diff --git a/include/publisher_gnss_accuracy.h b/include/publisher_gnss_accuracy.h
index 7eea9ee8689ae857b29f0a2b07561913e8f77f89..66d2f8ac85c6ec9a4f93a36241e66fe38dc250d9 100644
--- a/include/publisher_gnss_accuracy.h
+++ b/include/publisher_gnss_accuracy.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/publisher_gnss_fix.h b/include/publisher_gnss_fix.h
index ef1131927a96a03e7ed5efff26031bf962d9da90..fe78980df441188ed3d067dbf127a142e5930d87 100644
--- a/include/publisher_gnss_fix.h
+++ b/include/publisher_gnss_fix.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/publisher_gnss_tf.h b/include/publisher_gnss_tf.h
index 93573b1b91114851f85d027f7476201afa710e8e..c4d5dca3f37d66e0d3712027fe96a39db8165848 100644
--- a/include/publisher_gnss_tf.h
+++ b/include/publisher_gnss_tf.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/publisher_tracker_gnss_info.h b/include/publisher_tracker_gnss_info.h
index 323e264d43b0c145f8a0c362bdaeaa145a16aede..dc6b4ecb0da0f81959eef4c87391628875e5b1c0 100644
--- a/include/publisher_tracker_gnss_info.h
+++ b/include/publisher_tracker_gnss_info.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/subscriber_gnss.h b/include/subscriber_gnss.h
index a1d6a21d864d1de596c4480586b0379f1eee8bff..0cccd508172cd976d84317adf6e3eaddf0249f35 100644
--- a/include/subscriber_gnss.h
+++ b/include/subscriber_gnss.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/subscriber_gnss_fix.h b/include/subscriber_gnss_fix.h
index fceb05375ef81397a58c97122b7bc3b07a331a22..fd173321dd027122c7c84520e74e86c4349ad8cd 100644
--- a/include/subscriber_gnss_fix.h
+++ b/include/subscriber_gnss_fix.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/subscriber_gnss_fix_novatel_publisher_ecef.h b/include/subscriber_gnss_fix_novatel_publisher_ecef.h
index 1fea5aa7bf7d60c32b5a65616315ae4ec5415501..4864c1f9989ffa7150957906ffb704cb9bab4b13 100644
--- a/include/subscriber_gnss_fix_novatel_publisher_ecef.h
+++ b/include/subscriber_gnss_fix_novatel_publisher_ecef.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/subscriber_gnss_fix_publisher_ecef.h b/include/subscriber_gnss_fix_publisher_ecef.h
index f72fb25324d3e1e8559cbf4728151aa1a97bdcb8..f02e96ad16fd0ff2ed300145599849f84ab2cb3a 100644
--- a/include/subscriber_gnss_fix_publisher_ecef.h
+++ b/include/subscriber_gnss_fix_publisher_ecef.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/subscriber_gnss_novatel.h b/include/subscriber_gnss_novatel.h
index 7689147ead302aad285f1899dcf63cae099fb6e5..666925c339681bb6b539752759ad4e73f7cd9552 100644
--- a/include/subscriber_gnss_novatel.h
+++ b/include/subscriber_gnss_novatel.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/subscriber_gnss_receiver.h b/include/subscriber_gnss_receiver.h
index 8d36ccce608aeb53e6e1b1b2ee76eb2e7014bc01..2771fab58c9abb77fa7bec2d45b9b3b08d6ccef4 100644
--- a/include/subscriber_gnss_receiver.h
+++ b/include/subscriber_gnss_receiver.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/subscriber_gnss_tdcp.h b/include/subscriber_gnss_tdcp.h
index c5a67b45756b796265e0fa7775c7352c429b0286..cf1e1c113fbf7b91f3b8a91277b3884ec09fbe38 100644
--- a/include/subscriber_gnss_tdcp.h
+++ b/include/subscriber_gnss_tdcp.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/subscriber_gnss_ublox.h b/include/subscriber_gnss_ublox.h
index c55eaeaa53a95e3c1e79d5c247a0b8be6e91749e..cafb7568afd4e3188d9a07c89b62fcc823d8b482 100644
--- a/include/subscriber_gnss_ublox.h
+++ b/include/subscriber_gnss_ublox.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/license_header_2023.txt b/license_header_2024.txt
similarity index 88%
rename from license_header_2023.txt
rename to license_header_2024.txt
index 2ddae24c37e894a9a46e58afd6db8ebf8ff14b92..517c00582a211181c9edb8e96f0800f9aea56848 100644
--- a/license_header_2023.txt
+++ b/license_header_2024.txt
@@ -1,4 +1,4 @@
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/publisher_gnss_accuracy.cpp b/src/publisher_gnss_accuracy.cpp
index 7f16c81d299d17feee1618a131f1fdbdb80968b9..ed2a0eeb7d3dca4850ddf9327c4038f4191a63ce 100644
--- a/src/publisher_gnss_accuracy.cpp
+++ b/src/publisher_gnss_accuracy.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/publisher_gnss_fix.cpp b/src/publisher_gnss_fix.cpp
index d0a4bca1dc0382e00888a6d3980caf611d1d10e0..6535a1bb8641caabd57f91e4ae98dc15d5de0229 100644
--- a/src/publisher_gnss_fix.cpp
+++ b/src/publisher_gnss_fix.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/publisher_gnss_tf.cpp b/src/publisher_gnss_tf.cpp
index 5f90a69d3368f769be316a3b845b0eb45bbd8ca5..713bb75f1a4155e2b3e0b91e14b32c4760eebd73 100644
--- a/src/publisher_gnss_tf.cpp
+++ b/src/publisher_gnss_tf.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/publisher_tracker_gnss_info.cpp b/src/publisher_tracker_gnss_info.cpp
index 14bd0706c0c9175de1ee15c6ab066741bcb46f62..2ef8d9f756ea1558bbf4d166417bcb9a6354e94d 100644
--- a/src/publisher_tracker_gnss_info.cpp
+++ b/src/publisher_tracker_gnss_info.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/subscriber_gnss.cpp b/src/subscriber_gnss.cpp
index 22c68aa1c0ed3026019522c0c6e415eaf1a5b947..1ac57e9f89c8db0e099190867f93657aa0c1d0a9 100644
--- a/src/subscriber_gnss.cpp
+++ b/src/subscriber_gnss.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/subscriber_gnss_fix.cpp b/src/subscriber_gnss_fix.cpp
index f812208e735ba6e5d4bdd90742b65e0b4b2e9c30..42a9ab1fa72a0735ceeea1ae915181277729909e 100644
--- a/src/subscriber_gnss_fix.cpp
+++ b/src/subscriber_gnss_fix.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/subscriber_gnss_fix_novatel_publisher_ecef.cpp b/src/subscriber_gnss_fix_novatel_publisher_ecef.cpp
index db1c240865937bd6a5de6f25af1385926625c99f..406d696b64561e4d5b78781fc43bafcc6c5cef46 100644
--- a/src/subscriber_gnss_fix_novatel_publisher_ecef.cpp
+++ b/src/subscriber_gnss_fix_novatel_publisher_ecef.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/subscriber_gnss_fix_publisher_ecef.cpp b/src/subscriber_gnss_fix_publisher_ecef.cpp
index d36c6183cd08d610ff9b875b3d5808d87fcfac9e..6806f5b798607873559a2041ffd45b38d491eaf0 100644
--- a/src/subscriber_gnss_fix_publisher_ecef.cpp
+++ b/src/subscriber_gnss_fix_publisher_ecef.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/subscriber_gnss_novatel.cpp b/src/subscriber_gnss_novatel.cpp
index 8d90dccd47bb2965aea51b9c8836e3e679d3d693..9995fc3ef10ccb027974608eb5700dfc9ef667c8 100644
--- a/src/subscriber_gnss_novatel.cpp
+++ b/src/subscriber_gnss_novatel.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/subscriber_gnss_receiver.cpp b/src/subscriber_gnss_receiver.cpp
index 35f08e568a74cb4191a01746b22918c0c7d2ba48..167a71ee74b61da50c082513fafbf51b1ca1ef86 100644
--- a/src/subscriber_gnss_receiver.cpp
+++ b/src/subscriber_gnss_receiver.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/subscriber_gnss_tdcp.cpp b/src/subscriber_gnss_tdcp.cpp
index dae30e29cfec0fe884940b78edc5927c58bd24d3..b424fb5a1a5f2f18d98d85865af4f37e8ee11b17 100644
--- a/src/subscriber_gnss_tdcp.cpp
+++ b/src/subscriber_gnss_tdcp.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/subscriber_gnss_ublox.cpp b/src/subscriber_gnss_ublox.cpp
index 4f4ada0202f24a347ce266234f7e3724d8b17669..d5f820befc9ab4b99bcea3434fc1cdf67392b3a1 100644
--- a/src/subscriber_gnss_ublox.cpp
+++ b/src/subscriber_gnss_ublox.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //