diff --git a/include/factory_publisher.h b/include/factory_publisher.h
index c36241325ed0deb3e2ef2087fe7f5f997fad7363..677b97f4ea2ea0a09eef1fb8b529f1755c34288c 100644
--- a/include/factory_publisher.h
+++ b/include/factory_publisher.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/factory_subscriber.h b/include/factory_subscriber.h
index b9c2c1dbfd54358e099f3ab600cb7f1eca92c719..aec6d474513ed7f68742eeabffdbf759024b83b5 100644
--- a/include/factory_subscriber.h
+++ b/include/factory_subscriber.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/node.h b/include/node.h
index 562af3ed284c6ce7fa32a01895bafa197c753ee0..c28bf6f68c2114d02669a258b80c8a918784f235 100644
--- a/include/node.h
+++ b/include/node.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.h b/include/publisher.h
index 2f128c68b5a88299b482ef9930d60bdff94f1d1a..e584c62bc5c93c181f950cdccb641e988deaf0a6 100644
--- a/include/publisher.h
+++ b/include/publisher.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_graph.h b/include/publisher_graph.h
index 3ac38b6b93443fdd5453c2f099a775f66f900dd4..603d1caf095990c7ec5741d65b751fce573a84bb 100644
--- a/include/publisher_graph.h
+++ b/include/publisher_graph.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_pose.h b/include/publisher_pose.h
index a9de5a4e9a9f106c381112e8fdb24245dbcf94ee..ed95be253aecd008857856a2837543951b89fae9 100644
--- a/include/publisher_pose.h
+++ b/include/publisher_pose.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_state_block.h b/include/publisher_state_block.h
index 3bd8dc3a1c0e275e48bd13fb86d9fd26965f062f..7d702c89334e8f22562024518c897c0bfc6ccf91 100644
--- a/include/publisher_state_block.h
+++ b/include/publisher_state_block.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_tf.h b/include/publisher_tf.h
index 12eed3eab9d281a700dcc06ccefe02c0da50b03d..08a486403b48aeb077c10e73d7ff51b72d24750b 100644
--- a/include/publisher_tf.h
+++ b/include/publisher_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_trajectory.h b/include/publisher_trajectory.h
index 22b457abdb4f197c735f14712e8513ed36598c87..ae5f2b23d9b551a1bdffa4a5624a412b0732603f 100644
--- a/include/publisher_trajectory.h
+++ b/include/publisher_trajectory.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.h b/include/subscriber.h
index e18cc93a52a166440b6ccb744f72f8ec1638cf8e..ed7bef92fcbde912269cfa5428dc70a501b169fe 100644
--- a/include/subscriber.h
+++ b/include/subscriber.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_diffdrive.h b/include/subscriber_diffdrive.h
index 6a5a524f6e02cb914c8ad0658649382918a4c848..ba505a44a0a3af1e54940793b7fd500399df04f0 100644
--- a/include/subscriber_diffdrive.h
+++ b/include/subscriber_diffdrive.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_landmarks.h b/include/subscriber_landmarks.h
index ad917282ccac5d3f2180f924712ad5c6cf833f53..6358facad06a44c2d5559df70e61be21928c8a10 100644
--- a/include/subscriber_landmarks.h
+++ b/include/subscriber_landmarks.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_odom2d.h b/include/subscriber_odom2d.h
index 0773663603d39bad25667233b0b3cebc8738aec2..3e051e150e924d54e25c1a3ed27e5074847309e7 100644
--- a/include/subscriber_odom2d.h
+++ b/include/subscriber_odom2d.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_pose.h b/include/subscriber_pose.h
index c6ca337e21d52790210814e7366fd5b6dc3b9c36..89c7a326fb77f8d8638e39964b1d46099572d22b 100644
--- a/include/subscriber_pose.h
+++ b/include/subscriber_pose.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/node.cpp b/src/node.cpp
index 48124407d309c8d2b1d845b11b93d84caf40e87c..1de23c5d6f5960c9408995b878a9f972fe78c88c 100644
--- a/src/node.cpp
+++ b/src/node.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_graph.cpp b/src/publisher_graph.cpp
index a36bbf8f35e541c3d7db559a5df0c6e5b201ff8b..bee22b45231538fa44d480736660c723dadbd173 100644
--- a/src/publisher_graph.cpp
+++ b/src/publisher_graph.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_pose.cpp b/src/publisher_pose.cpp
index a65fd435d8cfce50fdae3d00d2b61518ef3bf771..e6593b230e2c751b296bc252b59b718bc12407ae 100644
--- a/src/publisher_pose.cpp
+++ b/src/publisher_pose.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_state_block.cpp b/src/publisher_state_block.cpp
index 0355e5bd2958f0da2420f27e9665e4d4a8bbc4e2..863edc35604d427fa8105f69541645afdf85cf4d 100644
--- a/src/publisher_state_block.cpp
+++ b/src/publisher_state_block.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_tf.cpp b/src/publisher_tf.cpp
index 8e181c51b50b1fc9927a28757cb56bdfe35b3b1f..8d146ebd00c393c5d6788781bfa2d61a50268794 100644
--- a/src/publisher_tf.cpp
+++ b/src/publisher_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_trajectory.cpp b/src/publisher_trajectory.cpp
index c0899a2c35d77c3ec210023edbd991bef3c883cc..499563f0509a863dfcf73aeb206cc546f10cb5bd 100644
--- a/src/publisher_trajectory.cpp
+++ b/src/publisher_trajectory.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_diffdrive.cpp b/src/subscriber_diffdrive.cpp
index 128eeef8447f7b37b48dab9fe51459d4a7799a47..27d76a4531f3a6df692a1f3fbe61861646361b5b 100644
--- a/src/subscriber_diffdrive.cpp
+++ b/src/subscriber_diffdrive.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_landmarks.cpp b/src/subscriber_landmarks.cpp
index 8cff7dc5cece8b2cc4d0bf9203b08c9a0c4ffee2..80fe5fe309acb1578ca0414dd94bf6245bce52a6 100644
--- a/src/subscriber_landmarks.cpp
+++ b/src/subscriber_landmarks.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_odom2d.cpp b/src/subscriber_odom2d.cpp
index b5a0c8bedf52188dfb03eec81f29551fa97b2ec5..386776bfde927ec3695bcd7d71ae1b1993dc6746 100644
--- a/src/subscriber_odom2d.cpp
+++ b/src/subscriber_odom2d.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_pose.cpp b/src/subscriber_pose.cpp
index 3d7157bd4fe40900c9895165e5acf9ab261609ec..e6041e1718af68937a85d57698a139802a161dd8 100644
--- a/src/subscriber_pose.cpp
+++ b/src/subscriber_pose.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.
 //