diff --git a/include/factory_publisher.h b/include/factory_publisher.h
index b64e40f72c2f1260b1724f8ce2d7ac20ef90196f..c36241325ed0deb3e2ef2087fe7f5f997fad7363 100644
--- a/include/factory_publisher.h
+++ b/include/factory_publisher.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/factory_subscriber.h b/include/factory_subscriber.h
index 6d2eaf9f3cbbaf38514b880dd6efceb41835b96a..b9c2c1dbfd54358e099f3ab600cb7f1eca92c719 100644
--- a/include/factory_subscriber.h
+++ b/include/factory_subscriber.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/node.h b/include/node.h
index d4c2dde1ee2d044bc501f74bf1c09d4f21d81c7f..562af3ed284c6ce7fa32a01895bafa197c753ee0 100644
--- a/include/node.h
+++ b/include/node.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -114,4 +114,4 @@ class WolfRosNode
         void createProfilingFile();
 };
 
-#endif // NODE_H
\ No newline at end of file
+#endif // NODE_H
diff --git a/include/publisher.h b/include/publisher.h
index e595811d746744319dbe7e42576c47a77c7efa29..2f128c68b5a88299b482ef9930d60bdff94f1d1a 100644
--- a/include/publisher.h
+++ b/include/publisher.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/publisher_graph.h b/include/publisher_graph.h
index 4cdf019cef9e1708f8b0216b58bdd1cb09c0443e..3ac38b6b93443fdd5453c2f099a775f66f900dd4 100644
--- a/include/publisher_graph.h
+++ b/include/publisher_graph.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/publisher_pose.h b/include/publisher_pose.h
index 59a0ef334366dd0cb1fa6883550f0a9f2f50f904..a9de5a4e9a9f106c381112e8fdb24245dbcf94ee 100644
--- a/include/publisher_pose.h
+++ b/include/publisher_pose.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/publisher_state_block.h b/include/publisher_state_block.h
index c0d229cf8539f1bf52e452848501e4f0dafe1999..3bd8dc3a1c0e275e48bd13fb86d9fd26965f062f 100644
--- a/include/publisher_state_block.h
+++ b/include/publisher_state_block.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/publisher_tf.h b/include/publisher_tf.h
index fe545e53b558df0293150e1ed1671d37373f2115..12eed3eab9d281a700dcc06ccefe02c0da50b03d 100644
--- a/include/publisher_tf.h
+++ b/include/publisher_tf.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/publisher_trajectory.h b/include/publisher_trajectory.h
index 7ce9eaafa0ac0128f7aee3a441a5cc1362efce5f..22b457abdb4f197c735f14712e8513ed36598c87 100644
--- a/include/publisher_trajectory.h
+++ b/include/publisher_trajectory.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -18,12 +18,6 @@
 // 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/>.
 //
-/*
- * publisher_trajectory.h
- *
- *  Created on: Feb 03, 2022
- *      Author: igeer
- */
 //--------LICENSE_END--------
 #ifndef PUBLISHER_TRAJECTORY_H
 #define PUBLISHER_TRAJECTORY_H
diff --git a/include/subscriber.h b/include/subscriber.h
index 5de7b2bb8ab20a022b4cbe921673ca3723a8b462..e18cc93a52a166440b6ccb744f72f8ec1638cf8e 100644
--- a/include/subscriber.h
+++ b/include/subscriber.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/subscriber_diffdrive.h b/include/subscriber_diffdrive.h
index 48f64e2c91bf6ca2b4cef8fca79b2950f26bcdde..6a5a524f6e02cb914c8ad0658649382918a4c848 100644
--- a/include/subscriber_diffdrive.h
+++ b/include/subscriber_diffdrive.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -60,4 +60,4 @@ class SubscriberDiffdrive : public Subscriber
 
 }  // namespace wolf
 
-#endif // WOLF_SUBSCRIBER_DIFFDRIVE_H_
\ No newline at end of file
+#endif // WOLF_SUBSCRIBER_DIFFDRIVE_H_
diff --git a/include/subscriber_landmarks.h b/include/subscriber_landmarks.h
index f389542a57bfcc607692c7c772e56bf69bf89d93..ad917282ccac5d3f2180f924712ad5c6cf833f53 100644
--- a/include/subscriber_landmarks.h
+++ b/include/subscriber_landmarks.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -57,4 +57,4 @@ class SubscriberLandmarks : public Subscriber
 
     void callback(const wolf_ros_node::LandmarkDetectionArray::ConstPtr& msg);
 };
-}  // namespace wolf
\ No newline at end of file
+}  // namespace wolf
diff --git a/include/subscriber_odom2d.h b/include/subscriber_odom2d.h
index 16ea0f0bc779e1d63bc384096b806fdbacc280f4..0773663603d39bad25667233b0b3cebc8738aec2 100644
--- a/include/subscriber_odom2d.h
+++ b/include/subscriber_odom2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -62,4 +62,4 @@ class SubscriberOdom2d : public Subscriber
 
 }  // namespace wolf
 
-#endif
\ No newline at end of file
+#endif
diff --git a/include/subscriber_pose.h b/include/subscriber_pose.h
index 27be7e4e349e2ce59fedd1a074c1a01dd34341b3..c6ca337e21d52790210814e7366fd5b6dc3b9c36 100644
--- a/include/subscriber_pose.h
+++ b/include/subscriber_pose.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
@@ -62,4 +62,4 @@ class SubscriberPose : public Subscriber
 
 }  // namespace wolf
 
-#endif
\ No newline at end of file
+#endif
diff --git a/license_header_2022.txt b/license_header_2023.txt
similarity index 88%
rename from license_header_2022.txt
rename to license_header_2023.txt
index 0c987025f9dba3e7af993051b9bdf4b5ff400e0d..2ddae24c37e894a9a46e58afd6db8ebf8ff14b92 100644
--- a/license_header_2022.txt
+++ b/license_header_2023.txt
@@ -1,4 +1,4 @@
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/node.cpp b/src/node.cpp
index 7e102f812439d204fa69dc6e65142ca57ebcd263..48124407d309c8d2b1d845b11b93d84caf40e87c 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/publisher_graph.cpp b/src/publisher_graph.cpp
index 33e6aa24749ad9b7e6c6c63151681cd7abdad764..a36bbf8f35e541c3d7db559a5df0c6e5b201ff8b 100644
--- a/src/publisher_graph.cpp
+++ b/src/publisher_graph.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/publisher_pose.cpp b/src/publisher_pose.cpp
index 65222db813e14cb72d63cd723209d094ea996497..a65fd435d8cfce50fdae3d00d2b61518ef3bf771 100644
--- a/src/publisher_pose.cpp
+++ b/src/publisher_pose.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/publisher_state_block.cpp b/src/publisher_state_block.cpp
index f2a698d122f63aebe3722904343487791e33490b..0355e5bd2958f0da2420f27e9665e4d4a8bbc4e2 100644
--- a/src/publisher_state_block.cpp
+++ b/src/publisher_state_block.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/publisher_tf.cpp b/src/publisher_tf.cpp
index 448d9bb6fc7a159e1c5c895f2825cc4370fc8a6a..8e181c51b50b1fc9927a28757cb56bdfe35b3b1f 100644
--- a/src/publisher_tf.cpp
+++ b/src/publisher_tf.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/publisher_trajectory.cpp b/src/publisher_trajectory.cpp
index 85ba93583df987e18f34abfacb27c9532594551a..c0899a2c35d77c3ec210023edbd991bef3c883cc 100644
--- a/src/publisher_trajectory.cpp
+++ b/src/publisher_trajectory.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/subscriber_diffdrive.cpp b/src/subscriber_diffdrive.cpp
index 815e5f84942324e0760dbf85d1f2c90c7e0ad6bb..128eeef8447f7b37b48dab9fe51459d4a7799a47 100644
--- a/src/subscriber_diffdrive.cpp
+++ b/src/subscriber_diffdrive.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/subscriber_landmarks.cpp b/src/subscriber_landmarks.cpp
index a85a6924255160cc686d39a983a4a4b973868607..a5ef47c15cb3e0d1e2c4c767b0846385ccb7558e 100644
--- a/src/subscriber_landmarks.cpp
+++ b/src/subscriber_landmarks.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/subscriber_odom2d.cpp b/src/subscriber_odom2d.cpp
index 699f10d361a3b90923fe8cbcc52f9293978ec74a..b5a0c8bedf52188dfb03eec81f29551fa97b2ec5 100644
--- a/src/subscriber_odom2d.cpp
+++ b/src/subscriber_odom2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/subscriber_pose.cpp b/src/subscriber_pose.cpp
index 70fddeac734105fecf453db7884dad49717e55e8..3d7157bd4fe40900c9895165e5acf9ab261609ec 100644
--- a/src/subscriber_pose.cpp
+++ b/src/subscriber_pose.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //