf::vectorTFToEigen(T.getOrigin(), t_frame_);
+        q_frame_ = Eigen::Quaterniond(R);
+
+        return true;
+    }
+    return false;
+}
+
+}
diff --git a/src/publisher_gnss_tf.cpp b/src/publisher_gnss_tf.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ed7ab474f9586167f15b207bd0dbb2dc89110fd6
--- /dev/null
+++ b/src/publisher_gnss_tf.cpp
@@ -0,0 +1,91 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "publisher_gnss_tf.h"
+
+/**************************
+ *      ROS includes      *
+ **************************/
+#include <ros/ros.h>
+#include "tf/transform_datatypes.h"
+#include "tf_conversions/tf_eigen.h"
+
+namespace wolf
+{
+
+PublisherGnssTf::PublisherGnssTf(const std::string& _unique_name,
+                                 const ParamsServer& _server,
+                                 const ProblemPtr _problem) :
+        Publisher(_unique_name, _server, _problem)
+{
+    sensor_gnss_ = std::static_pointer_cast<SensorGnss>(_problem->getSensor(_server.getParam<std::string>(prefix_ + "/sensor_gnss_name")));
+
+    T_enu_map_.setIdentity();
+    T_enu_map_.frame_id_ = "ENU";
+    T_enu_map_.stamp_ = ros::Time::now();
+
+    T_ecef_enu_.setIdentity();
+    T_ecef_enu_.frame_id_ = "ECEF";
+    T_ecef_enu_.child_frame_id_ = "ENU";
+    T_ecef_enu_.stamp_ = ros::Time::now();
+}
+
+void PublisherGnssTf::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+    nh.param<std::string>("map_frame_id", T_enu_map_.child_frame_id_,  "map");
+    std::cout << "PublisherGnssTf initialized using map_frame_id: " << T_enu_map_.child_frame_id_ << std::endl;
+}
+
+void PublisherGnssTf::publishDerived()
+{
+    tf::Matrix3x3 tf_R_enu_map, tf_R_enu_ecef;
+    tf::Vector3 tf_t_enu_map, tf_t_enu_ecef;
+
+    if (not sensor_gnss_->isEnuDefined())
+        return;
+
+    //Eigen::Matrix3d ei_R_enu_ecef = sensor_gnss_->getREnuEcef();
+    //Eigen::Vector3d ei_t_enu_ecef = sensor_gnss_->gettEnuEcef();
+
+    //Eigen::Matrix3d ei_R_enu_map  = sensor_gnss_->getREnuMap();
+    //Eigen::Vector3d ei_t_enu_map  = sensor_gnss_->gettEnuMap();
+
+    //tf::matrixEigenToTF(ei_R_enu_ecef, tf_R_enu_ecef);
+    //tf::vectorEigenToTF(ei_t_enu_ecef, tf_t_enu_ecef);
+    tf::matrixEigenToTF(sensor_gnss_->getREnuEcef(), tf_R_enu_ecef);
+    tf::vectorEigenToTF(sensor_gnss_->gettEnuEcef(), tf_t_enu_ecef);
+
+    //tf::matrixEigenToTF(ei_R_enu_map,  tf_R_enu_map);
+    //tf::vectorEigenToTF(ei_t_enu_map,  tf_t_enu_map);
+    tf::matrixEigenToTF(sensor_gnss_->getREnuMap(),  tf_R_enu_map);
+    tf::vectorEigenToTF(sensor_gnss_->gettEnuMap(),  tf_t_enu_map);
+
+    T_ecef_enu_.setData(tf::Transform(tf_R_enu_ecef, tf_t_enu_ecef).inverse());
+    T_enu_map_ .setData(tf::Transform(tf_R_enu_map,  tf_t_enu_map));
+
+    T_ecef_enu_.stamp_ = ros::Time::now();
+    T_enu_map_ .stamp_ = ros::Time::now();
+
+    tfb_.sendTransform(T_ecef_enu_);
+    tfb_.sendTransform(T_enu_map_);
+}
+
+}
diff --git a/src/publisher_tracker_gnss_info.cpp b/src/publisher_tracker_gnss_info.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1fc154f2a2390adf28538b365294d3654d00632d
--- /dev/null
+++ b/src/publisher_tracker_gnss_info.cpp
@@ -0,0 +1,69 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "../include/publisher_tracker_gnss_info.h"
+
+#include "std_msgs/UInt16.h"
+#include "tf/transform_datatypes.h"
+
+namespace wolf
+{
+
+PublisherTrackerGnssInfo::PublisherTrackerGnssInfo(const std::string& _unique_name,
+                                                   const ParamsServer& _server,
+                                                   const ProblemPtr _problem) :
+        Publisher(_unique_name, _server, _problem),
+        processor_tracker_gnss_(nullptr)
+{
+    auto proc_name = _server.getParam<std::string>(prefix_ + "/processor_gnss");
+    for (auto sen : _problem->getHardware()->getSensorList())
+    {
+        for (auto proc : sen->getProcessorList())
+            if (proc_name == proc->getName())
+            {
+                processor_tracker_gnss_ = std::dynamic_pointer_cast<ProcessorTrackerGnss>(proc);
+                if (not processor_tracker_gnss_)
+                    throw std::runtime_error("PublisherTrackerGnssInfo: the processor with name " + proc_name + " is not of type ProcessorTrackerGnss.");
+                break;
+            }
+        if (processor_tracker_gnss_)
+            break;
+    }
+    if (not processor_tracker_gnss_)
+        throw std::runtime_error("PublisherTrackerGnssInfo: the processor with name " + proc_name + " was not found.");
+}
+
+void PublisherTrackerGnssInfo::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+    publisher_              = nh.advertise<std_msgs::UInt16>(topic + "_tracked", 1);
+    publisher_untracked_    = nh.advertise<std_msgs::UInt16>(topic + "_untracked", 1);
+}
+
+void PublisherTrackerGnssInfo::publishDerived()
+{
+    std_msgs::UInt16 msg;
+    msg.data = processor_tracker_gnss_->getNTrackedSats();
+    publisher_.publish(msg);
+    msg.data = processor_tracker_gnss_->getNUntrackedSats();
+    publisher_untracked_.publish(msg);
+}
+
+}
diff --git a/src/subscriber_gnss.cpp b/src/subscriber_gnss.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..22d9e59f49e4104fd40f9b2cafd6be9388b785cf
--- /dev/null
+++ b/src/subscriber_gnss.cpp
@@ -0,0 +1,77 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "../include/subscriber_gnss.h"
+
+namespace wolf
+{
+
+// Constructor
+SubscriberGnss::SubscriberGnss(const std::string& _unique_name,
+                               const ParamsServer& _server,
+                               const SensorBasePtr _sensor_ptr) :
+        Subscriber(_unique_name, _server, _sensor_ptr)
+{
+}
+
+
+void SubscriberGnss::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+    sub_     = nh.subscribe(topic+std::string("obs"), 1, &SubscriberGnss::callbackObservation, this);
+    sub_nav_ = nh.subscribe(topic+std::string("nav"), 1, &SubscriberGnss::callbackNavigation, this);
+}
+
+
+void SubscriberGnss::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg)
+{
+    updateLastHeader(msg->header);
+
+    ROS_DEBUG("callbackObs!");
+    if (last_nav_ptr_==nullptr)
+        return;
+
+    GnssUtils::ObservationsPtr obs_ptr = std::make_shared<GnssUtils::Observations>();
+    GnssUtils::fillObservation(*obs_ptr, msg);
+    GnssUtils::SnapshotPtr snapshot_ptr = std::make_shared<GnssUtils::Snapshot>(obs_ptr, last_nav_ptr_);
+    CaptureGnssPtr new_capture = std::make_shared<CaptureGnss>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
+                                                               sensor_ptr_,
+                                                               snapshot_ptr);
+    new_capture->process();
+}
+
+void SubscriberGnss::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg)
+{
+    ROS_DEBUG("callbackNav!");
+
+    //std::cout << "Ephemeris size: " << msg->eph.size() << "\n";
+    last_nav_ptr_ = std::make_shared<GnssUtils::Navigation>();
+    GnssUtils::fillNavigation(*last_nav_ptr_, msg);
+    //last_nav_ptr_->print();
+
+//    if (this->new_obs_)
+//    {
+//        std::cout << "Before computed!!! \n";
+//        this->get_pos_res_ = GnssUtils::computePos(this->obs_, *last_nav_ptr_, this->prcopt_);
+//        std::cout << "Computed!!! \n";
+//    }
+}
+
+}
diff --git a/src/subscriber_gnss_fix.cpp b/src/subscriber_gnss_fix.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5ce3ca8b056b70d58ecafd4c4bbe5604b600ea8d
--- /dev/null
+++ b/src/subscriber_gnss_fix.cpp
@@ -0,0 +1,67 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "../include/subscriber_gnss_fix.h"
+
+namespace wolf
+{
+
+// Constructor
+SubscriberGnssFix::SubscriberGnssFix(const std::string& _unique_name,
+                                     const ParamsServer& _server,
+                                     const SensorBasePtr _sensor_ptr)
+    : Subscriber(_unique_name, _server, _sensor_ptr)
+    , cov_factor_(1)
+{
+
+    cov_mode_  = _server.getParam<std::string>(prefix_ + "/cov_mode");
+
+    //if (cov_mode_ == "msg") //nothing to be done
+    if (cov_mode_ == "manual")
+        cov_ = _server.getParam<Eigen::Matrix3d>(prefix_ + "/cov");
+    if (cov_mode_ == "factor")
+        cov_factor_ = _server.getParam<double>(prefix_ + "/cov_factor");
+}
+
+
+void SubscriberGnssFix::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+    sub_     = nh.subscribe(topic, 1, &SubscriberGnssFix::callback, this);
+}
+
+void SubscriberGnssFix::callback(const sensor_msgs::NavSatFix::ConstPtr& msg)
+{
+    updateLastHeader(msg->header);
+
+    if (cov_mode_ == "msg" or cov_mode_ == "factor")
+        cov_ = cov_factor_ * Eigen::Map<const Eigen::Matrix3d>(msg->position_covariance.data());
+
+    CaptureGnssFixPtr cap_gnss_ptr = std::make_shared<CaptureGnssFix>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
+                                                                      sensor_ptr_,
+                                                                      Eigen::Vector3d(msg->latitude * M_PI / 180.0,
+                                                                                      msg->longitude * M_PI / 180.0,
+                                                                                      msg->altitude),
+                                                                      cov_,
+                                                                      false); // false = {LatLonAlt fix and ENU cov}
+    cap_gnss_ptr->process();
+}
+
+}
diff --git a/src/subscriber_gnss_fix_novatel_publisher_ecef.cpp b/src/subscriber_gnss_fix_novatel_publisher_ecef.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..612368526a59a2ec32a470892ae9710213b7e335
--- /dev/null
+++ b/src/subscriber_gnss_fix_novatel_publisher_ecef.cpp
@@ -0,0 +1,55 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "subscriber_gnss_fix_novatel_publisher_ecef.h"
+#include "gnss_utils/utils/transformations.h"
+#include "tf/transform_datatypes.h"
+
+namespace wolf
+{
+
+// Constructor
+SubscriberGnssFixNovatelPublisherEcef::SubscriberGnssFixNovatelPublisherEcef(const std::string& _unique_name,
+                                     const ParamsServer& _server,
+                                     const SensorBasePtr _sensor_ptr)
+    : SubscriberGnssFixPublisherEcef(_unique_name, _server, _sensor_ptr)
+{
+}
+
+
+void SubscriberGnssFixNovatelPublisherEcef::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+    SubscriberGnssFixPublisherEcef::initialize(nh, topic);
+    sub_.shutdown();
+    sub_    = nh.subscribe(topic, 1, &SubscriberGnssFixNovatelPublisherEcef::callback, this);
+}
+
+void SubscriberGnssFixNovatelPublisherEcef::callback(const novatel_oem7_msgs::BESTPOS::ConstPtr& _msg)
+{
+    updateLastHeader(_msg->header);
+
+    computeAndPublish(Eigen::Vector3d(_msg->lat * M_PI / 180.0,
+                                      _msg->lon * M_PI / 180.0,
+                                      _msg->hgt+_msg->undulation),
+                      _msg->header.stamp);
+}
+
+}
diff --git a/src/subscriber_gnss_fix_publisher_ecef.cpp b/src/subscriber_gnss_fix_publisher_ecef.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8faf1ece26045ea3e6c9c6883d6fff4fdcfd6c93
--- /dev/null
+++ b/src/subscriber_gnss_fix_publisher_ecef.cpp
@@ -0,0 +1,179 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "subscriber_gnss_fix_publisher_ecef.h"
+#include "gnss_utils/utils/transformations.h"
+#include "tf/transform_datatypes.h"
+#include "tf_conversions/tf_eigen.h"
+
+namespace wolf
+{
+
+// Constructor
+SubscriberGnssFixPublisherEcef::SubscriberGnssFixPublisherEcef(const std::string& _unique_name,
+                                     const ParamsServer& _server,
+                                     const SensorBasePtr _sensor_ptr)
+    : Subscriber(_unique_name, _server, _sensor_ptr)
+    , ENU_defined_(false)
+{
+    period_         = _server.getParam<double>(prefix_ + "/period");
+
+    // marker color
+    Eigen::Vector4d color = getParamWithDefault<Eigen::Vector4d>(_server,
+                                                                 prefix_ + "/marker_color",
+                                                                 (Eigen::Vector4d() << 0, 0, 1, 1).finished()); // blue
+    marker_color_.r = color(0);
+    marker_color_.g = color(1);
+    marker_color_.b = color(2);
+    marker_color_.a = color(3);
+
+    max_points_ = getParamWithDefault<int>(_server,
+                                           prefix_ + "/max_points",
+                                           1e3);
+    line_size_ = getParamWithDefault<double>(_server,
+                                              prefix_ + "/line_size",
+                                              0.1);
+}
+
+void SubscriberGnssFixPublisherEcef::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+    sub_    = nh.subscribe(topic, 1, &SubscriberGnssFixPublisherEcef::callback, this);
+
+    // initialize msgs and publishers
+    pose_msg_.header.frame_id = "ENU";
+    pub_pose_ = nh.advertise<geometry_msgs::PoseStamped>(topic + "_ENU_pose", 1);
+
+    pose_array_msg_.header.frame_id = "ENU";
+    pub_pose_array_ = nh.advertise<geometry_msgs::PoseArray>(topic + "_ENU_pose_array", 1);
+
+    marker_msg_.header.frame_id = "ENU";
+    marker_msg_.type = visualization_msgs::Marker::LINE_STRIP;
+    marker_msg_.action = visualization_msgs::Marker::ADD;
+    marker_msg_.ns = "trajectory";
+    marker_msg_.scale.x = line_size_;
+    marker_msg_.color = marker_color_;
+    marker_msg_.pose.orientation = tf::createQuaternionMsgFromYaw(0);
+
+    pub_marker_ = nh.advertise<visualization_msgs::Marker>(topic + "_ENU_marker", 1);
+}
+
+void SubscriberGnssFixPublisherEcef::callback(const sensor_msgs::NavSatFix::ConstPtr& _msg)
+{
+    updateLastHeader(_msg->header);
+
+    computeAndPublish(Eigen::Vector3d(_msg->latitude * M_PI / 180.0,
+                                      _msg->longitude * M_PI / 180.0,
+                                      _msg->altitude),
+                      _msg->header.stamp);
+}
+
+void SubscriberGnssFixPublisherEcef::computeAndPublish(const Eigen::Vector3d& LatLonAlt, const ros::Time& stamp)
+{
+    // listen TF ECEF-ENU once
+    if (not ENU_defined_ and not listenTf())
+        return;
+
+    if ((stamp - last_publish_stamp_).toSec() < period_)
+        return;
+
+    // ECEF-ENU is defined
+    Eigen::Vector3d fix_ENU = R_enu_ecef_ * GnssUtils::latLonAltToEcef(LatLonAlt) + t_enu_ecef_;
+
+    // Fill Odometry msg
+    geometry_msgs::Pose pose_msg;
+    pose_msg.position.x = fix_ENU(0);
+    pose_msg.position.y = fix_ENU(1);
+    pose_msg.position.z = fix_ENU(2);
+    pose_msg.orientation = tf::createQuaternionMsgFromRollPitchYaw(0,M_PI/2,0);
+
+    publishPose(pose_msg, stamp);
+
+    last_publish_stamp_ = stamp;
+}
+
+bool SubscriberGnssFixPublisherEcef::listenTf()
+{
+    tf::StampedTransform T_ecef2enu;
+    if ( tfl_.waitForTransform("ENU", "ECEF", ros::Time(0), ros::Duration(0.01)) )
+    {
+        tfl_.lookupTransform("ENU", "ECEF", ros::Time(0), T_ecef2enu);
+
+        tf::matrixTFToEigen(T_ecef2enu.getBasis(), R_enu_ecef_);
+        tf::vectorTFToEigen(T_ecef2enu.getOrigin(), t_enu_ecef_);
+
+        ENU_defined_ = true;
+        return true;
+    }
+    return false;
+}
+
+void SubscriberGnssFixPublisherEcef::publishPose(const geometry_msgs::Pose pose, const ros::Time& stamp)
+{
+    // fill msgs and publish
+    if (pub_pose_.getNumSubscribers() != 0)
+    {
+        pose_msg_.header.stamp = stamp;
+        pose_msg_.pose = pose;
+
+        pub_pose_.publish(pose_msg_);
+    }
+    if (pub_pose_array_.getNumSubscribers() != 0)
+    {
+        pose_array_msg_.header.stamp = stamp;
+
+        if (max_points_ >= 0 and pose_array_msg_.poses.size() >= max_points_)
+        {
+            int i = 1;
+            while (i < pose_array_msg_.poses.size())
+            {
+                pose_array_msg_.poses.erase(pose_array_msg_.poses.begin()+i);
+                i++;
+            }
+            //pose_array_msg_.poses.erase(pose_array_msg_.poses.begin(),
+            //                            pose_array_msg_.poses.begin() + max_points_/2);
+        }
+
+        pose_array_msg_.poses.push_back(pose);
+
+        pub_pose_array_.publish(pose_array_msg_);
+    }
+    if (pub_marker_.getNumSubscribers() != 0)
+    {
+        marker_msg_.header.stamp = stamp;
+
+        if (max_points_ >= 0 and marker_msg_.points.size() >= max_points_)
+        {
+            int i = 1;
+            while (i < marker_msg_.points.size())
+            {
+                marker_msg_.points.erase(marker_msg_.points.begin()+i);
+                i++;
+            }
+            //marker_msg_.points.erase(marker_msg_.points.begin(),
+            //                         marker_msg_.points.begin() + max_points_/2);
+        }
+        marker_msg_.points.push_back(pose.position);
+
+        pub_marker_.publish(marker_msg_);
+    }
+}
+
+}
diff --git a/src/subscriber_gnss_novatel.cpp b/src/subscriber_gnss_novatel.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0f135774cc30d9bf5f9c9937144b2fc19deeb5ae
--- /dev/null
+++ b/src/subscriber_gnss_novatel.cpp
@@ -0,0 +1,61 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "../include/subscriber_gnss_novatel.h"
+
+namespace wolf
+{
+
+// Constructor
+SubscriberGnssNovatel::SubscriberGnssNovatel(const std::string& _unique_name,
+                                             const ParamsServer& _server,
+                                             const SensorBasePtr _sensor_ptr) :
+        SubscriberGnssReceiver(_unique_name,
+                               _server,
+                               _sensor_ptr,
+                               std::make_shared<GnssUtils::NovatelRaw>())
+{
+}
+
+void SubscriberGnssNovatel::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+    SubscriberGnssReceiver::initialize(nh, topic);
+
+    sub_     = nh.subscribe(topic, 10000, &SubscriberGnssNovatel::callback, this);
+}
+
+void SubscriberGnssNovatel::callback(const novatel_oem7_msgs::Oem7RawMsg& msg)
+{
+    updateLastHeader(msg.header);
+
+    GnssUtils::RawDataType res = receiver_->addDataStream(msg.message_data);
+
+    //std::cout << "res = " << (int) res << std::endl;
+
+    // only create capture if observation is received
+    if (res == GnssUtils::OBS)
+    {
+        //ROS_INFO("Observation received!");
+        createCaptureAndProcess(msg.header.stamp);
+    }
+}
+
+}
diff --git a/src/subscriber_gnss_receiver.cpp b/src/subscriber_gnss_receiver.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..87bc2c7f7a82a45c291baea6de28d29dae7b4848
--- /dev/null
+++ b/src/subscriber_gnss_receiver.cpp
@@ -0,0 +1,437 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "../include/subscriber_gnss_receiver.h"
+#include "tf/transform_datatypes.h"
+#include "tf_conversions/tf_eigen.h"
+
+namespace wolf
+{
+
+SubscriberGnssReceiver::SubscriberGnssReceiver(const std::string& _unique_name,
+                                               const ParamsServer& _server,
+                                               const SensorBasePtr _sensor_ptr,
+                                               GnssUtils::ReceiverRawAbstractPtr _receiver) :
+        Subscriber(_unique_name, _server, _sensor_ptr),
+        receiver_(_receiver),
+        sats_available_(false),
+        ENU_defined_(false)
+{
+    process_not_available_ = _server.getParam<bool>(prefix_ + "/process_not_available");
+    publish_fix_           = _server.getParam<bool>(prefix_ + "/publish_fix/enabled");
+    if (publish_fix_)
+    {
+        /* comparation of GNSS options:
+         *  3 numbers: RAIM - EPH - IONO/TROPO
+         *  RAIM: 0-1
+         *  EPH:
+         *       0: EPHOPT_BRDC
+         *       1: EPHOPT_SBAS (only SBAS)
+         *       2: EPHOPT_SBAS2 (SBAS and BRDC)
+         *       3: EPHOPT_SBAS3 (only SBAS if possible, otherwise SBAS+BRDC)
+         *       4: EPHOPT_SBAS4 (only SBAS if possible, otherwise BRDC)
+         *  IONO/TROPO:
+         *       0: broadcasted
+         *       1: SBAS
+         *       2: iono-free (tropo broadcasted)
+         */
+
+        std::list<int> raim{0};//,1}
+        std::list<int> eph{0,1,2,3,4};
+        std::list<int> corr{0,1};//,2};
+        for (auto r : raim)
+            for (auto e : eph)
+                for (auto c : corr)
+                    comp_options_.push_back(std::string(std::to_string(r)+std::to_string(e)+std::to_string(c)));
+
+        /*comp_options_.push_back("000");
+        comp_options_.push_back("001");
+        comp_options_.push_back("002");
+        comp_options_.push_back("010");
+        comp_options_.push_back("011");
+        comp_options_.push_back("012");
+        comp_options_.push_back("100");
+        comp_options_.push_back("101");
+        comp_options_.push_back("102");
+        comp_options_.push_back("110");
+        comp_options_.push_back("111");
+        comp_options_.push_back("112");*/
+
+        // params
+        topic_fix_      = _server.getParam<std::string>(prefix_ + "/publish_fix/topic");
+
+        // markers colors
+        Eigen::MatrixXd default_colors(12,4);
+        default_colors << 1,  1,  1,  1,
+                          1,  1,  0,  1,
+                          1,  0,  1,  1,
+                          0,  1,  1,  1,
+                          .5, .5, 1,  1,
+                          .5, 1,  .5, 1,
+                          1,  .5, .5, 1,
+                          .5, .5, .5, 1,
+                          0,  .5, .5, 1,
+                          .5, .5, 0,  1,
+                          .5, 0,  .5, 1,
+                          0,  0,  .5, 1;
+
+        for (auto id_comp = 0; id_comp < comp_options_.size(); id_comp++)
+        {
+            auto comp = comp_options_[id_comp];
+            Eigen::Vector4d color = getParamWithDefault<Eigen::Vector4d>(_server,
+                                                                         prefix_ + "/publish_fix/marker_color_" + comp,
+                                                                         default_colors.row(id_comp));
+            marker_msgs_[comp] = visualization_msgs::Marker();
+            marker_msgs_.at(comp).color.r = color(0);
+            marker_msgs_.at(comp).color.g = color(1);
+            marker_msgs_.at(comp).color.b = color(2);
+            marker_msgs_.at(comp).color.a = color(3);
+        }
+
+        // last fix
+        for (auto comp : comp_options_)
+        {
+            last_fixes_ok_.emplace(comp, false);
+            last_fixes_pose_.emplace(comp, geometry_msgs::Pose());
+        }
+    }
+
+    // GNSS OPTIONS (see gnss_utils.h)
+    compute_pos_opt_ = GnssUtils::default_options;
+    compute_pos_opt_.sateph     = getParamWithDefault<int>   (_server,
+                                                              prefix_ + "/gnss_options/sateph",
+                                                              compute_pos_opt_.sateph);  // satellite ephemeris/clock (0:broadcast ephemeris,1:precise ephemeris,2:broadcast + SBAS,3:ephemeris option: broadcast + SSR_APC,4:broadcast + SSR_COM,5: QZSS LEX ephemeris
+    compute_pos_opt_.ionoopt    = getParamWithDefault<int>   (_server,
+                                                              prefix_ + "/gnss_options/ionoopt",
+                                                              compute_pos_opt_.ionoopt); // ionosphere option (0:correction off,1:broadcast mode,2:SBAS model,3:L1/L2 or L1/L5,4:estimation,5:IONEX TEC model,6:QZSS broadcast,7:QZSS LEX ionosphere,8:SLANT TEC mode)
+    compute_pos_opt_.tropopt    = getParamWithDefault<int>   (_server,
+                                                              prefix_ + "/gnss_options/tropopt",
+                                                              compute_pos_opt_.tropopt); // troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+    compute_pos_opt_.sbascorr   = getParamWithDefault<int>   (_server,
+                                                              prefix_ + "/gnss_options/sbascorr",
+                                                              compute_pos_opt_.sbascorr);// SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+    compute_pos_opt_.raim       = getParamWithDefault<int>   (_server,
+                                                              prefix_ + "/gnss_options/raim",
+                                                              compute_pos_opt_.raim);    // RAIM enabled
+    compute_pos_opt_.elmin      = getParamWithDefault<double>(_server,
+                                                              prefix_ + "/gnss_options/elmin",
+                                                              compute_pos_opt_.elmin);   // min elevation (rad)
+    compute_pos_opt_.maxgdop    = getParamWithDefault<double>(_server,
+                                                              prefix_ + "/gnss_options/maxgdop",
+                                                              compute_pos_opt_.maxgdop); // maxgdop: reject threshold of gdop
+    // Constellations
+    compute_pos_opt_.GPS    = getParamWithDefault<bool>(_server,
+                                                        prefix_ + "/gnss_options/constellations/GPS",
+                                                        compute_pos_opt_.GPS);
+    compute_pos_opt_.SBS    = getParamWithDefault<bool>(_server,
+                                                        prefix_ + "/gnss_options/constellations/GPS",
+                                                        compute_pos_opt_.SBS);
+    compute_pos_opt_.GLO    = getParamWithDefault<bool>(_server,
+                                                        prefix_ + "/gnss_options/constellations/GPS",
+                                                        compute_pos_opt_.GLO);
+    compute_pos_opt_.GAL    = getParamWithDefault<bool>(_server,
+                                                        prefix_ + "/gnss_options/constellations/GPS",
+                                                        compute_pos_opt_.GAL);
+    compute_pos_opt_.QZS    = getParamWithDefault<bool>(_server,
+                                                        prefix_ + "/gnss_options/constellations/GPS",
+                                                        compute_pos_opt_.QZS);
+    compute_pos_opt_.CMP    = getParamWithDefault<bool>(_server,
+                                                        prefix_ + "/gnss_options/constellations/GPS",
+                                                        compute_pos_opt_.CMP);
+    compute_pos_opt_.IRN    = getParamWithDefault<bool>(_server,
+                                                        prefix_ + "/gnss_options/constellations/GPS",
+                                                        compute_pos_opt_.IRN);
+    compute_pos_opt_.LEO    = getParamWithDefault<bool>(_server,
+                                                        prefix_ + "/gnss_options/constellations/GPS",
+                                                        compute_pos_opt_.LEO);
+    // user print
+    ROS_INFO("Waiting for satellites...");
+}
+
+void SubscriberGnssReceiver::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+    pub_available_ = nh.advertise<std_msgs::Bool>("gnss_available", 1);
+    if (publish_fix_)
+    {
+        // initialize msgs and publishers
+        for (auto comp : comp_options_)
+        {
+            pose_msgs_[comp] = geometry_msgs::PoseStamped();
+            pose_msgs_.at(comp).header.frame_id = "ENU";
+
+            publishers_pose_[comp] = nh.advertise<geometry_msgs::PoseStamped>(topic_fix_ + comp + "_pose", 1);
+        }
+        for (auto comp : comp_options_)
+        {
+            pose_array_msgs_[comp] = geometry_msgs::PoseArray();
+            pose_array_msgs_.at(comp).header.frame_id = "ENU";
+
+            publishers_pose_array_[comp] = nh.advertise<geometry_msgs::PoseArray>(topic_fix_ + comp + "_pose_array", 1);
+        }
+        for (auto comp : comp_options_)
+        {
+            marker_msgs_.at(comp).header.frame_id = "ENU";
+            marker_msgs_.at(comp).type = visualization_msgs::Marker::LINE_LIST;
+            marker_msgs_.at(comp).action = visualization_msgs::Marker::ADD;
+            marker_msgs_.at(comp).ns = comp;
+            marker_msgs_.at(comp).scale.x = 0.1;
+            marker_msgs_.at(comp).pose.orientation = tf::createQuaternionMsgFromYaw(0);
+
+            publishers_marker_[comp] = nh.advertise<visualization_msgs::Marker>(topic_fix_ + comp + "_marker", 1);
+        }
+    }
+}
+
+void SubscriberGnssReceiver::createCaptureAndProcess(const ros::Time& _stamp)
+{
+    GnssUtils::ComputePosOutput fix;
+
+    // compute fix if publishing or not sats_available
+    if (not sats_available_)
+    {
+        fix = GnssUtils::computePos(receiver_->getObservations(),
+                                    receiver_->getNavigation(),
+                                    compute_pos_opt_);
+
+        if (not fix.success)
+            WOLF_INFO("SubscriberGnssReceiver: Couldn't compute fix. Output message: ", fix.msg);
+    }
+
+    // if (last time) satellites were not available: check if they are
+    if (not sats_available_)
+    {
+        sats_available_ = fix.success;
+
+        // raising message once
+        if (sats_available_)
+            ROS_INFO("Enough satellites to start!");
+    }
+    else // discard first message with satellites to give IMU time
+    {
+        // publisher of flag "satellites available"
+        std_msgs::Bool msg;
+        msg.data = sats_available_;
+        pub_available_.publish(msg);
+
+        auto snapshot_ptr = std::make_shared<GnssUtils::Snapshot>(std::make_shared<GnssUtils::Observations>(receiver_->getObservations()),
+                                                                  std::make_shared<GnssUtils::Navigation>(receiver_->getNavigation()));
+        //ROS_INFO("Snapshot with copied observations and navigation created!");
+
+        auto cap_gnss_ptr = std::make_shared<CaptureGnss>(TimeStamp(_stamp.sec, _stamp.nsec),
+                                                          sensor_ptr_,
+                                                          snapshot_ptr);
+
+        //ROS_INFO("Capture GNSS created!");
+        try
+        {
+            cap_gnss_ptr->process();
+        }
+        catch (std::exception& e)
+        {
+            WOLF_ERROR("SubscriberGnssReceiver: Error processing capture gnss");
+            cap_gnss_ptr->print(1, false, false, false);
+            std::cerr << "Exception caught : " << e.what() << std::endl;
+        }
+        //ROS_INFO("Capture GNSS processed!");
+    }
+
+    // publish available
+    //sats_available_ = fix.success;
+    std_msgs::Bool msg;
+    msg.data = sats_available_;
+    pub_available_.publish(msg);
+
+    // publish fix
+    if (publish_fix_)
+        publishFixComp();
+}
+
+void SubscriberGnssReceiver::publishFixComp()
+{
+    // listen TF ECEF-ENU once
+    if (not ENU_defined_ and not listenTf())
+        return;
+
+    GnssUtils::Options comp_pos_opt = compute_pos_opt_;
+
+    WOLF_DEBUG("COMPARING RTKLIB pntpos CONFIGURATIONS /////////////////");
+
+    for (auto comp : comp_options_)
+    {
+        if (publishers_pose_.at(comp).getNumSubscribers() == 0 and
+            publishers_pose_array_.at(comp).getNumSubscribers() == 0 and
+            publishers_marker_.at(comp).getNumSubscribers() == 0)
+        {
+            // store last as unsuccessful
+            last_fixes_ok_.at(comp) = false;
+
+            continue;
+        }
+
+        comp_pos_opt.sbascorr   = 15;   //sbas corrections
+
+        // RAIM
+        comp_pos_opt.raim = (int)(comp[0]-'0');
+
+        // EPHEMERIS
+        switch (comp[1])
+        {
+            case '0':
+                comp_pos_opt.sateph = EPHOPT_BRDC;
+                break;
+            case '1':
+                comp_pos_opt.sateph = EPHOPT_SBAS;
+                break;
+            case '2':
+                comp_pos_opt.sateph = EPHOPT_SBAS2;
+                break;
+            case '3':
+                comp_pos_opt.sateph = EPHOPT_SBAS3;
+                break;
+            case '4':
+                comp_pos_opt.sateph = EPHOPT_SBAS4;
+                break;
+        }
+
+        // IONO/TROPO
+        // broadcasted (default '0')
+        comp_pos_opt.ionoopt    = IONOOPT_BRDC;
+        comp_pos_opt.tropopt    = TROPOPT_SAAS;
+        // sbas corrections
+        if (comp[2] == '1')
+        {
+            comp_pos_opt.tropopt    = TROPOPT_SBAS;
+            comp_pos_opt.ionoopt    = IONOOPT_SBAS;
+
+            // iono comb according to eph SBAS variant
+            if (comp_pos_opt.sateph == EPHOPT_SBAS2)
+                comp_pos_opt.ionoopt = IONOOPT_SBAS2;
+            if (comp_pos_opt.sateph == EPHOPT_SBAS3)
+                comp_pos_opt.ionoopt = IONOOPT_SBAS3;
+            if (comp_pos_opt.sateph == EPHOPT_SBAS4)
+                comp_pos_opt.ionoopt = IONOOPT_SBAS4;
+        }
+        // iono free
+        else if (comp[2] == '2')
+            comp_pos_opt.ionoopt    = IONOOPT_IFLC;
+
+        WOLF_DEBUG("opt ", comp, ": ",
+                   " RAIM: ", comp_pos_opt.raim,
+                   " EPH:  ", comp_pos_opt.sateph,
+                   " IONO: ", comp_pos_opt.ionoopt,
+                   " TROP: ", comp_pos_opt.tropopt)
+
+        //std::cout << "//////////// Computing fix comp = " << comp << std::endl;
+        auto fix = GnssUtils::computePos(receiver_->getObservations(),
+                                         receiver_->getNavigation(),
+                                         comp_pos_opt);
+
+        // print
+        std::string discarded_str, used_str;
+        for (auto sat : fix.discarded_sats)
+            discarded_str += std::to_string(sat) + " ";
+        for (auto sat : fix.used_sats)
+            used_str += std::to_string(sat) + " ";
+
+        WOLF_INFO_COND(not fix.success, "computePos failed (opt ", comp, ") with msg: ", fix.msg,
+                                        "\n\tused sats: ", fix.used_sats.size(), " (", used_str, ")",
+                                        "\n\tdiscarded sats: ", fix.discarded_sats.size(), " (", discarded_str, ")");
+        WOLF_DEBUG_COND(fix.success, "computePos succeed (opt ", comp, ")",
+                                     "\n\tused sats: ", fix.used_sats.size(), " (", used_str, ")",
+                                     "\n\tdiscarded sats: ", fix.discarded_sats.size(), " (", discarded_str, ")");
+
+        //std::cout << "//////////// Computed" << std::endl;
+
+        // ECEF-ENU is defined
+        Eigen::Vector3d fix_ENU = R_enu_ecef_ * fix.pos + t_enu_ecef_;
+
+        // Fill Pose msg
+        geometry_msgs::Pose pose_msg;
+        pose_msg.position.x = fix_ENU(0);
+        pose_msg.position.y = fix_ENU(1);
+        pose_msg.position.z = fix_ENU(2);
+        pose_msg.orientation = tf::createQuaternionMsgFromRollPitchYaw(0,M_PI/2,0);
+
+        if (fix.success)
+            fillMsgs(pose_msg, comp);
+
+        publish(ros::Time::now(), comp);
+
+        // store last
+        last_fixes_ok_.at(comp) = fix.success;
+        last_fixes_pose_.at(comp) = pose_msg;
+    }
+    WOLF_DEBUG("////////////////////////////////////////////////");
+}
+
+void SubscriberGnssReceiver::fillMsgs(const geometry_msgs::Pose pose, const std::string& comp)
+{
+    // fill msgs
+    if (publishers_pose_.at(comp).getNumSubscribers() != 0)
+        pose_msgs_.at(comp).pose = pose;
+
+    if (publishers_pose_array_.at(comp).getNumSubscribers() != 0)
+        pose_array_msgs_.at(comp).poses.push_back(pose);
+
+    if (publishers_marker_.at(comp).getNumSubscribers() != 0 and
+        last_fixes_ok_.at(comp))
+    {
+        marker_msgs_.at(comp).points.push_back(last_fixes_pose_.at(comp).position);
+        marker_msgs_.at(comp).points.push_back(pose.position);
+    }
+}
+
+void SubscriberGnssReceiver::publish(const ros::Time& stamp, const std::string& comp)
+{
+    if (publishers_pose_.at(comp).getNumSubscribers() != 0)
+    {
+        pose_msgs_.at(comp).header.stamp = stamp;
+        publishers_pose_.at(comp).publish(pose_msgs_.at(comp));
+    }
+    if (publishers_pose_array_.at(comp).getNumSubscribers() != 0)
+    {
+        pose_array_msgs_.at(comp).header.stamp = stamp;
+        publishers_pose_array_.at(comp).publish(pose_array_msgs_.at(comp));
+    }
+    if (publishers_marker_.at(comp).getNumSubscribers() != 0)
+    {
+        marker_msgs_.at(comp).header.stamp = stamp;
+        publishers_marker_.at(comp).publish(marker_msgs_.at(comp));
+    }
+}
+
+bool SubscriberGnssReceiver::listenTf()
+{
+    tf::StampedTransform T_ecef2enu;
+    if ( tfl_.waitForTransform("ENU", "ECEF", ros::Time(0), ros::Duration(0.01)) )
+    {
+        tfl_.lookupTransform("ENU", "ECEF", ros::Time(0), T_ecef2enu);
+
+        tf::matrixTFToEigen(T_ecef2enu.getBasis(), R_enu_ecef_);
+        tf::vectorTFToEigen(T_ecef2enu.getOrigin(), t_enu_ecef_);
+
+        ENU_defined_ = true;
+        return true;
+    }
+    return false;
+}
+
+}
diff --git a/src/subscriber_gnss_tdcp.cpp b/src/subscriber_gnss_tdcp.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..63b12282766f3a199e99e11a73f306401d3bebd9
--- /dev/null
+++ b/src/subscriber_gnss_tdcp.cpp
@@ -0,0 +1,71 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "../include/subscriber_gnss_tdcp.h"
+
+namespace wolf
+{
+
+// Constructor
+SubscriberGnssTdcp::SubscriberGnssTdcp(const std::string& _unique_name,
+                                       const ParamsServer& _server,
+                                       const SensorBasePtr _sensor_ptr) :
+        Subscriber(_unique_name, _server, _sensor_ptr)
+{
+    // TODO copied from Tdcp_ros
+}
+
+void SubscriberGnssTdcp::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+    sub_     = nh.subscribe(topic+std::string("_obs"), 1, &SubscriberGnssTdcp::callbackObservation, this);
+    sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &SubscriberGnssTdcp::callbackNavigation, this);
+}
+
+void SubscriberGnssTdcp::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg)
+{
+    ROS_INFO("callbackObs!");
+    if (last_nav_ptr_==nullptr)
+        return;
+
+    // TODO copied from Tdcp_ros
+
+//    GnssUtils::ObservationsPtr obs_ptr = std::make_shared<GnssUtils::Observations>();
+//    GnssUtils::fillObservation(*obs_ptr, msg);
+//    CaptureGnssPtr new_capture = std::make_shared<CaptureGnss>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
+//                                                               sensor_ptr_,
+//                                                               obs_ptr,
+//                                                               last_nav_ptr_);
+//    new_capture->process();
+//
+}
+
+void SubscriberGnssTdcp::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg)
+{
+    ROS_INFO("callbackNav!");
+
+    last_nav_ptr_ = std::make_shared<GnssUtils::Navigation>();
+    GnssUtils::fillNavigation(*last_nav_ptr_, msg);
+    last_nav_ptr_->print();
+
+    // TODO copied from Tdcp_ros
+}
+
+}
diff --git a/src/subscriber_gnss_ublox.cpp b/src/subscriber_gnss_ublox.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ac170aa9de2a5248d9913ad8e7eb113dd20a9362
--- /dev/null
+++ b/src/subscriber_gnss_ublox.cpp
@@ -0,0 +1,99 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "../include/subscriber_gnss_ublox.h"
+
+namespace wolf
+{
+
+// Constructor
+SubscriberGnssUblox::SubscriberGnssUblox(const std::string& _unique_name,
+                                         const ParamsServer& _server,
+                                         const SensorBasePtr _sensor_ptr) :
+        SubscriberGnssReceiver(_unique_name,
+                               _server,
+                               _sensor_ptr,
+                               std::make_shared<GnssUtils::UBloxRaw>()),
+        n_msgs_(0)
+{
+    reset_driver_node_ = _server.getParam<bool>(prefix_ + "/reset_receiver");
+    if (reset_driver_node_)
+    {
+        max_topic_delay_ = _server.getParam<double>(prefix_ + "/reset_max_topic_delay");
+        reset_duration_  = _server.getParam<double>(prefix_ + "/reset_duration");
+    }
+}
+
+SubscriberGnssUblox::~SubscriberGnssUblox()
+{
+    WOLF_INFO("SubscriberGnssUblox destructor: n_msgs_ = ", n_msgs_);
+}
+
+void SubscriberGnssUblox::initialize(ros::NodeHandle& nh, const std::string& topic)
+{
+    SubscriberGnssReceiver::initialize(nh, topic);
+
+    sub_     = nh.subscribe(topic, 10000, &SubscriberGnssUblox::callback, this);
+}
+
+void SubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
+{
+    ROS_DEBUG("SubscriberGnssUblox::callback message received!");
+
+    std_msgs::Header header;
+    header.stamp = ros::Time::now();
+    n_msgs_++;
+    header.seq = n_msgs_;
+    updateLastHeader(header);
+
+    GnssUtils::RawDataType res = receiver_->addDataStream(msg.data);
+
+    //std::cout << "res = " << (int) res << std::endl;
+
+    // only create capture if observation is received
+    if (res == GnssUtils::OBS)
+    {
+        //ROS_INFO("Observation received!");
+        createCaptureAndProcess(header.stamp);
+    }
+}
+
+double SubscriberGnssUblox::secondsSinceLastCallback()
+{
+    if (last_stamp_ == ros::Time(0))
+        return 0;
+
+    double seconds = (ros::Time::now() - last_stamp_).toSec();
+
+    if (reset_driver_node_ and
+        seconds > max_topic_delay_ and
+        (ros::Time::now() - reseted_stamp_).toSec() > reset_duration_)
+    {
+        ROS_WARN("SubscriberGnssUblox: not received raw data for more than %fs and reseted more than %fs ago, reseting ublox diver...", max_topic_delay_, reset_duration_);
+
+        system("rosnode kill ublox_gps");
+        reseted_stamp_ = ros::Time::now();
+    }
+
+    return seconds;
+}
+
+}
diff --git a/src/wolf_ros_subscriber_gnss.cpp b/src/wolf_ros_subscriber_gnss.cpp
deleted file mode 100644
index 2d6a715318899c733fda97e0a7eb5b8d1ae1abd2..0000000000000000000000000000000000000000
--- a/src/wolf_ros_subscriber_gnss.cpp
+++ /dev/null
@@ -1,45 +0,0 @@
-#include "../include/wolf_ros_subscriber_gnss.h"
-
-using namespace wolf;
-
-// Constructor
-WolfSubscriberWrapperGnss::WolfSubscriberWrapperGnss(const SensorBasePtr& sensor_ptr) :
-        WolfSubscriberWrapper(sensor_ptr),
-        last_nav_valid_(false)
-{
-}
-
-
-void WolfSubscriberWrapperGnss::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
-{
-    sub_     = nh.subscribe(topic+std::string("_obs"), 1, &WolfSubscriberWrapperGnss::callbackObservation, this);
-    sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &WolfSubscriberWrapperGnss::callbackNavigation, this);
-}
-
-void WolfSubscriberWrapperGnss::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg)
-{
-    ROS_INFO("callbackObs!");
-    if (!last_nav_valid_)
-        return;
-
-    GNSSUtils::Observations obs;
-    GNSSUtils::fillObservation(obs, msg);
-
-    CaptureGnssPtr new_capture = std::make_shared<CaptureGnss>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
-                                                               sensor_ptr_,
-                                                               obs,
-                                                               last_nav_);
-    new_capture->process();
-}
-
-void WolfSubscriberWrapperGnss::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg)
-{
-    ROS_INFO("callbackNav!");
-    GNSSUtils::fillNavigation(last_nav_, msg);
-    last_nav_valid_ = true;
-}
-
-std::shared_ptr<WolfSubscriberWrapper> WolfSubscriberWrapperGnss::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
-{
-    return std::make_shared<WolfSubscriberWrapperGnss>(_sensor_ptr);
-}