diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index a2609b38e..7fa62b96a 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,4 +1,4 @@
-FROM ros:jazzy
+FROM ubuntu:24.04
 
 ARG user=bitbots
 ARG uid=1000
@@ -50,25 +50,10 @@ ENV LANG en_US.UTF-8
 ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
-# Setup and prioritize packages.bit-bots.de repository
+# Update and upgrade all packages
 RUN apt update -y \
   && apt upgrade -y --allow-downgrades
 
-# Additional robotics related packages
-RUN apt-get install -y \
-  python3-rosdep \
-  python3-vcstool \
-  python3-virtualenv \
-  ros-jazzy-camera-calibration \
-  ros-jazzy-desktop \
-  ros-jazzy-joint-state-publisher-gui \
-  ros-jazzy-plotjuggler \
-  ros-jazzy-plotjuggler-msgs \
-  ros-jazzy-plotjuggler-ros \
-  ros-jazzy-rmw-cyclonedds-cpp \
-  ros-jazzy-rqt-robot-monitor \
-  ros-jazzy-soccer-vision-3d-rviz-markers
-
 # Set zsh as default shell
 SHELL ["/bin/zsh", "-c"]
 
@@ -84,16 +69,6 @@ RUN groupdel users \
 
 USER $user
 
-# Install pip colcon extensions / patches as user
-RUN python3 -m pip install --user --break-system-packages \
-    git+https://github.com/ruffsl/colcon-clean \
-    git+https://github.com/timonegk/colcon-core.git@colors \
-    git+https://github.com/timonegk/colcon-notification.git@colors \
-    git+https://github.com/timonegk/colcon-output.git@colors
-
-# Create colcon workspace
-RUN mkdir -p /home/$user/colcon_ws/src
-
 # Install oh-my-zsh for pretty terminal
 RUN sh -c "$(wget -O- https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)" && \
   git clone https://github.com/zsh-users/zsh-autosuggestions "${ZSH_CUSTOM:-$HOME/.oh-my-zsh/custom}/plugins/zsh-autosuggestions"
@@ -104,5 +79,8 @@ COPY --chown=$user:$user zshrc /home/$user/.zshrc
 # This is required for sharing Xauthority
 ENV QT_X11_NO_MITSHM=1
 
+# Install pixi
+RUN curl -fsSL https://pixi.sh/install.sh | sh
+
 # Switch to the workspace directory
-WORKDIR /home/$user/colcon_ws
+WORKDIR /home/$user/bitbots_main
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 2b735fca2..97fad5005 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -18,12 +18,30 @@
         "dev.containers.copyGitConfig": false,
         "dev.containers.gitCredentialHelperConfigLocation": "none"
       },
-      "extensions": ["ms-iot.vscode-ros"]
+      "extensions": [
+        "charliermarsh.ruff", // Ruff linting and formatting support
+        "DavidAnson.vscode-markdownlint", // Lints markdown files
+        "DotJoshJohnson.xml", // XML support
+        "lextudio.restructuredtext", // Rendering rst files in preview
+        "Mastermori.dsd", // DSD support
+        "mohsen1.prettify-json", // JSON formatting
+        "MS-CEINTL.vscode-language-pack-de", // German language pack
+        "Ranch-Hand-Robotics.rde-pack", // ROS2 development environment
+        "ms-python.python", // Python support
+        "ms-python.vscode-pylance", // Python support
+        "ms-vscode.cpptools-extension-pack", // C++ support
+        "ms-vscode.cpptools-themes", // C++ support
+        "ms-vscode.cpptools", // C++ support
+        "streetsidesoftware.code-spell-checker-german", // Spell checker
+        "streetsidesoftware.code-spell-checker", // Spell checker
+        "tamasfe.even-better-toml", // TOML support
+        "trond-snekvik.simple-rst" // Syntax highlighting for rst files
+      ]
     }
   },
 
-  "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/bitbots/colcon_ws/src/bitbots_main",
-  "workspaceFolder": "/home/bitbots/colcon_ws/src/bitbots_main",
+  "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/home/bitbots/bitbots_main",
+  "workspaceFolder": "/home/bitbots/bitbots_main",
 
   "mounts": [
     "type=bind,source=${localEnv:HOME},target=/srv/host_home,consistency=cached"
@@ -41,5 +59,5 @@
     "seccomp=unconfined"
   ],
 
-  "postCreateCommand": "git config --global --add safe.directory '*'"
+  "postCreateCommand": "git config --global --add safe.directory '*' && $HOME/.pixi/bin/pixi install"
 }
diff --git a/.devcontainer/zshrc b/.devcontainer/zshrc
index 70e5cf296..5f7b70047 100644
--- a/.devcontainer/zshrc
+++ b/.devcontainer/zshrc
@@ -1,5 +1,5 @@
 # If you come from bash you might have to change your $PATH.
-export PATH=$HOME/bin:/usr/local/bin:$HOME/.local/bin:$PATH
+export PATH=$HOME/bin:/usr/local/bin:$HOME/.local/bin:$HOME/.pixi/bin:$PATH
 
 # Set the default shell to zsh when running zsh
 export SHELL="$(which zsh)"
@@ -48,48 +48,12 @@ bindkey "^H" backward-kill-word
 bindkey "^[[1;5C" forward-word
 bindkey "^[[1;5D" backward-word
 
-
 # Settings for the prompt to show that we are in a docker container
 export PROMPT="%K{black} 🐋 %K{blue}%F{black} %~ %f%k%F{blue}%f "  # Prefix the prompt with DOCKER
 
-# >>> bit-bots initialize >>>
-
-# Ignore some deprecation warnings
-export PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
-
-# Limit ROS 2 communication to localhost (can be overridden when needed)
-export ROS_DOMAIN_ID=24
-export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
-
-# Set the default colcon workspace
-export COLCON_WS="$HOME/colcon_ws"
-
-# Set the default log level for colcon
-export COLCON_LOG_LEVEL=30
-
-# Define a log layout
-export RCUTILS_COLORIZED_OUTPUT=1
-export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}"
-
-# Set the default Middleware
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-# Load our ros plugin script containing useful functions and aliases for ROS 2 development
-if [[ -f $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh ]]; then
-  source $COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh
-fi
-
-# <<< bit-bots initialize <<<
-
-# Set default editor
-export VISUAL="vim"
-
 # Some user instructions
 echo "Hello there! Welcome to the Bit-Bots ROS 2 development environment!"
 echo "If you just (re)build this container a few manual steps are nessessary:"
 echo "Create a ssh key with 'ssh-keygen -q -f $HOME/.ssh/id_rsa -N \"\" &&  cat $HOME/.ssh/id_rsa.pub'."
 echo "Copy the commands output and add it to your GitHub account ('https://github.com/settings/keys') (ctrl+click to open in browser)."
-echo "Now you can install the rest of the workspace and compile everything with 'make install && cba'."
-echo "To update an existing workspace you can use 'make update && cba'."
-echo "To compile all packages in the workspace use 'cba'. If you want to compile only a specific package use 'cbs <package_name>'."
-echo "Run 'xhost local:root' in a terminal on the host machine to enable GUI applications (e.g. rviz2) in the container. This needs to be done after every restart of the host machine."
+echo "Now you can install the rest of the workspace and compile everything with 'pixi run build'."
diff --git a/.git-blame-ignore-revs b/.git-blame-ignore-revs
index 7baa3225b..40504d382 100644
--- a/.git-blame-ignore-revs
+++ b/.git-blame-ignore-revs
@@ -12,3 +12,4 @@ f29fb619aef9f416cbbdc74ec77c23423dcefe07
 ae9fbef74c50ba1e462d1b76da16779c76aa0d5b
 476e75e3f3d17c35ac89b17f513d93078687d613
 cd3280273363807e1b5df2ade0138d48178cb06b
+5c6c1edc69b5d4e26bb7bdc3fef3399e2a61567b
diff --git a/.gitattributes b/.gitattributes
index f74aebe48..887a2c18f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1 +1,2 @@
-.vscode/settings.json filter=removeFullHomePath
+# SCM syntax highlighting & preventing 3-way merges
+pixi.lock merge=binary linguist-language=YAML linguist-generated=true
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
index d377bf3a9..0626af4cf 100644
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -11,7 +11,7 @@
 
 ## Checklist
 
-- [ ] Run `colcon build`
+- [ ] Run `just build`
 - [ ] Write documentation
 - [ ] Test on your machine
 - [ ] Test on the robot
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index e73122e8e..8f0661458 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -4,29 +4,21 @@ on:
     - cron: '0 0 * * *'
   push:
 
-env:
-  PYTHONWARNINGS: "ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
-
 jobs:
   build:
     runs-on: ubuntu-latest
-    container:
-      image: ubuntu:noble
 
     steps:
       - name: Cancel outdated jobs
         uses: fkirc/skip-duplicate-actions@v5
         with:
           cancel_others: 'true'
-     
-     # Remove comments to spawn an interactive debigging ssh shell in the ci 
+
+     # Remove comments to spawn an interactive debugging ssh shell in the ci
      #- name: Setup tmate session
      #   uses: mxschmitt/action-tmate@v3
-     #   with:   
+     #   with:
      #     detached: true
-      
-      - name: Set up ROS ecosystem
-        uses: ros-tooling/setup-ros@v0.7
 
       - name: Check out repository
         uses: actions/checkout@v4
@@ -34,32 +26,17 @@ jobs:
       - name: Configure git to trust repository
         run: git config --global --add safe.directory /__w/bitbots_main/bitbots_main
 
-      - name: Add '$HOME/.local/bin' to PATH
-        run: |
-          mkdir -p $HOME/.local/bin
-          echo "PATH=$PATH:/github/home/.local/bin" >> "$GITHUB_ENV"
+      - name: Install host dependencies
+        run: scripts/make_basler.sh --ci
 
-      - name: Pull source code for libraries and install dependencies
-        run: |
-          sudo apt-get remove -y python3-pytest-repeat  #TODO remove once the upstream apt package reports the correct version on the newest pip version
-          make install HTTPS=true ARGS="--ci"
-
-      - name: Set up colcon workspace
-        run: |
-          mkdir -p /colcon_ws/src
-          ln -s $(realpath .) /colcon_ws/src/bitbots_main
+      - name: Set up workspace
+        uses: prefix-dev/setup-pixi@v0.9.3
+        with:
+          pixi-version: v0.59.0
+          cache: false  # Disable caching to avoid issues with large pytorch packages
 
-      - name: Build packages
-        run: |
-          . /opt/ros/jazzy/setup.sh
-          colcon build --symlink-install
-        working-directory: /colcon_ws
+      - name: Build
+        run: pixi run build
 
-      - name: Test packages
-        run: |
-          # Source workspace
-          . /opt/ros/jazzy/setup.sh
-          . install/setup.sh
-          # Run tests for all packages
-          colcon test --event-handlers console_direct+ --return-code-on-test-failure --parallel-workers 1
-        working-directory: /colcon_ws
+      - name: Test
+        run: pixi run test --parallel-workers 1
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index bb80c075f..38d2e94ee 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -1,16 +1,21 @@
 name: Code style checks
 
 on:
-  pull_request:
   push:
-    branches: [main]
 
 jobs:
   pre-commit:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
-      - uses: actions/setup-python@v4
-      - name: Install cppcheck
-        run: sudo apt install cppcheck -y
-      - uses: pre-commit/action@v3.0.1
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Set up workspace
+        uses: prefix-dev/setup-pixi@v0.9.3
+        with:
+          pixi-version: v0.59.0
+          cache: true
+          environments: format
+
+      - name: Run pre-commit
+        run: pixi run -e format format
diff --git a/.gitignore b/.gitignore
index 8c79b505c..bdadc991f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -203,11 +203,10 @@ bitbots_docs_internal
 
 # VS Code ROS extension
 .vscode/browse.vc.*
-log/
 
 # Neural Network Model Path
-/bitbots_vision/models/
-/bitbots_motion/bitbots_rl_motion/rl_walk_models/
+/src/bitbots_vision/models/
+/src/bitbots_motion/bitbots_rl_motion/rl_walk_models/
 
 **/.*.
 .idea/*
@@ -219,16 +218,29 @@ ansible_robots/*
 doc_internal/*
 doku/*
 
-# library subdirectories
-/lib/
-
-# Path to the protocol buffer definitions, which are a different repository and managed by vcstool
-/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol
 # Protobuf generated file
-/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
-/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.pyi
+/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py
+/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.pyi
 
 # Workspace git status file from the deploy tool
 **/workspace_status.json
 
+# Do not include colcon build files
+/install/
+/build/
+/log/
+
+# Ignore mypy cache
+.mypy_cache/
+
+# Pytest cache
 .pytest_cache/
+
+# pixi environments
+.pixi/
+!.pixi/config.toml
+
+CMakeFiles/
+CMakeCache.txt
+
+
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 8f6e20745..fae0d6a30 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -14,6 +14,7 @@ repos:
         args:
           - "-i"
       - id: cppcheck
+        exclude: &exclude_robocup_protocol ^src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/
         args:
           - "--inline-suppr"
           - "--suppress=missingIncludeSystem"
@@ -21,11 +22,13 @@ repos:
           - "--suppress=unusedFunction"
           - "--suppress=unusedStructMember"
           - "--suppress=useStlAlgorithm"
+          - "--check-level=exhaustive"
   - repo: https://github.com/cheshirekow/cmake-format-precommit
     rev: v0.6.13
     hooks:
       - id: cmake-format
       - id: cmake-lint
+        exclude: *exclude_robocup_protocol
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v5.0.0
     hooks:
@@ -33,4 +36,5 @@ repos:
       - id: check-toml
       - id: check-xml
       - id: check-yaml
+        exclude: *exclude_robocup_protocol
       - id: detect-private-key
diff --git a/.rsyncignore b/.rsyncignore
new file mode 100644
index 000000000..bf7570351
--- /dev/null
+++ b/.rsyncignore
@@ -0,0 +1,22 @@
+# Ignore files and directories for rsync synchronization
+
+# Don't sync the pixi virtual environment
+.pixi/
+
+# Ignore build, install, and log directories
+build/
+install/
+log/
+
+# Don't overwrite the configured game settings
+src/bitbots_misc/bitbots_parameter_blackboard/config/game_settings.yaml
+
+*.bag
+*.git
+*.github
+*.idea
+*.pyc
+*.vscode
+
+__pycache__
+
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 2460329d7..6c1fbabfe 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -8,14 +8,11 @@
             // Set include paths so the editor can find the c++ header files for the auto completion
             // The Bit-Bots specific environment variable COLCON_WS is utilized here and needs to be set
             "includePath": [
-                "${env:COLCON_WS}/install/*/include/**",
-                "${env:COLCON_WS}/build/**/include/**",
-                "${env:COLCON_WS}/build/**/rosidl_generator_cpp/**",
-                "/root/colcon_ws/install/*/include/**",
-                "/root/colcon_ws/build/**/include/**",
-                "/root/colcon_ws/build/**/rosidl_generator_cpp/**",
+                "${workspaceFolder}/install/*/include/**",
+                "${workspaceFolder}/build/**/include/**",
+                "${workspaceFolder}/build/**/rosidl_generator_cpp/**",
                 "${workspaceFolder}/**/include/**",
-                "/opt/ros/${env:ROS_DISTRO}/include/**",
+                "${workspaceFolder}/.pixi/envs/default/include/**",
                 "/usr/include/**",
                 "/opt/pylon/include/**"
             ],
diff --git a/.vscode/settings.json b/.vscode/settings.json
index bcb174019..0778fcc8a 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -97,6 +97,7 @@
         "rosout",
         "roundrobin",
         "Rouxel",
+        "rsyncignore",
         "rtype",
         "rviz",
         "scipy",
@@ -222,10 +223,92 @@
     "ROS2.distro": "jazzy",
     "search.useIgnoreFiles": false,
     "python.autoComplete.extraPaths": [
-        "/opt/ros/jazzy/lib/python3.12/site-packages"
+        "build/system_monitor",
+        "install/system_monitor/lib/python3.12/site-packages",
+        "build/bitbots_robocup_api",
+        "install/bitbots_robocup_api/lib/python3.12/site-packages",
+        "install/bitbots_pybullet_sim/lib/python3.12/site-packages",
+        "install/bitbots_webots_sim/lib/python3.12/site-packages",
+        "build/bitbots_vision",
+        "install/bitbots_vision/lib/python3.12/site-packages",
+        "build/bitbots_team_data_sim_rqt",
+        "install/bitbots_team_data_sim_rqt/lib/python3.12/site-packages",
+        "install/bitbots_team_communication/lib/python3.12/site-packages",
+        "install/bitbots_quintic_walk/lib/python3.12/site-packages",
+        "build/bitbots_localization_handler",
+        "install/bitbots_localization_handler/lib/python3.12/site-packages",
+        "install/bitbots_localization/lib/python3.12/site-packages",
+        "install/bitbots_parameter_blackboard/lib/python3.12/site-packages",
+        "build/bitbots_animation_rqt",
+        "install/bitbots_animation_rqt/lib/python3.12/site-packages",
+        "install/bitbots_hcm/lib/python3.12/site-packages",
+        "install/bitbots_dynup/lib/python3.12/site-packages",
+        "install/bitbots_dynamic_kick/lib/python3.12/site-packages",
+        "build/bitbots_body_behavior",
+        "install/bitbots_body_behavior/lib/python3.12/site-packages",
+        "install/bitbots_blackboard/lib/python3.12/site-packages",
+        "build/bitbots_animation_server",
+        "install/bitbots_animation_server/lib/python3.12/site-packages",
+        "install/bitbots_utils/lib/python3.12/site-packages",
+        "build/bitbots_tts",
+        "install/bitbots_tts/lib/python3.12/site-packages",
+        "build/bitbots_teleop",
+        "install/bitbots_teleop/lib/python3.12/site-packages",
+        "install/bitbots_splines/lib/python3.12/site-packages",
+        "build/bitbots_robot_filter",
+        "install/bitbots_robot_filter/lib/python3.12/site-packages",
+        "build/bitbots_path_planning",
+        "install/bitbots_path_planning/lib/python3.12/site-packages",
+        "install/bitbots_msgs/lib/python3.12/site-packages",
+        "install/bitbots_moveit_bindings/lib/python3.12/site-packages",
+        "build/bitbots_ball_filter",
+        "install/bitbots_ball_filter/lib/python3.12/site-packages",
+        ".pixi/envs/default/lib/python/site-packages",
+        ".pixi/envs/default/lib/python3.12/site-packages",
     ],
     "python.analysis.extraPaths": [
-        "/opt/ros/jazzy/lib/python3.12/site-packages"
+        "build/system_monitor",
+        "install/system_monitor/lib/python3.12/site-packages",
+        "build/bitbots_robocup_api",
+        "install/bitbots_robocup_api/lib/python3.12/site-packages",
+        "install/bitbots_pybullet_sim/lib/python3.12/site-packages",
+        "install/bitbots_webots_sim/lib/python3.12/site-packages",
+        "build/bitbots_vision",
+        "install/bitbots_vision/lib/python3.12/site-packages",
+        "build/bitbots_team_data_sim_rqt",
+        "install/bitbots_team_data_sim_rqt/lib/python3.12/site-packages",
+        "install/bitbots_team_communication/lib/python3.12/site-packages",
+        "install/bitbots_quintic_walk/lib/python3.12/site-packages",
+        "build/bitbots_localization_handler",
+        "install/bitbots_localization_handler/lib/python3.12/site-packages",
+        "install/bitbots_localization/lib/python3.12/site-packages",
+        "install/bitbots_parameter_blackboard/lib/python3.12/site-packages",
+        "build/bitbots_animation_rqt",
+        "install/bitbots_animation_rqt/lib/python3.12/site-packages",
+        "install/bitbots_hcm/lib/python3.12/site-packages",
+        "install/bitbots_dynup/lib/python3.12/site-packages",
+        "install/bitbots_dynamic_kick/lib/python3.12/site-packages",
+        "build/bitbots_body_behavior",
+        "install/bitbots_body_behavior/lib/python3.12/site-packages",
+        "install/bitbots_blackboard/lib/python3.12/site-packages",
+        "build/bitbots_animation_server",
+        "install/bitbots_animation_server/lib/python3.12/site-packages",
+        "install/bitbots_utils/lib/python3.12/site-packages",
+        "build/bitbots_tts",
+        "install/bitbots_tts/lib/python3.12/site-packages",
+        "build/bitbots_teleop",
+        "install/bitbots_teleop/lib/python3.12/site-packages",
+        "install/bitbots_splines/lib/python3.12/site-packages",
+        "build/bitbots_robot_filter",
+        "install/bitbots_robot_filter/lib/python3.12/site-packages",
+        "build/bitbots_path_planning",
+        "install/bitbots_path_planning/lib/python3.12/site-packages",
+        "install/bitbots_msgs/lib/python3.12/site-packages",
+        "install/bitbots_moveit_bindings/lib/python3.12/site-packages",
+        "build/bitbots_ball_filter",
+        "install/bitbots_ball_filter/lib/python3.12/site-packages",
+        ".pixi/envs/default/lib/python/site-packages",
+        ".pixi/envs/default/lib/python3.12/site-packages",
     ],
     "cmake.configureOnOpen": false,
     "editor.formatOnSave": true,
@@ -241,4 +324,13 @@
     "[jsonc]": {
         "editor.defaultFormatter": "vscode.json-language-features"
     },
+    "search.exclude": {
+        "build": true,
+        "install": true,
+        "log": true,
+        ".pixi": true,
+    },
+    "[toml]": {
+        "editor.defaultFormatter": "tamasfe.even-better-toml"
+    },
 }
diff --git a/Makefile b/Makefile
deleted file mode 100644
index 86500334c..000000000
--- a/Makefile
+++ /dev/null
@@ -1,103 +0,0 @@
-.PHONY : basler webots install install-no-root pip pre-commit install-git-filters format pull-all pull-init pull-repos pull-files fresh-libs remove-libs setup-libs rosdep status update update-no-root
-
-HTTPS := ""
-REPO:=$(dir $(abspath $(firstword $(MAKEFILE_LIST))))
-
-basler:
-	# Install Basler Pylon SDK
-	scripts/make_basler.sh $(ARGS)
-
-webots:
-	# Install Webots Simulation environment
-	scripts/make_webots.sh $(ARGS)
-
-install: pull-init basler update
-
-install-no-root: pull-init update-no-root
-
-pip:
-	# Install and upgrade pip dependencies
-	pip install --upgrade pip --user --break-system-packages -v
-	pip install --upgrade -r requirements/dev.txt --user --break-system-packages -v
-
-pre-commit:
-	# Install pre-commit hooks for all submodules that have a .pre-commit-config.yaml file
-	pre-commit install
-
-install-git-filters:
-	# Install git filters
-	# The vscode settings file gets updated by the ros extension and contains the full path to the current user's home directory.
-	# We don't want to commit this path, so we use a git filter to remove it when git adds the file to the staging area.
-	# This does not affect the file on disk, so vscode will still work as expected.
-	git config filter.removeFullHomePath.clean "sed '/\/\(home\|root\).*\(install\|build\)/d'"
-
-format:
-	# Format all files in the repository
-	pre-commit run --all-files
-
-pull-all: pull-repos pull-files
-
-pull-init: fresh-libs pull-files
-
-pull-repos:
-	# Pull all repositories
-	vcs pull . --nested
-
-pull-files:
-	# Pull all large files (mainly neural network weights) from the http server
-	wget \
-		--no-verbose \
-		--show-progress \
-		--timeout=15 \
-		--tries=2 \
-		--recursive \
-		--timestamping \
-		--no-parent \
-		--no-host-directories \
-		--directory-prefix=$(REPO)/bitbots_vision \
-		--reject "index.html*" \
-		"https://data.bit-bots.de/models/"
-	wget \
-		--no-verbose \
-		--show-progress \
-		--timeout=15 \
-		--tries=2 \
-		--recursive \
-		--timestamping \
-		--no-parent \
-		--no-host-directories \
-		--directory-prefix=$(REPO)/bitbots_motion/bitbots_rl_motion \
-		--reject "index.html*" \
-		"https://data.bit-bots.de/rl_walk_models/"
-
-fresh-libs: remove-libs setup-libs
-
-remove-libs:
-	# Removes the lib directory and all its contents
-	rm -rf lib/*
-	# Also remove the generated protobuf files, as they are not needed anymore
-	rm bitbots_team_communication/bitbots_team_communication/robocup_extension_pb2.py 2> /dev/null || true
-
-setup-libs:
-	# Clone lib repositories in workspace.repos into the lib directory
-ifeq ($(HTTPS), true)
-	# Replace git@ with https:// to allow cloning without ssh keys
-	awk '{sub("git@github.com:", "https://github.com/"); print "  " $$0}' workspace.repos | vcs import .
-else
-	vcs import . < workspace.repos
-endif
-
-rosdep:
-	# Initialize rosdep if not already done
-	[ -f /etc/ros/rosdep/sources.list.d/20-default.list ] || sudo rosdep init
-	# Update rosdep and install dependencies from meta directory
-	rosdep update
-	rosdep install --from-paths . --ignore-src --rosdistro jazzy -y
-
-status:
-	# Show status of all repositories
-	vcs status . --nested
-
-update: pull-all rosdep pip install-git-filters pre-commit
-
-update-no-root: pull-all pip install-git-filters pre-commit
diff --git a/README.md b/README.md
index 067943c5b..eb6eed7c4 100644
--- a/README.md
+++ b/README.md
@@ -5,39 +5,61 @@
 [![ROS Version Jazzy](https://img.shields.io/badge/ROS%20Version-Jazzy-00b8ff)](https://docs.ros.org/en/jazzy/index.html)
 
 This git repository contains all RoboCup-related code and documentation from the Hamburg Bit-Bots team.
-All code is written as individual ROS 2 packages targeting Ubuntu.
+All code is written as individual ROS 2 packages.
 
 <p align="center">
-  <img width="30%" src="logo.png" alt="marimba playing robot" />
+  <img width="30%" src="logo.png" alt="Bit-Bots Logo" />
 </p>
 
 ## Installation
 
+The workspace is managed using the [pixi](https://pixi.sh) package manager. This allows us to have reproducible builds and easy user space dependency management similar to tools like `uv` or `cargo`. This also means that no system wide ROS installation or superuser privileges are required to install or run the code.
+
 Full step-by-step instructions for installing the Bit-Bots software stack and ROS 2 can be found in our documentation [here](https://doku.bit-bots.de/meta/manual/tutorials/install_software_ros2.html).
 
 
-## Update the codebase
+Run the following command inside this repository to build the workspace. All dependencies will be installed automatically. Make sure you have [pixi](https://pixi.sh) installed. A few optional proprietary dependencies will be needed for full functionality, see the documentation for details.
+
+``` shell
+pixi run build
+```
+
+## Using the workspace
+
+To activate the workspace run the following command in the terminal you want to use:
+
+``` shell
+pixi shell
+```
 
-If you want to update this repo, all third party source files as well as the supplementing files, run
+alternatively, you can run individual commands inside the workspace without activating the shell:
 
 ``` shell
-make pull-all
+pixi run <command>
 ```
 
-If you encounter any problems consider cleaning the third party source files (the `lib` folder) first:
+To see some predefined  / commands, run
 
-**THIS DELETES ALL CHANGES YOU MADE TO THE THIRD PARTY SOURCE FILES!**
+``` shell
+pixi task list
+```
+
+## Deploy to robots
+
+To deploy the software to a robot, run
 
 ``` shell
-make fresh-libs
+pixi run deploy <robot_ip|robot_name>
 ```
 
+For more information on the deployment tooling, see [this documentation](scripts/README.md).
+
 ## Run auto formatting
 
 To format all code in the repository, run
 
 ``` shell
-make format
+pixi run format
 ```
 
 ## More documentation
diff --git a/pixi.lock b/pixi.lock
new file mode 100644
index 000000000..8321fe3dc
--- /dev/null
+++ b/pixi.lock
@@ -0,0 +1,37912 @@
+version: 6
+environments:
+  default:
+    channels:
+    - url: https://data.bit-bots.de/conda/
+    - url: https://data.bit-bots.de/conda-misc/output/
+    - url: https://conda.anaconda.org/robostack-jazzy/
+    - url: https://conda.anaconda.org/conda-forge/
+    indexes:
+    - https://pypi.org/simple
+    packages:
+      linux-64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_libgcc_mutex-0.1-conda_forge.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-2_gnu.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/adwaita-icon-theme-49.0-unix_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/aiohappyeyeballs-2.6.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aiohttp-3.13.2-py312h27b7581_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/aiosignal-1.4.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/alabaster-1.0.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.14-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/appdirs-1.4.4-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.6.3-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.4.3-h8943939_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/asttokens-3.0.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-atk-2.38.0-h0630a04_3.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-core-2.40.3-h0630a04_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.2-h39aace5_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-25.4.0-pyhcf101f3_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/automat-25.4.16-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/babel-2.17.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bcrypt-5.0.0-py312h868fb18_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/beartype-0.22.9-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/benchmark-1.9.4-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45-default_h4852527_104.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45-default_hfdba357_104.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45-default_h4852527_104.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2022_10_07_flo_torso21_yoeox-1.0.1-h4616a5c_2.conda
+      - conda: https://data.bit-bots.de/conda-misc/output/noarch/bitbots_model_2023_04_04_philipp_yoeox_with_team_colors-1.0.1-h4616a5c_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/blinker-1.9.0-pyhff2d567_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/blosc-1.21.6-he440d0b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/breathe-4.36.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.1.0-hb03c661_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.1.0-hb03c661_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.1.0-py312h1289d80_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-3.25-h26dfbe5_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hcbe3ca9_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_8.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.6-hb03c661_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.11.0-h4d9bdce_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2025.11.12-hbd8a1cb_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.4-h3394656_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/catkin_pkg-1.1.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/certifi-2025.11.12-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cffi-2.0.0-py312h35888ee_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/cfgv-3.5.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/charset-normalizer-3.4.4-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21-21.1.0-default_h99862b1_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/clang-format-21.1.0-default_h99862b1_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cli11-2.6.0-h54a6638_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/click-8.3.1-pyh8f84b5b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.29.6-hcafd917_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-argcomplete-0.3.3-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-bash-0.5.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-cd-0.1.1-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-cmake-0.2.29-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/colcon-common-extensions-0.3.0-py312h7900ff3_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-core-0.20.1-pyhcf101f3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-defaults-0.2.9-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-devtools-0.3.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-library-path-0.2.1-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-metadata-0.2.5-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/colcon-notification-0.3.0-py312he626ec8_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-output-0.2.13-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-package-information-0.4.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-package-selection-0.2.10-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-parallel-executor-0.4.0-pyhe01879c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-pkg-config-0.1.0-py_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-powershell-0.4.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-python-setup-py-0.2.9-pyhff2d567_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-recursive-crawl-0.2.3-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-ros-0.5.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-test-result-0.3.8-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colcon-zsh-0.5.0-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/coloredlogs-15.0.1-pyhd8ed1ab_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/compilers-1.11.0-ha770c72_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-14.3.0-he8ccf15_16.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/constantly-15.1.0-py_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.3-py312hd9148b4_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/coverage-7.13.0-py312h8a5da7c_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cppcheck-2.18.3-py312h014360a_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cppzmq-4.11.0-hbe92c44_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cryptography-46.0.3-py312ha4b625e_1.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.11.0-hfcd1e18_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhcf101f3_2.conda
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+      - conda: https://conda.anaconda.org/conda-forge/linux-64/expat-2.7.3-hecca717_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/fabric-3.2.2-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fcl-0.7.0-h543440a_8.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ffmpeg-7.1.1-gpl_h127656b_906.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/filelock-3.20.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/flake8-7.3.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/flake8-builtins-3.1.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/flake8-comprehensions-3.17.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/flake8-docstrings-1.7.0-pyhd8ed1ab_0.conda
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diff --git a/pixi.toml b/pixi.toml
new file mode 100644
index 000000000..263c6c09f
--- /dev/null
+++ b/pixi.toml
@@ -0,0 +1,244 @@
+[workspace]
+authors = ["Florian Vahl <7vahl@informatik.uni-hamburg.de>"]
+channels = [
+    "https://data.bit-bots.de/conda/",  # For self hosted ROS / robostack packages
+    "https://data.bit-bots.de/conda-misc/output/",  # For self hosted misc (non-ROS, neural network weights, ...) packages
+    "robostack-jazzy",  # Robostack jazzy channel for ROS packages
+    "conda-forge"  # General conda-forge channel
+]
+name = "bitbots_main"
+platforms = ["linux-64", "linux-aarch64"]
+preview = ["pixi-build"]
+version = "0.1.0"
+
+[tasks]
+deploy = {cmd = "scripts/deploy_robots.py", description = "Deploys the current environment."}
+format = {cmd = "pre-commit run --all-files", description = "Runs code formatting and linting."}
+
+[tasks.build]
+cmd = "colcon build --symlink-install --cmake-args -G Ninja "
+description = "Builds all ROS 2 packages. Add --packages-select <package names> to build specific packages."
+
+[tasks.clean]
+cmd = "rm -rf 'build/{{ package }}' 'install/{{ package }}' {{ 'log' if not package }}"
+args = [{ arg = "package", default = "" }]
+description = "Cleans build and install files for all ROS 2 packages or a specific one if given."
+
+[tasks.test]
+cmd = "colcon test --event-handlers console_direct+ --return-code-on-test-failure "
+description = "Runs tests for all ROS 2 packages. Add --packages-select <package names> to test specific packages."
+
+
+[dependencies]
+# Base dependencies
+python = "==3.12"
+
+# Patches
+readline = ">=8.2.999"  # This is needed because we want to install an empty readline package from our models channel that leads to the system version being used. Otherwise we might have a mismatch between bash (often accessed globally ignoring the env) and readline (provided by the env)  breaking everything.
+
+[feature.ros.dependencies]
+# Misc dependencies for our ROS 2 packages
+beartype = ">=0.22.6,<0.23"
+breathe = ">=4.36.0,<5"
+cmake = "<3.30"  # Constraint to avoid issues with deprecated features in newer cmake versions
+colorama = ">=0.4.6,<0.5"
+compilers = ">=1.11.0,<2"
+eigen = ">=3.4.0,<4"
+fabric = ">=3.2.2,<4"
+flask = ">=3.1.2,<4"
+gitpython = ">=3.1.45,<4"
+invoke = ">=2.2.1,<3"
+ipython = ">=9.7.0,<10"
+jaxtyping = ">=0.3.2,<0.4"
+jinja2 = ">=3.1.6,<4"
+libboost-devel = ">=1.86.0,<2"
+libnuma = ">=2.0.18,<3"
+libopencv = ">=4.11.0,<5"
+libprotobuf = ">=5.29.3,<6"
+matplotlib = ">=3.10.8,<4"
+mypy = ">=1.18.2,<2"
+ninja = ">=1.13.2,<2"
+numpy = ">=1.26.4,<2"
+opencv = ">=4.11.0,<5"
+paramiko =   ">=4.0.0,<5"
+pkg-config = ">=0.29.2,<0.30"
+playsound = ">=1.3.0,<2"
+protobuf = ">=5.29.3,<6"
+psutil = ">=7.1.3,<8"
+pthread-stubs = ">=0.4,<0.5"
+pybind11 = ">=3.0.1,<4"
+pyqt = ">=5.15.11,<6"
+pytest = ">=9.0.1,<10"
+pytest-mock = ">=3.15.1,<4"
+pyyaml = ">=6.0.3,<7"
+rich = ">=14.2.0,<15"
+rospkg = ">=1.6.0,<2"
+ruff = ">=0.14.6,<0.15"
+simpleeval = ">=1.0.3,<2"
+sphinx-rtd-theme = ">=3.0.2,<4"
+sysroot_linux-64 = ">=2.28,<3"
+transforms3d = ">=0.4.2,<0.5"
+yaml-cpp = ">=0.8.0,<0.9"
+
+# Official ROS 2 packages
+colcon-common-extensions = ">=0.3.0,<0.4"
+colcon-notification = ">=0.3.0,<0.4"
+ros-jazzy-action-msgs = ">=2.0.3,<3"
+ros-jazzy-ament-cmake = ">=2.5.4,<3"
+ros-jazzy-ament-cmake-mypy = ">=0.17.3,<0.18"
+ros-jazzy-ament-copyright = ">=0.17.3,<0.18"
+ros-jazzy-ament-flake8 = ">=0.17.3,<0.18"
+ros-jazzy-ament-mypy = ">=0.17.3,<0.18"
+ros-jazzy-ament-pep257 = ">=0.17.3,<0.18"
+ros-jazzy-apriltag-ros = ">=3.3.0,<4"
+ros-jazzy-backward-ros = ">=1.0.8,<2"
+ros-jazzy-builtin-interfaces = ">=2.0.3,<3"
+ros-jazzy-camera-info-manager = ">=5.1.7,<6"
+ros-jazzy-control-toolbox = ">=4.7.1,<5"
+ros-jazzy-controller-interface = ">=4.37.0,<5"
+ros-jazzy-controller-manager = ">=4.37.0,<5"
+ros-jazzy-cv-bridge = ">=4.1.0,<5"
+ros-jazzy-demo-nodes-cpp = ">=0.33.7,<0.34"
+ros-jazzy-desktop = ">=0.11.0,<0.12"
+ros-jazzy-diagnostic-aggregator = ">=4.2.6,<5"
+ros-jazzy-diagnostic-msgs = ">=5.3.6,<6"
+ros-jazzy-foxglove-bridge = ">=0.8.5,<0.9"
+ros-jazzy-generate-parameter-library = ">=0.5.0,<0.6"
+ros-jazzy-geometry-msgs = ">=5.3.6,<6"
+ros-jazzy-hardware-interface = ">=4.37.0,<5"
+ros-jazzy-image-proc = ">=5.0.11,<6"
+ros-jazzy-image-publisher = ">=5.0.11,<6"
+ros-jazzy-image-transport = ">=5.1.7,<6"
+ros-jazzy-joint-state-publisher = ">=2.4.0,<3"
+ros-jazzy-joint-state-publisher-gui = ">=2.4.0,<3"
+ros-jazzy-moveit-core = ">=2.12.3,<3"
+ros-jazzy-moveit-kinematics = ">=2.12.3,<3"
+ros-jazzy-moveit-planners-ompl = ">=2.12.3,<3"
+ros-jazzy-moveit-ros = ">=2.12.3,<3"
+ros-jazzy-moveit-ros-move-group = ">=2.12.3,<3"
+ros-jazzy-moveit-ros-planning = ">=2.12.3,<3"
+ros-jazzy-moveit-ros-planning-interface = ">=2.12.3,<3"
+ros-jazzy-moveit-ros-robot-interaction = ">=2.12.3,<3"
+ros-jazzy-moveit-ros-visualization = ">=2.12.3,<3"
+ros-jazzy-moveit-setup-assistant = ">=2.12.3,<3"
+ros-jazzy-moveit-simple-controller-manager = ">=2.12.3,<3"
+ros-jazzy-nav-msgs = ">=5.3.6,<6"
+ros-jazzy-plotjuggler = ">=3.10.11,<4"
+ros-jazzy-pluginlib = ">=5.4.2,<6"
+ros-jazzy-rclpy = ">=7.1.5,<8"
+ros-jazzy-robot-state-publisher = ">=3.3.3,<4"
+ros-jazzy-ros2launch = ">=0.26.9,<0.27"
+ros-jazzy-rosbag2 = ">=0.26.9,<0.27"
+ros-jazzy-rosbridge-suite = ">=2.3.0,<3"
+ros-jazzy-rosgraph-msgs = ">=2.0.3,<3"
+ros-jazzy-rosidl-default-generators = ">=1.6.0,<2"
+ros-jazzy-rosidl-default-runtime = ">=1.6.0,<2"
+ros-jazzy-rqt-gui = ">=1.6.0,<2"
+ros-jazzy-rqt-gui-py = ">=1.6.0,<2"
+ros-jazzy-sensor-msgs = ">=5.3.6,<6"
+ros-jazzy-std-msgs = ">=5.3.6,<6"
+ros-jazzy-std-srvs = ">=5.3.6,<6"
+ros-jazzy-test-msgs = ">=2.0.3,<3"
+ros-jazzy-tf-transformations = ">=1.1.0,<2"
+ros-jazzy-tf2 = ">=0.36.14,<0.37"
+ros-jazzy-tf2-eigen = ">=0.36.14,<0.37"
+ros-jazzy-tf2-geometry-msgs = ">=0.36.14,<0.37"
+ros-jazzy-tf2-ros = ">=0.36.14,<0.37"
+ros-jazzy-topic-tools = ">=1.3.3,<2"
+ros-jazzy-trajectory-msgs = ">=5.3.6,<6"
+ros-jazzy-transmission-interface = ">=4.37.0,<5"
+ros-jazzy-turtlesim = ">=1.8.3,<2"
+ros-jazzy-urdf = ">=2.10.0,<3"
+ros-jazzy-urdfdom-py = ">=1.2.1,<2"
+ros-jazzy-vision-opencv = ">=4.1.0,<5"
+ros-jazzy-visualization-msgs = ">=5.3.6,<6"
+ros-jazzy-web-video-server = ">=2.1.1,<3"
+ros-jazzy-xacro = ">=2.1.1,<3"
+
+# Bit-Bots vendor packages
+ros-jazzy-imu-complementary-filter = ">=2.1.5,<3"
+ros-jazzy-pybind11-vendor = ">=3.1.3,<4"
+ros-jazzy-soccer-vision-3d-rviz-markers = ">=1.0.0,<2"
+ros-jazzy-soccer-vision-3d-msgs = ">=1.0.0,<2"
+ros-jazzy-soccer-vision-attribute-msgs = ">=1.0.0,<2"
+ros-jazzy-rot-conv = ">=1.1.0,<2"
+ros-jazzy-bio-ik = ">=2.0.0,<3"
+ros-jazzy-bio-ik-msgs = ">=0.0.0,<0.0.1"
+ros-jazzy-biped-interfaces = ">=0.0.0,<0.0.1"
+ros-jazzy-bitbots-tf-buffer = ">=1.0.0,<2"
+ros-jazzy-ros2-python-extension = ">=1.0.0,<2"
+ros-jazzy-audio-common = ">=0.3.15,<0.4"
+ros-jazzy-dynamic-stack-decider = ">=0.5.3,<0.6"
+ros-jazzy-dynamic-stack-decider-visualization = ">=0.2.1,<0.3"
+ros-jazzy-game-controller-hl = ">=1.1.0,<2"
+ros-jazzy-game-controller-hl-interfaces = ">=0.0.1,<0.0.2"
+ros-jazzy-humanoid-base-footprint = ">=0.1.2,<0.2"
+ros-jazzy-ipm-image-node = ">=0.0.0,<0.0.1"
+ros-jazzy-ipm-interfaces = ">=0.0.0,<0.0.1"
+ros-jazzy-ipm-library = ">=0.0.0,<0.0.1"
+ros-jazzy-soccer-ipm = ">=0.0.0,<0.0.1"
+ros-jazzy-soccer-field-map-generator = ">=0.0.0,<0.0.1"
+ros-jazzy-udp-bridge = ">=0.0.0,<0.0.1"
+ros-jazzy-particle-filter = ">=0.0.1,<0.0.2"
+ros-jazzy-ros2-numpy = ">=2.0.9,<3"
+ros-jazzy-gazebo-msgs = ">=3.8.0,<4"
+ros-jazzy-bitbots-dynamixel-sdk = ">=3.7.21,<4"
+ros-jazzy-dynamixel-workbench-toolbox = ">=0.1.8,<0.2"
+ros-jazzy-better-launch = ">=1.0.3,<2"
+
+# Neural network models / data packages
+bitbots_model_2023_04_04_philipp_yoeox_with_team_colors = ">=1.0.0,<2"
+bitbots_model_2022_10_07_flo_torso21_yoeox = ">=1.0.0,<2"
+
+# Local packages
+bitbots_rust_nav = { path = "src/bitbots_navigation/bitbots_rust_nav" }
+
+# Patches
+pillow = "<12" # this constraint is needed as yoeo specifies the 11 major version and otherwise uv fails to solve given the constrains from the conda ecosystem.
+setuptools = "==68.1.2"  # Pinning setuptools to avoid issues with colcon build
+git = ">=2.52.0,<3"  # Otherwise the system git might be used causing ABI issues
+curl = ">=8.17.0,<9"
+
+[feature.ros.target.linux-64.dependencies]
+# For now Webots is only packaged for x86-64 Linux
+webots = ">=2022b,<2023a"
+
+[feature.format.dependencies]
+clang-format = ">=21.1.0,<22"
+cppcheck = ">=2.18.3,<3"
+pre-commit = ">=4.4.0,<5"
+
+[feature.ros.pypi-dependencies]
+# These are are pypi dependencies needed for our ROS 2 packages
+syrupy = ">=5.0.0, <6"
+exhale = ">=0.3.7, <0.4"
+mycroft-mimic3-tts = ">=0.2.4, <0.3"
+pyttsx3 = ">=2.99, <3"
+
+[feature.ros.target.linux-64.pypi-dependencies]
+onnxruntime-webgpu = ">=1.24.0.dev20251218001, <2"
+
+[feature.ros.target.linux-aarch64.pypi-dependencies]
+# Currently onnxruntime-webgpu is not available on ARM, so we fallback to CPU onnx for now
+onnxruntime = ">=1.23.2, <2"
+
+[feature.robot.pypi-dependencies]
+# These are only needed on the robot
+pyamdgpuinfo = ">=2.1.7, <3"
+
+[feature.ros.activation.env]
+ROS_DOMAIN_ID = "24"
+ROS_AUTOMATIC_DISCOVERY_RANGE = "LOCALHOST"
+RCUTILS_COLORIZED_OUTPUT = "1"
+RMW_IMPLEMENTATION = "rmw_cyclonedds_cpp"
+COLCON_LOG_LEVEL = "30"
+PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
+WEBOTS_HOME = "$CONDA_PREFIX/share/webots"
+
+[feature.ros.activation]
+scripts = ["install/setup.sh"]
+
+[environments]
+default = ["ros", "format"]  # Full development environment (excluding robot-only deps)
+format = ["format"]  # Format only environment
+robot = ["ros", "format", "robot"]  # Robot environment with additional robot-only dependencies
diff --git a/pyproject.toml b/pyproject.toml
index 9864c6719..b027becc1 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -2,7 +2,7 @@
 line-length = 120
 
 [tool.ruff.lint]
-# Never enforce 
+# Never enforce
 # - `E501` (line length violations)
 # - `UP007` (usage of | instead of Union and Optional)
 # - `F722` (no forward type references by quoting)
@@ -14,8 +14,6 @@ ignore = ["E501", "UP007", "F722", "UP037"]
 # - pycodestyle warnings (`W`)
 # - flake8-bugbear warnings (`B`)
 # - isort import sorting (`I001`)
-# - pep8-naming convenrtions (`N`)
+# - pep8-naming conventions (`N`)
 # - pyupgrade prefer newer language constructs (`UP`)
 select = ["F", "E", "B", "W", "I001", "N", "UP"]
-# Do not lint the following directories
-exclude = ["lib"]
diff --git a/requirements/common.txt b/requirements/common.txt
deleted file mode 100644
index 81ad75960..000000000
--- a/requirements/common.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-# This file includes common dependencies for all environments
-pip
-transforms3d==0.4.1
-git+https://github.com/bit-bots/YOEO
-git+https://github.com/bit-bots/bitbots_rust_nav
-git+https://github.com/timonegk/colcon-core.git@colors
-git+https://github.com/timonegk/colcon-notification.git@colors
-git+https://github.com/timonegk/colcon-output.git@colors
-simpleeval
-beartype
-jaxtyping
-mypy
-
-# The following dependencies are only needed for rl walking and we don't actively use them currently
-#git+https://github.com/bit-bots/deep_quintic.git
-#git+https://github.com/SammyRamone/stable-baselines3.git
diff --git a/requirements/dev.txt b/requirements/dev.txt
deleted file mode 100644
index 4921075f1..000000000
--- a/requirements/dev.txt
+++ /dev/null
@@ -1,13 +0,0 @@
-# This file is used by pip to install dependencies for the development environment
--r robot.txt  # Include robot.txt dependencies
-colorama  # Colorful terminal formatting
-exhale  # Necessary for rst rendering
-fabric  # Manages SSH sessions for the deploy tool
-GitPython  # Used by the deploy tool to check current state of the git repository
-invoke  # Necessary for paramiko
-paramiko  # Necessary for fabric
-pre-commit  # Installs and runs pre-commit hooks for git
-pytest-mock   # Mocking for pytest
-rich  # Rich terminal output
-ruff  # Python linting
-syrupy  # Python snapshot testing
diff --git a/requirements/robot.txt b/requirements/robot.txt
deleted file mode 100644
index 2f1e5e101..000000000
--- a/requirements/robot.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-# This file is used for installation of dependencies on the robot
--r common.txt  # Includes all common dependencies
-mycroft-mimic3-tts
-protobuf==3.20.3 # Required for mycroft-mimic3-tts, but we want to ensure that the version is compatible binaries build using the system version, but it should also be compatible with all the python dependencies
-pyttsx3
-playsound3
-pyamdgpuinfo
diff --git a/scripts/README.md b/scripts/README.md
index 11f3eca30..0222f6f7c 100644
--- a/scripts/README.md
+++ b/scripts/README.md
@@ -2,6 +2,8 @@
 
 This directory contains scripts that are very useful for development, testing and deployment.
 
+This tool is also callable via `pixi run deploy <arguments>`.
+
 ## `deploy_robots.py`
 
 Deploy, configure, and launch the Bit-Bots software remotely on a robot.
@@ -9,7 +11,6 @@ This tool can target all, multiple, or single robots at once, specified by their
 Five different tasks can be performed:
 
 1. Synchronize the local source code to the target workspace
-2. Install ROS 2 dependencies using `rosdep` on the target
 3. Configure game-settings and wifi on the target
 4. Build (compile) the workspace on the target
 5. Launch the teamplayer software on the target
@@ -48,4 +49,4 @@ Five different tasks can be performed:
 
 ## `make_basler.sh`
 
-Downloads and installs the Basler Pylon SDK for Linux. This is needed to communicate with our camera. Normally called by the `make basler` or other `make` targets.
+Downloads and installs the Basler Pylon SDK for Linux. This is needed to communicate with our camera. Normally called by the `just install-basler` or other `just` recipes.
diff --git a/scripts/deploy/deploy_robots.py b/scripts/deploy/deploy_robots.py
index 049768e3a..54e9c0481 100644
--- a/scripts/deploy/deploy_robots.py
+++ b/scripts/deploy/deploy_robots.py
@@ -1,7 +1,6 @@
 import argparse
 import os
 import sys
-from typing import Optional
 
 from deploy.misc import (
     CONSOLE,
@@ -20,19 +19,16 @@
     Build,
     CheckReposTask,
     Configure,
-    Install,
     Launch,
     Sync,
 )
 from rich.prompt import Prompt
 
-# TODO: Install this script as a command line tool
-
 
 class DeployRobots:
     def __init__(self):
         self._bitbots_main_path = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
-        print_debug(f"Bit-Bots meta path: {self._bitbots_main_path}")
+        print_debug(f"Bit-Bots main path: {self._bitbots_main_path}")
         os.chdir(self._bitbots_main_path)
 
         # Handle arguments
@@ -48,7 +44,7 @@ def __init__(self):
             print_bit_bot()
 
         self._tasks = self._register_tasks()
-        self._sudo_password: Optional[str] = self._optionally_ask_for_and_set_sudo_password()
+        self._sudo_password: str | None = self._optionally_ask_for_and_set_sudo_password()
 
         # Execute tasks on all given targets
         self.run_tasks()
@@ -56,7 +52,7 @@ def __init__(self):
     def _parse_arguments(self) -> argparse.Namespace:
         parser = ArgumentParserShowTargets(
             description="Deploy the Bit-Bots software on a robot. "
-            "This script provides 5 tasks: sync, install, configure, build, launch. "
+            "This script provides 4 tasks: sync, configure, build, launch. "
             "By default, it runs all tasks. You can select a subset of tasks by using the corresponding flags. "
             "For example, to only run the sync and build task, use the -sb."
         )
@@ -65,7 +61,8 @@ def _parse_arguments(self) -> argparse.Namespace:
         parser.add_argument(
             "targets",
             type=str,
-            help="The targets to deploy to. Multiple targets can be specified separated by commas. 'ALL' can be used to target all known robots.",
+            nargs="+",
+            help="The targets to deploy to. Multiple targets can be specified. 'ALL' can be used to target all known robots.",
         )
 
         parser.add_argument("--show-targets", action="store_true", help="Show all known targets and exit.")
@@ -79,17 +76,18 @@ def _parse_arguments(self) -> argparse.Namespace:
             help="Only synchronize (copy) files from you to the target machine.",
         )
         parser.add_argument(
-            "-i",
-            "--install",
-            dest="only_install",
+            "-c",
+            "--configure",
+            dest="only_configure",
             action="store_true",
-            help="Only install ROS dependencies on the targets.",
-        )
-        parser.add_argument(
-            "-c", "--configure", dest="only_configure", action="store_true", help="Only configure the target machines."
+            help="Only configure the target machines.",
         )
         parser.add_argument(
-            "-b", "--build", dest="only_build", action="store_true", help="Only build/compile on the target machines."
+            "-b",
+            "--build",
+            dest="only_build",
+            action="store_true",
+            help="Only build/compile on the target machines.",
         )
         parser.add_argument(
             "-l",
@@ -100,16 +98,12 @@ def _parse_arguments(self) -> argparse.Namespace:
         )
 
         # Optional arguments
-        parser.add_argument("-p", "--package", default="", help="Synchronize and build only the given ROS package.")
+        parser.add_argument("-p", "--package", default="", help="Build only the given ROS package.")
         parser.add_argument(
             "--clean",
-            action="store_true",
-            help="Clean complete workspace (source and install, ...) before syncing and building.",
-        )
-        parser.add_argument("--clean-src", action="store_true", help="Clean source directory before syncing.")
-        parser.add_argument(
             "--clean-build",
             action="store_true",
+            dest="clean_build",
             help="Clean workspace before building. If --package is given, clean only that package.",
         )
         parser.add_argument("--connection-timeout", default=10, help="Timeout to establish SSH connections in seconds.")
@@ -124,31 +118,26 @@ def _parse_arguments(self) -> argparse.Namespace:
         parser.add_argument(
             "-w",
             "--workspace",
-            default="~/colcon_ws",
-            help="Path to the workspace directory to deploy to. Defaults to '~/colcon_ws'",
+            default=".",
+            help="Path to the workspace directory to deploy to. Defaults to the current directory.",
         )
         parser.add_argument("--skip-local-repo-check", action="store_true", help="Skip the local repository check.")
 
         args = parser.parse_args()
 
-        if not (args.only_sync or args.only_install or args.only_configure or args.only_build or args.only_launch):
+        if not (args.only_sync or args.only_configure or args.only_build or args.only_launch):
             # By default all tasks are enabled
-            args.sync = args.install = args.configure = args.build = args.launch = True
+            args.sync = args.configure = args.build = args.launch = True
         else:
             # If any of the --only-* arguments is given, disable all tasks and enable only the given ones
             args.sync = args.only_sync
-            args.install = args.only_install
             args.configure = args.only_configure
             args.build = args.only_build
             args.launch = args.only_launch
 
-        if args.clean:
-            args.clean_src = True
-            args.clean_build = True
-
         return args
 
-    def _optionally_ask_for_and_set_sudo_password(self) -> Optional[str]:
+    def _optionally_ask_for_and_set_sudo_password(self) -> str | None:
         """
         Asks the user for the sudo password and returns it.
         Asks only, if tasks that require sudo are enabled.
@@ -181,14 +170,9 @@ def _register_tasks(self) -> list[AbstractTask]:
                 Sync(
                     self._bitbots_main_path,
                     self._args.workspace,
-                    self._args.package,
-                    self._args.clean_src,
                 )
             )
 
-        if self._args.install:
-            tasks.append(Install(self._args.workspace))
-
         if self._args.configure:
             tasks.append(Configure(self._args.workspace))
 
@@ -202,7 +186,7 @@ def _register_tasks(self) -> list[AbstractTask]:
             )
 
         if self._args.launch:
-            tasks.append(Launch("teamplayer"))
+            tasks.append(Launch(self._args.workspace, "teamplayer"))
 
         return tasks
 
diff --git a/scripts/deploy/misc.py b/scripts/deploy/misc.py
index 50ead7e49..2e8ca28b3 100644
--- a/scripts/deploy/misc.py
+++ b/scripts/deploy/misc.py
@@ -4,7 +4,7 @@
 import subprocess
 import sys
 from collections.abc import Iterable
-from typing import Any, Optional
+from typing import Any
 
 import yaml
 from fabric import Connection, GroupResult, ThreadingGroup
@@ -165,29 +165,29 @@ def _identify_ip(identifier: str) -> str | None:
                 print_debug(f"Robot name '{known_robot_name}' does not match '{identifier}'.")
 
 
-def _parse_targets(input_targets: str) -> list[str]:
+def _parse_targets(targets: list[str]) -> list[str]:
     """
     Parse target input into usable target IP addresses.
 
-    :param input_targets: The input string of targets as a comma separated string of either hostnames, robot names or IPs.
+    :param targets: Targets as a list of strings of either hostnames, robot names or IPs.
     :return: List of target IP addresses.
     """
     target_ips: list[str] = []
-    for input_target in input_targets.split(","):
+    for target in targets:
         try:
-            target_ip = _identify_ip(input_target)
+            target_ip = _identify_ip(target)
         except ValueError:
-            print_error(f"Could not determine IP address from input: '{input_target}'")
+            print_error(f"Could not determine IP address from input: '{target}'")
             sys.exit(1)
         if target_ip is None:
-            print_error(f"Could not determine IP address from input:' {input_target}'")
+            print_error(f"Could not determine IP address from input:' {target}'")
             sys.exit(1)
         target_ips.append(target_ip)
     return target_ips
 
 
 def _get_connections_from_targets(
-    target_ips: list[str], user: str, connection_timeout: Optional[int] = 10
+    target_ips: list[str], user: str, connection_timeout: int | None = 10
 ) -> ThreadingGroup:
     """
     Get connections to the given target IP addresses using the given username.
@@ -237,7 +237,7 @@ def _concat_exception_args(e: Exception) -> str:
     return connections
 
 
-def _get_connections_from_all_known_targets(user: str, connection_timeout: Optional[int] = 10) -> ThreadingGroup:
+def _get_connections_from_all_known_targets(user: str, connection_timeout: int | None = 10) -> ThreadingGroup:
     """
     Get connections to all known targets using the given username.
     NOTE: This still continues if not all connections could be established.
@@ -271,24 +271,22 @@ def _get_connections_from_all_known_targets(user: str, connection_timeout: Optio
     return ThreadingGroup.from_connections(open_connections)
 
 
-def get_connections_from_targets(
-    input_targets: str, user: str, connection_timeout: Optional[int] = 10
-) -> ThreadingGroup:
+def get_connections_from_targets(targets: list[str], user: str, connection_timeout: int | None = 10) -> ThreadingGroup:
     """
-    First parse the input targets, then get connections to the targets.
-    NOTE: If input_targets is 'ALL', all known targets will be used and failed connections will be ignored.
+    Parses the given targets, then creates connections to the parsed hosts.
+    NOTE: If targets is 'ALL', all known targets will be used and failed connections will be ignored.
 
-    :param input_targets: The input string of targets as a comma separated string of either hostnames, robot names or IPs. 'ALL' is a valid argument and will be expanded to all known targets.
+    :param targets: List of target strings (either hostnames, robot names or IPs, or 'ALL'). If 'ALL' is included, it will be expanded to all known targets.
     :param user: The username to connect with
     :param connection_timeout: Timeout for establishing the connection
     :return: The connections to the targets
     """
-    if input_targets == "ALL":
-        print_info(f"Connecting to all known targets: {KNOWN_TARGETS.keys()}")
+    if "ALL" in targets:
+        print_info(f"Connecting to targets: {KNOWN_TARGETS.keys()}")
         return _get_connections_from_all_known_targets(user=user, connection_timeout=connection_timeout)
 
     return _get_connections_from_targets(
-        target_ips=_parse_targets(input_targets), user=user, connection_timeout=connection_timeout
+        target_ips=_parse_targets(targets), user=user, connection_timeout=connection_timeout
     )
 
 
diff --git a/scripts/deploy/tasks/__init__.py b/scripts/deploy/tasks/__init__.py
index f67a23545..b077d0069 100644
--- a/scripts/deploy/tasks/__init__.py
+++ b/scripts/deploy/tasks/__init__.py
@@ -5,7 +5,6 @@
 from deploy.tasks.build import Build  # noqa: E402
 from deploy.tasks.check_repos import CheckReposTask  # noqa: E402
 from deploy.tasks.configure import Configure  # noqa: E402
-from deploy.tasks.install import Install  # noqa: E402
 from deploy.tasks.launch import Launch  # noqa: E402
 from deploy.tasks.sync import Sync  # noqa: E402
 
@@ -16,7 +15,6 @@
     "Build",
     "CheckReposTask",
     "Configure",
-    "Install",
     "Launch",
     "Sync",
 ]
diff --git a/scripts/deploy/tasks/abstract_task.py b/scripts/deploy/tasks/abstract_task.py
index 8e584c1ec..f1afd4bfc 100644
--- a/scripts/deploy/tasks/abstract_task.py
+++ b/scripts/deploy/tasks/abstract_task.py
@@ -1,5 +1,4 @@
 import abc
-from typing import Optional
 
 from deploy.misc import CONSOLE
 from fabric import Group, GroupResult
@@ -67,7 +66,7 @@ def _failed_hosts(self, results: GroupResult) -> list[str]:
 class AbstractTaskWhichRequiresSudo(AbstractTask):
     def __init__(self) -> None:
         super().__init__()
-        self._sudo_password: Optional[str] = None
+        self._sudo_password: str | None = None
 
     def set_sudo_password(self, sudo_password: str) -> None:
         self._sudo_password = sudo_password
diff --git a/scripts/deploy/tasks/build.py b/scripts/deploy/tasks/build.py
index 610d413d2..64bfbfa38 100644
--- a/scripts/deploy/tasks/build.py
+++ b/scripts/deploy/tasks/build.py
@@ -41,16 +41,10 @@ def _clean(self, connections: Group) -> GroupResult:
         :param connections: The connections to remote servers.
         :return: The results of the task.
         """
-        if self._package:
-            print_debug(f"Cleaning the following packages before building: {self._package}")
-            cmd_clean = f"colcon clean packages -y --packages-select {self._package}"
-        else:
-            print_debug("Cleaning ALL packages before building")
-            cmd_clean = (
-                f"rm -rf {self._remote_workspace}/build {self._remote_workspace}/install {self._remote_workspace}/log"
-            )
+        print_debug(f"Cleaning the following packages before building: {self._package}")
+        cmd_clean = f"cd {self._remote_workspace} && pixi run clean {self._package}"
 
-        print_debug(f"Calling {cmd_clean}")
+        print_debug(f"Calling '{cmd_clean}'")
         try:
             results = connections.run(cmd_clean, hide=hide_output())
             print_debug(f"Clean succeeded on the following hosts: {self._succeeded_hosts(results)}")
@@ -67,23 +61,10 @@ def _build(self, connections: Group) -> GroupResult:
         :param connections: The connections to remote servers.
         :return: The results of the task.
         """
-        if self._package:
-            print_debug(f"Building the following packages: {self._package}")
-            package_option = f"--packages-up-to {self._package}"
-        else:
-            print_debug("Building ALL packages")
-            package_option = ""
-        cmd = (
-            "sync;"
-            f"cd {self._remote_workspace};"
-            "source /opt/ros/jazzy/setup.zsh;"
-            "ISOLATED_CPUS=\"$(grep -oP 'isolcpus=\\K([\\d-]+)' /proc/cmdline)\";"  # type: ignore[reportInvalidStringEscapeSequence]
-            f"chrt -r 1 taskset -c ${{ISOLATED_CPUS:-0-15}} colcon build --symlink-install {package_option} --continue-on-error || exit 1;"
-            "sync;"
-        )
-        # TODO make output colored
+        print_debug("Building packages")
+        cmd = f"cd {self._remote_workspace} && pixi run build {self._package}"
 
-        print_debug(f"Calling {cmd}")
+        print_debug(f"Calling '{cmd}'")
         try:
             results = connections.run(cmd, hide=hide_output())
             print_debug(f"Build succeeded on the following hosts: {self._succeeded_hosts(results)}")
diff --git a/scripts/deploy/tasks/check_repos.py b/scripts/deploy/tasks/check_repos.py
index c4a180d93..6d36f6857 100644
--- a/scripts/deploy/tasks/check_repos.py
+++ b/scripts/deploy/tasks/check_repos.py
@@ -12,7 +12,6 @@
 from invoke.exceptions import UnexpectedExit
 from rich.console import Group as RichGroup
 from rich.table import Table
-from yaml import safe_load
 
 
 class OurRepo(Repo):
@@ -21,7 +20,7 @@ def __init__(self, path: str, specified_branch: str) -> None:
         Custom class for a GIT-repository.
 
         :param path: The path to the repository.
-        :param specified_branch: The branch this repository should be in (e.g. as defined in the workspace.repo file).
+        :param specified_branch: The branch this repository should be in (e.g. 'main').
         """
         super().__init__(path)
         assert not self.bare, f"Repo {self}: Repository is bare. Is it a real GIT-repository?"
@@ -152,11 +151,11 @@ def __str__(self) -> str:
 class CheckReposTask(AbstractTask):
     def __init__(self, only_workspace_status: bool = False) -> None:
         """
-        Task to check the local repositories (bitbots_main and others as specified in workspace.repos file).
+        Task to check the local repository 'bitbots_main'.
         Displays the current commit status (with a friendly name) to compare with other people in a hurry.
         Also displays warnings and requires confirmation before proceeding when:
         - A repository is dirty (uncommitted changes).
-        - A repository is not on the specified branch.
+        - A repository is not on the 'main' branch.
         - A repository is ahead or behind of the remote repository.
 
         :param only_workspace_status: If True, only collect the workspace commit hashes and skip the local workspace check.
@@ -165,36 +164,24 @@ def __init__(self, only_workspace_status: bool = False) -> None:
         self._show_status = False
 
         self.main_repo_path: str = os.path.join(
-            os.path.dirname(__file__), "..", "..", ".."
-        )  # bitbots_main/scripts/deploy/tasks
+            os.path.dirname(__file__),
+            "..",
+            "..",
+            "..",
+        )  # src/scripts/deploy/tasks
 
         self.results_file: str = os.path.join(
-            self.main_repo_path, "bitbots_misc/bitbots_utils/config/", "workspace_status.json"
+            self.main_repo_path, "src/bitbots_misc/bitbots_utils/config/", "workspace_status.json"
         )
 
         self.only_workspace_status: bool = only_workspace_status
 
         self.main_repo: OurRepo = OurRepo(self.main_repo_path, "main")
-        self.repos: dict[str, OurRepo] = {"bitbots_main": self.main_repo, **self._get_workspace_repos()}
+        self.repos: dict[str, OurRepo] = {"bitbots_main": self.main_repo}
 
         self.commit_hashes: dict[str, str] = {}
         self.warnings: dict[str, list[str]] = {}
 
-    def _get_workspace_repos(self) -> dict[str, OurRepo]:
-        """
-        Get the paths of the workspace repositories.
-
-        :return: List of workspace repository paths.
-        """
-        result: dict[str, OurRepo] = {}
-        with open(os.path.join(self.main_repo_path, "workspace.repos")) as file:
-            workspace_repos: dict = safe_load(file)
-            for path, repo in workspace_repos["repositories"].items():
-                if repo["type"] == "git":
-                    our_repo = OurRepo(os.path.join(self.main_repo_path, path), repo.get("version", "main"))
-                    result[str(our_repo)] = our_repo
-        return result
-
     def _github_available(self, connection: Connection) -> bool:
         """
         Check if GitHub is available.
@@ -205,7 +192,7 @@ def _github_available(self, connection: Connection) -> bool:
         print_debug(f"Checking for internet connection to {github}")
 
         cmd = f"timeout --foreground {INTERNET_TIMEOUT:.2f} curl -sSLI {github}"
-        print_debug(f"Calling {cmd}")
+        print_debug(f"Calling '{cmd}'")
         available = False
         result: Result | None = None
         try:
@@ -214,7 +201,7 @@ def _github_available(self, connection: Connection) -> bool:
             pass
         if result is not None:
             available = result.ok
-        print_debug(f"Internet connection to github.com is {'' if available else 'NOT'} available.")
+        print_debug(f"Internet connection to github.com is{' ' if available else ' NOT '}available.")
         if not available:
             print_info("Internet connection is not available. We may skip some checks!")
         return available
@@ -333,6 +320,12 @@ def _get_workspace_hash(self, commit_hashes: dict[str, str]) -> str:
         :param commit_hashes: The commit hashes of the repositories.
         :return: The hash of the workspace.
         """
+        assert len(commit_hashes) > 0, "No commit hashes provided to generate workspace hash."
+
+        # If there is only one repository, return its commit hash directly
+        if len(commit_hashes) == 1:
+            return list(commit_hashes.values())[0]
+
         return md5("".join(commit_hashes.values()).encode()).hexdigest()
 
     def _get_friendly_name(self, hash: str) -> str:
diff --git a/scripts/deploy/tasks/configure.py b/scripts/deploy/tasks/configure.py
index 81d3ece3c..9ff26fed0 100644
--- a/scripts/deploy/tasks/configure.py
+++ b/scripts/deploy/tasks/configure.py
@@ -1,5 +1,4 @@
 import concurrent.futures
-from typing import Optional
 
 from deploy.misc import (
     CONSOLE,
@@ -62,7 +61,7 @@ def _configure_single(connection: Connection) -> Result:
             print_info(f"Configuring game settings on {connection.host}...")
             cmd = f"python3 {self._remote_workspace}/src/bitbots_misc/bitbots_parameter_blackboard/bitbots_parameter_blackboard/game_settings.py"
 
-            print_debug(f"Calling {cmd}")
+            print_debug(f"Calling '{cmd}'")
             results = connection.run(
                 cmd, hide=False, pty=True
             )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -93,7 +92,7 @@ def _configure_wifi(self, connections: Group) -> GroupResult:
         :return: The results of the task.
         """
 
-        def _configure_single(connection: Connection, answered_connection_id: str) -> Optional[Result]:
+        def _configure_single(connection: Connection, answered_connection_id: str) -> Result | None:
             """
             Configure the wifi on a single remote with user input.
 
@@ -109,7 +108,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
                 print_debug(f"Disabling all other connections on {connection.host}")
                 # Get all wifi connection ids
                 get_ids_cmd = "nmcli --fields UUID,TYPE connection show | grep wifi | awk '{print $1}'"
-                print_debug(f"Calling {get_ids_cmd} on {connection.host}")
+                print_debug(f"Calling '{get_ids_cmd}' on: {connection.host}")
                 get_ids_result = connection.run(
                     get_ids_cmd, hide=hide_output()
                 )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -128,7 +127,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
                     # Disable autoconnect
                     print_debug(f"Disabling autoconnect {connection_id} on {connection.host}")
                     cmd = f"nmcli connection modify {connection_id} connection.autoconnect FALSE"
-                    print_debug(f"Calling {cmd} on {connection.host}")
+                    print_debug(f"Calling '{cmd}' on: {connection.host}")
                     disable_autoconnect_result = connection.sudo(
                         cmd, hide=True, password=self._sudo_password
                     )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -141,7 +140,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
                     # De-prioritize connection
                     print_debug(f"De-prioritizing connection {connection_id} on {connection.host}")
                     cmd = f"nmcli connection modify {connection_id} connection.autoconnect-priority 0"
-                    print_debug(f"Calling {cmd} on {connection.host}")
+                    print_debug(f"Calling '{cmd}' on: {connection.host}")
                     de_prioritize_result = connection.sudo(
                         cmd, hide=True, password=self._sudo_password
                     )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -152,7 +151,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
                 # Enable the connection we want to use
                 print_debug(f"Enabling connection {answered_connection_id} on {connection.host}")
                 cmd = f"nmcli connection up {answered_connection_id}"
-                print_debug(f"Calling {cmd} on {connection.host}")
+                print_debug(f"Calling '{cmd}' on: {connection.host}")
                 enable_connection_result = connection.sudo(
                     cmd, hide=True, password=self._sudo_password
                 )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -163,7 +162,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
                 # Enabling autoconnect for the connection we want to use
                 print_debug(f"Enabling autoconnect for connection {answered_connection_id} on {connection.host}")
                 cmd = f"nmcli connection modify {answered_connection_id} connection.autoconnect TRUE"
-                print_debug(f"Calling {cmd} on {connection.host}")
+                print_debug(f"Calling '{cmd}' on: {connection.host}")
                 enable_autoconnect_result = connection.sudo(
                     cmd, hide=True, password=self._sudo_password
                 )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -176,7 +175,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
                 # Set priority for the connection we want to use
                 print_debug(f"Setting priority of connection {answered_connection_id} to 100 on {connection.host}")
                 cmd = f"nmcli connection modify {answered_connection_id} connection.autoconnect-priority 100"
-                print_debug(f"Calling {cmd} on {connection.host}")
+                print_debug(f"Calling '{cmd}' on: {connection.host}")
                 set_priority_result = connection.sudo(
                     cmd, hide=True, password=self._sudo_password
                 )  # TODO: Does this need a try block? Which exceptions can occur?
@@ -193,7 +192,7 @@ def _configure_single(connection: Connection, answered_connection_id: str) -> Op
 
         # Show available wifi connections
         show_cmd = 'nmcli connection show | grep -E "^(NAME|.*wifi)"'  # Show all wifi connections and table header
-        print_debug(f"Calling {show_cmd} on {connection.host}")
+        print_debug(f"Calling '{show_cmd}' on: {connection.host}")
         show_result = connection.run(
             show_cmd, hide=False
         )  # TODO: Does this need a try block? Which exceptions can occur?
diff --git a/scripts/deploy/tasks/install.py b/scripts/deploy/tasks/install.py
deleted file mode 100644
index 2c9c5dac4..000000000
--- a/scripts/deploy/tasks/install.py
+++ /dev/null
@@ -1,243 +0,0 @@
-import concurrent.futures
-import os
-from typing import Optional
-
-from deploy.misc import Connection, get_connections_from_succeeded, hide_output, print_debug, print_error, print_warning
-from deploy.tasks import INTERNET_TIMEOUT
-from deploy.tasks.abstract_task import AbstractTaskWhichRequiresSudo
-from fabric import Group, GroupResult, Result
-from fabric.exceptions import GroupException
-
-
-class Install(AbstractTaskWhichRequiresSudo):
-    def __init__(self, remote_workspace: str) -> None:
-        """
-        Task to install and update all dependencies.
-
-        :param remote_workspace: Path to the remote workspace
-        """
-        super().__init__()
-
-        self._remote_workspace = remote_workspace
-
-    def _run(self, connections: Group) -> GroupResult:
-        """
-        Install and update all dependencies, if internet is available.
-
-        :param connections: The connections to remote servers.
-        :return: The results of the task.
-        """
-        internet_available_results = self._internet_available_on_target(connections)
-        if not internet_available_results.succeeded:
-            return internet_available_results
-
-        # Some hosts have an internet connection, make updates and installs
-        apt_upgrade_results = self._apt_upgrade(get_connections_from_succeeded(internet_available_results))
-        if not apt_upgrade_results.succeeded:
-            return apt_upgrade_results
-
-        basler_install_results = self._install_basler(get_connections_from_succeeded(apt_upgrade_results))
-        if not basler_install_results.succeeded:
-            return basler_install_results
-
-        rosdep_results = self._install_rosdeps(get_connections_from_succeeded(basler_install_results))
-        if not rosdep_results.succeeded:
-            return rosdep_results
-
-        pip_upgrade_results = self._pip_upgrade(get_connections_from_succeeded(rosdep_results))
-        return pip_upgrade_results
-
-    def _internet_available_on_target(self, connections: Group) -> GroupResult:
-        """
-        Check if the Target has an internet connection by pinging apt repos.
-
-        :param connections: The connections to remote servers.
-        :return: Results, with success if the Target has an internet connection
-        """
-        apt_mirror = "de.archive.ubuntu.com"
-        print_debug("Checking internet connections")
-
-        cmd = f"timeout --foreground {INTERNET_TIMEOUT} curl -sSLI {apt_mirror}"
-        print_debug(f"Calling {cmd}")
-        try:
-            results = connections.run(cmd, hide=hide_output())
-            print_debug(f"Internet is available on the following hosts: {self._succeeded_hosts(results)}")
-        except GroupException as e:
-            print_warning(
-                f"Internet is NOT available and skipping installs on the following hosts: {self._failed_hosts(e.result)}"
-            )
-            results = e.result
-        return results
-
-    def _apt_upgrade(self, connections: Group) -> GroupResult:
-        """
-        Upgrade all apt packages on the target.
-        Runs apt update and apt upgrade -y.
-
-        :param connections: The connections to remote servers.
-        :return: Results, with success if the upgrade succeeded on the target
-        """
-        print_debug("Updating apt")
-
-        cmd = "apt update"
-        print_debug(f"Calling {cmd}")
-        try:
-            update_results = connections.sudo(cmd, hide=hide_output(), password=self._sudo_password)
-            print_debug(f"Updated apt on the following hosts: {self._succeeded_hosts(update_results)}")
-        except GroupException as e:
-            print_error(f"Failed to update apt on the following hosts: {self._failed_hosts(e.result)}")
-            update_results = e.result
-
-        print_debug("Upgrading apt packages")
-
-        cmd = "apt upgrade -y"
-        print_debug(f"Calling {cmd}")
-        try:
-            upgrade_results = connections.sudo(cmd, hide=hide_output(), password=self._sudo_password)
-            print_debug(f"Upgraded apt packages on the following hosts: {self._succeeded_hosts(upgrade_results)}")
-        except GroupException as e:
-            print_error(f"Failed to upgrade apt packages on the following hosts: {self._failed_hosts(e.result)}")
-            upgrade_results = e.result
-        return update_results
-
-    def _install_basler(self, connections: Group) -> GroupResult:
-        """
-        Installs the basler camera drivers on the targets.
-
-        :param connections: The connections to remote servers.
-        :return: Results, with success if the install succeeded on the target
-        """
-        print_debug("Installing basler drivers")
-
-        cmd = f"{self._remote_workspace}/src/scripts/make_basler.sh --ci"
-        print_debug(f"Calling {cmd}")
-        try:
-            install_results = connections.sudo(cmd, hide=hide_output(), password=self._sudo_password)
-            print_debug(f"Installed basler drivers on the following hosts: {self._succeeded_hosts(install_results)}")
-        except GroupException as e:
-            print_error(f"Failed to install basler drivers on the following hosts: {self._failed_hosts(e.result)}")
-            install_results = e.result
-        return install_results
-
-    def _install_rosdeps(self, connections: Group) -> GroupResult:
-        """
-        Install ROS dependencies.
-        This is done by simulating a rosdep install to gather install commands (mostly sudo apt install ...).
-        Those returned commands are then executed on the remotes.
-
-        This "simulation" or dry-run is necessary, as the rosdep install command does not work correctly if directly invoked with sudo,
-        but it calls sudo commands internally, which necessitates user input on the remote.
-        The "sudo" functionality provided by fabric is not able to autofill in this case.
-
-        :param connections: The connections to remote servers.
-        :return: Results, with success if the install commands succeeded on the target
-        """
-        remote_src_path = os.path.join(self._remote_workspace, "src")
-        print_debug(f"Gathering rosdep install commands in {remote_src_path}")
-
-        cmd = f"rosdep update && rosdep install --rosdistro jazzy --simulate --default-yes --ignore-src --from-paths {remote_src_path}"
-        print_debug(f"Calling {cmd}")
-        try:
-            gather_results = connections.run(cmd, hide=hide_output())
-        except GroupException as e:
-            print_error("Failed to gather rosdeps install commands")
-            if not e.result.succeeded:
-                return e.result
-            gather_results = e.result
-
-        # Only continue with succeeded connections
-        connections = get_connections_from_succeeded(gather_results)
-
-        # Define function to multithread install commands on all hosts
-        def _install_commands_on_single_host(connection: Connection, result: Result) -> Optional[Result]:
-            """
-            Install all dependencies on a single host from pip and apt.
-
-            :param connection: The connection to the remote server.
-            :param Result: The result of the simulated rosdep install command.
-            :return: The result of the task.
-            """
-            # Parse rosdep output to get install commands from each succeeded connection
-            # The output should look like this:
-            # #[apt] Installation commands:
-            #   sudo -H apt-get install -y <package1>
-            #   sudo -H apt-get install -y <package2>
-            #   ...
-            lines = result.stdout.splitlines()
-            install_commands = []
-            for line in lines:
-                if line.startswith("  "):
-                    install_commands.append(line.strip())
-
-            if len(install_commands) == 0:
-                print_debug(f"Nothing to install for {connection.host}")
-                return Result(connection=connection, exited=0)  # Successful exit code
-
-            # Define command prefixes to search for
-            apt_command_prefix = "sudo -H apt-get install -y "
-            apt_packages: list[str] = []
-
-            install_result: Optional[Result] = (
-                None  # This collects the result of the last run install command, failed if exception occurred
-            )
-            for install_command in install_commands:
-                if install_command.startswith(apt_command_prefix):
-                    # Remove prefix from command, as we collect all apt commands into one
-                    apt_packages.append(install_command.replace(apt_command_prefix, "", 1).strip())
-                else:
-                    print_warning(
-                        f"Currently only the apt-get installer is supported. Stumbled over unknown installer in command and skipping it: '{install_command}' on {connection.host}"
-                    )
-
-            apt_install_command = f"apt-get install -y {' '.join(apt_packages)}"
-            print_debug(f"Running apt install command: {apt_install_command} on {connection.host}")
-            try:
-                install_result = connection.sudo(apt_install_command, hide=hide_output(), password=self._sudo_password)
-            except Exception:  # TODO: What exception can we expect here?
-                print_error(f"Failed install command on {connection.host}")
-                install_result = Result(connection=connection, exited=1, command=apt_install_command)
-            return install_result
-
-        # Collect results from all hosts
-        installs_results = GroupResult()
-
-        # Create a ThreadPoolExecutor to run the install commands on all hosts in parallel
-        with concurrent.futures.ThreadPoolExecutor(max_workers=len(gather_results.succeeded)) as executor:
-            futures = [
-                executor.submit(_install_commands_on_single_host, gather_connection, gather_result)
-                for gather_connection, gather_result in gather_results.items()
-            ]
-
-        for future in futures:
-            install_result = future.result()
-            if install_result is not None:
-                installs_results[install_result.connection] = install_result
-
-        # Re-Bifurcate results into succeeded and failed results
-        # This is necessary, as the GroupResult does this prematurely, before we could collect the results from all hosts
-        for key, value in installs_results.items():
-            if value.exited != 0:
-                installs_results.failed[key] = value
-            else:
-                installs_results.succeeded[key] = value
-
-        return installs_results
-
-    def _pip_upgrade(self, connections: Group) -> GroupResult:
-        """
-        Install and upgrade all pip robot requirements on the target.
-
-        :param connections: The connections to remote servers.
-        :return: Results, with success if the upgrade succeeded on the target
-        """
-        print_debug("Upgrading pip packages")
-
-        cmd = f"pip3 install --user --upgrade --break-system-packages -r {self._remote_workspace}/src/requirements/robot.txt"
-        print_debug(f"Calling {cmd}")
-        try:
-            upgrade_results = connections.run(cmd, hide=hide_output())
-            print_debug(f"Upgraded pip packages on the following hosts: {self._succeeded_hosts(upgrade_results)}")
-        except GroupException as e:
-            print_error(f"Failed to upgrade pip packages on the following hosts: {self._failed_hosts(e.result)}")
-            upgrade_results = e.result
-        return upgrade_results
diff --git a/scripts/deploy/tasks/launch.py b/scripts/deploy/tasks/launch.py
index bc270253e..a7151f39c 100644
--- a/scripts/deploy/tasks/launch.py
+++ b/scripts/deploy/tasks/launch.py
@@ -7,14 +7,16 @@
 
 
 class Launch(AbstractTask):
-    def __init__(self, tmux_session_name: str) -> None:
+    def __init__(self, remote_workspace: str, tmux_session_name: str) -> None:
         """
         Launch the teamplayer ROS software on a remote machine in a new tmux session.
 
+        :param remote_workspace: Path to the remote workspace to run colcon in
         :param tmux_session_name: Name of the fresh tmux session to launch the teamplayer in
         """
         super().__init__()
 
+        self._remote_workspace = remote_workspace
         self._tmux_session_name = tmux_session_name
 
     def _run(self, connections: Group) -> GroupResult:
@@ -32,8 +34,8 @@ def _run(self, connections: Group) -> GroupResult:
         node_running_results = self._check_nodes_already_running(connections)
         if not node_running_results.succeeded:
             return node_running_results
+        # Some hosts have no ROS 2 nodes already running, continuing
 
-        # Some nodes have no ROS 2 nodes already running, continuing
         # Check if tmux session is already running
         tmux_session_running_results = self._check_tmux_session_already_running(
             get_connections_from_succeeded(node_running_results)
@@ -53,14 +55,14 @@ def _check_nodes_already_running(self, connections: Group) -> GroupResult:
         :return: Results, with success if ROS 2 nodes are not already running
         """
         print_debug("Checking if ROS 2 nodes are already running")
-        cmd = "ros2 node list -c"
+        cmd = f"cd {self._remote_workspace} && pixi run ros2 node list -c"
 
-        print_debug(f"Calling {cmd}")
+        print_debug(f"Calling '{cmd}'")
         try:
             node_list_results = connections.run(cmd, hide=hide_output())
-            print_debug(f"Calling {cmd} succeeded on {self._succeeded_hosts(node_list_results)}")
+            print_debug(f"Calling '{cmd}' succeeded on: {self._succeeded_hosts(node_list_results)}")
         except GroupException as e:
-            print_error(f"Calling {cmd} failed on {self._failed_hosts(e.result)}")
+            print_error(f"Calling '{cmd}' failed on: {self._failed_hosts(e.result)}")
             if not e.result.succeeded:  # TODO: Does run immediately fail if one host fails? Do we even get here?
                 return e.result
             else:
@@ -104,12 +106,12 @@ def _check_tmux_session_already_running(self, connections: Group) -> GroupResult
         # The tmux ls command outputs names of all running tmux sessions.
         cmd = "test -S /tmp/tmux-1000/default && tmux ls -F '#S' ; true"
 
-        print_debug(f"Calling: {cmd}")
+        print_debug(f"Calling: '{cmd}'")
         try:
             tmux_ls_results = connections.run(cmd, hide=hide_output())
-            print_debug(f"Calling {cmd} succeeded on {self._succeeded_hosts(tmux_ls_results)}")
+            print_debug(f"Calling '{cmd}' succeeded on: {self._succeeded_hosts(tmux_ls_results)}")
         except GroupException as e:
-            print_error(f"Calling {cmd} failed on {self._failed_hosts(e.result)}")
+            print_error(f"Calling '{cmd}' failed on: {self._failed_hosts(e.result)}")
             if not e.result.succeeded:
                 return e.result
             else:
@@ -150,9 +152,9 @@ def _check_tmux_session_already_running(self, connections: Group) -> GroupResult
     def _launch_teamplayer(self, connections: Group) -> GroupResult:
         print_debug("Launching teamplayer")
         # Create tmux session
-        cmd = f"tmux new-session -d -s {self._tmux_session_name} && tmux send-keys -t {self._tmux_session_name} 'ros2 launch bitbots_bringup teamplayer.launch record:=true tts:=false' Enter"
+        cmd = f"tmux new-session -d -s {self._tmux_session_name} && tmux send-keys -t {self._tmux_session_name} 'cd {self._remote_workspace} && pixi run ros2 launch bitbots_bringup teamplayer.launch record:=true tts:=false' Enter"
 
-        print_debug(f"Calling {cmd}")
+        print_debug(f"Calling '{cmd}'")
         try:
             results = connections.run(cmd, hide=hide_output())
             # Print commands to connect to teamplayer tmux session
diff --git a/scripts/deploy/tasks/sync.py b/scripts/deploy/tasks/sync.py
index a875d3f18..3f97bf0ec 100644
--- a/scripts/deploy/tasks/sync.py
+++ b/scripts/deploy/tasks/sync.py
@@ -1,196 +1,35 @@
 import concurrent.futures
 import os
-from typing import Optional
 
-import yaml
-from deploy.misc import Connection, be_quiet, get_connections_from_succeeded, hide_output, print_debug, print_error
+from deploy.misc import Connection, be_quiet, hide_output, print_debug, print_error
 from deploy.tasks.abstract_task import AbstractTask
 from fabric import Group, GroupResult, Result
-from fabric.exceptions import GroupException
 
 
 class Sync(AbstractTask):
-    def __init__(self, local_workspace: str, remote_workspace: str, package: str = "", pre_clean: bool = False) -> None:
+    def __init__(self, local_workspace: str, remote_workspace: str) -> None:
         """
-        Sync task that synchronizes (copies) the local source directory to the remote server.
+        Sync task that synchronizes (copies) the local workspace directory to the remote server.
+        Excludes files and directories as specified in the .rsyncignore file in the local workspace.
 
         :param local_workspace: Path to the local workspace to sync
         :param remote_workspace: Path to the remote workspace to sync to
-        :param package: Limit to file from this package, if empty, all files are included
-        :param pre_clean: Whether to clean the source directory before syncing
         """
         super().__init__()
         self._local_workspace = local_workspace
         self._remote_workspace = remote_workspace
-        self._package = package
-        self._pre_clean = pre_clean
-
-        self._remote_src_path = os.path.join(self._remote_workspace, "src")
-
-        self._includes = self._get_includes_from_file(
-            os.path.join(self._local_workspace, "sync_includes_wolfgang_nuc.yaml"), self._package
-        )
-
-    def _get_includes_from_file(self, file_path: str, package: str = "") -> list:
-        """
-        Retrieve the include and exclude arguments for rsync from a yaml file.
-
-        :param file_path: Path of the includes-file
-        :param package: Limit to file from this package, if empty, all files are included
-        :returns: Include and exclude arguments for rsync
-        """
-        with open(file_path) as file:
-            data = yaml.safe_load(file)
-
-        # Exclude files
-        excludes: list[str] = data["exclude"]
-
-        # Include files
-        includes: list[str] = []
-        for entry in data["include"]:
-            if isinstance(entry, str):
-                if package == "" or package == entry:
-                    includes.append(f"{entry}")
-                    includes.append(f"{entry}/**")
-            elif isinstance(entry, dict):
-                for directory, subdirectories in entry.items():
-                    if package == "":
-                        includes.append(f"{directory}")
-                        for subdirectory in subdirectories:
-                            includes.append(f"{directory}/{subdirectory}")
-                            includes.append(f"{directory}/{subdirectory}/**")
-                    elif package in subdirectories:
-                        includes.append(f"{directory}")
-                        includes.append(f"{directory}/{package}")
-                        includes.append(f"{directory}/{package}/**")
-
-        # Encase in quotes
-        excludes = [f"'--include=- {exclude}'" for exclude in excludes]
-        includes = [f"'--include=+ {include}'" for include in includes]
-
-        return excludes + includes + ["'--include=- *'"]
 
     def _run(self, connections: Group) -> GroupResult:
         """
-        Synchronize (copy) the local source directory to the remotes using the rsync tool.
+        Synchronize (copy) the workspace directory to the remotes using the rsync tool.
 
         :param connections: The connections to remote servers.
         :return: The results of the task.
         """
-        # Optional: Clean the remote workspace
-        if self._pre_clean:
-            clean_results = self._clean(connections)
-            if not clean_results.succeeded:
-                return clean_results
-            connections = get_connections_from_succeeded(clean_results)
-
         # Synchronize the local source directory to the remote workspace with rsync
         rsync_results = self._rsync(connections)
         return rsync_results
 
-    def _clean(self, connections: Group) -> GroupResult:
-        """
-        Clean the remote workspace by removing the src/ directory and recreating it.
-
-        :return: The results of the task.
-        """
-
-        def _remove_directories_on_single_host(connection: Connection, result: Result) -> Optional[Result]:
-            """Removes directories given in the output of the previous find command.
-
-            :param connection: The connection to the remote server.
-            :param result: The result of the previous find command.
-            :return: The result of the removal command.
-            """
-            # Remove the found directories on the succeeded hosts
-            print_debug(f"Removing found directories on host {connection.host}")
-            directories = " ".join(
-                result.stdout.split("\n")
-            )  # Directories are given line by line, we concatenate them with spaces to get a single command
-            rm_cmd = f"rm -rf {directories}"
-            print_debug(f"Calling '{rm_cmd}' on host {connection.host}")
-            try:
-                rm_results = connection.run(rm_cmd, hide=hide_output())
-                print_debug(f"Cleaning of package succeeded for hosts {connection.host}")
-            except Exception as e:
-                print_error(f"Cleaning of package failed for hosts {Connection.host}")
-                return Result(connection=connection, cmd=rm_cmd, exited=1, stdout="", stderr=str(e))
-            return rm_results
-
-        if self._package:  # Package given, clean only the package directory
-            # Only clean the package directory
-            # To do this, we find sub-directories with the package name and remove them
-            print_debug(
-                f"Searching for package '{self._package}' in remote source directory: '{self._remote_src_path} to clean it'"
-            )
-            find_cmd = f'find {self._remote_src_path} -type d -not -path "*/.git/*" -name "{self._package}"'
-            print_debug(f"Calling '{find_cmd}'")
-            try:
-                find_results = connections.run(find_cmd, hide=hide_output())
-                print_debug(f"Finding of package succeeded for hosts {self._succeeded_hosts(find_results)}")
-            except GroupException as e:
-                print_error(f"Finding of package failed for hosts {self._failed_hosts(e.result)}")
-                if not e.result.succeeded:  # TODO: Does run immediately if one host fails? Do we even get here?
-                    return e.result
-                find_results = e.result
-
-            # Collect removal results from the succeeded hosts
-            remove_results = GroupResult()
-
-            # Remove the found directories on the succeeded hosts concurrently
-            with concurrent.futures.ThreadPoolExecutor(max_workers=len(find_results.succeeded)) as executor:
-                futures = [
-                    executor.submit(_remove_directories_on_single_host, connection, result)
-                    for connection, result in find_results.succeeded.items()
-                ]
-
-            for future in futures:
-                remove_result = future.result()
-                if remove_result is not None:
-                    remove_results[remove_result.connection] = remove_result
-
-            # Re-Bifurcate results into succeeded and failed results
-            # This is necessary, as the GroupResult does this prematurely, before we could collect the results from all hosts
-            for key, value in remove_results.items():
-                if value.exited != 0:
-                    remove_results.failed[key] = value
-                else:
-                    remove_results.succeeded[key] = value
-            return remove_results
-
-        else:  # No package given, clean the entire source directory
-            # First, remove the source directory
-            print_debug(f"Removing source directory: '{self._remote_src_path}'")
-            rm_cmd = f"rm -rf {self._remote_src_path}"
-
-            print_debug(f"Calling '{rm_cmd}'")
-            try:
-                rm_results = connections.run(rm_cmd, hide=hide_output())
-                print_debug(f"Cleaning of source directory succeeded for hosts {self._succeeded_hosts(rm_results)}")
-            except GroupException as e:
-                print_error(f"Cleaning of source directory failed for hosts {self._failed_hosts(e.result)}")
-                if not e.result.succeeded:  # TODO: Does run immediately if one host fails? Do we even get here?
-                    return e.result
-                rm_results = e.result
-
-            # Only continue on succeeded hosts
-            connections = get_connections_from_succeeded(rm_results)
-
-            # Second, create an empty directory again
-            print_debug(f"Creating source directory: '{self._remote_src_path}'")
-            mkdir_cmd = f"mkdir -p {self._remote_src_path}"
-
-            print_debug(f"Calling '{mkdir_cmd}'")
-            try:
-                mkdir_results = connections.run(mkdir_cmd, hide=hide_output())
-                print_debug(
-                    f"Recreation of source directory succeeded for hosts {self._succeeded_hosts(mkdir_results)}"
-                )
-            except GroupException as e:
-                print_error(f"Recreation of source directory failed for hosts {self._failed_hosts(e.result)}")
-                return e.result
-            return mkdir_results
-
     def _rsync(self, connections: Group) -> GroupResult:
         """
         Synchronize (copy) the local source directory to the remotes using the rsync tool.
@@ -200,7 +39,7 @@ def _rsync(self, connections: Group) -> GroupResult:
         :return: The results of the task.
         """
 
-        def _sync_single(connection: Connection) -> Optional[Result]:
+        def _sync_single(connection: Connection) -> Result | None:
             # Construct the rsync command
             cmd = [
                 "rsync",
@@ -209,39 +48,35 @@ def _sync_single(connection: Connection) -> Optional[Result]:
                 "--delete",
                 "-e",
                 '"ssh -o StrictHostKeyChecking=no"',
+                f"--exclude-from={os.path.join(self._local_workspace, '.rsyncignore')}",
             ]
             if not be_quiet():
                 cmd.append("--verbose")
-            cmd.extend(self._includes)
             cmd.extend(
                 [
                     self._local_workspace + "/",  # NOTE: The trailing slash is important for rsync
-                    f"{connection.user}@{connection.host}:{self._remote_src_path}",
+                    f"{connection.user}@{connection.host}:{self._remote_workspace}",
                 ]
             )
             cmd = " ".join(cmd)
 
-            print_debug(f"Calling {cmd}")
+            print_debug(f"Calling '{cmd}'")
             invoke_result = connection.local(cmd, hide=hide_output())
 
             if invoke_result is None:
+                print_error(f"Rsync command failed to execute on host {connection.host}")
                 return
-            # The result is from invoke, not fabric, so we need to convert it
-            return Result(
-                stdout=invoke_result.stdout,
-                stderr=invoke_result.stderr,
-                encoding=invoke_result.encoding,
-                command=invoke_result.command,
-                shell=invoke_result.shell,
-                env=invoke_result.env,
-                exited=invoke_result.exited,
-                pty=invoke_result.pty,
-                hide=invoke_result.hide,
-                connection=connection,
-            )
+
+            # Verify syncing succeeded and system architectures matches by running "pixi install"
+            cmd = f"cd {self._remote_workspace} && pixi install"
+            print_debug("Installing dependencies on remote host to verify synchronization and architecture match.")
+            print_debug(f"Calling '{cmd}' on: {connection.host}")
+            verify_result = connection.run(cmd, hide=hide_output())
+
+            return verify_result
 
         print_debug(
-            f"Synchronizing local source directory ('{self._local_workspace}') to  the remote directory: '{self._remote_src_path}'"
+            f"Synchronizing local source directory ('{self._local_workspace}') to  the remote directory: '{self._remote_workspace}'"
         )
 
         # Collect results of the group
diff --git a/scripts/make_webots.sh b/scripts/make_webots.sh
deleted file mode 100755
index a115c8831..000000000
--- a/scripts/make_webots.sh
+++ /dev/null
@@ -1,30 +0,0 @@
-#!/usr/bin/env bash
-set -eEo pipefail
-
-WEBOTS_VERSION="2022b"
-WEBOTS_DOWNLOAD_URL="https://github.com/cyberbotics/webots/releases/download/R${WEBOTS_VERSION}/webots_${WEBOTS_VERSION}_amd64.deb"
-
-check_internet_connection () {
-    if ! ping -q -c 1 -W 1 google.com > /dev/null; then
-        echo "No internet connection. Please check your internet connection to install the webots simulator."
-        exit 1
-    fi
-}
-
-# Check if the correct webots simulator WEBOTS_VERSION is installed (apt)
-if apt list webots --installed | grep -q "$WEBOTS_VERSION"; then
-    echo "Webots simulator release $WEBOTS_VERSION is already installed."
-else
-    echo "Webots simulator release $WEBOTS_VERSION is not installed. Installing..."
-    # Check if we have an internet connection
-    check_internet_connection
-    # Check if the url exist
-    if ! curl --output /dev/null --silent --head --fail "$WEBOTS_DOWNLOAD_URL"; then
-        echo "Webots download url does not exist. Please check the url and update the 'WEBOTS_DOWNLOAD_URL' variable in the 'make_webots.sh' script."
-        exit 1
-    fi
-    # Download the webots simulator dep package to temp folder
-    wget --no-verbose --show-progress "$WEBOTS_DOWNLOAD_URL" -O "/tmp/webots_${WEBOTS_VERSION}.deb"
-    # Install the webots simulator
-    sudo apt-get install "/tmp/webots_${WEBOTS_VERSION}.deb" -y
-fi
diff --git a/scripts/ros.plugin.sh b/scripts/ros.plugin.sh
deleted file mode 100644
index 3fe2f1096..000000000
--- a/scripts/ros.plugin.sh
+++ /dev/null
@@ -1,68 +0,0 @@
-### Aliases and functions for ROS 2 and colcon usage. Usage for either
-### Ubuntu 22.04/24.04 or in rosdocked/dev docker container
-
-shell="$(basename "$SHELL")"
-ros_releases=(iron jazzy rolling)
-distro="$ROS_DISTRO"
-
-rid() {
-  export ROS_DOMAIN_ID="$1"
-  echo "ROS_DOMAIN_ID set to $ROS_DOMAIN_ID"
-}
-
-# Create a function to update the argcomplete so tab completion works.
-# This needs to be called every time we source something ROS 2 related.
-# Previous loading of bashcompinit is required.
-update_ros2_argcomplete() {
-  eval "$(register-python-argcomplete colcon)"
-  eval "$(register-python-argcomplete ros2)"
-}
-
-# Source the ROS 2 setup files if jazzy is installed
-if [[ -n "$distro" ]]; then
-  source "/opt/ros/$distro/setup.$shell" &> /dev/null
-else
-  for release in "${ros_releases[@]}"; do
-    if [[ -d "/opt/ros/$release" ]]; then
-      source "/opt/ros/$release/setup.$shell" &> /dev/null
-      distro="$release"
-      break
-    fi
-  done
-fi
-
-# Update the tab completion
-update_ros2_argcomplete
-
-# ros aliases
-alias rr='ros2 run'
-alias rl='ros2 launch'
-
-alias rte='ros2 topic echo'
-alias rtl='ros2 topic list'
-alias rth='ros2 topic hz'
-alias rtp='ros2 topic pub'
-
-alias rpl='ros2 param list'
-alias rpg='ros2 param get'
-
-# colcon aliases
-alias cdc='cd $COLCON_WS'
-
-alias cba='cdc && colcon build --symlink-install --continue-on-error'
-alias cbs='cdc && colcon build --symlink-install --packages-select'
-alias cb='cdc && colcon build --symlink-install --continue-on-error --packages-up-to'
-alias cc='cdc && colcon clean packages --packages-select'
-alias cca='cdc && colcon clean packages'
-alias ct='cdc && colcon test --event-handlers console_direct+ --return-code-on-test-failure'
-
-alias sr="source /opt/ros/$distro/setup.$shell && update_ros2_argcomplete"
-alias sc="source \$COLCON_WS/install/setup.$shell && update_ros2_argcomplete"
-alias sa='sr && sc'
-
-# deploy_robots tool aliases
-DEPLOY_ROBOTS="$COLCON_WS/src/bitbots_main/scripts/deploy_robots.py"
-alias dp='$DEPLOY_ROBOTS --sync --build --print-bit-bot'
-alias dpfull='dp --install --configure'
-alias dpclean='dp --clean'
-alias dplo='dp --skip-local-repo-check'
diff --git a/scripts/setup.sh b/scripts/setup.sh
index e3a3ecea3..90fed54d7 100755
--- a/scripts/setup.sh
+++ b/scripts/setup.sh
@@ -4,45 +4,7 @@ set -eEuo pipefail
 # static/global variables
 DIR="$(dirname "$(readlink -f "$0")")"
 BRANCH="${1:-main}"
-ROS_DISTRO=${ROS_DISTRO:-"jazzy"}
-COLCON_WS="${COLCON_WS:-"$HOME/colcon_ws"}"
 REPO_URL="git@github.com:bit-bots/bitbots_main.git"
-SHELL_CONFIG="$(cat <<EOF
-
-# >>> bit-bots initialize >>>
-
-# Add python pip bins to PATH
-export PATH="\$HOME/.local/bin:\$PATH"
-
-# Ignore some deprecation warnings
-export PYTHONWARNINGS="ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources,ignore:easy_install command is deprecated,ignore:setup.py install is deprecated"
-
-# Limit ROS 2 communication to localhost (can be overridden when needed)
-export ROS_DOMAIN_ID=24
-export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
-
-# Set the default colcon workspace
-export COLCON_WS="\$HOME/colcon_ws"
-
-# Set the default log level for colcon
-export COLCON_LOG_LEVEL=30
-
-# Define a log layout
-export RCUTILS_COLORIZED_OUTPUT=1
-export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity}] [{name}]: {message}"
-
-# Set the default Middleware
-export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-# Load our ros plugin script containing useful functions and aliases for ROS 2 development
-if [[ -f \$COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh ]]; then
-  source \$COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh
-fi
-
-# <<< bit-bots initialize <<<
-
-EOF
-)"
 
 ask_question() {
     while true; do
@@ -56,33 +18,8 @@ ask_question() {
     done
 }
 
-setup_ros() {
-    if (( has_sudo )); then
-        echo "Setting up ROS 2..."
-
-        if [[ ! -f /etc/apt/sources.list.d/ros2.list ]]; then
-            echo "Adding ROS 2 repository..."
-            sudo apt install -y curl lsb-release
-            sudo sh -c "curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key > /usr/share/keyrings/ros-archive-keyring.gpg"
-            sudo sh -c "echo 'deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main' > /etc/apt/sources.list.d/ros2.list"
-        fi
-
-        sudo apt update && sudo apt install -y \
-            clang-format \
-            cppcheck \
-            python3-colcon-clean \
-            python3-colcon-common-extensions \
-            python3-pip \
-            python3-rosdep \
-            python3-vcstool \
-            "ros-${ROS_DISTRO}-desktop-full" \
-            "ros-${ROS_DISTRO}-plotjuggler-ros" \
-            "ros-${ROS_DISTRO}-rmw-cyclonedds-cpp" \
-            "ros-${ROS_DISTRO}-rqt-robot-monitor" \
-            "ros-${ROS_DISTRO}-rqt-runtime-monitor"
-    else
-        echo "Please install ROS 2 manually!"
-    fi
+setup_pixi() {
+    curl -fsSL https://pixi.sh/install.sh | sh
 }
 
 setup_repo() {
@@ -102,57 +39,20 @@ setup_repo() {
     fi
 
     echo "Installing dependencies..."
-    if (( has_sudo )); then
-        make install
-    else
-        echo "Cannot use rosdep as it requires sudo."
-        make install-no-root
-    fi
+    $HOME/.pixi/bin/pixi install
 }
 
-setup_colcon() {
-    echo "Installing/Updating colcon extensions..."
-
-    # Install/Update colcon extensions / patches
-    python3 -m pip install --upgrade --user --break-system-packages \
-      git+https://github.com/timonegk/colcon-core.git@colors \
-      git+https://github.com/timonegk/colcon-notification.git@colors \
-      git+https://github.com/timonegk/colcon-output.git@colors
-
-    if [[ ! -d "$COLCON_WS/src/bitbots_main" ]]; then
-        echo "Setting up colcon workspace in $COLCON_WS..."
-        mkdir -p "$COLCON_WS/src"
-        ln -s "$meta_dir" "$COLCON_WS/src/bitbots_main"
+setup_host() {
+    echo "Setting up system dependencies not covered by pixi. This may require sudo rights. For non-Ubuntu systems, please install the required packages manually."
+    if (( has_sudo )); then
+        $meta_dir/scripts/make_basler.sh
     fi
 }
 
 build_repository() {
-    echo "Running full colcon build for bitbots_main repository..."
-    cd "$COLCON_WS"
-
+    echo "Running full colcon build..."
     set +u
-    source "/opt/ros/${ROS_DISTRO}/setup.bash"
-
-    colcon build --symlink-install --continue-on-error
-}
-
-setup_shell_aliases() {
-    if ask_question "Do you want to setup/update the Bit-Bots ROS 2 and colcon shell configuration?"; then
-        local shell_config_file
-
-        if [[ "$SHELL" =~ "bash" ]]; then
-            shell_config_file="$HOME/.bashrc"
-        elif [[ "$SHELL" =~ "zsh" ]]; then
-            shell_config_file="$HOME/.zshrc"
-        else
-            echo "Your shell is not supported!"
-            exit 1
-        fi
-
-        if ! grep -q ">>> bit-bots initialize >>>" "$shell_config_file"; then
-            echo "$SHELL_CONFIG" >> "$shell_config_file"
-        fi
-    fi
+    $HOME/.pixi/bin/pixi run build
 }
 
 has_sudo=0
@@ -160,7 +60,7 @@ if ask_question "Do you have sudo rights?"; then
     has_sudo=1
 fi
 if (( ! has_sudo )); then
-    echo "Because, you don't have sudo rights, ensure all necessary ROS 2 packages are installed."
+    echo "Because, you don't have sudo rights, no host dependencies will be installed."
 fi
 
 in_repo=1
@@ -171,6 +71,5 @@ fi
 
 setup_ros
 setup_repo
-setup_colcon
-setup_shell_aliases
+setup_host
 build_repository
diff --git a/bitbots_behavior/README.md b/src/bitbots_behavior/README.md
similarity index 100%
rename from bitbots_behavior/README.md
rename to src/bitbots_behavior/README.md
diff --git a/bitbots_behavior/bitbots_blackboard/CMakeLists.txt b/src/bitbots_behavior/bitbots_blackboard/CMakeLists.txt
similarity index 100%
rename from bitbots_behavior/bitbots_blackboard/CMakeLists.txt
rename to src/bitbots_behavior/bitbots_blackboard/CMakeLists.txt
diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/__init__.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/__init__.py
similarity index 100%
rename from bitbots_behavior/bitbots_blackboard/bitbots_blackboard/__init__.py
rename to src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/__init__.py
diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/body_blackboard.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/body_blackboard.py
similarity index 100%
rename from bitbots_behavior/bitbots_blackboard/bitbots_blackboard/body_blackboard.py
rename to src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/body_blackboard.py
diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/__init__.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/__init__.py
similarity index 100%
rename from bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/__init__.py
rename to src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/__init__.py
diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/animation_capsule.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/animation_capsule.py
similarity index 100%
rename from bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/animation_capsule.py
rename to src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/animation_capsule.py
diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/costmap_capsule.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/costmap_capsule.py
similarity index 100%
rename from bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/costmap_capsule.py
rename to src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/costmap_capsule.py
diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/game_status_capsule.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/game_status_capsule.py
similarity index 100%
rename from bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/game_status_capsule.py
rename to src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/game_status_capsule.py
diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/kick_capsule.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/kick_capsule.py
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rename to src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/kick_capsule.py
diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py
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rename to src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/misc_capsule.py
diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/pathfinding_capsule.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/pathfinding_capsule.py
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rename from bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/pathfinding_capsule.py
rename to src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/pathfinding_capsule.py
diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/team_data_capsule.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/team_data_capsule.py
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rename from bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/team_data_capsule.py
rename to src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/team_data_capsule.py
diff --git a/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/world_model_capsule.py b/src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/world_model_capsule.py
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rename from bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/world_model_capsule.py
rename to src/bitbots_behavior/bitbots_blackboard/bitbots_blackboard/capsules/world_model_capsule.py
diff --git a/bitbots_behavior/bitbots_blackboard/docs/_static/logo.png b/src/bitbots_behavior/bitbots_blackboard/docs/_static/logo.png
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rename to src/bitbots_behavior/bitbots_blackboard/docs/_static/logo.png
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rename to src/bitbots_behavior/bitbots_blackboard/docs/conf.py
diff --git a/bitbots_behavior/bitbots_blackboard/docs/index.rst b/src/bitbots_behavior/bitbots_blackboard/docs/index.rst
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rename to src/bitbots_behavior/bitbots_blackboard/docs/index.rst
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similarity index 100%
rename from bitbots_behavior/bitbots_blackboard/setup.py
rename to src/bitbots_behavior/bitbots_blackboard/setup.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/__init__.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/__init__.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/__init__.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/__init__.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/__init__.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/__init__.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/__init__.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/__init__.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/__init__.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/__init__.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/__init__.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/__init__.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/avoid_ball.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/avoid_ball.py
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rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/avoid_ball.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/avoid_ball.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/change_action.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/change_action.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/change_action.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/change_action.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/change_role.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/change_role.py
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rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/change_role.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/change_role.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/deactivate_hcm.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/deactivate_hcm.py
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rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/deactivate_hcm.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/deactivate_hcm.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/dribble_forward.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/dribble_forward.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/dribble_forward.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/dribble_forward.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/dynup.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/dynup.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/dynup.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/dynup.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/forget_ball.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/forget_ball.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/forget_ball.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/forget_ball.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py
similarity index 97%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py
index 728a56811..4ec541313 100644
--- a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py
+++ b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_ball.py
@@ -14,7 +14,7 @@ def __init__(self, blackboard, dsd, parameters):
 
         if "target" not in parameters.keys():
             self.blackboard.node.get_logger().error(
-                'The parameter "target" could not be used to decide whether map information is accesible'
+                'The parameter "target" could not be used to decide whether map information is accessible'
             )
         else:
             self.target = BallGoalType(parameters["target"])
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_block_position.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_block_position.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_block_position.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_block_position.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_corner_kick_position.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_corner_kick_position.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_corner_kick_position.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_corner_kick_position.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_defense_position.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_defense_position.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_defense_position.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_defense_position.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_pass_position.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_pass_position.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_pass_position.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_pass_position.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_role_position.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_role_position.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_role_position.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/go_to_role_position.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py
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rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/head_modes.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/kick_ball.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/kick_ball.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/kick_ball.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/kick_ball.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/play_animation.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/play_animation.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/play_animation.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/play_animation.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/speak.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/speak.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/speak.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/speak.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/stand.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/stand.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/stand.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/stand.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/timer.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/timer.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/timer.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/timer.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/turn.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/turn.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/turn.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/turn.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/walk.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/walk.py
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rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/walk.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/walk.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/__init__.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/__init__.py
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rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/__init__.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/__init__.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/aligned_to_goal.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/aligned_to_goal.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/aligned_to_goal.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/aligned_to_goal.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/avoid_ball.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/avoid_ball.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/avoid_ball.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/avoid_ball.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_close.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_close.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_close.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_close.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_dangerous.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_dangerous.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_dangerous.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_dangerous.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_in_defensive_area.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_in_defensive_area.py
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rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_in_defensive_area.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_in_defensive_area.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_kick_area.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_kick_area.py
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rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_kick_area.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_kick_area.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_seen.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_seen.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_seen.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/ball_seen.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/closest_to_ball.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/closest_to_ball.py
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rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/closest_to_ball.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/closest_to_ball.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/config_role.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/config_role.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/config_role.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/config_role.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/count_active_players_without_goalie.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/count_active_players_without_goalie.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/count_active_players_without_goalie.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/count_active_players_without_goalie.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/current_score.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/current_score.py
similarity index 100%
rename from bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/current_score.py
rename to src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/current_score.py
diff --git a/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/do_once.py b/src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/decisions/do_once.py
similarity index 100%
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diff --git a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/bitfoot_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/bitfoot_hardware_interface.hpp
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index 751f78c97..ab86bf5ec 100644
--- a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/bitfoot_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/bitfoot_hardware_interface.hpp
@@ -14,14 +14,14 @@ namespace bitbots_ros_control {
 
 class BitFootHardwareInterface : public bitbots_ros_control::HardwareInterface {
  public:
-  explicit BitFootHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id,
+  explicit BitFootHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver, int id,
                                     std::string topic_name, std::string name);
 
   bool init();
 
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
  private:
   rclcpp::Node::SharedPtr nh_;
diff --git a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/button_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/button_hardware_interface.hpp
similarity index 87%
rename from bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/button_hardware_interface.hpp
rename to src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/button_hardware_interface.hpp
index 449e7e1ba..65ddd894a 100644
--- a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/button_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/button_hardware_interface.hpp
@@ -16,12 +16,12 @@ namespace bitbots_ros_control {
 
 class ButtonHardwareInterface : public bitbots_ros_control::HardwareInterface {
  public:
-  explicit ButtonHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id,
+  explicit ButtonHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver, int id,
                                    std::string topic, int read_rate_);
 
   bool init();
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
  private:
   rclcpp::Node::SharedPtr nh_;
diff --git a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/core_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/core_hardware_interface.hpp
similarity index 92%
rename from bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/core_hardware_interface.hpp
rename to src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/core_hardware_interface.hpp
index 533d65256..a3a5f76ac 100644
--- a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/core_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/core_hardware_interface.hpp
@@ -18,16 +18,16 @@ namespace bitbots_ros_control {
 
 class CoreHardwareInterface : public bitbots_ros_control::HardwareInterface {
  public:
-  explicit CoreHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id,
+  explicit CoreHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver, int id,
                                  int read_rate);
 
   bool get_power_status();
 
   bool init();
 
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
   void restoreAfterPowerCycle();
 
  private:
diff --git a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/dynamixel_servo_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/dynamixel_servo_hardware_interface.hpp
similarity index 92%
rename from bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/dynamixel_servo_hardware_interface.hpp
rename to src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/dynamixel_servo_hardware_interface.hpp
index 3f96c64af..f799abd90 100644
--- a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/dynamixel_servo_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/dynamixel_servo_hardware_interface.hpp
@@ -19,7 +19,7 @@
 
 namespace bitbots_ros_control {
 template <typename T>
-std::string vecToString(const std::vector<T> &vec) {
+std::string vecToString(const std::vector<T>& vec) {
   std::stringstream ss;
   ss << "[";
   for (unsigned int i = 0; i < vec.size(); ++i) {
@@ -50,8 +50,8 @@ class DynamixelServoHardwareInterface : public bitbots_ros_control::HardwareInte
   explicit DynamixelServoHardwareInterface(rclcpp::Node::SharedPtr nh);
 
   bool init();
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
   void addBusInterface(std::shared_ptr<ServoBusInterface> bus);
   void writeROMRAM(bool first_time);
 
@@ -61,7 +61,7 @@ class DynamixelServoHardwareInterface : public bitbots_ros_control::HardwareInte
 
   void setTorqueCb(std_msgs::msg::Bool::SharedPtr enabled);
   void individualTorqueCb(bitbots_msgs::msg::JointTorque msg);
-  void commandCb(const bitbots_msgs::msg::JointCommand &command_msg);
+  void commandCb(const bitbots_msgs::msg::JointCommand& command_msg);
 
   std::vector<int32_t> goal_torque_individual_;
 
diff --git a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp
similarity index 72%
rename from bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp
rename to src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp
index 499222df5..7c0771c11 100644
--- a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp
@@ -12,13 +12,13 @@ class HardwareInterface {
  public:
   virtual bool init() = 0;
 
-  virtual void read(const rclcpp::Time &t, const rclcpp::Duration &dt) {};
+  virtual void read(const rclcpp::Time& t, const rclcpp::Duration& dt) {};
 
-  virtual void write(const rclcpp::Time &t, const rclcpp::Duration &dt) {};
+  virtual void write(const rclcpp::Time& t, const rclcpp::Duration& dt) {};
 
   virtual void restoreAfterPowerCycle() {};
 
-  virtual ~HardwareInterface(){};
+  virtual ~HardwareInterface() {};
 };
 }  // namespace bitbots_ros_control
 #endif  // BITBOTS_ROS_CONTROL_INCLUDE_BITBOTS_ROS_CONTROL_HARDWARE_INTERFACE_H_
diff --git a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/imu_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/imu_hardware_interface.hpp
similarity index 96%
rename from bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/imu_hardware_interface.hpp
rename to src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/imu_hardware_interface.hpp
index 8e844eccd..1719041ad 100644
--- a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/imu_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/imu_hardware_interface.hpp
@@ -19,12 +19,12 @@ namespace bitbots_ros_control {
 
 class ImuHardwareInterface : public bitbots_ros_control::HardwareInterface {
  public:
-  explicit ImuHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id,
+  explicit ImuHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver, int id,
                                 std::string topic, std::string frame, std::string name);
 
   bool init();
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
   void restoreAfterPowerCycle();
 
  private:
diff --git a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/leds_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/leds_hardware_interface.hpp
similarity index 89%
rename from bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/leds_hardware_interface.hpp
rename to src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/leds_hardware_interface.hpp
index 19d689e6e..d11728c22 100644
--- a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/leds_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/leds_hardware_interface.hpp
@@ -12,12 +12,12 @@ namespace bitbots_ros_control {
 
 class LedsHardwareInterface : public bitbots_ros_control::HardwareInterface {
  public:
-  LedsHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, uint8_t id,
+  LedsHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver, uint8_t id,
                         uint8_t num_leds, uint8_t start_number);
 
   bool init();
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
  private:
   rclcpp::Node::SharedPtr nh_;
diff --git a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/pressure_converter.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/pressure_converter.hpp
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/pressure_converter.hpp
rename to src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/pressure_converter.hpp
diff --git a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/servo_bus_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/servo_bus_interface.hpp
similarity index 96%
rename from bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/servo_bus_interface.hpp
rename to src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/servo_bus_interface.hpp
index 4a9793a5a..dc144b7d8 100644
--- a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/servo_bus_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/servo_bus_interface.hpp
@@ -21,11 +21,11 @@ namespace bitbots_ros_control {
 
 class ServoBusInterface : public bitbots_ros_control::HardwareInterface {
  public:
-  explicit ServoBusInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver,
+  explicit ServoBusInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver,
                              std::vector<std::tuple<int, std::string, float, float, std::string>> servos);
   bool init();
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
   void restoreAfterPowerCycle();
 
   bool loadDynamixels();
diff --git a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/utils.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/utils.hpp
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/utils.hpp
rename to src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/utils.hpp
diff --git a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/wolfgang_hardware_interface.hpp b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/wolfgang_hardware_interface.hpp
similarity index 93%
rename from bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/wolfgang_hardware_interface.hpp
rename to src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/wolfgang_hardware_interface.hpp
index f73254a9f..d55f27e18 100644
--- a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/wolfgang_hardware_interface.hpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/wolfgang_hardware_interface.hpp
@@ -21,9 +21,9 @@ class WolfgangHardwareInterface {
 
   bool init();
 
-  void read(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void read(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
-  void write(const rclcpp::Time &t, const rclcpp::Duration &dt);
+  void write(const rclcpp::Time& t, const rclcpp::Duration& dt);
 
  private:
   bool create_interfaces(std::vector<std::pair<std::string, int>> dxl_devices);
diff --git a/bitbots_lowlevel/bitbots_ros_control/launch/pressure_converter.launch b/src/bitbots_lowlevel/bitbots_ros_control/launch/pressure_converter.launch
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/launch/pressure_converter.launch
rename to src/bitbots_lowlevel/bitbots_ros_control/launch/pressure_converter.launch
diff --git a/bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch b/src/bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch
rename to src/bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch
diff --git a/bitbots_lowlevel/bitbots_ros_control/launch/ros_control_standalone.launch b/src/bitbots_lowlevel/bitbots_ros_control/launch/ros_control_standalone.launch
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/launch/ros_control_standalone.launch
rename to src/bitbots_lowlevel/bitbots_ros_control/launch/ros_control_standalone.launch
diff --git a/bitbots_lowlevel/bitbots_ros_control/launch/viz_imu.launch b/src/bitbots_lowlevel/bitbots_ros_control/launch/viz_imu.launch
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/launch/viz_imu.launch
rename to src/bitbots_lowlevel/bitbots_ros_control/launch/viz_imu.launch
diff --git a/bitbots_lowlevel/bitbots_ros_control/launch/viz_pressure.launch b/src/bitbots_lowlevel/bitbots_ros_control/launch/viz_pressure.launch
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/launch/viz_pressure.launch
rename to src/bitbots_lowlevel/bitbots_ros_control/launch/viz_pressure.launch
diff --git a/bitbots_lowlevel/bitbots_ros_control/launch/viz_servos.launch b/src/bitbots_lowlevel/bitbots_ros_control/launch/viz_servos.launch
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/launch/viz_servos.launch
rename to src/bitbots_lowlevel/bitbots_ros_control/launch/viz_servos.launch
diff --git a/bitbots_lowlevel/bitbots_ros_control/package.xml b/src/bitbots_lowlevel/bitbots_ros_control/package.xml
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/package.xml
rename to src/bitbots_lowlevel/bitbots_ros_control/package.xml
diff --git a/bitbots_lowlevel/bitbots_ros_control/scripts/battery_led.py b/src/bitbots_lowlevel/bitbots_ros_control/scripts/battery_led.py
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/scripts/battery_led.py
rename to src/bitbots_lowlevel/bitbots_ros_control/scripts/battery_led.py
diff --git a/bitbots_lowlevel/bitbots_ros_control/scripts/imu_interactive_marker.py b/src/bitbots_lowlevel/bitbots_ros_control/scripts/imu_interactive_marker.py
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/scripts/imu_interactive_marker.py
rename to src/bitbots_lowlevel/bitbots_ros_control/scripts/imu_interactive_marker.py
diff --git a/bitbots_lowlevel/bitbots_ros_control/scripts/led_error_blink.py b/src/bitbots_lowlevel/bitbots_ros_control/scripts/led_error_blink.py
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/scripts/led_error_blink.py
rename to src/bitbots_lowlevel/bitbots_ros_control/scripts/led_error_blink.py
diff --git a/bitbots_lowlevel/bitbots_ros_control/scripts/pose_check.py b/src/bitbots_lowlevel/bitbots_ros_control/scripts/pose_check.py
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/scripts/pose_check.py
rename to src/bitbots_lowlevel/bitbots_ros_control/scripts/pose_check.py
diff --git a/bitbots_lowlevel/bitbots_ros_control/scripts/pressure_calibration.py b/src/bitbots_lowlevel/bitbots_ros_control/scripts/pressure_calibration.py
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/scripts/pressure_calibration.py
rename to src/bitbots_lowlevel/bitbots_ros_control/scripts/pressure_calibration.py
diff --git a/bitbots_lowlevel/bitbots_ros_control/scripts/send_joint_command.py b/src/bitbots_lowlevel/bitbots_ros_control/scripts/send_joint_command.py
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/scripts/send_joint_command.py
rename to src/bitbots_lowlevel/bitbots_ros_control/scripts/send_joint_command.py
diff --git a/bitbots_lowlevel/bitbots_ros_control/scripts/send_sinus_command.py b/src/bitbots_lowlevel/bitbots_ros_control/scripts/send_sinus_command.py
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/scripts/send_sinus_command.py
rename to src/bitbots_lowlevel/bitbots_ros_control/scripts/send_sinus_command.py
diff --git a/bitbots_lowlevel/bitbots_ros_control/scripts/zero_on_button.py b/src/bitbots_lowlevel/bitbots_ros_control/scripts/zero_on_button.py
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/scripts/zero_on_button.py
rename to src/bitbots_lowlevel/bitbots_ros_control/scripts/zero_on_button.py
diff --git a/bitbots_lowlevel/bitbots_ros_control/src/bitfoot_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/bitfoot_hardware_interface.cpp
similarity index 93%
rename from bitbots_lowlevel/bitbots_ros_control/src/bitfoot_hardware_interface.cpp
rename to src/bitbots_lowlevel/bitbots_ros_control/src/bitfoot_hardware_interface.cpp
index d5cc4a982..f8d3ea3ec 100644
--- a/bitbots_lowlevel/bitbots_ros_control/src/bitfoot_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/bitfoot_hardware_interface.cpp
@@ -3,7 +3,7 @@
 
 namespace bitbots_ros_control {
 
-BitFootHardwareInterface::BitFootHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver,
+BitFootHardwareInterface::BitFootHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver,
                                                    int id, std::string topic_name, std::string name) {
   nh_ = nh;
   driver_ = driver;
@@ -19,7 +19,7 @@ bool BitFootHardwareInterface::init() {
   return true;
 }
 
-void BitFootHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void BitFootHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   /**
    * Reads the foot pressure sensors of the BitFoot
    */
@@ -101,7 +101,7 @@ void BitFootHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duratio
     }
     std::vector<diagnostic_msgs::msg::KeyValue> keyValues = std::vector<diagnostic_msgs::msg::KeyValue>();
     // iterate through map and save it into values
-    for (auto const &ent1 : map) {
+    for (auto const& ent1 : map) {
       diagnostic_msgs::msg::KeyValue key_value = diagnostic_msgs::msg::KeyValue();
       key_value.key = ent1.first;
       key_value.value = ent1.second;
@@ -115,5 +115,5 @@ void BitFootHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duratio
 }
 
 // we dont write anything to the pressure sensors
-void BitFootHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {}
+void BitFootHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {}
 }  // namespace bitbots_ros_control
diff --git a/bitbots_lowlevel/bitbots_ros_control/src/button_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/button_hardware_interface.cpp
similarity index 89%
rename from bitbots_lowlevel/bitbots_ros_control/src/button_hardware_interface.cpp
rename to src/bitbots_lowlevel/bitbots_ros_control/src/button_hardware_interface.cpp
index 23ab79bd9..c3e364767 100644
--- a/bitbots_lowlevel/bitbots_ros_control/src/button_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/button_hardware_interface.cpp
@@ -1,7 +1,7 @@
 #include <bitbots_ros_control/button_hardware_interface.hpp>
 
 namespace bitbots_ros_control {
-ButtonHardwareInterface::ButtonHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver,
+ButtonHardwareInterface::ButtonHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver,
                                                  int id, std::string topic, int read_rate) {
   nh_ = nh;
   driver_ = driver;
@@ -16,7 +16,7 @@ bool ButtonHardwareInterface::init() {
   return true;
 }
 
-void ButtonHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void ButtonHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   /**
    * Reads the buttons
    */
@@ -56,5 +56,5 @@ void ButtonHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration
 }
 
 // we don't write anything to the buttons
-void ButtonHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {}
+void ButtonHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {}
 }  // namespace bitbots_ros_control
diff --git a/bitbots_lowlevel/bitbots_ros_control/src/core_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/core_hardware_interface.cpp
similarity index 96%
rename from bitbots_lowlevel/bitbots_ros_control/src/core_hardware_interface.cpp
rename to src/bitbots_lowlevel/bitbots_ros_control/src/core_hardware_interface.cpp
index 869716ff0..18b8e8761 100644
--- a/bitbots_lowlevel/bitbots_ros_control/src/core_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/core_hardware_interface.cpp
@@ -2,7 +2,7 @@
 
 namespace bitbots_ros_control {
 
-CoreHardwareInterface::CoreHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver,
+CoreHardwareInterface::CoreHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver,
                                              int id, int read_rate) {
   nh_ = nh;
   driver_ = driver;
@@ -47,7 +47,7 @@ bool CoreHardwareInterface::get_power_status() {
   return power_control_status_.data && power_switch_status_.data;
 }
 
-void CoreHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void CoreHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   /**
    * Reads the CORE board
    */
@@ -128,7 +128,7 @@ void CoreHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &
     }
     std::vector<diagnostic_msgs::msg::KeyValue> keyValues = std::vector<diagnostic_msgs::msg::KeyValue>();
     // iterate through map and save it into values
-    for (auto const &ent1 : map) {
+    for (auto const& ent1 : map) {
       diagnostic_msgs::msg::KeyValue key_value = diagnostic_msgs::msg::KeyValue();
       key_value.key = ent1.first;
       key_value.value = ent1.second;
@@ -142,7 +142,7 @@ void CoreHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &
   read_counter_++;
 }
 
-void CoreHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void CoreHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   // we only need to write something if requested power status and current power status do not match
   // we don't use power_switch_status here because we cannot overwrite the physical switch
   if (requested_power_status_ != power_control_status_.data && last_read_successful_) {
diff --git a/bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp
similarity index 93%
rename from bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp
rename to src/bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp
index 81371b754..f27b303a9 100644
--- a/bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp
@@ -14,7 +14,7 @@ void DynamixelServoHardwareInterface::addBusInterface(std::shared_ptr<ServoBusIn
 }
 
 void DynamixelServoHardwareInterface::writeROMRAM(bool first_time) {
-  for (auto &bus : bus_interfaces_) {
+  for (auto& bus : bus_interfaces_) {
     bus->writeROMRAM(first_time);
   }
 }
@@ -41,7 +41,7 @@ bool DynamixelServoHardwareInterface::init() {
 
   // init merged vectors for controller
   joint_count_ = 0;
-  for (const auto &bus : bus_interfaces_) {
+  for (const auto& bus : bus_interfaces_) {
     joint_count_ = joint_count_ + bus->joint_count_;
     for (int i = 0; i < bus->joint_count_; i++) {
       joint_names_.push_back(bus->joint_names_[i]);
@@ -70,8 +70,8 @@ bool DynamixelServoHardwareInterface::init() {
   moveit::core::RobotModelPtr model = rml.getModel();
   lower_joint_limits_.resize(joint_count_);
   upper_joint_limits_.resize(joint_count_);
-  for (const std::string &joint_name : joint_names_) {
-    moveit::core::JointModel *jm = model->getJointModel(joint_name);
+  for (const std::string& joint_name : joint_names_) {
+    moveit::core::JointModel* jm = model->getJointModel(joint_name);
     // we use getVariableBounds()[0] because there is only a single variable for all of our joints
     lower_joint_limits_[joint_map_[joint_name]] = jm->getVariableBounds()[0].min_position_;
     upper_joint_limits_[joint_map_[joint_name]] = jm->getVariableBounds()[0].max_position_;
@@ -94,7 +94,7 @@ bool DynamixelServoHardwareInterface::init() {
   return true;
 }
 
-void DynamixelServoHardwareInterface::commandCb(const bitbots_msgs::msg::JointCommand &command_msg) {
+void DynamixelServoHardwareInterface::commandCb(const bitbots_msgs::msg::JointCommand& command_msg) {
   if (!(command_msg.joint_names.size() == command_msg.positions.size() &&
         command_msg.joint_names.size() == command_msg.velocities.size() &&
         command_msg.joint_names.size() == command_msg.accelerations.size() &&
@@ -147,7 +147,7 @@ void DynamixelServoHardwareInterface::individualTorqueCb(bitbots_msgs::msg::Join
       RCLCPP_WARN(nh_->get_logger(), "Couldn't set torque for servo %s ", msg.joint_names[i].c_str());
     }
   }
-  for (const auto &bus : bus_interfaces_) {
+  for (const auto& bus : bus_interfaces_) {
     bus->switch_individual_torque_ = true;
   }
 }
@@ -156,7 +156,7 @@ void DynamixelServoHardwareInterface::setTorqueCb(std_msgs::msg::Bool::SharedPtr
   /**
    * This saves the given required value, so that it can be written to the servos in the write method
    */
-  for (const auto &bus : bus_interfaces_) {
+  for (const auto& bus : bus_interfaces_) {
     bus->goal_torque_ = enabled->data;
   }
   for (size_t j = 0; j < joint_names_.size(); j++) {
@@ -164,11 +164,11 @@ void DynamixelServoHardwareInterface::setTorqueCb(std_msgs::msg::Bool::SharedPtr
   }
 }
 
-void DynamixelServoHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void DynamixelServoHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   // retrieve values from the buses and set controller vector accordingly
   // todo improve performance
   int i = 0;
-  for (const auto &bus : bus_interfaces_) {
+  for (const auto& bus : bus_interfaces_) {
     for (int j = 0; j < bus->joint_count_; j++) {
       current_position_[i] = bus->current_position_[j];
       current_velocity_[i] = bus->current_velocity_[j];
@@ -191,11 +191,11 @@ void DynamixelServoHardwareInterface::read(const rclcpp::Time &t, const rclcpp::
   pwm_pub_->publish(pwm_msg_);
 }
 
-void DynamixelServoHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void DynamixelServoHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   // set all values from controller to the buses
   // todo improve performance
   int i = 0;
-  for (const auto &bus : bus_interfaces_) {
+  for (const auto& bus : bus_interfaces_) {
     for (int j = 0; j < bus->joint_count_; j++) {
       bus->goal_position_[j] = goal_position_[i];
       bus->goal_velocity_[j] = goal_velocity_[i];
diff --git a/bitbots_lowlevel/bitbots_ros_control/src/imu_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/imu_hardware_interface.cpp
similarity index 98%
rename from bitbots_lowlevel/bitbots_ros_control/src/imu_hardware_interface.cpp
rename to src/bitbots_lowlevel/bitbots_ros_control/src/imu_hardware_interface.cpp
index 557f13376..cb2f9f1bd 100644
--- a/bitbots_lowlevel/bitbots_ros_control/src/imu_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/imu_hardware_interface.cpp
@@ -7,7 +7,7 @@ namespace bitbots_ros_control {
 using std::placeholders::_1;
 using std::placeholders::_2;
 
-ImuHardwareInterface::ImuHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver, int id,
+ImuHardwareInterface::ImuHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver, int id,
                                            std::string topic, std::string frame, std::string name) {
   nh_ = nh;
   driver_ = driver;
@@ -78,7 +78,7 @@ bool ImuHardwareInterface::init() {
   return true;
 }
 
-void ImuHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void ImuHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   /**
    * Reads the IMU
    */
@@ -155,7 +155,7 @@ void ImuHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &d
     }
     std::vector<diagnostic_msgs::msg::KeyValue> keyValues = std::vector<diagnostic_msgs::msg::KeyValue>();
     // itarate through map and save it into values
-    for (auto const &ent1 : map) {
+    for (auto const& ent1 : map) {
       diagnostic_msgs::msg::KeyValue key_value = diagnostic_msgs::msg::KeyValue();
       key_value.key = ent1.first;
       key_value.value = ent1.second;
@@ -239,7 +239,7 @@ void ImuHardwareInterface::setAccelCalibrationThreshold(
   set_accel_calib_threshold_ = true;
 }
 
-void ImuHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void ImuHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   if (write_ranges_) {
     RCLCPP_INFO_STREAM(nh_->get_logger(), "Setting Gyroscope range to " << gyroRangeToString(gyro_range_));
     RCLCPP_INFO_STREAM(nh_->get_logger(), "Setting Accelerometer range to " << accelRangeToString(accel_range_));
diff --git a/bitbots_lowlevel/bitbots_ros_control/src/leds_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/leds_hardware_interface.cpp
similarity index 94%
rename from bitbots_lowlevel/bitbots_ros_control/src/leds_hardware_interface.cpp
rename to src/bitbots_lowlevel/bitbots_ros_control/src/leds_hardware_interface.cpp
index faa516b20..98cf9de8b 100644
--- a/bitbots_lowlevel/bitbots_ros_control/src/leds_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/leds_hardware_interface.cpp
@@ -6,7 +6,7 @@ using std::placeholders::_1;
 using std::placeholders::_2;
 using std::placeholders::_3;
 
-LedsHardwareInterface::LedsHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver,
+LedsHardwareInterface::LedsHardwareInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver,
                                              uint8_t id, uint8_t num_leds, uint8_t start_number) {
   nh_ = nh;
   driver_ = driver;
@@ -61,7 +61,7 @@ void LedsHardwareInterface::ledCb2(std_msgs::msg::ColorRGBA msg) {
   }
 }
 
-void LedsHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {}
+void LedsHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {}
 
 void LedsHardwareInterface::setLeds(const std::shared_ptr<bitbots_msgs::srv::Leds::Request> req,
                                     std::shared_ptr<bitbots_msgs::srv::Leds::Response> resp) {
@@ -92,7 +92,7 @@ uint32_t rgba_to_int32(std_msgs::msg::ColorRGBA rgba) {
   return led;
 }
 
-void LedsHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void LedsHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   if (write_leds_) {
     // resort LEDs to go from left to right
     driver_->writeRegister(id_, "LED_2", rgba_to_int32(leds_[0]));
diff --git a/bitbots_lowlevel/bitbots_ros_control/src/node.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/node.cpp
similarity index 99%
rename from bitbots_lowlevel/bitbots_ros_control/src/node.cpp
rename to src/bitbots_lowlevel/bitbots_ros_control/src/node.cpp
index c51210a51..fd681c8c8 100644
--- a/bitbots_lowlevel/bitbots_ros_control/src/node.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/node.cpp
@@ -13,7 +13,7 @@ void sigintHandler(int sig) {
   request_shutdown = 1;
 }
 
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   // register signal handler for ctrl-c that we use to request shutdown but give extra time for other nodes to finish
   signal(SIGINT, sigintHandler);
 
diff --git a/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp
similarity index 99%
rename from bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp
rename to src/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp
index 0dff0ae2e..d4285c5f8 100644
--- a/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp
@@ -257,7 +257,7 @@ bool PressureConverter::zeroCallback(const std::shared_ptr<std_srvs::srv::Empty:
   return true;
 }
 
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   rclcpp::init(argc, argv);
   // declare parameters automatically
   rclcpp::NodeOptions options = rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(true);
diff --git a/bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp
similarity index 97%
rename from bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp
rename to src/bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp
index 06c82fff5..ed47806b0 100644
--- a/bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp
@@ -3,7 +3,7 @@
 
 namespace bitbots_ros_control {
 
-ServoBusInterface::ServoBusInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver> &driver,
+ServoBusInterface::ServoBusInterface(rclcpp::Node::SharedPtr nh, std::shared_ptr<DynamixelDriver>& driver,
                                      std::vector<std::tuple<int, std::string, float, float, std::string>> servos)
     : first_cycle_(true), read_position_(true), read_velocity_(false), read_effort_(true) {
   nh_ = nh;
@@ -120,7 +120,7 @@ bool ServoBusInterface::loadDynamixels() {
 
   // iterate over all servos and save the information
   // the wolfgang hardware interface already loaded them into the driver by pinging
-  for (std::tuple<int, std::string, float, float, std::string> &servo : servos_) {
+  for (std::tuple<int, std::string, float, float, std::string>& servo : servos_) {
     int motor_id = std::get<0>(servo);
     joint_ids_.push_back(uint8_t(motor_id));
     std::string joint_name = std::get<1>(servo);
@@ -164,7 +164,7 @@ bool ServoBusInterface::writeROMRAM(bool first_time) {
       rcl_interfaces::msg::ListParametersResult rom_ram_parameter_list =
           nh_->list_parameters({ROM_RAM_PARAMETER_NAMESPACE + joint_group}, 0);
       // Iterate over the parameters and set each one
-      for (std::string &register_parameter_name : rom_ram_parameter_list.names) {
+      for (std::string& register_parameter_name : rom_ram_parameter_list.names) {
         // Get the value of the parameter
         int value = nh_->get_parameter(register_parameter_name).as_int();
         // Get only the name of the register without the namespace
@@ -181,17 +181,17 @@ bool ServoBusInterface::writeROMRAM(bool first_time) {
   // Check that all groups have the same parameters not only the same number of parameters
   // Get all keys of the first group
   std::vector<std::string> parameter_names;
-  for (auto const &[key, value] : joint_register_value_map[0]) {
+  for (auto const& [key, value] : joint_register_value_map[0]) {
     parameter_names.push_back(key);
   }
-  for (auto const &[group_id, group_params] : group_param_cache) {
+  for (auto const& [group_id, group_params] : group_param_cache) {
     // Check that the size is the same
     if (group_params.size() != parameter_names.size()) {
       RCLCPP_ERROR(nh_->get_logger(), "Servo group %s has a different number of servo parameters", group_id.c_str());
       success = false;
     }
     // Check that all keys are the same
-    for (std::string &key : parameter_names) {
+    for (std::string& key : parameter_names) {
       if (group_params.find(key) == group_params.end()) {
         RCLCPP_ERROR(nh_->get_logger(), "Group %s does not have parameter %s", group_id.c_str(), key.c_str());
         success = false;
@@ -202,7 +202,7 @@ bool ServoBusInterface::writeROMRAM(bool first_time) {
   // Allocate memory for the values in the driver
   std::vector<int> values(joint_names_.size());
   // Iterate over parameter names
-  for (const auto &register_name : parameter_names) {
+  for (const auto& register_name : parameter_names) {
     // Get the value for each joint
     for (size_t num = 0; num < joint_names_.size(); num++) {
       // Get the value from the cache
@@ -220,7 +220,7 @@ bool ServoBusInterface::writeROMRAM(bool first_time) {
   return success;
 }
 
-void ServoBusInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void ServoBusInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   /**
    * This is part of the main loop and handles reading of all connected devices
    */
@@ -320,7 +320,7 @@ void ServoBusInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt)
   }
 }
 
-void ServoBusInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void ServoBusInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   /**
    * This is part of the mainloop and handles all the writing to the connected devices
    */
@@ -415,7 +415,7 @@ void ServoBusInterface::switchDynamixelControlMode() {
   }
 
   std::vector<int32_t> operating_mode(joint_names_.size(), value);
-  int32_t *o = &operating_mode[0];
+  int32_t* o = &operating_mode[0];
   driver_->syncWrite("Operating_Mode", o);
 
   nh_->get_clock()->sleep_for(rclcpp::Duration::from_nanoseconds(1e9 * 0.5));
@@ -437,7 +437,7 @@ diagnostic_msgs::msg::DiagnosticStatus ServoBusInterface::createServoDiagMsg(int
   servo_status.hardware_id = std::to_string(id);
   std::vector<diagnostic_msgs::msg::KeyValue> keyValues = std::vector<diagnostic_msgs::msg::KeyValue>();
   // iterate through map and save it into values
-  for (auto const &ent1 : map) {
+  for (auto const& ent1 : map) {
     diagnostic_msgs::msg::KeyValue key_value = diagnostic_msgs::msg::KeyValue();
     key_value.key = ent1.first;
     key_value.value = ent1.second;
@@ -525,7 +525,7 @@ void ServoBusInterface::writeTorque(bool enabled) {
   // only set values if we're not in torqueless mode
   if (!torqueless_mode_) {
     std::vector<int32_t> torque(joint_names_.size(), enabled);
-    int32_t *t = &torque[0];
+    int32_t* t = &torque[0];
     driver_->syncWrite("Torque_Enable", t);
     current_torque_ = enabled;
     goal_torque_ = enabled;
@@ -541,7 +541,7 @@ void ServoBusInterface::writeTorqueForServos(std::vector<int32_t> torque) {
   if (!torqueless_mode_) {
     // this actually writes each value in the torque vector
     // but the dynamixel_toolbox requires a reference to the first element
-    int32_t *t = &torque[0];
+    int32_t* t = &torque[0];
     driver_->syncWrite("Torque_Enable", t);
   }
 }
diff --git a/bitbots_lowlevel/bitbots_ros_control/src/utils.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/utils.cpp
similarity index 100%
rename from bitbots_lowlevel/bitbots_ros_control/src/utils.cpp
rename to src/bitbots_lowlevel/bitbots_ros_control/src/utils.cpp
diff --git a/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp b/src/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp
similarity index 92%
rename from bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp
rename to src/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp
index 96097debd..f0fcc5d87 100644
--- a/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp
+++ b/src/bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp
@@ -31,7 +31,7 @@ WolfgangHardwareInterface::WolfgangHardwareInterface(rclcpp::Node::SharedPtr nh)
 
   // Convert dxls to native type: a vector of tuples with name and id for sorting purposes
   std::vector<std::pair<std::string, int>> dxl_devices;
-  for (const std::string &parameter_name : device_name_list.names) {
+  for (const std::string& parameter_name : device_name_list.names) {
     // we get directly the parameters and not the groups. use id parameter to identify them
     if (parameter_name.find(".id") != std::string::npos) {
       int id = nh->get_parameter(parameter_name).as_int();
@@ -45,7 +45,7 @@ WolfgangHardwareInterface::WolfgangHardwareInterface(rclcpp::Node::SharedPtr nh)
   // easier.
   std::sort(
       dxl_devices.begin(), dxl_devices.end(),
-      [](const std::pair<std::string, int> &a, const std::pair<std::string, int> &b) { return a.second < b.second; });
+      [](const std::pair<std::string, int>& a, const std::pair<std::string, int>& b) { return a.second < b.second; });
 
   // create overall servo interface since we need a single interface for the controllers
   servo_interface_ = DynamixelServoHardwareInterface(nh);
@@ -64,7 +64,7 @@ bool WolfgangHardwareInterface::create_interfaces(std::vector<std::pair<std::str
   // init bus drivers
   std::vector<std::string> pinged;
   rcl_interfaces::msg::ListParametersResult port_list = nh_->list_parameters({"port_info"}, 3);
-  for (const std::string &parameter_name : port_list.names) {
+  for (const std::string& parameter_name : port_list.names) {
     // we get directly the parameters and not the groups. use id parameter to identify them
     if (parameter_name.find(".device_file") != std::string::npos) {
       std::string port_name = parameter_name.substr(10, parameter_name.size() - 11 - 11);
@@ -86,13 +86,13 @@ bool WolfgangHardwareInterface::create_interfaces(std::vector<std::pair<std::str
       std::vector<std::shared_ptr<HardwareInterface>> interfaces_on_port;
       // iterate over all devices and ping them to see what is connected to this bus
       std::vector<std::tuple<int, std::string, float, float, std::string>> servos_on_port;
-      for (std::pair<std::string, int> &device : dxl_devices) {
+      for (std::pair<std::string, int>& device : dxl_devices) {
         // RCLCPP_INFO_STREAM(nh_->get_logger(), device.first);
         std::string name = device.first;
-        int id = device.second;
         if (std::find(pinged.begin(), pinged.end(), device.first) != pinged.end()) {
           // we already found this and don't have to search again
         } else {
+          int id = device.second;
           int model_number_specified;
           nh_->get_parameter("device_info." + name + ".model_number", model_number_specified);
           // some devices provide more than one type of interface, e.g. the IMU provides additionally buttons and LEDs
@@ -205,7 +205,7 @@ bool WolfgangHardwareInterface::create_interfaces(std::vector<std::pair<std::str
         RCLCPP_ERROR(nh_->get_logger(), "Could not ping all devices!");
         speakError(speak_pub_, "error starting ross control");
         // check which devices were not pinged successful
-        for (std::pair<std::string, int> &device : dxl_devices) {
+        for (std::pair<std::string, int>& device : dxl_devices) {
           if (std::find(pinged.begin(), pinged.end(), device.first) != pinged.end()) {
           } else {
             RCLCPP_ERROR(nh_->get_logger(), "%s with id %d missing", device.first.c_str(), device.second);
@@ -220,8 +220,8 @@ bool WolfgangHardwareInterface::create_interfaces(std::vector<std::pair<std::str
   }
 }
 
-void threaded_init(const std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces, rclcpp::Node::SharedPtr &nh,
-                   int &success) {
+void threaded_init(const std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces,
+                   const rclcpp::Node::SharedPtr& nh, int& success) {
   success = std::all_of(port_interfaces.begin(), port_interfaces.end(),
                         [](std::shared_ptr<HardwareInterface> interface) -> bool { return interface->init(); });
 }
@@ -229,9 +229,9 @@ void threaded_init(const std::vector<std::shared_ptr<HardwareInterface>> &port_i
 bool WolfgangHardwareInterface::init() {
   // iterate through all ports
   std::vector<std::thread> threads;
-  std::vector<int *> successes;
+  std::vector<int*> successes;
   int i = 0;
-  for (std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces : interfaces_) {
+  for (std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces : interfaces_) {
     // iterate through all interfaces on this port
     // we use an int instead of bool, since std::ref can't handle bool
     int suc = 0;
@@ -240,24 +240,24 @@ bool WolfgangHardwareInterface::init() {
     i++;
   }
   // wait for all inits to finish
-  for (std::thread &thread : threads) {
+  for (std::thread& thread : threads) {
     thread.join();
   }
   // see if all inits were successful
-  bool success = std::all_of(successes.begin(), successes.end(), [](int *s) { return *s; });
+  bool success = std::all_of(successes.begin(), successes.end(), [](int* s) { return *s; });
   // init servo interface last after all servo busses are there
   success &= servo_interface_.init();
   return success;
 }
 
-void threaded_read(const std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces, const rclcpp::Time &t,
-                   const rclcpp::Duration &dt) {
+void threaded_read(const std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces, const rclcpp::Time& t,
+                   const rclcpp::Duration& dt) {
   for (std::shared_ptr<HardwareInterface> interface : port_interfaces) {
     interface->read(t, dt);
   }
 }
 
-void WolfgangHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void WolfgangHardwareInterface::read(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   // give feedback to power changes
   if (core_present_) {
     if (current_power_status_ && !last_power_status_) {
@@ -270,11 +270,11 @@ void WolfgangHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Durati
     // only read all hardware if power is on
     std::vector<std::thread> threads;
     // start all reads
-    for (std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces : interfaces_) {
+    for (std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces : interfaces_) {
       threads.push_back(std::thread(threaded_read, std::ref(port_interfaces), std::ref(t), std::ref(dt)));
     }
     // wait for all reads to finish
-    for (std::thread &thread : threads) {
+    for (std::thread& thread : threads) {
       thread.join();
     }
     // aggregate all servo values for controller
@@ -292,14 +292,14 @@ void WolfgangHardwareInterface::read(const rclcpp::Time &t, const rclcpp::Durati
   }
 }
 
-void threaded_write(const std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces, const rclcpp::Time &t,
-                    const rclcpp::Duration &dt) {
+void threaded_write(const std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces, const rclcpp::Time& t,
+                    const rclcpp::Duration& dt) {
   for (std::shared_ptr<HardwareInterface> interface : port_interfaces) {
     interface->write(t, dt);
   }
 }
 
-void WolfgangHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Duration &dt) {
+void WolfgangHardwareInterface::write(const rclcpp::Time& t, const rclcpp::Duration& dt) {
   if (core_present_ && !last_power_status_ && current_power_status_ &&
       nh_->get_parameter("servos.set_ROM_RAM").as_bool()) {
     bus_start_time_ = t + rclcpp::Duration::from_seconds(nh_->get_parameter("start_delay").as_double());
@@ -307,7 +307,7 @@ void WolfgangHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Durat
   }
   if (!bus_start_time_ || t > bus_start_time_.value()) {
     if (bus_first_write_) {
-      for (std::vector<std::shared_ptr<HardwareInterface>> const &port_interfaces : interfaces_) {
+      for (std::vector<std::shared_ptr<HardwareInterface>> const& port_interfaces : interfaces_) {
         for (std::shared_ptr<HardwareInterface> interface : port_interfaces) {
           interface->restoreAfterPowerCycle();
         }
@@ -322,12 +322,12 @@ void WolfgangHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Durat
       servo_interface_.write(t, dt);
       std::vector<std::thread> threads;
       // start all writes
-      for (std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces : interfaces_) {
+      for (std::vector<std::shared_ptr<HardwareInterface>>& port_interfaces : interfaces_) {
         threads.push_back(std::thread(threaded_write, std::ref(port_interfaces), std::ref(t), std::ref(dt)));
       }
 
       // wait for all writes to finish
-      for (std::thread &thread : threads) {
+      for (std::thread& thread : threads) {
         thread.join();
       }
     }
diff --git a/bitbots_misc/bitbots_basler_camera/CMakeLists.txt b/src/bitbots_misc/bitbots_basler_camera/CMakeLists.txt
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/CMakeLists.txt
rename to src/bitbots_misc/bitbots_basler_camera/CMakeLists.txt
diff --git a/bitbots_misc/bitbots_basler_camera/config/camera_calibration_amy.yaml b/src/bitbots_misc/bitbots_basler_camera/config/camera_calibration_amy.yaml
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/config/camera_calibration_amy.yaml
rename to src/bitbots_misc/bitbots_basler_camera/config/camera_calibration_amy.yaml
diff --git a/bitbots_misc/bitbots_basler_camera/config/camera_calibration_default.yaml b/src/bitbots_misc/bitbots_basler_camera/config/camera_calibration_default.yaml
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/config/camera_calibration_default.yaml
rename to src/bitbots_misc/bitbots_basler_camera/config/camera_calibration_default.yaml
diff --git a/bitbots_misc/bitbots_basler_camera/config/camera_calibration_donna.yaml b/src/bitbots_misc/bitbots_basler_camera/config/camera_calibration_donna.yaml
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/config/camera_calibration_donna.yaml
rename to src/bitbots_misc/bitbots_basler_camera/config/camera_calibration_donna.yaml
diff --git a/bitbots_misc/bitbots_basler_camera/config/camera_calibration_jack.yaml b/src/bitbots_misc/bitbots_basler_camera/config/camera_calibration_jack.yaml
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/config/camera_calibration_jack.yaml
rename to src/bitbots_misc/bitbots_basler_camera/config/camera_calibration_jack.yaml
diff --git a/bitbots_misc/bitbots_basler_camera/config/camera_calibration_melody.yaml b/src/bitbots_misc/bitbots_basler_camera/config/camera_calibration_melody.yaml
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/config/camera_calibration_melody.yaml
rename to src/bitbots_misc/bitbots_basler_camera/config/camera_calibration_melody.yaml
diff --git a/bitbots_misc/bitbots_basler_camera/config/camera_calibration_rory.yaml b/src/bitbots_misc/bitbots_basler_camera/config/camera_calibration_rory.yaml
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/config/camera_calibration_rory.yaml
rename to src/bitbots_misc/bitbots_basler_camera/config/camera_calibration_rory.yaml
diff --git a/bitbots_misc/bitbots_basler_camera/config/camera_settings.yaml b/src/bitbots_misc/bitbots_basler_camera/config/camera_settings.yaml
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/config/camera_settings.yaml
rename to src/bitbots_misc/bitbots_basler_camera/config/camera_settings.yaml
diff --git a/bitbots_misc/bitbots_basler_camera/docs/_static/logo.png b/src/bitbots_misc/bitbots_basler_camera/docs/_static/logo.png
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/docs/_static/logo.png
rename to src/bitbots_misc/bitbots_basler_camera/docs/_static/logo.png
diff --git a/bitbots_misc/bitbots_basler_camera/docs/conf.py b/src/bitbots_misc/bitbots_basler_camera/docs/conf.py
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/docs/conf.py
rename to src/bitbots_misc/bitbots_basler_camera/docs/conf.py
diff --git a/bitbots_misc/bitbots_basler_camera/docs/index.rst b/src/bitbots_misc/bitbots_basler_camera/docs/index.rst
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/docs/index.rst
rename to src/bitbots_misc/bitbots_basler_camera/docs/index.rst
diff --git a/bitbots_misc/bitbots_basler_camera/launch/basler_camera.launch b/src/bitbots_misc/bitbots_basler_camera/launch/basler_camera.launch
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/launch/basler_camera.launch
rename to src/bitbots_misc/bitbots_basler_camera/launch/basler_camera.launch
diff --git a/bitbots_misc/bitbots_basler_camera/package.xml b/src/bitbots_misc/bitbots_basler_camera/package.xml
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/package.xml
rename to src/bitbots_misc/bitbots_basler_camera/package.xml
diff --git a/bitbots_misc/bitbots_basler_camera/setup.py b/src/bitbots_misc/bitbots_basler_camera/setup.py
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/setup.py
rename to src/bitbots_misc/bitbots_basler_camera/setup.py
diff --git a/bitbots_misc/bitbots_basler_camera/src/basler_camera.cpp b/src/bitbots_misc/bitbots_basler_camera/src/basler_camera.cpp
similarity index 100%
rename from bitbots_misc/bitbots_basler_camera/src/basler_camera.cpp
rename to src/bitbots_misc/bitbots_basler_camera/src/basler_camera.cpp
diff --git a/bitbots_misc/bitbots_bringup/CMakeLists.txt b/src/bitbots_misc/bitbots_bringup/CMakeLists.txt
similarity index 100%
rename from bitbots_misc/bitbots_bringup/CMakeLists.txt
rename to src/bitbots_misc/bitbots_bringup/CMakeLists.txt
diff --git a/bitbots_misc/bitbots_bringup/config/monitoring.rviz b/src/bitbots_misc/bitbots_bringup/config/monitoring.rviz
similarity index 100%
rename from bitbots_misc/bitbots_bringup/config/monitoring.rviz
rename to src/bitbots_misc/bitbots_bringup/config/monitoring.rviz
diff --git a/bitbots_misc/bitbots_bringup/config/monitoring_foxglove.json b/src/bitbots_misc/bitbots_bringup/config/monitoring_foxglove.json
similarity index 100%
rename from bitbots_misc/bitbots_bringup/config/monitoring_foxglove.json
rename to src/bitbots_misc/bitbots_bringup/config/monitoring_foxglove.json
diff --git a/bitbots_misc/bitbots_bringup/docs/_static/logo.png b/src/bitbots_misc/bitbots_bringup/docs/_static/logo.png
similarity index 100%
rename from bitbots_misc/bitbots_bringup/docs/_static/logo.png
rename to src/bitbots_misc/bitbots_bringup/docs/_static/logo.png
diff --git a/bitbots_misc/bitbots_bringup/docs/conf.py b/src/bitbots_misc/bitbots_bringup/docs/conf.py
similarity index 100%
rename from bitbots_misc/bitbots_bringup/docs/conf.py
rename to src/bitbots_misc/bitbots_bringup/docs/conf.py
diff --git a/bitbots_misc/bitbots_bringup/docs/index.rst b/src/bitbots_misc/bitbots_bringup/docs/index.rst
similarity index 100%
rename from bitbots_misc/bitbots_bringup/docs/index.rst
rename to src/bitbots_misc/bitbots_bringup/docs/index.rst
diff --git a/bitbots_misc/bitbots_bringup/launch/README.md b/src/bitbots_misc/bitbots_bringup/launch/README.md
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/README.md
rename to src/bitbots_misc/bitbots_bringup/launch/README.md
diff --git a/bitbots_misc/bitbots_bringup/launch/audio.launch b/src/bitbots_misc/bitbots_bringup/launch/audio.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/audio.launch
rename to src/bitbots_misc/bitbots_bringup/launch/audio.launch
diff --git a/bitbots_misc/bitbots_bringup/launch/demo.launch b/src/bitbots_misc/bitbots_bringup/launch/demo.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/demo.launch
rename to src/bitbots_misc/bitbots_bringup/launch/demo.launch
diff --git a/bitbots_misc/bitbots_bringup/launch/highlevel.launch b/src/bitbots_misc/bitbots_bringup/launch/highlevel.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/highlevel.launch
rename to src/bitbots_misc/bitbots_bringup/launch/highlevel.launch
diff --git a/bitbots_misc/bitbots_bringup/launch/monitoring.launch b/src/bitbots_misc/bitbots_bringup/launch/monitoring.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/monitoring.launch
rename to src/bitbots_misc/bitbots_bringup/launch/monitoring.launch
diff --git a/bitbots_misc/bitbots_bringup/launch/monitoring_pc.launch b/src/bitbots_misc/bitbots_bringup/launch/monitoring_pc.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/monitoring_pc.launch
rename to src/bitbots_misc/bitbots_bringup/launch/monitoring_pc.launch
diff --git a/bitbots_misc/bitbots_bringup/launch/motion.launch b/src/bitbots_misc/bitbots_bringup/launch/motion.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/motion.launch
rename to src/bitbots_misc/bitbots_bringup/launch/motion.launch
diff --git a/bitbots_misc/bitbots_bringup/launch/motion_standalone.launch b/src/bitbots_misc/bitbots_bringup/launch/motion_standalone.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/motion_standalone.launch
rename to src/bitbots_misc/bitbots_bringup/launch/motion_standalone.launch
diff --git a/bitbots_misc/bitbots_bringup/launch/rosbag_record.launch.py b/src/bitbots_misc/bitbots_bringup/launch/rosbag_record.launch.py
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/rosbag_record.launch.py
rename to src/bitbots_misc/bitbots_bringup/launch/rosbag_record.launch.py
diff --git a/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch b/src/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch
rename to src/bitbots_misc/bitbots_bringup/launch/simulator_teamplayer.launch
diff --git a/bitbots_misc/bitbots_bringup/launch/teamplayer.launch b/src/bitbots_misc/bitbots_bringup/launch/teamplayer.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/teamplayer.launch
rename to src/bitbots_misc/bitbots_bringup/launch/teamplayer.launch
diff --git a/bitbots_misc/bitbots_bringup/launch/vision.launch b/src/bitbots_misc/bitbots_bringup/launch/vision.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/vision.launch
rename to src/bitbots_misc/bitbots_bringup/launch/vision.launch
diff --git a/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch b/src/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/vision_standalone.launch
rename to src/bitbots_misc/bitbots_bringup/launch/vision_standalone.launch
diff --git a/bitbots_misc/bitbots_bringup/launch/visualization.launch b/src/bitbots_misc/bitbots_bringup/launch/visualization.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/visualization.launch
rename to src/bitbots_misc/bitbots_bringup/launch/visualization.launch
diff --git a/bitbots_misc/bitbots_bringup/launch/viz_monitoring.launch b/src/bitbots_misc/bitbots_bringup/launch/viz_monitoring.launch
similarity index 100%
rename from bitbots_misc/bitbots_bringup/launch/viz_monitoring.launch
rename to src/bitbots_misc/bitbots_bringup/launch/viz_monitoring.launch
diff --git a/bitbots_misc/bitbots_bringup/package.xml b/src/bitbots_misc/bitbots_bringup/package.xml
similarity index 100%
rename from bitbots_misc/bitbots_bringup/package.xml
rename to src/bitbots_misc/bitbots_bringup/package.xml
diff --git a/bitbots_misc/bitbots_bringup/setup.py b/src/bitbots_misc/bitbots_bringup/setup.py
similarity index 100%
rename from bitbots_misc/bitbots_bringup/setup.py
rename to src/bitbots_misc/bitbots_bringup/setup.py
diff --git a/bitbots_misc/bitbots_ceiling_cam/CMakeLists.txt b/src/bitbots_misc/bitbots_ceiling_cam/CMakeLists.txt
similarity index 100%
rename from bitbots_misc/bitbots_ceiling_cam/CMakeLists.txt
rename to src/bitbots_misc/bitbots_ceiling_cam/CMakeLists.txt
diff --git a/bitbots_misc/bitbots_ceiling_cam/README b/src/bitbots_misc/bitbots_ceiling_cam/README
similarity index 100%
rename from bitbots_misc/bitbots_ceiling_cam/README
rename to src/bitbots_misc/bitbots_ceiling_cam/README
diff --git a/bitbots_misc/bitbots_ceiling_cam/config/april_tag_settings.yaml b/src/bitbots_misc/bitbots_ceiling_cam/config/april_tag_settings.yaml
similarity index 100%
rename from bitbots_misc/bitbots_ceiling_cam/config/april_tag_settings.yaml
rename to src/bitbots_misc/bitbots_ceiling_cam/config/april_tag_settings.yaml
diff --git a/bitbots_misc/bitbots_ceiling_cam/config/april_tags.yaml b/src/bitbots_misc/bitbots_ceiling_cam/config/april_tags.yaml
similarity index 100%
rename from bitbots_misc/bitbots_ceiling_cam/config/april_tags.yaml
rename to src/bitbots_misc/bitbots_ceiling_cam/config/april_tags.yaml
diff --git a/bitbots_misc/bitbots_ceiling_cam/config/camera_calibration_ceiling_cam.yaml b/src/bitbots_misc/bitbots_ceiling_cam/config/camera_calibration_ceiling_cam.yaml
similarity index 100%
rename from bitbots_misc/bitbots_ceiling_cam/config/camera_calibration_ceiling_cam.yaml
rename to src/bitbots_misc/bitbots_ceiling_cam/config/camera_calibration_ceiling_cam.yaml
diff --git a/bitbots_misc/bitbots_ceiling_cam/config/camera_settings_ceiling_cam.yaml b/src/bitbots_misc/bitbots_ceiling_cam/config/camera_settings_ceiling_cam.yaml
similarity index 100%
rename from bitbots_misc/bitbots_ceiling_cam/config/camera_settings_ceiling_cam.yaml
rename to src/bitbots_misc/bitbots_ceiling_cam/config/camera_settings_ceiling_cam.yaml
diff --git a/bitbots_misc/bitbots_ceiling_cam/docs/_static/logo.png b/src/bitbots_misc/bitbots_ceiling_cam/docs/_static/logo.png
similarity index 100%
rename from bitbots_misc/bitbots_ceiling_cam/docs/_static/logo.png
rename to src/bitbots_misc/bitbots_ceiling_cam/docs/_static/logo.png
diff --git a/bitbots_misc/bitbots_ceiling_cam/docs/conf.py b/src/bitbots_misc/bitbots_ceiling_cam/docs/conf.py
similarity index 100%
rename from bitbots_misc/bitbots_ceiling_cam/docs/conf.py
rename to src/bitbots_misc/bitbots_ceiling_cam/docs/conf.py
diff --git a/bitbots_misc/bitbots_ceiling_cam/docs/index.rst b/src/bitbots_misc/bitbots_ceiling_cam/docs/index.rst
similarity index 100%
rename from bitbots_misc/bitbots_ceiling_cam/docs/index.rst
rename to src/bitbots_misc/bitbots_ceiling_cam/docs/index.rst
diff --git a/bitbots_misc/bitbots_ceiling_cam/launch/ceiling_cam.launch b/src/bitbots_misc/bitbots_ceiling_cam/launch/ceiling_cam.launch
similarity index 100%
rename from bitbots_misc/bitbots_ceiling_cam/launch/ceiling_cam.launch
rename to src/bitbots_misc/bitbots_ceiling_cam/launch/ceiling_cam.launch
diff --git a/bitbots_misc/bitbots_ceiling_cam/package.xml b/src/bitbots_misc/bitbots_ceiling_cam/package.xml
similarity index 100%
rename from bitbots_misc/bitbots_ceiling_cam/package.xml
rename to src/bitbots_misc/bitbots_ceiling_cam/package.xml
diff --git a/bitbots_misc/bitbots_ceiling_cam/setup.py b/src/bitbots_misc/bitbots_ceiling_cam/setup.py
similarity index 100%
rename from bitbots_misc/bitbots_ceiling_cam/setup.py
rename to src/bitbots_misc/bitbots_ceiling_cam/setup.py
diff --git a/bitbots_misc/bitbots_containers/README.md b/src/bitbots_misc/bitbots_containers/README.md
similarity index 100%
rename from bitbots_misc/bitbots_containers/README.md
rename to src/bitbots_misc/bitbots_containers/README.md
diff --git a/bitbots_misc/bitbots_containers/hlvs/Dockerfile b/src/bitbots_misc/bitbots_containers/hlvs/Dockerfile
similarity index 93%
rename from bitbots_misc/bitbots_containers/hlvs/Dockerfile
rename to src/bitbots_misc/bitbots_containers/hlvs/Dockerfile
index 891b78832..784687867 100644
--- a/bitbots_misc/bitbots_containers/hlvs/Dockerfile
+++ b/src/bitbots_misc/bitbots_containers/hlvs/Dockerfile
@@ -190,14 +190,14 @@ ENV LANG=en_US.UTF-8
 ENV LANGUAGE=en_US:en
 ENV LC_ALL=en_US.UTF-8
 
-RUN mkdir -p /colcon_ws/src \
-    && useradd -M -d /colcon_ws -s /bin/bash -u $UID robot \
-    && chown -R robot:robot /colcon_ws \
+RUN mkdir -p /ws \
+    && useradd -M -d /ws -s /bin/bash -u $UID robot \
+    && chown -R robot:robot /ws \
     && echo "robot ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers.d/robot
 
-WORKDIR /colcon_ws
+WORKDIR /ws
 USER robot:robot
-ENV PATH=$PATH:/colcon_ws/.local/bin
+ENV PATH=$PATH:/ws/.local/bin
 
 RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
     && sudo rosdep init
@@ -205,15 +205,18 @@ RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
 RUN mkdir -p -m 700 $HOME/.ssh \
     && ssh-keyscan github.com >> $HOME/.ssh/known_hosts
 
-RUN --mount=type=ssh,uid=$UID git clone --branch "$BITBOTS_MAIN_BRANCH" git@github.com:bit-bots/bitbots_main.git src/bitbots_main \
-    && cd src/bitbots_main \
-    && make pull-init rosdep pip
+RUN --mount=type=ssh,uid=$UID git clone --branch "$BITBOTS_MAIN_BRANCH" git@github.com:bit-bots/bitbots_main.git  \
+    && cd bitbots_main \
+    && just pull-init rosdep pip
+
+WORKDIR /ws/bitbots_main
 
 # From here on, we don't want to cache anything. That's achieved by adding the current time.
 ADD https://www.timeapi.io/api/Time/current/zone?timeZone=UTC /tmp/build-time
 
-RUN --mount=type=ssh,uid=$UID cd src/bitbots_main \
-    && make pull-all \
+RUN --mount=type=ssh,uid=$UID \
+    && just pull-init \
+    && cd src \
     && rm -rf bitbots_lowlevel \
         bitbots_misc/bitbots_basler_camera \
         bitbots_misc/bitbots_ceiling_cam \
@@ -232,11 +235,11 @@ RUN --mount=type=ssh,uid=$UID cd src/bitbots_main \
 # Install missing ros dependencies with rosdep
 RUN sudo apt update \
   && rosdep update \
-  && rosdep install --rosdistro=${ROS_DISTRO} --from-paths src/bitbots_main --ignore-src -r -y \
+  && rosdep install --rosdistro=${ROS_DISTRO} --from-paths src --ignore-src -r -y \
   && . /opt/ros/${ROS_DISTRO}/setup.sh \
   && colcon build --cmake-args -DBUILD_TESTING=OFF
 
-RUN cp src/bitbots_main/bitbots_simulation/bitbots_robocup_api/scripts/start.sh .local/bin/start
+RUN cp src/bitbots_simulation/bitbots_robocup_api/scripts/start.sh $HOME/.local/bin/start
 
 # Volume for logs
 VOLUME /robocup-logs
diff --git a/bitbots_misc/bitbots_containers/hlvs/README.md b/src/bitbots_misc/bitbots_containers/hlvs/README.md
similarity index 100%
rename from bitbots_misc/bitbots_containers/hlvs/README.md
rename to src/bitbots_misc/bitbots_containers/hlvs/README.md
diff --git a/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh b/src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh
similarity index 60%
rename from bitbots_misc/bitbots_containers/hlvs/entrypoint.sh
rename to src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh
index 855bbf598..6ad14e46b 100755
--- a/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh
+++ b/src/bitbots_misc/bitbots_containers/hlvs/entrypoint.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 
 source /opt/ros/jazzy/setup.bash
-source /colcon_ws/install/setup.bash
+source /ws/install/setup.bash
 
 exec "$@"
diff --git a/bitbots_misc/bitbots_diagnostic/CMakeLists.txt b/src/bitbots_misc/bitbots_diagnostic/CMakeLists.txt
similarity index 100%
rename from bitbots_misc/bitbots_diagnostic/CMakeLists.txt
rename to src/bitbots_misc/bitbots_diagnostic/CMakeLists.txt
diff --git a/bitbots_misc/bitbots_diagnostic/config/analyzers.yaml b/src/bitbots_misc/bitbots_diagnostic/config/analyzers.yaml
similarity index 100%
rename from bitbots_misc/bitbots_diagnostic/config/analyzers.yaml
rename to src/bitbots_misc/bitbots_diagnostic/config/analyzers.yaml
diff --git a/bitbots_misc/bitbots_diagnostic/launch/aggregator.launch b/src/bitbots_misc/bitbots_diagnostic/launch/aggregator.launch
similarity index 100%
rename from bitbots_misc/bitbots_diagnostic/launch/aggregator.launch
rename to src/bitbots_misc/bitbots_diagnostic/launch/aggregator.launch
diff --git a/bitbots_misc/bitbots_diagnostic/package.xml b/src/bitbots_misc/bitbots_diagnostic/package.xml
similarity index 100%
rename from bitbots_misc/bitbots_diagnostic/package.xml
rename to src/bitbots_misc/bitbots_diagnostic/package.xml
diff --git a/bitbots_misc/bitbots_diagnostic/setup.py b/src/bitbots_misc/bitbots_diagnostic/setup.py
similarity index 100%
rename from bitbots_misc/bitbots_diagnostic/setup.py
rename to src/bitbots_misc/bitbots_diagnostic/setup.py
diff --git a/bitbots_misc/bitbots_docs/CMakeLists.txt b/src/bitbots_misc/bitbots_docs/CMakeLists.txt
similarity index 100%
rename from bitbots_misc/bitbots_docs/CMakeLists.txt
rename to src/bitbots_misc/bitbots_docs/CMakeLists.txt
diff --git a/bitbots_misc/bitbots_docs/cmake/enable_bitbots_docs.cmake.in b/src/bitbots_misc/bitbots_docs/cmake/enable_bitbots_docs.cmake.in
similarity index 100%
rename from bitbots_misc/bitbots_docs/cmake/enable_bitbots_docs.cmake.in
rename to src/bitbots_misc/bitbots_docs/cmake/enable_bitbots_docs.cmake.in
diff --git a/bitbots_misc/bitbots_docs/docs/_static/bitbots_cpp_style.xml b/src/bitbots_misc/bitbots_docs/docs/_static/bitbots_cpp_style.xml
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/_static/bitbots_cpp_style.xml
rename to src/bitbots_misc/bitbots_docs/docs/_static/bitbots_cpp_style.xml
diff --git a/bitbots_misc/bitbots_docs/docs/_static/bitbots_python_style.xml b/src/bitbots_misc/bitbots_docs/docs/_static/bitbots_python_style.xml
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/_static/bitbots_python_style.xml
rename to src/bitbots_misc/bitbots_docs/docs/_static/bitbots_python_style.xml
diff --git a/bitbots_misc/bitbots_docs/docs/_static/logo.png b/src/bitbots_misc/bitbots_docs/docs/_static/logo.png
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/_static/logo.png
rename to src/bitbots_misc/bitbots_docs/docs/_static/logo.png
diff --git a/bitbots_misc/bitbots_docs/docs/conf.py b/src/bitbots_misc/bitbots_docs/docs/conf.py
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/conf.py
rename to src/bitbots_misc/bitbots_docs/docs/conf.py
diff --git a/bitbots_misc/bitbots_docs/docs/index.rst b/src/bitbots_misc/bitbots_docs/docs/index.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/index.rst
rename to src/bitbots_misc/bitbots_docs/docs/index.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/bitfoot.rst b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/bitfoot.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/bitfoot.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/bitfoot.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot.jpeg b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot.jpeg
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot.jpeg
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot.jpeg
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot.svg b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot.svg
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot.svg
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot.svg
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot_mounted.jpeg b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot_mounted.jpeg
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot_mounted.jpeg
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/bitfoot_mounted.jpeg
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/constant_voltage.jpg b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/constant_voltage.jpg
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/constant_voltage.jpg
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/constant_voltage.jpg
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/core.png b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/core.png
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/core.png
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/core.png
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/core_bodge.png b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/core_bodge.png
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/core_bodge.png
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/core_bodge.png
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/imu_back.jpg b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/imu_back.jpg
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/imu_back.jpg
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/imu_back.jpg
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/imu_front_empty.jpg b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/imu_front_empty.jpg
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/imu_front_empty.jpg
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/imu_front_empty.jpg
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/imu_mounted.jpg b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/imu_mounted.jpg
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/imu_mounted.jpg
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/imu_mounted.jpg
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/speaker_empty.png b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/speaker_empty.png
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/speaker_empty.png
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/speaker_empty.png
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/speaker_empty.svg b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/speaker_empty.svg
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/speaker_empty.svg
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/speaker_empty.svg
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/speaker_mounted.jpg b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/speaker_mounted.jpg
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/speaker_mounted.jpg
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/img/speaker_mounted.jpg
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/imu_dxl.rst b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/imu_dxl.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/imu_dxl.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/imu_dxl.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/register_tables/bitfoot_registers.ods b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/register_tables/bitfoot_registers.ods
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/register_tables/bitfoot_registers.ods
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/register_tables/bitfoot_registers.ods
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/register_tables/core_registers.ods b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/register_tables/core_registers.ods
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/register_tables/core_registers.ods
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/register_tables/core_registers.ods
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/register_tables/imu_registers.ods b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/register_tables/imu_registers.ods
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/register_tables/imu_registers.ods
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/register_tables/imu_registers.ods
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/speaker.rst b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/speaker.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/speaker.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/speaker.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/wolfgang_constant_voltage.rst b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/wolfgang_constant_voltage.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/wolfgang_constant_voltage.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/wolfgang_constant_voltage.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/wolfgang_core.rst b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/wolfgang_core.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/wolfgang_core.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/electronics/wolfgang_core.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/motorcable.rst b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/motorcable.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/motorcable.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/motorcable.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/screws.rst b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/screws.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/screws.rst
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diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/screws/screws.jpg b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/screws/screws.jpg
similarity index 100%
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diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/servo_numbers.rst b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/servo_numbers.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/servo_numbers.rst
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diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/servos/servo_numbers.png b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/servos/servo_numbers.png
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/servos/servo_numbers.png
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/servos/servo_numbers.png
diff --git a/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/servos/servo_numbers.svg b/src/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/servos/servo_numbers.svg
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/servos/servo_numbers.svg
rename to src/bitbots_misc/bitbots_docs/docs/manual/hardware/mechanics/servos/servo_numbers.svg
diff --git a/bitbots_misc/bitbots_docs/docs/manual/software/coding_style.rst b/src/bitbots_misc/bitbots_docs/docs/manual/software/coding_style.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/software/coding_style.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/software/coding_style.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/testing/competition_preparation.rst b/src/bitbots_misc/bitbots_docs/docs/manual/testing/competition_preparation.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/testing/competition_preparation.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/testing/competition_preparation.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst b/src/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/testing/sim_test.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/testing/test_motion.rst b/src/bitbots_misc/bitbots_docs/docs/manual/testing/test_motion.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/testing/test_motion.rst
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diff --git a/bitbots_misc/bitbots_docs/docs/manual/testing/test_robot_hardware.rst b/src/bitbots_misc/bitbots_docs/docs/manual/testing/test_robot_hardware.rst
similarity index 100%
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rename to src/bitbots_misc/bitbots_docs/docs/manual/testing/test_robot_hardware.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst b/src/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/Docs-How-To.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/Docs-How-To.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/Docs-How-To.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/Docs-How-To.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst
similarity index 94%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst
index 2942f71a2..f14d00184 100644
--- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst
@@ -19,19 +19,16 @@ As such you can lookup some of the needed requirements there.
 - setup bitbots_main in your home directory
 
 .. code-block:: bash
-
-  mkdir -p "$HOME/colcon_ws/src"
-  cd "$HOME/colcon_ws/src"
   git clone git@github.com:bit-bots/bitbots_main.git && cd bitbots_main
-  make install-no-root
+  just install-no-root
 
 - set PATH and COLCON_WS (see `section 5 <https://docs.bit-bots.de/meta/manual/tutorials/install_software_ros2.html>`_)
 
 **2. Compile the packages**
 
-If while testing you are changing code or updating ``bitbots_main`` via ``make pull-all``,
+If while testing you are changing code or updating ``bitbots_main`` via ``just update-no-root``,
 this step needs to be done again.
-For compilation of the whole meta repository run ``cba``, which is an alias for:
+For compilation of the whole meta repository run ``just build``, which is an alias for:
 ``cd $COLCON_WS; colcon build --symlink-install --continue-on-error``
 After a successful run, before we are able to use any ros commands we now need to source colcon built sources
 with ``sa``, which is an alias for:
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/competition_wifi.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/competition_wifi.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/competition_wifi.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/competition_wifi.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst
similarity index 73%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst
index 17534550d..ec9f13026 100644
--- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_and_flash_robot.rst
@@ -50,7 +50,7 @@ At a competition, follow these steps:
 
    .. code-block:: bash
 
-      ./scripts/deploy_robots.py <nuc* | robot_name | ALL>
+      just deploy <nuc* | robot_name | ALL>
 
    This does the 5 following tasks:
    - Synchronize/Copy the current state of your local bitbots_main directory to the robot(s)
@@ -63,7 +63,7 @@ At a competition, follow these steps:
 
    .. code-block:: bash
 
-      ./scripts/deploy_robots.py -h
+      just deploy -h
 
 #. **Optional: Connect to the robot:**
    Simply copy-paste the command provided by the deploy-tool when its finished.
@@ -97,7 +97,6 @@ Our Ansible setup is able to configure the following aspects of the robot:
    - Configuration of competition Wi-Fi networks (see :doc:`competition_wifi`)
    - Configuration of USB-Ethernet adapter as slave of a bridge interface, to allow for removal without losing the interface utilized by ros/dds
    - Configuration of custom MTU of 9000 (jumbo frames) for Ethernet connection to the basler camera
-- Setup of custom apt repositories/packages (e.g. `packages.bit-bots.de <https://packages.bit-bots.de>`_ if applicable)
 - Installation and configuration of ROS and DDS
 - Configuration of Vulkan packages/drivers
 
@@ -114,39 +113,3 @@ Ansible will execute the playbook with the ``bitbots`` user on the robots and wi
 .. note::
    Does DNS not resolve ``nuc*``? See :doc:`configure_hostnames` to fix this.
 
-
-LEGACY: Sync/Build the software using the ``robot_compile`` tool:
------------------------------------------------------------------
-
-We utilize a python script located in ``bitbots_main/scripts/robot_compile.py`` to allow doing the following:
-
-- sync the local code of the whole ``bitbots_main`` or a single package onto a robot
-- build the synced code on the robot afterwards
-- automatically install required dependencies with ``rosdep install`` if the robot has an active internet connection
-- clean the whole ``~/colcon_ws`` on a robot
-- interactively configure the ``game_settings.yaml`` on a robot to prepare it for a game
-- activate the fields Wi-Fi connection and disable all others
-
-A full overview all the options are viewable with the ``-h`` flag.
-
-**Exemplary commands:**
-
-.. code-block:: bash
-
-   # full sync/build of bitbots_main
-   ./scripts/robot_compile.py nuc1
-
-   # rm everything before full sync/compile
-   ./scripts/robot_compile.py --clean-src --clean-build nuc1
-
-   # sync/build and configure robot for game after
-   ./scripts/robot_compile.py -k nuc1
-
-   # only configure robot for game
-   ./scripts/robot_compile.py -K nuc1
-
-   # only sync/build a single package (bitbots_vision)
-   ./scripts/robot_compile.py -p bitbots_vision nuc1
-
-   # sync/clean build a single package (bitbots_vision)
-   ./scripts/robot_compile.py -p bitbots_vision nuc1
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_hostnames.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_hostnames.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_hostnames.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/configure_hostnames.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/camera_coordinate_system.png b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/camera_coordinate_system.png
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/camera_coordinate_system.png
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/camera_coordinate_system.png
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/right_handed_coordinate_system.png b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/right_handed_coordinate_system.png
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/right_handed_coordinate_system.png
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/extrinsic_calibration/right_handed_coordinate_system.png
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst
similarity index 81%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst
index 176854de0..8d29bbaac 100644
--- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst
@@ -3,6 +3,8 @@ Software installation with ROS2
 
 In this tutorial, we will learn how to install ROS2 Jazzy Jalisco on Ubuntu 24.04 and build our software stack.
 
+You might want to look at the :doc:`vscode-dev-container` tutorial, if you want to use a preconfigured development environment with Visual Studio Code and devcontainers.
+
 **TLDR**: single command setup
 ------------------------------
 
@@ -51,8 +53,6 @@ Alternatively you can use a devcontainer :doc:`vscode-dev-container`, with a pre
     ros-jazzy-rqt-robot-monitor \
     ros-jazzy-rqt-runtime-monitor
 
-- Run ``sudo rosdep init`` to initialize ``rosdep``, a tool that helps you install system dependencies for ROS packages.
-
 **2. Download our software (if not already done)**
 
 - Create a GitHub account, if not already done (see `here <http://doku.bit-bots.de/private/manual/dienste_accounts.html>`_ for further information)
@@ -67,29 +67,19 @@ Alternatively you can use a devcontainer :doc:`vscode-dev-container`, with a pre
     - Clone the code repository with: ``git clone git@github.com:bit-bots/bitbots_main.git``
       Confirm the host key by typing ``yes``, if asked.
     - Move into the newly created directory with: ``cd bitbots_main``
-    - Clone all code and other files by running: ``make install``
+    - Clone all code and other files by running: ``just install``
       This will take a while, as it downloads all the code and other files from our repositories and additionally installs all missing dependencies (using rosdep and pip).
-      Finally, it will register pre-commit hooks (automatic code-formatting and warnings), which will be run every time you commit code to our repositories.
-
-**3. Install Webots**
+    - Finally, you can register pre-commit hooks with ``just install-pre-commit`` (automatic code-formatting and warnings), which will be run every time you commit code to our repositories.
 
-Webots is a robot simulator, which we use to simulate our robots and test our software.
-It is not strictly necessary to install it, but it is very useful for development and testing.
-If you want to install it, you can do so by running ``make webots`` in the bitbots_main repository.
-
-**4. Setup colcon workspace**
+**3. Setup colcon workspace**
 
 `Colcon <https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html>`_ is the tool provided by ROS 2 to build and install our ROS packages, so that they can be launched later.
-The colcon workspace is where your source code gets build and where we use colcon.
-
-- Create colcon workspace directory (typically ``~/colcon_ws/``)
-    - Create directory with: ``mkdir -p ~/colcon_ws/src``
-    - Link our software contained in the bitbots_main repo to the newly created ``src`` directory with: ``ln -s ~/git/bitbots/bitbots_main/ ~/colcon_ws/src/bitbots_main``
+The colcon workspace is where your source code gets build and where we use colcon. Nowerdays, we just use the ``bitbots_main`` repository as our colcon workspace, so no further setup is needed.
 
-**5. Final touches**
+**4. Final touches**
 
 To let your system know where it should find all the ROS 2 dependencies and packages and to add colored output etc., we add a little bit of config to your ``~/.bashrc`` file, which will be run every time you open a new terminal.
-In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` with your shell's configuration file.
+In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` with your shell's configuration file. Adapt the colcon workspace path, if you have chosen a different location than ``~/git/bitbots/bitbots_main``.
 
 - Run the following command:
 
@@ -110,7 +100,7 @@ In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` wit
   export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
 
   # Set the default colcon workspace
-  export COLCON_WS="\$HOME/colcon_ws"
+  export COLCON_WS="\$HOME/git/bitbots/bitbots_main"
 
   # Set the default log level for colcon
   export COLCON_LOG_LEVEL=30
@@ -123,8 +113,8 @@ In case you are not using the bash shell, replace ``~/.bashrc`` and ``bash`` wit
   export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
   # Load our ros plugin script containing useful functions and aliases for ROS 2 development
-  if [[ -f \$COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh ]]; then
-    source \$COLCON_WS/src/bitbots_main/scripts/ros.plugin.sh
+  if [[ -f \$COLCON_WS/scripts/ros.plugin.sh ]]; then
+    source \$COLCON_WS/scripts/ros.plugin.sh
   fi
 
   # <<< bit-bots initialize <<<
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/launch_files.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/launch_files.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/launch_files.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/launch_files.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel/pinouts.jpg b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel/pinouts.jpg
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel/pinouts.jpg
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/lowlevel/pinouts.jpg
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/optimization_with_optuna.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/optimization_with_optuna.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/optimization_with_optuna.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/optimization_with_optuna.rst
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst
similarity index 94%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst
index 396af9446..38eb00a73 100644
--- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-dev-container.rst
@@ -35,7 +35,7 @@ Known issues
 ------------
 
 - Rebuilding the container results in all modifications to the container being lost. This does not include the repository, which itself is persisted in the container.
-- Sometimes `make install` results in an `mktemp: failed to create file via template ‘/tmp/tmp.XXXXXXXXXX’: Permission denied`. I spend some time trying to fix this but couldn't find a solution. The workaround is to run `make install` again. This time it should work.
+- Sometimes `just install` results in an `mktemp: failed to create file via template ‘/tmp/tmp.XXXXXXXXXX’: Permission denied`. I spend some time trying to fix this but couldn't find a solution. The workaround is to run `just install` again. This time it should work.
 - I did everything as stated, but my python IntelliSense does not pick up bit-bots related packages. To solve this open the command palette (Ctrl+Shift+P) and run `ROS: Update Python Path`. This should fix the issue.
 - GUI applications do not start. Run `xhost local:root` on the **host** machine to fix this.
 - I can not find my files in the home directory. The home directory is mounted at `/srv/host_home` in the container. You can find your files there.
diff --git a/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst
similarity index 94%
rename from bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst
rename to src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst
index 23030b7cf..5eb4261ae 100644
--- a/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst
+++ b/src/bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst
@@ -5,8 +5,6 @@ Setup VSCode with ROS2
 Open a terminal.
 Navigate to your colcon workspace.
 
-`cd colcon_ws`
-
 Source ros
 
 `source /opt/ros/jazzy/setup.zsh`
@@ -40,7 +38,7 @@ An example vscode launch configuration and the corresponding python launch file
             {
                 "name": "head behavior",
                 "request": "launch",
-                "target": "$HOME/colcon_ws/install/bitbots_head_behavior/share/bitbots_head_behavior/launch/test.py",
+                "target": "$COLCON_WS/src/bitbots_head_behavior/share/bitbots_head_behavior/launch/test.py",
                 "launch": "[rviz, gz, gzclient, gzserver]",
                 "type": "ros"
             }
diff --git a/bitbots_misc/bitbots_docs/files/_static/logo.png b/src/bitbots_misc/bitbots_docs/files/_static/logo.png
similarity index 100%
rename from bitbots_misc/bitbots_docs/files/_static/logo.png
rename to src/bitbots_misc/bitbots_docs/files/_static/logo.png
diff --git a/bitbots_misc/bitbots_docs/files/_templates/.gitkeep b/src/bitbots_misc/bitbots_docs/files/_templates/.gitkeep
similarity index 100%
rename from bitbots_misc/bitbots_docs/files/_templates/.gitkeep
rename to src/bitbots_misc/bitbots_docs/files/_templates/.gitkeep
diff --git a/bitbots_misc/bitbots_docs/files/conf.py b/src/bitbots_misc/bitbots_docs/files/conf.py
similarity index 100%
rename from bitbots_misc/bitbots_docs/files/conf.py
rename to src/bitbots_misc/bitbots_docs/files/conf.py
diff --git a/bitbots_misc/bitbots_docs/files/index.rst b/src/bitbots_misc/bitbots_docs/files/index.rst
similarity index 100%
rename from bitbots_misc/bitbots_docs/files/index.rst
rename to src/bitbots_misc/bitbots_docs/files/index.rst
diff --git a/bitbots_misc/bitbots_docs/package.xml b/src/bitbots_misc/bitbots_docs/package.xml
similarity index 100%
rename from bitbots_misc/bitbots_docs/package.xml
rename to src/bitbots_misc/bitbots_docs/package.xml
diff --git a/bitbots_misc/bitbots_education/.gitignore b/src/bitbots_misc/bitbots_education/.gitignore
similarity index 100%
rename from bitbots_misc/bitbots_education/.gitignore
rename to src/bitbots_misc/bitbots_education/.gitignore
diff --git a/bitbots_misc/bitbots_education/bitbots_education/__init__.py b/src/bitbots_misc/bitbots_education/bitbots_education/__init__.py
similarity index 100%
rename from bitbots_misc/bitbots_education/bitbots_education/__init__.py
rename to src/bitbots_misc/bitbots_education/bitbots_education/__init__.py
diff --git a/bitbots_misc/bitbots_education/bitbots_education/app.py b/src/bitbots_misc/bitbots_education/bitbots_education/app.py
similarity index 100%
rename from bitbots_misc/bitbots_education/bitbots_education/app.py
rename to src/bitbots_misc/bitbots_education/bitbots_education/app.py
diff --git a/bitbots_misc/bitbots_education/launch/education.launch b/src/bitbots_misc/bitbots_education/launch/education.launch
similarity index 82%
rename from bitbots_misc/bitbots_education/launch/education.launch
rename to src/bitbots_misc/bitbots_education/launch/education.launch
index 9d18d2147..059c8dd78 100644
--- a/bitbots_misc/bitbots_education/launch/education.launch
+++ b/src/bitbots_misc/bitbots_education/launch/education.launch
@@ -1,13 +1,11 @@
 <?xml version="1.0"?>
 <launch>
-    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml">
-        <arg name="delay_between_messages" value="0.0"/>
-    </include>
+    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml"></include>
     <node pkg="web_video_server" exec="web_video_server" name="web_video_server_education">
         <param name="port" value="8081"/>
     </node>
     <node pkg="bitbots_education" exec="webserver" name="education_webserver" output="screen">
     </node>
-    
+
     <executable cmd="ros2 param set bitbots_vision component_debug_image_active true --timeout 20000" name="education_vision_debug_activator" output="screen"/>
 </launch>
diff --git a/bitbots_misc/bitbots_education/launch/education_simulation.launch b/src/bitbots_misc/bitbots_education/launch/education_simulation.launch
similarity index 68%
rename from bitbots_misc/bitbots_education/launch/education_simulation.launch
rename to src/bitbots_misc/bitbots_education/launch/education_simulation.launch
index 44222759b..851adcf2f 100644
--- a/bitbots_misc/bitbots_education/launch/education_simulation.launch
+++ b/src/bitbots_misc/bitbots_education/launch/education_simulation.launch
@@ -4,6 +4,10 @@
     </include>
     <include file="$(find-pkg-share bitbots_webots_sim)/launch/simulation.launch">
     </include>
+    <include file="$(find-pkg-share bitbots_bringup)/launch/vision.launch">
+        <arg name="sim" value="true"/>
+        <arg name="camera" value="false"/>
+    </include>
     <include file="$(find-pkg-share bitbots_bringup)/launch/motion_standalone.launch">
         <arg name="sim" value="true"/>
     </include>
diff --git a/bitbots_misc/bitbots_education/package.xml b/src/bitbots_misc/bitbots_education/package.xml
similarity index 100%
rename from bitbots_misc/bitbots_education/package.xml
rename to src/bitbots_misc/bitbots_education/package.xml
diff --git a/bitbots_misc/bitbots_education/resource/bitbots_education b/src/bitbots_misc/bitbots_education/resource/bitbots_education
similarity index 100%
rename from bitbots_misc/bitbots_education/resource/bitbots_education
rename to src/bitbots_misc/bitbots_education/resource/bitbots_education
diff --git a/bitbots_misc/bitbots_education/scripts/.gitignore b/src/bitbots_misc/bitbots_education/scripts/.gitignore
similarity index 100%
rename from bitbots_misc/bitbots_education/scripts/.gitignore
rename to src/bitbots_misc/bitbots_education/scripts/.gitignore
diff --git a/bitbots_misc/bitbots_education/setup.cfg b/src/bitbots_misc/bitbots_education/setup.cfg
similarity index 100%
rename from bitbots_misc/bitbots_education/setup.cfg
rename to src/bitbots_misc/bitbots_education/setup.cfg
diff --git a/bitbots_misc/bitbots_education/setup.py b/src/bitbots_misc/bitbots_education/setup.py
similarity index 100%
rename from bitbots_misc/bitbots_education/setup.py
rename to src/bitbots_misc/bitbots_education/setup.py
diff --git a/bitbots_misc/bitbots_education/static/abstract_robot.svg b/src/bitbots_misc/bitbots_education/static/abstract_robot.svg
similarity index 100%
rename from bitbots_misc/bitbots_education/static/abstract_robot.svg
rename to src/bitbots_misc/bitbots_education/static/abstract_robot.svg
diff --git a/bitbots_misc/bitbots_education/static/abstract_robot.webp b/src/bitbots_misc/bitbots_education/static/abstract_robot.webp
similarity index 100%
rename from bitbots_misc/bitbots_education/static/abstract_robot.webp
rename to src/bitbots_misc/bitbots_education/static/abstract_robot.webp
diff --git a/bitbots_misc/bitbots_education/static/bitBot_color.svg b/src/bitbots_misc/bitbots_education/static/bitBot_color.svg
similarity index 100%
rename from bitbots_misc/bitbots_education/static/bitBot_color.svg
rename to src/bitbots_misc/bitbots_education/static/bitBot_color.svg
diff --git a/bitbots_misc/bitbots_education/static/bitBot_whiteboard.svg b/src/bitbots_misc/bitbots_education/static/bitBot_whiteboard.svg
similarity index 100%
rename from bitbots_misc/bitbots_education/static/bitBot_whiteboard.svg
rename to src/bitbots_misc/bitbots_education/static/bitBot_whiteboard.svg
diff --git a/bitbots_misc/bitbots_education/static/camera.png b/src/bitbots_misc/bitbots_education/static/camera.png
similarity index 100%
rename from bitbots_misc/bitbots_education/static/camera.png
rename to src/bitbots_misc/bitbots_education/static/camera.png
diff --git a/bitbots_misc/bitbots_education/static/expand-collapse.svg b/src/bitbots_misc/bitbots_education/static/expand-collapse.svg
similarity index 100%
rename from bitbots_misc/bitbots_education/static/expand-collapse.svg
rename to src/bitbots_misc/bitbots_education/static/expand-collapse.svg
diff --git a/bitbots_misc/bitbots_education/static/imunew.png b/src/bitbots_misc/bitbots_education/static/imunew.png
similarity index 100%
rename from bitbots_misc/bitbots_education/static/imunew.png
rename to src/bitbots_misc/bitbots_education/static/imunew.png
diff --git a/bitbots_misc/bitbots_education/static/motor.png b/src/bitbots_misc/bitbots_education/static/motor.png
similarity index 100%
rename from bitbots_misc/bitbots_education/static/motor.png
rename to src/bitbots_misc/bitbots_education/static/motor.png
diff --git a/bitbots_misc/bitbots_education/templates/base.html b/src/bitbots_misc/bitbots_education/templates/base.html
similarity index 97%
rename from bitbots_misc/bitbots_education/templates/base.html
rename to src/bitbots_misc/bitbots_education/templates/base.html
index 7b961b334..418939c9f 100644
--- a/bitbots_misc/bitbots_education/templates/base.html
+++ b/src/bitbots_misc/bitbots_education/templates/base.html
@@ -7,7 +7,6 @@
   <script type="text/javascript" src="https://cdn.jsdelivr.net/npm/eventemitter2@6.4.9/lib/eventemitter2.min.js"></script>
   <script type="text/javascript" src="https://cdn.jsdelivr.net/npm/roslib@1/build/roslib.min.js"></script>
   <script src="https://cdn.jsdelivr.net/npm/@tailwindcss/browser@4"></script>
-  <script src="https://unpkg.com/htmx.org@2.0.4" integrity="sha384-HGfztofotfshcF7+8n44JQL2oJmowVChPTg48S+jvZoztPfvwD79OC/LTtG6dMp+" crossorigin="anonymous"></script>
   <script defer src="https://cdn.jsdelivr.net/npm/alpinejs@3.x.x/dist/cdn.min.js"></script>
 
   <script type="text/javascript" >
diff --git a/bitbots_misc/bitbots_education/templates/components/behavior_stack.html b/src/bitbots_misc/bitbots_education/templates/components/behavior_stack.html
similarity index 100%
rename from bitbots_misc/bitbots_education/templates/components/behavior_stack.html
rename to src/bitbots_misc/bitbots_education/templates/components/behavior_stack.html
diff --git a/bitbots_misc/bitbots_education/templates/components/behavior_tree.html b/src/bitbots_misc/bitbots_education/templates/components/behavior_tree.html
similarity index 100%
rename from bitbots_misc/bitbots_education/templates/components/behavior_tree.html
rename to src/bitbots_misc/bitbots_education/templates/components/behavior_tree.html
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rename from bitbots_misc/bitbots_extrinsic_calibration/launch/calibration.launch
rename to src/bitbots_misc/bitbots_extrinsic_calibration/launch/calibration.launch
diff --git a/bitbots_misc/bitbots_extrinsic_calibration/launch/viz_extrinsic_calibration.launch b/src/bitbots_misc/bitbots_extrinsic_calibration/launch/viz_extrinsic_calibration.launch
similarity index 100%
rename from bitbots_misc/bitbots_extrinsic_calibration/launch/viz_extrinsic_calibration.launch
rename to src/bitbots_misc/bitbots_extrinsic_calibration/launch/viz_extrinsic_calibration.launch
diff --git a/bitbots_misc/bitbots_extrinsic_calibration/package.xml b/src/bitbots_misc/bitbots_extrinsic_calibration/package.xml
similarity index 100%
rename from bitbots_misc/bitbots_extrinsic_calibration/package.xml
rename to src/bitbots_misc/bitbots_extrinsic_calibration/package.xml
diff --git a/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp b/src/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
similarity index 95%
rename from bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
rename to src/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
index ba668a025..8c93cc078 100644
--- a/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
+++ b/src/bitbots_misc/bitbots_extrinsic_calibration/src/extrinsic_calibration.cpp
@@ -28,8 +28,8 @@ class ExtrinsicCalibrationBroadcaster : public rclcpp::Node {
         this->add_on_set_parameters_callback(std::bind(&ExtrinsicCalibrationBroadcaster::onSetParameters, this, _1));
   }
 
-  rcl_interfaces::msg::SetParametersResult onSetParameters(const std::vector<rclcpp::Parameter> &parameters) {
-    for (const auto &parameter : parameters) {
+  rcl_interfaces::msg::SetParametersResult onSetParameters(const std::vector<rclcpp::Parameter>& parameters) {
+    for (const auto& parameter : parameters) {
       if (parameter.get_name() == "offset_x") {
         offset_x_ = parameter.as_double();
       } else if (parameter.get_name() == "offset_y") {
@@ -72,7 +72,7 @@ class ExtrinsicCalibrationBroadcaster : public rclcpp::Node {
   double offset_x_ = 0, offset_y_ = 0, offset_z_ = 0;
 };
 
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
 
   auto node = std::make_shared<ExtrinsicCalibrationBroadcaster>();
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rename from bitbots_misc/bitbots_teleop/docs/_static/logo.png
rename to src/bitbots_misc/bitbots_teleop/docs/_static/logo.png
diff --git a/bitbots_misc/bitbots_teleop/docs/index.rst b/src/bitbots_misc/bitbots_teleop/docs/index.rst
similarity index 100%
rename from bitbots_misc/bitbots_teleop/docs/index.rst
rename to src/bitbots_misc/bitbots_teleop/docs/index.rst
diff --git a/bitbots_misc/bitbots_teleop/launch/robot_teleop.launch b/src/bitbots_misc/bitbots_teleop/launch/robot_teleop.launch
similarity index 100%
rename from bitbots_misc/bitbots_teleop/launch/robot_teleop.launch
rename to src/bitbots_misc/bitbots_teleop/launch/robot_teleop.launch
diff --git a/bitbots_misc/bitbots_teleop/package.xml b/src/bitbots_misc/bitbots_teleop/package.xml
similarity index 100%
rename from bitbots_misc/bitbots_teleop/package.xml
rename to src/bitbots_misc/bitbots_teleop/package.xml
diff --git a/bitbots_misc/bitbots_teleop/resource/bitbots_teleop b/src/bitbots_misc/bitbots_teleop/resource/bitbots_teleop
similarity index 100%
rename from bitbots_misc/bitbots_teleop/resource/bitbots_teleop
rename to src/bitbots_misc/bitbots_teleop/resource/bitbots_teleop
diff --git a/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py b/src/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py
similarity index 100%
rename from bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py
rename to src/bitbots_misc/bitbots_teleop/scripts/teleop_keyboard.py
diff --git a/bitbots_misc/bitbots_teleop/setup.cfg b/src/bitbots_misc/bitbots_teleop/setup.cfg
similarity index 100%
rename from bitbots_misc/bitbots_teleop/setup.cfg
rename to src/bitbots_misc/bitbots_teleop/setup.cfg
diff --git a/bitbots_misc/bitbots_teleop/setup.py b/src/bitbots_misc/bitbots_teleop/setup.py
similarity index 100%
rename from bitbots_misc/bitbots_teleop/setup.py
rename to src/bitbots_misc/bitbots_teleop/setup.py
diff --git a/bitbots_misc/bitbots_tts/bitbots_tts/__init__.py b/src/bitbots_misc/bitbots_tts/bitbots_tts/__init__.py
similarity index 100%
rename from bitbots_misc/bitbots_tts/bitbots_tts/__init__.py
rename to src/bitbots_misc/bitbots_tts/bitbots_tts/__init__.py
diff --git a/bitbots_misc/bitbots_tts/bitbots_tts/tts.py b/src/bitbots_misc/bitbots_tts/bitbots_tts/tts.py
similarity index 100%
rename from bitbots_misc/bitbots_tts/bitbots_tts/tts.py
rename to src/bitbots_misc/bitbots_tts/bitbots_tts/tts.py
diff --git a/bitbots_misc/bitbots_tts/config/tts_config.yaml b/src/bitbots_misc/bitbots_tts/config/tts_config.yaml
similarity index 100%
rename from bitbots_misc/bitbots_tts/config/tts_config.yaml
rename to src/bitbots_misc/bitbots_tts/config/tts_config.yaml
diff --git a/bitbots_misc/bitbots_tts/docs/_static/logo.png b/src/bitbots_misc/bitbots_tts/docs/_static/logo.png
similarity index 100%
rename from bitbots_misc/bitbots_tts/docs/_static/logo.png
rename to src/bitbots_misc/bitbots_tts/docs/_static/logo.png
diff --git a/bitbots_misc/bitbots_tts/docs/conf.py b/src/bitbots_misc/bitbots_tts/docs/conf.py
similarity index 100%
rename from bitbots_misc/bitbots_tts/docs/conf.py
rename to src/bitbots_misc/bitbots_tts/docs/conf.py
diff --git a/bitbots_misc/bitbots_tts/docs/index.rst b/src/bitbots_misc/bitbots_tts/docs/index.rst
similarity index 100%
rename from bitbots_misc/bitbots_tts/docs/index.rst
rename to src/bitbots_misc/bitbots_tts/docs/index.rst
diff --git a/bitbots_misc/bitbots_tts/launch/tts.launch b/src/bitbots_misc/bitbots_tts/launch/tts.launch
similarity index 100%
rename from bitbots_misc/bitbots_tts/launch/tts.launch
rename to src/bitbots_misc/bitbots_tts/launch/tts.launch
diff --git a/bitbots_misc/bitbots_tts/package.xml b/src/bitbots_misc/bitbots_tts/package.xml
similarity index 97%
rename from bitbots_misc/bitbots_tts/package.xml
rename to src/bitbots_misc/bitbots_tts/package.xml
index f0a86a2cc..0467dce80 100644
--- a/bitbots_misc/bitbots_tts/package.xml
+++ b/src/bitbots_misc/bitbots_tts/package.xml
@@ -18,7 +18,6 @@
 
   <depend>bitbots_docs</depend>
   <depend>bitbots_msgs</depend>
-  <depend>espeak</depend>
   <depend>std_msgs</depend>
 
   <test_depend>python3-pytest</test_depend>
diff --git a/bitbots_misc/bitbots_tts/resource/bitbots_tts b/src/bitbots_misc/bitbots_tts/resource/bitbots_tts
similarity index 100%
rename from bitbots_misc/bitbots_tts/resource/bitbots_tts
rename to src/bitbots_misc/bitbots_tts/resource/bitbots_tts
diff --git a/bitbots_misc/bitbots_tts/scripts/say.sh b/src/bitbots_misc/bitbots_tts/scripts/say.sh
similarity index 100%
rename from bitbots_misc/bitbots_tts/scripts/say.sh
rename to src/bitbots_misc/bitbots_tts/scripts/say.sh
diff --git a/bitbots_misc/bitbots_tts/scripts/send_text.py b/src/bitbots_misc/bitbots_tts/scripts/send_text.py
similarity index 100%
rename from bitbots_misc/bitbots_tts/scripts/send_text.py
rename to src/bitbots_misc/bitbots_tts/scripts/send_text.py
diff --git a/bitbots_misc/bitbots_tts/scripts/speak_ip.py b/src/bitbots_misc/bitbots_tts/scripts/speak_ip.py
similarity index 100%
rename from bitbots_misc/bitbots_tts/scripts/speak_ip.py
rename to src/bitbots_misc/bitbots_tts/scripts/speak_ip.py
diff --git a/bitbots_misc/bitbots_tts/setup.cfg b/src/bitbots_misc/bitbots_tts/setup.cfg
similarity index 100%
rename from bitbots_misc/bitbots_tts/setup.cfg
rename to src/bitbots_misc/bitbots_tts/setup.cfg
diff --git a/bitbots_misc/bitbots_tts/setup.py b/src/bitbots_misc/bitbots_tts/setup.py
similarity index 100%
rename from bitbots_misc/bitbots_tts/setup.py
rename to src/bitbots_misc/bitbots_tts/setup.py
diff --git a/bitbots_misc/bitbots_utils/CMakeLists.txt b/src/bitbots_misc/bitbots_utils/CMakeLists.txt
similarity index 100%
rename from bitbots_misc/bitbots_utils/CMakeLists.txt
rename to src/bitbots_misc/bitbots_utils/CMakeLists.txt
diff --git a/bitbots_misc/bitbots_utils/bitbots_utils/__init__.py b/src/bitbots_misc/bitbots_utils/bitbots_utils/__init__.py
similarity index 100%
rename from bitbots_misc/bitbots_utils/bitbots_utils/__init__.py
rename to src/bitbots_misc/bitbots_utils/bitbots_utils/__init__.py
diff --git a/bitbots_misc/bitbots_utils/bitbots_utils/transforms.py b/src/bitbots_misc/bitbots_utils/bitbots_utils/transforms.py
similarity index 100%
rename from bitbots_misc/bitbots_utils/bitbots_utils/transforms.py
rename to src/bitbots_misc/bitbots_utils/bitbots_utils/transforms.py
diff --git a/bitbots_misc/bitbots_utils/bitbots_utils/utils.py b/src/bitbots_misc/bitbots_utils/bitbots_utils/utils.py
similarity index 100%
rename from bitbots_misc/bitbots_utils/bitbots_utils/utils.py
rename to src/bitbots_misc/bitbots_utils/bitbots_utils/utils.py
diff --git a/bitbots_misc/bitbots_utils/config/welcome_art.txt b/src/bitbots_misc/bitbots_utils/config/welcome_art.txt
similarity index 100%
rename from bitbots_misc/bitbots_utils/config/welcome_art.txt
rename to src/bitbots_misc/bitbots_utils/config/welcome_art.txt
diff --git a/bitbots_misc/bitbots_utils/docs/_static/logo.png b/src/bitbots_misc/bitbots_utils/docs/_static/logo.png
similarity index 100%
rename from bitbots_misc/bitbots_utils/docs/_static/logo.png
rename to src/bitbots_misc/bitbots_utils/docs/_static/logo.png
diff --git a/bitbots_misc/bitbots_utils/docs/conf.py b/src/bitbots_misc/bitbots_utils/docs/conf.py
similarity index 100%
rename from bitbots_misc/bitbots_utils/docs/conf.py
rename to src/bitbots_misc/bitbots_utils/docs/conf.py
diff --git a/bitbots_misc/bitbots_utils/docs/index.rst b/src/bitbots_misc/bitbots_utils/docs/index.rst
similarity index 100%
rename from bitbots_misc/bitbots_utils/docs/index.rst
rename to src/bitbots_misc/bitbots_utils/docs/index.rst
diff --git a/bitbots_misc/bitbots_utils/include/bitbots_utils/utils.hpp b/src/bitbots_misc/bitbots_utils/include/bitbots_utils/utils.hpp
similarity index 76%
rename from bitbots_misc/bitbots_utils/include/bitbots_utils/utils.hpp
rename to src/bitbots_misc/bitbots_utils/include/bitbots_utils/utils.hpp
index ba486f942..9949541fc 100644
--- a/bitbots_misc/bitbots_utils/include/bitbots_utils/utils.hpp
+++ b/src/bitbots_misc/bitbots_utils/include/bitbots_utils/utils.hpp
@@ -24,11 +24,11 @@ namespace bitbots_utils {
  * @param warn_interval Interval in which to keep warning if the frames are not available
  * @param verbose Can be used to disable the warning messages
  */
-void wait_for_tf(const rclcpp::Logger &logger, std::shared_ptr<rclcpp::Clock> clock, tf2_ros::Buffer *tf_buffer,
-                 const std::vector<std::string> &frames, const std::string &root_frame,
-                 const rclcpp::Duration &check_interval = rclcpp::Duration(0.1s),
-                 const rclcpp::Duration &warn_duration = rclcpp::Duration(5.0s),
-                 const rclcpp::Duration &warn_interval = rclcpp::Duration(1.0s), bool verbose = true);
+void wait_for_tf(const rclcpp::Logger& logger, std::shared_ptr<rclcpp::Clock> clock, tf2_ros::Buffer* tf_buffer,
+                 const std::vector<std::string>& frames, const std::string& root_frame,
+                 const rclcpp::Duration& check_interval = rclcpp::Duration(0.1s),
+                 const rclcpp::Duration& warn_duration = rclcpp::Duration(5.0s),
+                 const rclcpp::Duration& warn_interval = rclcpp::Duration(1.0s), bool verbose = true);
 
 /**
  * @brief Get the parameters from other node by calling the get_parameters service
@@ -42,9 +42,9 @@ void wait_for_tf(const rclcpp::Logger &logger, std::shared_ptr<rclcpp::Clock> cl
  */
 
 std::map<std::string, rclcpp::Parameter> get_parameters_from_other_node(rclcpp::Node::SharedPtr own_node,
-                                                                        const std::string &other_node_name,
-                                                                        const std::vector<std::string> &parameter_names,
-                                                                        const std::chrono::seconds &service_timeout);
+                                                                        const std::string& other_node_name,
+                                                                        const std::vector<std::string>& parameter_names,
+                                                                        const std::chrono::seconds& service_timeout);
 
 }  // namespace bitbots_utils
 
diff --git a/bitbots_misc/bitbots_utils/launch/welcome.launch b/src/bitbots_misc/bitbots_utils/launch/welcome.launch
similarity index 100%
rename from bitbots_misc/bitbots_utils/launch/welcome.launch
rename to src/bitbots_misc/bitbots_utils/launch/welcome.launch
diff --git a/bitbots_misc/bitbots_utils/package.xml b/src/bitbots_misc/bitbots_utils/package.xml
similarity index 100%
rename from bitbots_misc/bitbots_utils/package.xml
rename to src/bitbots_misc/bitbots_utils/package.xml
diff --git a/bitbots_misc/bitbots_utils/scripts/check_robot.py b/src/bitbots_misc/bitbots_utils/scripts/check_robot.py
similarity index 100%
rename from bitbots_misc/bitbots_utils/scripts/check_robot.py
rename to src/bitbots_misc/bitbots_utils/scripts/check_robot.py
diff --git a/bitbots_misc/bitbots_utils/scripts/dummy_imu.py b/src/bitbots_misc/bitbots_utils/scripts/dummy_imu.py
similarity index 100%
rename from bitbots_misc/bitbots_utils/scripts/dummy_imu.py
rename to src/bitbots_misc/bitbots_utils/scripts/dummy_imu.py
diff --git a/bitbots_misc/bitbots_utils/scripts/motor_goals_viz_helper.py b/src/bitbots_misc/bitbots_utils/scripts/motor_goals_viz_helper.py
similarity index 100%
rename from bitbots_misc/bitbots_utils/scripts/motor_goals_viz_helper.py
rename to src/bitbots_misc/bitbots_utils/scripts/motor_goals_viz_helper.py
diff --git a/bitbots_misc/bitbots_utils/scripts/publish_workspace_status.py b/src/bitbots_misc/bitbots_utils/scripts/publish_workspace_status.py
similarity index 100%
rename from bitbots_misc/bitbots_utils/scripts/publish_workspace_status.py
rename to src/bitbots_misc/bitbots_utils/scripts/publish_workspace_status.py
diff --git a/bitbots_misc/bitbots_utils/scripts/set_volume.sh b/src/bitbots_misc/bitbots_utils/scripts/set_volume.sh
similarity index 100%
rename from bitbots_misc/bitbots_utils/scripts/set_volume.sh
rename to src/bitbots_misc/bitbots_utils/scripts/set_volume.sh
diff --git a/bitbots_misc/bitbots_utils/scripts/tf_delay_plot.cpp b/src/bitbots_misc/bitbots_utils/scripts/tf_delay_plot.cpp
similarity index 95%
rename from bitbots_misc/bitbots_utils/scripts/tf_delay_plot.cpp
rename to src/bitbots_misc/bitbots_utils/scripts/tf_delay_plot.cpp
index 35c560ec0..61aa8e95a 100644
--- a/bitbots_misc/bitbots_utils/scripts/tf_delay_plot.cpp
+++ b/src/bitbots_misc/bitbots_utils/scripts/tf_delay_plot.cpp
@@ -22,7 +22,7 @@ class TfDelayPlot : public rclcpp::Node {
 
   void tf_callback(const tf2_msgs::msg::TFMessage::SharedPtr msg) {
     RCLCPP_INFO(this->get_logger(), "Got transform message");
-    for (auto &transform : msg->transforms) {
+    for (auto& transform : msg->transforms) {
       // Calculate delay
       double delay =
           ((transform.header.stamp.sec * 1.0e9 + transform.header.stamp.nanosec) - this->now().nanoseconds()) / 1.0e9;
@@ -45,7 +45,7 @@ class TfDelayPlot : public rclcpp::Node {
   rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr tf_sub_;
 };
 
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<TfDelayPlot>());
   rclcpp::shutdown();
diff --git a/bitbots_misc/bitbots_utils/src/utils.cpp b/src/bitbots_misc/bitbots_utils/src/utils.cpp
similarity index 86%
rename from bitbots_misc/bitbots_utils/src/utils.cpp
rename to src/bitbots_misc/bitbots_utils/src/utils.cpp
index 2131dec2e..b951ed29c 100644
--- a/bitbots_misc/bitbots_utils/src/utils.cpp
+++ b/src/bitbots_misc/bitbots_utils/src/utils.cpp
@@ -14,10 +14,10 @@ namespace bitbots_utils {
  * @param warn_interval Interval in which to keep warning if the frames are not available
  * @param verbose Can be used to disable the warning messages
  */
-void wait_for_tf(const rclcpp::Logger &logger, std::shared_ptr<rclcpp::Clock> clock, tf2_ros::Buffer *tf_buffer,
-                 const std::vector<std::string> &frames, const std::string &root_frame,
-                 const rclcpp::Duration &check_interval, const rclcpp::Duration &warn_duration,
-                 const rclcpp::Duration &warn_interval, bool verbose) {
+void wait_for_tf(const rclcpp::Logger& logger, std::shared_ptr<rclcpp::Clock> clock, tf2_ros::Buffer* tf_buffer,
+                 const std::vector<std::string>& frames, const std::string& root_frame,
+                 const rclcpp::Duration& check_interval, const rclcpp::Duration& warn_duration,
+                 const rclcpp::Duration& warn_interval, bool verbose) {
   // Store the beginning time
   auto start_time = clock->now();
 
@@ -36,7 +36,7 @@ void wait_for_tf(const rclcpp::Logger &logger, std::shared_ptr<rclcpp::Clock> cl
       }
 
       // Check if we can transform from the given root frame to all given frames
-      if (!std::all_of(frames.begin(), frames.end(), [tf_buffer, root_frame, check_interval](const std::string frame) {
+      if (!std::all_of(frames.begin(), frames.end(), [tf_buffer, root_frame, check_interval](const std::string& frame) {
             return tf_buffer->canTransform(root_frame, frame, rclcpp::Time(0), check_interval);
           })) {
         // Here it is fine not to wait as the canTransform function already includes a timeout
@@ -45,7 +45,7 @@ void wait_for_tf(const rclcpp::Logger &logger, std::shared_ptr<rclcpp::Clock> cl
       }
       // We can transform to all frames, so we are done
       return;
-    } catch (const std::exception &e) {
+    } catch (const std::exception& e) {
       if (verbose) {
         RCLCPP_ERROR(logger, "Error while waiting for transforms: %s \n", e.what());
       }
@@ -62,9 +62,9 @@ void wait_for_tf(const rclcpp::Logger &logger, std::shared_ptr<rclcpp::Clock> cl
 }
 
 std::map<std::string, rclcpp::Parameter> get_parameters_from_other_node(rclcpp::Node::SharedPtr own_node,
-                                                                        const std::string &other_node_name,
-                                                                        const std::vector<std::string> &parameter_names,
-                                                                        const std::chrono::seconds &service_timeout) {
+                                                                        const std::string& other_node_name,
+                                                                        const std::vector<std::string>& parameter_names,
+                                                                        const std::chrono::seconds& service_timeout) {
   // Create a client to the other node
   auto client = own_node->create_client<rcl_interfaces::srv::GetParameters>(other_node_name + "/get_parameters");
 
diff --git a/bitbots_misc/system_monitor/config/config.yaml b/src/bitbots_misc/system_monitor/config/config.yaml
similarity index 100%
rename from bitbots_misc/system_monitor/config/config.yaml
rename to src/bitbots_misc/system_monitor/config/config.yaml
diff --git a/bitbots_misc/system_monitor/config/plotjuggler_layout.xml b/src/bitbots_misc/system_monitor/config/plotjuggler_layout.xml
similarity index 100%
rename from bitbots_misc/system_monitor/config/plotjuggler_layout.xml
rename to src/bitbots_misc/system_monitor/config/plotjuggler_layout.xml
diff --git a/bitbots_misc/system_monitor/docs/_static/logo.png b/src/bitbots_misc/system_monitor/docs/_static/logo.png
similarity index 100%
rename from bitbots_misc/system_monitor/docs/_static/logo.png
rename to src/bitbots_misc/system_monitor/docs/_static/logo.png
diff --git a/bitbots_misc/system_monitor/docs/index.rst b/src/bitbots_misc/system_monitor/docs/index.rst
similarity index 100%
rename from bitbots_misc/system_monitor/docs/index.rst
rename to src/bitbots_misc/system_monitor/docs/index.rst
diff --git a/bitbots_misc/system_monitor/launch/system_monitor.launch b/src/bitbots_misc/system_monitor/launch/system_monitor.launch
similarity index 100%
rename from bitbots_misc/system_monitor/launch/system_monitor.launch
rename to src/bitbots_misc/system_monitor/launch/system_monitor.launch
diff --git a/bitbots_misc/system_monitor/launch/viz.launch b/src/bitbots_misc/system_monitor/launch/viz.launch
similarity index 100%
rename from bitbots_misc/system_monitor/launch/viz.launch
rename to src/bitbots_misc/system_monitor/launch/viz.launch
diff --git a/bitbots_misc/system_monitor/package.xml b/src/bitbots_misc/system_monitor/package.xml
similarity index 100%
rename from bitbots_misc/system_monitor/package.xml
rename to src/bitbots_misc/system_monitor/package.xml
diff --git a/bitbots_misc/system_monitor/resource/system_monitor b/src/bitbots_misc/system_monitor/resource/system_monitor
similarity index 100%
rename from bitbots_misc/system_monitor/resource/system_monitor
rename to src/bitbots_misc/system_monitor/resource/system_monitor
diff --git a/bitbots_misc/system_monitor/setup.cfg b/src/bitbots_misc/system_monitor/setup.cfg
similarity index 100%
rename from bitbots_misc/system_monitor/setup.cfg
rename to src/bitbots_misc/system_monitor/setup.cfg
diff --git a/bitbots_misc/system_monitor/setup.py b/src/bitbots_misc/system_monitor/setup.py
similarity index 100%
rename from bitbots_misc/system_monitor/setup.py
rename to src/bitbots_misc/system_monitor/setup.py
diff --git a/bitbots_misc/system_monitor/system_monitor/__init__.py b/src/bitbots_misc/system_monitor/system_monitor/__init__.py
similarity index 100%
rename from bitbots_misc/system_monitor/system_monitor/__init__.py
rename to src/bitbots_misc/system_monitor/system_monitor/__init__.py
diff --git a/bitbots_misc/system_monitor/system_monitor/cpus.py b/src/bitbots_misc/system_monitor/system_monitor/cpus.py
similarity index 100%
rename from bitbots_misc/system_monitor/system_monitor/cpus.py
rename to src/bitbots_misc/system_monitor/system_monitor/cpus.py
diff --git a/bitbots_misc/system_monitor/system_monitor/gpu.py b/src/bitbots_misc/system_monitor/system_monitor/gpu.py
similarity index 100%
rename from bitbots_misc/system_monitor/system_monitor/gpu.py
rename to src/bitbots_misc/system_monitor/system_monitor/gpu.py
diff --git a/bitbots_misc/system_monitor/system_monitor/memory.py b/src/bitbots_misc/system_monitor/system_monitor/memory.py
similarity index 100%
rename from bitbots_misc/system_monitor/system_monitor/memory.py
rename to src/bitbots_misc/system_monitor/system_monitor/memory.py
diff --git a/bitbots_misc/system_monitor/system_monitor/monitor.py b/src/bitbots_misc/system_monitor/system_monitor/monitor.py
similarity index 100%
rename from bitbots_misc/system_monitor/system_monitor/monitor.py
rename to src/bitbots_misc/system_monitor/system_monitor/monitor.py
diff --git a/bitbots_misc/system_monitor/system_monitor/network_interfaces.py b/src/bitbots_misc/system_monitor/system_monitor/network_interfaces.py
similarity index 100%
rename from bitbots_misc/system_monitor/system_monitor/network_interfaces.py
rename to src/bitbots_misc/system_monitor/system_monitor/network_interfaces.py
diff --git a/bitbots_motion/README.md b/src/bitbots_motion/README.md
similarity index 100%
rename from bitbots_motion/README.md
rename to src/bitbots_motion/README.md
diff --git a/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/__init__.py b/src/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/__init__.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/__init__.py
rename to src/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/__init__.py
diff --git a/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/animation_recording.py b/src/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/animation_recording.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/animation_recording.py
rename to src/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/animation_recording.py
diff --git a/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/record_ui.py b/src/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/record_ui.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/record_ui.py
rename to src/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/record_ui.py
diff --git a/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/utils.py b/src/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/utils.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/utils.py
rename to src/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/utils.py
diff --git a/bitbots_motion/bitbots_animation_rqt/package.xml b/src/bitbots_motion/bitbots_animation_rqt/package.xml
similarity index 100%
rename from bitbots_motion/bitbots_animation_rqt/package.xml
rename to src/bitbots_motion/bitbots_animation_rqt/package.xml
diff --git a/bitbots_motion/bitbots_animation_rqt/plugin.xml b/src/bitbots_motion/bitbots_animation_rqt/plugin.xml
similarity index 100%
rename from bitbots_motion/bitbots_animation_rqt/plugin.xml
rename to src/bitbots_motion/bitbots_animation_rqt/plugin.xml
diff --git a/bitbots_motion/bitbots_animation_rqt/resource/RecordUI.ui b/src/bitbots_motion/bitbots_animation_rqt/resource/RecordUI.ui
similarity index 100%
rename from bitbots_motion/bitbots_animation_rqt/resource/RecordUI.ui
rename to src/bitbots_motion/bitbots_animation_rqt/resource/RecordUI.ui
diff --git a/bitbots_motion/bitbots_animation_rqt/resource/bitbots_animation_rqt b/src/bitbots_motion/bitbots_animation_rqt/resource/bitbots_animation_rqt
similarity index 100%
rename from bitbots_motion/bitbots_animation_rqt/resource/bitbots_animation_rqt
rename to src/bitbots_motion/bitbots_animation_rqt/resource/bitbots_animation_rqt
diff --git a/bitbots_motion/bitbots_animation_rqt/setup.cfg b/src/bitbots_motion/bitbots_animation_rqt/setup.cfg
similarity index 100%
rename from bitbots_motion/bitbots_animation_rqt/setup.cfg
rename to src/bitbots_motion/bitbots_animation_rqt/setup.cfg
diff --git a/bitbots_motion/bitbots_animation_rqt/setup.py b/src/bitbots_motion/bitbots_animation_rqt/setup.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_rqt/setup.py
rename to src/bitbots_motion/bitbots_animation_rqt/setup.py
diff --git a/bitbots_motion/bitbots_animation_rqt/test/mypy.ini b/src/bitbots_motion/bitbots_animation_rqt/test/mypy.ini
similarity index 100%
rename from bitbots_motion/bitbots_animation_rqt/test/mypy.ini
rename to src/bitbots_motion/bitbots_animation_rqt/test/mypy.ini
diff --git a/bitbots_motion/bitbots_animation_rqt/test/test_mypy.py b/src/bitbots_motion/bitbots_animation_rqt/test/test_mypy.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_rqt/test/test_mypy.py
rename to src/bitbots_motion/bitbots_animation_rqt/test/test_mypy.py
diff --git a/bitbots_motion/bitbots_animation_server/bitbots_animation_server/__init__.py b/src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/__init__.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/bitbots_animation_server/__init__.py
rename to src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/__init__.py
diff --git a/bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation.py b/src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation.py
rename to src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation.py
diff --git a/bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation_node.py b/src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation_node.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation_node.py
rename to src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/animation_node.py
diff --git a/bitbots_motion/bitbots_animation_server/bitbots_animation_server/resource_manager.py b/src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/resource_manager.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/bitbots_animation_server/resource_manager.py
rename to src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/resource_manager.py
diff --git a/bitbots_motion/bitbots_animation_server/bitbots_animation_server/spline_animator.py b/src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/spline_animator.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/bitbots_animation_server/spline_animator.py
rename to src/bitbots_motion/bitbots_animation_server/bitbots_animation_server/spline_animator.py
diff --git a/bitbots_motion/bitbots_animation_server/docs/_static/logo.png b/src/bitbots_motion/bitbots_animation_server/docs/_static/logo.png
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/docs/_static/logo.png
rename to src/bitbots_motion/bitbots_animation_server/docs/_static/logo.png
diff --git a/bitbots_motion/bitbots_animation_server/docs/conf.py b/src/bitbots_motion/bitbots_animation_server/docs/conf.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/docs/conf.py
rename to src/bitbots_motion/bitbots_animation_server/docs/conf.py
diff --git a/bitbots_motion/bitbots_animation_server/docs/index.rst b/src/bitbots_motion/bitbots_animation_server/docs/index.rst
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/docs/index.rst
rename to src/bitbots_motion/bitbots_animation_server/docs/index.rst
diff --git a/bitbots_motion/bitbots_animation_server/docs/manual/animation.rst b/src/bitbots_motion/bitbots_animation_server/docs/manual/animation.rst
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/docs/manual/animation.rst
rename to src/bitbots_motion/bitbots_animation_server/docs/manual/animation.rst
diff --git a/bitbots_motion/bitbots_animation_server/launch/animation.launch b/src/bitbots_motion/bitbots_animation_server/launch/animation.launch
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/launch/animation.launch
rename to src/bitbots_motion/bitbots_animation_server/launch/animation.launch
diff --git a/bitbots_motion/bitbots_animation_server/launch/test.launch b/src/bitbots_motion/bitbots_animation_server/launch/test.launch
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/launch/test.launch
rename to src/bitbots_motion/bitbots_animation_server/launch/test.launch
diff --git a/bitbots_motion/bitbots_animation_server/package.xml b/src/bitbots_motion/bitbots_animation_server/package.xml
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/package.xml
rename to src/bitbots_motion/bitbots_animation_server/package.xml
diff --git a/bitbots_motion/bitbots_animation_server/resource/bitbots_animation_server b/src/bitbots_motion/bitbots_animation_server/resource/bitbots_animation_server
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/resource/bitbots_animation_server
rename to src/bitbots_motion/bitbots_animation_server/resource/bitbots_animation_server
diff --git a/bitbots_motion/bitbots_animation_server/scripts/animation_hcm_bridge.py b/src/bitbots_motion/bitbots_animation_server/scripts/animation_hcm_bridge.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/scripts/animation_hcm_bridge.py
rename to src/bitbots_motion/bitbots_animation_server/scripts/animation_hcm_bridge.py
diff --git a/bitbots_motion/bitbots_animation_server/scripts/run_animation.py b/src/bitbots_motion/bitbots_animation_server/scripts/run_animation.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/scripts/run_animation.py
rename to src/bitbots_motion/bitbots_animation_server/scripts/run_animation.py
diff --git a/bitbots_motion/bitbots_animation_server/setup.cfg b/src/bitbots_motion/bitbots_animation_server/setup.cfg
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/setup.cfg
rename to src/bitbots_motion/bitbots_animation_server/setup.cfg
diff --git a/bitbots_motion/bitbots_animation_server/setup.py b/src/bitbots_motion/bitbots_animation_server/setup.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/setup.py
rename to src/bitbots_motion/bitbots_animation_server/setup.py
diff --git a/bitbots_motion/bitbots_animation_server/test/mypy.ini b/src/bitbots_motion/bitbots_animation_server/test/mypy.ini
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/test/mypy.ini
rename to src/bitbots_motion/bitbots_animation_server/test/mypy.ini
diff --git a/bitbots_motion/bitbots_animation_server/test/test_mypy.py b/src/bitbots_motion/bitbots_animation_server/test/test_mypy.py
similarity index 100%
rename from bitbots_motion/bitbots_animation_server/test/test_mypy.py
rename to src/bitbots_motion/bitbots_animation_server/test/test_mypy.py
diff --git a/bitbots_motion/bitbots_dynamic_kick/CMakeLists.txt b/src/bitbots_motion/bitbots_dynamic_kick/CMakeLists.txt
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/CMakeLists.txt
rename to src/bitbots_motion/bitbots_dynamic_kick/CMakeLists.txt
diff --git a/bitbots_motion/bitbots_dynamic_kick/Doxyfile b/src/bitbots_motion/bitbots_dynamic_kick/Doxyfile
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/Doxyfile
rename to src/bitbots_motion/bitbots_dynamic_kick/Doxyfile
diff --git a/bitbots_motion/bitbots_dynamic_kick/config/kick_config.yaml b/src/bitbots_motion/bitbots_dynamic_kick/config/kick_config.yaml
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/config/kick_config.yaml
rename to src/bitbots_motion/bitbots_dynamic_kick/config/kick_config.yaml
diff --git a/bitbots_motion/bitbots_dynamic_kick/config/kick_sim_config.yaml b/src/bitbots_motion/bitbots_dynamic_kick/config/kick_sim_config.yaml
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/config/kick_sim_config.yaml
rename to src/bitbots_motion/bitbots_dynamic_kick/config/kick_sim_config.yaml
diff --git a/bitbots_motion/bitbots_dynamic_kick/docs/_static/logo.png b/src/bitbots_motion/bitbots_dynamic_kick/docs/_static/logo.png
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/docs/_static/logo.png
rename to src/bitbots_motion/bitbots_dynamic_kick/docs/_static/logo.png
diff --git a/bitbots_motion/bitbots_dynamic_kick/docs/conf.py b/src/bitbots_motion/bitbots_dynamic_kick/docs/conf.py
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/docs/conf.py
rename to src/bitbots_motion/bitbots_dynamic_kick/docs/conf.py
diff --git a/bitbots_motion/bitbots_dynamic_kick/docs/index.rst b/src/bitbots_motion/bitbots_dynamic_kick/docs/index.rst
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/docs/index.rst
rename to src/bitbots_motion/bitbots_dynamic_kick/docs/index.rst
diff --git a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_engine.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_engine.hpp
similarity index 93%
rename from bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_engine.hpp
rename to src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_engine.hpp
index 87dd56cd4..582a24e3e 100644
--- a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_engine.hpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_engine.hpp
@@ -84,7 +84,7 @@ class KickEngine : public bitbots_splines::AbstractEngine<KickGoals, KickPositio
    *
    * @throws tf2::TransformException when goal cannot be converted into needed tf frames
    */
-  void setGoals(const KickGoals &goals) override;
+  void setGoals(const KickGoals& goals) override;
 
   /**
    * Reset this KickEngine completely, removing the goal, all splines and thereby stopping all output
@@ -149,7 +149,7 @@ class KickEngine : public bitbots_splines::AbstractEngine<KickGoals, KickPositio
    *  @param flying_foot_pose Current pose of the flying foot relative to the support foot
    *  @param trunk_pose Current pose of the trunk relative to the support foot
    */
-  void calcSplines(const Eigen::Isometry3d &flying_foot_pose, const Eigen::Isometry3d &trunk_pose);
+  void calcSplines(const Eigen::Isometry3d& flying_foot_pose, const Eigen::Isometry3d& trunk_pose);
 
   /**
    *  Calculate the point from which to perform the final kicking movement
@@ -169,7 +169,7 @@ class KickEngine : public bitbots_splines::AbstractEngine<KickGoals, KickPositio
    *
    * @throws tf2::TransformException when ball_position and kick_direction cannot be converted into base_footprint frame
    */
-  bool calcIsLeftFootKicking(const Eigen::Vector3d &ball_position, const Eigen::Quaterniond &kick_direction);
+  bool calcIsLeftFootKicking(const Eigen::Vector3d& ball_position, const Eigen::Quaterniond& kick_direction);
 
   /**
    * Calculate the yaw of the kicking foot, so that it is turned
@@ -187,10 +187,10 @@ class KickEngine : public bitbots_splines::AbstractEngine<KickGoals, KickPositio
    *
    * @throws tf2::TransformException when goal cannot be transformed into support_foot_frame
    */
-  std::pair<Eigen::Vector3d, Eigen::Quaterniond> transformGoal(const std::string &support_foot_frame,
-                                                               const Eigen::Isometry3d &trunk_to_base_footprint,
-                                                               const Eigen::Vector3d &ball_position,
-                                                               const Eigen::Quaterniond &kick_direction);
+  std::pair<Eigen::Vector3d, Eigen::Quaterniond> transformGoal(const std::string& support_foot_frame,
+                                                               const Eigen::Isometry3d& trunk_to_base_footprint,
+                                                               const Eigen::Vector3d& ball_position,
+                                                               const Eigen::Quaterniond& kick_direction);
 };
 }  // namespace bitbots_dynamic_kick
 
diff --git a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_ik.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_ik.hpp
similarity index 77%
rename from bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_ik.hpp
rename to src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_ik.hpp
index 1cd86bacc..bc5416733 100644
--- a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_ik.hpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_ik.hpp
@@ -11,17 +11,17 @@ namespace bitbots_dynamic_kick {
 
 class KickIK : public bitbots_splines::AbstractIK<KickPositions> {
  public:
-  KickIK() : legs_joints_group_(), left_leg_joints_group_(), right_leg_joints_group_(){};
+  KickIK() : legs_joints_group_(), left_leg_joints_group_(), right_leg_joints_group_() {};
   void init(moveit::core::RobotModelPtr kinematic_model) override;
-  bitbots_splines::JointGoals calculate(const KickPositions &positions) override;
+  bitbots_splines::JointGoals calculate(const KickPositions& positions) override;
   void reset() override;
 
  private:
   moveit::core::RobotStatePtr goal_state_;
   planning_scene::PlanningScenePtr planning_scene_;
-  moveit::core::JointModelGroup *legs_joints_group_;
-  moveit::core::JointModelGroup *left_leg_joints_group_;
-  moveit::core::JointModelGroup *right_leg_joints_group_;
+  moveit::core::JointModelGroup* legs_joints_group_;
+  moveit::core::JointModelGroup* left_leg_joints_group_;
+  moveit::core::JointModelGroup* right_leg_joints_group_;
 };
 }  // namespace bitbots_dynamic_kick
 
diff --git a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_node.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_node.hpp
similarity index 95%
rename from bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_node.hpp
rename to src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_node.hpp
index 70214945c..893be5c0f 100644
--- a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_node.hpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_node.hpp
@@ -38,7 +38,7 @@ using namespace std::placeholders;
  */
 class KickNode : public rclcpp::Node {
  public:
-  explicit KickNode(const std::string &ns = std::string(), std::vector<rclcpp::Parameter> parameters = {});
+  explicit KickNode(const std::string& ns = std::string(), std::vector<rclcpp::Parameter> parameters = {});
 
   /**
    * Callback that gets executed whenever #server_ receives a new goal.
@@ -65,7 +65,7 @@ class KickNode : public rclcpp::Node {
    * @param trunk_to_base_footprint transform from trunk to base_footprint
    * @return whether the setup was successful
    */
-  bool init(const bitbots_msgs::action::Kick::Goal &goal_msg, std::string &error_string);
+  bool init(const bitbots_msgs::action::Kick::Goal& goal_msg, std::string& error_string);
 
   /**
    * Set the current joint state of the robot
@@ -114,7 +114,7 @@ class KickNode : public rclcpp::Node {
    */
   void loopEngine(const std::shared_ptr<rclcpp_action::ServerGoalHandle<bitbots_msgs::action::Kick>> goal_handle);
 
-  rclcpp_action::GoalResponse goalCb(const rclcpp_action::GoalUUID &uuid,
+  rclcpp_action::GoalResponse goalCb(const rclcpp_action::GoalUUID& uuid,
                                      std::shared_ptr<const bitbots_msgs::action::Kick::Goal> goal);
 
   rclcpp_action::CancelResponse cancelCb(
@@ -137,13 +137,13 @@ class KickNode : public rclcpp::Node {
   /**
    * Get JointCommand message for JointGoals
    */
-  bitbots_msgs::msg::JointCommand getJointCommand(const bitbots_splines::JointGoals &goals);
+  bitbots_msgs::msg::JointCommand getJointCommand(const bitbots_splines::JointGoals& goals);
 
   void copLCallback(const geometry_msgs::msg::PointStamped::SharedPtr cop);
 
   void copRCallback(const geometry_msgs::msg::PointStamped::SharedPtr cop);
 
-  rcl_interfaces::msg::SetParametersResult onSetParameters(const std::vector<rclcpp::Parameter> &parameters);
+  rcl_interfaces::msg::SetParametersResult onSetParameters(const std::vector<rclcpp::Parameter>& parameters);
 };
 }  // namespace bitbots_dynamic_kick
 
diff --git a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_pywrapper.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_pywrapper.hpp
similarity index 90%
rename from bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_pywrapper.hpp
rename to src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_pywrapper.hpp
index 1cc5083a3..8d75cd365 100644
--- a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_pywrapper.hpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_pywrapper.hpp
@@ -15,8 +15,8 @@
 class PyKickWrapper {
  public:
   explicit PyKickWrapper(std::string ns);
-  moveit::py_bindings_tools::ByteString step(double dt, const std::string &joint_state_str);
-  bool set_goal(const std::string &goal_str, const std::string &joint_state_str);
+  moveit::py_bindings_tools::ByteString step(double dt, const std::string& joint_state_str);
+  bool set_goal(const std::string& goal_str, const std::string& joint_state_str);
   double get_progress();
   // todo
   //  void set_params(boost::python::object params);
diff --git a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_utils.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_utils.hpp
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_utils.hpp
rename to src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_utils.hpp
diff --git a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/stabilizer.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/stabilizer.hpp
similarity index 93%
rename from bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/stabilizer.hpp
rename to src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/stabilizer.hpp
index 3eac1d78a..1022b6f1f 100644
--- a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/stabilizer.hpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/stabilizer.hpp
@@ -27,7 +27,7 @@ class Stabilizer : public bitbots_splines::AbstractStabilizer<KickPositions> {
    * @return BioIK Options that can be used by an instance of AbstractIK
    */
 
-  KickPositions stabilize(const KickPositions &positions, const rclcpp::Duration &dt) override;
+  KickPositions stabilize(const KickPositions& positions, const rclcpp::Duration& dt) override;
   void reset() override;
   void useCop(bool use);
   void setRobotModel(moveit::core::RobotModelPtr model);
diff --git a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/visualizer.hpp b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/visualizer.hpp
similarity index 82%
rename from bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/visualizer.hpp
rename to src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/visualizer.hpp
index 7f0170fef..7f4c88613 100644
--- a/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/visualizer.hpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/visualizer.hpp
@@ -34,20 +34,20 @@ struct VisualizationParams {
 
 class Visualizer : bitbots_splines::AbstractVisualizer {
  public:
-  explicit Visualizer(const std::string &base_topic, rclcpp::Node::SharedPtr node);
+  explicit Visualizer(const std::string& base_topic, rclcpp::Node::SharedPtr node);
 
   void setParams(VisualizationParams params);
 
-  void displayReceivedGoal(const bitbots_msgs::action::Kick::Goal &goal);
+  void displayReceivedGoal(const bitbots_msgs::action::Kick::Goal& goal);
 
-  void displayFlyingSplines(bitbots_splines::PoseSpline splines, const std::string &support_foot_frame);
+  void displayFlyingSplines(bitbots_splines::PoseSpline splines, const std::string& support_foot_frame);
 
-  void displayTrunkSplines(bitbots_splines::PoseSpline splines, const std::string &support_foot_frame);
+  void displayTrunkSplines(bitbots_splines::PoseSpline splines, const std::string& support_foot_frame);
 
-  void displayWindupPoint(const Eigen::Vector3d &kick_windup_point, const std::string &support_foot_frame);
+  void displayWindupPoint(const Eigen::Vector3d& kick_windup_point, const std::string& support_foot_frame);
 
-  void publishGoals(const KickPositions &positions, const KickPositions &stabilized_positions,
-                    const moveit::core::RobotStatePtr &robot_state, KickPhase engine_phase);
+  void publishGoals(const KickPositions& positions, const KickPositions& stabilized_positions,
+                    const moveit::core::RobotStatePtr& robot_state, KickPhase engine_phase);
 
  private:
   rclcpp::Node::SharedPtr node_;
diff --git a/bitbots_motion/bitbots_dynamic_kick/launch/dynamic_kick.launch b/src/bitbots_motion/bitbots_dynamic_kick/launch/dynamic_kick.launch
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/launch/dynamic_kick.launch
rename to src/bitbots_motion/bitbots_dynamic_kick/launch/dynamic_kick.launch
diff --git a/bitbots_motion/bitbots_dynamic_kick/launch/test.launch b/src/bitbots_motion/bitbots_dynamic_kick/launch/test.launch
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/launch/test.launch
rename to src/bitbots_motion/bitbots_dynamic_kick/launch/test.launch
diff --git a/bitbots_motion/bitbots_dynamic_kick/launch/viz.launch b/src/bitbots_motion/bitbots_dynamic_kick/launch/viz.launch
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/launch/viz.launch
rename to src/bitbots_motion/bitbots_dynamic_kick/launch/viz.launch
diff --git a/bitbots_motion/bitbots_dynamic_kick/msg/KickDebug.msg b/src/bitbots_motion/bitbots_dynamic_kick/msg/KickDebug.msg
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/msg/KickDebug.msg
rename to src/bitbots_motion/bitbots_dynamic_kick/msg/KickDebug.msg
diff --git a/bitbots_motion/bitbots_dynamic_kick/package.xml b/src/bitbots_motion/bitbots_dynamic_kick/package.xml
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/package.xml
rename to src/bitbots_motion/bitbots_dynamic_kick/package.xml
diff --git a/bitbots_motion/bitbots_dynamic_kick/scripts/dummy_client.py b/src/bitbots_motion/bitbots_dynamic_kick/scripts/dummy_client.py
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/scripts/dummy_client.py
rename to src/bitbots_motion/bitbots_dynamic_kick/scripts/dummy_client.py
diff --git a/bitbots_motion/bitbots_dynamic_kick/scripts/interactive_test.py b/src/bitbots_motion/bitbots_dynamic_kick/scripts/interactive_test.py
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/scripts/interactive_test.py
rename to src/bitbots_motion/bitbots_dynamic_kick/scripts/interactive_test.py
diff --git a/bitbots_motion/bitbots_dynamic_kick/setup.py b/src/bitbots_motion/bitbots_dynamic_kick/setup.py
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/setup.py
rename to src/bitbots_motion/bitbots_dynamic_kick/setup.py
diff --git a/bitbots_motion/bitbots_dynamic_kick/src/bitbots_dynamic_kick/__init__.py b/src/bitbots_motion/bitbots_dynamic_kick/src/bitbots_dynamic_kick/__init__.py
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/src/bitbots_dynamic_kick/__init__.py
rename to src/bitbots_motion/bitbots_dynamic_kick/src/bitbots_dynamic_kick/__init__.py
diff --git a/bitbots_motion/bitbots_dynamic_kick/src/bitbots_dynamic_kick/py_kick_wrapper.py b/src/bitbots_motion/bitbots_dynamic_kick/src/bitbots_dynamic_kick/py_kick_wrapper.py
similarity index 100%
rename from bitbots_motion/bitbots_dynamic_kick/src/bitbots_dynamic_kick/py_kick_wrapper.py
rename to src/bitbots_motion/bitbots_dynamic_kick/src/bitbots_dynamic_kick/py_kick_wrapper.py
diff --git a/bitbots_motion/bitbots_dynamic_kick/src/kick_engine.cpp b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_engine.cpp
similarity index 96%
rename from bitbots_motion/bitbots_dynamic_kick/src/kick_engine.cpp
rename to src/bitbots_motion/bitbots_dynamic_kick/src/kick_engine.cpp
index 679d79739..723e35a4b 100644
--- a/bitbots_motion/bitbots_dynamic_kick/src/kick_engine.cpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_engine.cpp
@@ -11,7 +11,7 @@ void KickEngine::reset() {
   flying_foot_spline_ = bitbots_splines::PoseSpline();
 }
 
-void KickEngine::setGoals(const KickGoals &goals) {
+void KickEngine::setGoals(const KickGoals& goals) {
   is_left_kick_ = calcIsLeftFootKicking(goals.ball_position, goals.kick_direction);
   // TODO Internal state is dirty when goal transformation fails
 
@@ -65,7 +65,7 @@ KickPositions KickEngine::update(double dt) {
   return positions;
 }
 
-void KickEngine::calcSplines(const Eigen::Isometry3d &flying_foot_pose, const Eigen::Isometry3d &trunk_pose) {
+void KickEngine::calcSplines(const Eigen::Isometry3d& flying_foot_pose, const Eigen::Isometry3d& trunk_pose) {
   /*
    * Add current position, target position and current position to splines so that they describe a smooth
    * curve to the ball and back
@@ -195,8 +195,8 @@ void KickEngine::calcSplines(const Eigen::Isometry3d &flying_foot_pose, const Ei
 }
 
 std::pair<Eigen::Vector3d, Eigen::Quaterniond> KickEngine::transformGoal(
-    const std::string &support_foot_frame, const Eigen::Isometry3d &trunk_to_base_footprint,
-    const Eigen::Vector3d &ball_position, const Eigen::Quaterniond &kick_direction) {
+    const std::string& support_foot_frame, const Eigen::Isometry3d& trunk_to_base_footprint,
+    const Eigen::Vector3d& ball_position, const Eigen::Quaterniond& kick_direction) {
   /* ball_position and kick_direction are currently in base_footprint, we want them in support foot frame */
   /* first, get transform from base_footprint to support foot */
   Eigen::Isometry3d trunk_to_support_foot = current_state_->getGlobalLinkTransform(support_foot_frame);
@@ -229,7 +229,7 @@ Eigen::Vector3d KickEngine::calcKickWindupPoint() {
   return vec;
 }
 
-bool KickEngine::calcIsLeftFootKicking(const Eigen::Vector3d &ball_position, const Eigen::Quaterniond &kick_direction) {
+bool KickEngine::calcIsLeftFootKicking(const Eigen::Vector3d& ball_position, const Eigen::Quaterniond& kick_direction) {
   /* it is important that everything is in base_footprint frame! */
 
   /*
diff --git a/bitbots_motion/bitbots_dynamic_kick/src/kick_ik.cpp b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_ik.cpp
similarity index 99%
rename from bitbots_motion/bitbots_dynamic_kick/src/kick_ik.cpp
rename to src/bitbots_motion/bitbots_dynamic_kick/src/kick_ik.cpp
index a44013df1..227ec982d 100644
--- a/bitbots_motion/bitbots_dynamic_kick/src/kick_ik.cpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_ik.cpp
@@ -27,7 +27,7 @@ void KickIK::reset() {
   }
 }
 
-bitbots_splines::JointGoals KickIK::calculate(const KickPositions &positions) {
+bitbots_splines::JointGoals KickIK::calculate(const KickPositions& positions) {
   // change goals from support foot based coordinate system to trunk based coordinate system
   Eigen::Isometry3d trunk_to_support_foot_goal = positions.trunk_pose.inverse();
   Eigen::Isometry3d trunk_to_flying_foot_goal = trunk_to_support_foot_goal * positions.flying_foot_pose;
diff --git a/bitbots_motion/bitbots_dynamic_kick/src/kick_node.cpp b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_node.cpp
similarity index 98%
rename from bitbots_motion/bitbots_dynamic_kick/src/kick_node.cpp
rename to src/bitbots_motion/bitbots_dynamic_kick/src/kick_node.cpp
index 9b47bd922..98a7c293f 100644
--- a/bitbots_motion/bitbots_dynamic_kick/src/kick_node.cpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_node.cpp
@@ -3,7 +3,7 @@
 namespace bitbots_dynamic_kick {
 using namespace std::chrono_literals;
 
-KickNode::KickNode(const std::string &ns, std::vector<rclcpp::Parameter> parameters)
+KickNode::KickNode(const std::string& ns, std::vector<rclcpp::Parameter> parameters)
     : Node(ns + "dynamic_kick", rclcpp::NodeOptions()
                                     .allow_undeclared_parameters(true)
                                     .parameter_overrides(parameters)
@@ -145,8 +145,8 @@ void KickNode::jointStateCallback(const sensor_msgs::msg::JointState::SharedPtr
   }
 }
 
-rcl_interfaces::msg::SetParametersResult KickNode::onSetParameters(const std::vector<rclcpp::Parameter> &parameters) {
-  for (const auto &parameter : parameters) {
+rcl_interfaces::msg::SetParametersResult KickNode::onSetParameters(const std::vector<rclcpp::Parameter>& parameters) {
+  for (const auto& parameter : parameters) {
     if (parameter.get_name() == "engine_rate") {
       engine_rate_ = parameter.as_int();
     } else if (parameter.get_name() == "foot_rise") {
@@ -197,7 +197,7 @@ rcl_interfaces::msg::SetParametersResult KickNode::onSetParameters(const std::ve
   return result;
 }
 
-bool KickNode::init(const bitbots_msgs::action::Kick::Goal &goal_msg, std::string &error_string) {
+bool KickNode::init(const bitbots_msgs::action::Kick::Goal& goal_msg, std::string& error_string) {
   /* currently, the ball must always be in the base_footprint frame */
   if (goal_msg.header.frame_id != base_footprint_frame_) {
     RCLCPP_ERROR_STREAM(this->get_logger(), "Goal should be in " << base_footprint_frame_ << " frame");
@@ -257,7 +257,7 @@ void KickNode::acceptedCb(const std::shared_ptr<KickGoalHandle> goal) {
   std::thread{std::bind(&KickNode::executeCb, this, std::placeholders::_1), goal}.detach();
 }
 
-rclcpp_action::GoalResponse KickNode::goalCb(const rclcpp_action::GoalUUID &uuid,
+rclcpp_action::GoalResponse KickNode::goalCb(const rclcpp_action::GoalUUID& uuid,
                                              std::shared_ptr<const bitbots_msgs::action::Kick::Goal> goal) {
   RCLCPP_INFO(this->get_logger(), "Received goal request");
   (void)uuid;
@@ -375,7 +375,7 @@ bitbots_splines::JointGoals KickNode::kickStep(double dt) {
   return motor_goals;
 }
 
-bitbots_msgs::msg::JointCommand KickNode::getJointCommand(const bitbots_splines::JointGoals &goals) {
+bitbots_msgs::msg::JointCommand KickNode::getJointCommand(const bitbots_splines::JointGoals& goals) {
   /* Construct JointCommand message */
   bitbots_msgs::msg::JointCommand command;
   command.header.stamp = this->get_clock()->now();
@@ -428,7 +428,7 @@ bool KickNode::isLeftKick() { return engine_.isLeftKick(); }
 
 }  // namespace bitbots_dynamic_kick
 
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   /* Setup ROS node */
   rclcpp::init(argc, argv);
   bitbots_dynamic_kick::KickNode node;
diff --git a/bitbots_motion/bitbots_dynamic_kick/src/kick_pywrapper.cpp b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_pywrapper.cpp
similarity index 95%
rename from bitbots_motion/bitbots_dynamic_kick/src/kick_pywrapper.cpp
rename to src/bitbots_motion/bitbots_dynamic_kick/src/kick_pywrapper.cpp
index 7251f9e9f..a2f156eef 100644
--- a/bitbots_motion/bitbots_dynamic_kick/src/kick_pywrapper.cpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/src/kick_pywrapper.cpp
@@ -4,7 +4,7 @@
  * Read a ROS message from a serialized string.
  */
 template <typename M>
-M from_python(const std::string &str_msg) {
+M from_python(const std::string& str_msg) {
   size_t serial_size = str_msg.size();
   // todo
   //  boost::shared_array<uint8_t> buffer(new uint8_t[serial_size]);
@@ -21,7 +21,7 @@ M from_python(const std::string &str_msg) {
  * Write a ROS message into a serialized string.
  */
 template <typename M>
-std::string to_python(const M &msg) {
+std::string to_python(const M& msg) {
   size_t serial_size = ros::serialization::serializationLength(msg);
   // todo
   //  boost::shared_array<uint8_t> buffer(new uint8_t[serial_size]);
@@ -39,7 +39,7 @@ PyKickWrapper::PyKickWrapper(const std::string ns) {
   kick_node_ = std::make_shared<bitbots_dynamic_kick::KickNode>(ns);
 }
 
-moveit::py_bindings_tools::ByteString PyKickWrapper::step(double dt, const std::string &joint_state_str) {
+moveit::py_bindings_tools::ByteString PyKickWrapper::step(double dt, const std::string& joint_state_str) {
   auto joint_state = from_python<sensor_msgs::msg::JointState>(joint_state_str);
   kick_node_->jointStateCallback(joint_state);
   std::string result = to_python<bitbots_msgs::msg::JointCommand>(kick_node_->stepWrapper(dt));
@@ -90,7 +90,7 @@ void PyKickWrapper::set_params(const boost::python::object params) {
   kick_node_->reconfigureCallback(conf, 0xff);
 }*/
 
-bool PyKickWrapper::set_goal(const std::string &goal_str, const std::string &joint_state_str) {
+bool PyKickWrapper::set_goal(const std::string& goal_str, const std::string& joint_state_str) {
   auto joint_state = from_python<sensor_msgs::msg::JointState>(joint_state_str);
   kick_node_->jointStateCallback(joint_state);
   auto goal = from_python<bitbots_msgs::KickGoal>(goal_str);
diff --git a/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp b/src/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp
similarity index 96%
rename from bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp
rename to src/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp
index e9fd2a6ef..428dd8bfc 100644
--- a/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp
@@ -34,7 +34,7 @@ void Stabilizer::reset() {
   pid_trunk_fused_roll_->reset();
 }
 
-KickPositions Stabilizer::stabilize(const KickPositions &positions, const rclcpp::Duration &dt) {
+KickPositions Stabilizer::stabilize(const KickPositions& positions, const rclcpp::Duration& dt) {
   KickPositions stabilized_positions = positions;
   if (positions.cop_support_point && use_cop_) {
     /* calculate stabilizing target from center of pressure
diff --git a/bitbots_motion/bitbots_dynamic_kick/src/visualizer.cpp b/src/bitbots_motion/bitbots_dynamic_kick/src/visualizer.cpp
similarity index 89%
rename from bitbots_motion/bitbots_dynamic_kick/src/visualizer.cpp
rename to src/bitbots_motion/bitbots_dynamic_kick/src/visualizer.cpp
index 69f3d3103..1e200e2cf 100644
--- a/bitbots_motion/bitbots_dynamic_kick/src/visualizer.cpp
+++ b/src/bitbots_motion/bitbots_dynamic_kick/src/visualizer.cpp
@@ -3,7 +3,7 @@
 
 namespace bitbots_dynamic_kick {
 
-Visualizer::Visualizer(const std::string &base_topic, rclcpp::Node::SharedPtr node)
+Visualizer::Visualizer(const std::string& base_topic, rclcpp::Node::SharedPtr node)
     : node_(node), base_topic_(base_topic) {
   /* make sure base_topic_ has consistent scheme */
   if (base_topic.compare(base_topic.size() - 1, 1, "/") != 0) {
@@ -22,7 +22,7 @@ Visualizer::Visualizer(const std::string &base_topic, rclcpp::Node::SharedPtr no
 
 void Visualizer::setParams(VisualizationParams params) { params_ = params; }
 
-void Visualizer::displayFlyingSplines(bitbots_splines::PoseSpline splines, const std::string &support_foot_frame) {
+void Visualizer::displayFlyingSplines(bitbots_splines::PoseSpline splines, const std::string& support_foot_frame) {
   if (foot_spline_publisher_->get_subscription_count() == 0) return;
 
   visualization_msgs::msg::MarkerArray path = getPath(splines, support_foot_frame, params_.spline_smoothness, node_);
@@ -31,7 +31,7 @@ void Visualizer::displayFlyingSplines(bitbots_splines::PoseSpline splines, const
   foot_spline_publisher_->publish(path);
 }
 
-void Visualizer::displayTrunkSplines(bitbots_splines::PoseSpline splines, const std::string &support_foot_frame) {
+void Visualizer::displayTrunkSplines(bitbots_splines::PoseSpline splines, const std::string& support_foot_frame) {
   if (trunk_spline_publisher_->get_subscription_count() == 0) return;
 
   visualization_msgs::msg::MarkerArray path = getPath(splines, support_foot_frame, params_.spline_smoothness, node_);
@@ -40,7 +40,7 @@ void Visualizer::displayTrunkSplines(bitbots_splines::PoseSpline splines, const
   trunk_spline_publisher_->publish(path);
 }
 
-void Visualizer::displayReceivedGoal(const bitbots_msgs::action::Kick::Goal &goal) {
+void Visualizer::displayReceivedGoal(const bitbots_msgs::action::Kick::Goal& goal) {
   if (goal_publisher_->get_subscription_count() == 0) return;
 
   visualization_msgs::msg::Marker marker =
@@ -57,7 +57,7 @@ void Visualizer::displayReceivedGoal(const bitbots_msgs::action::Kick::Goal &goa
   goal_publisher_->publish(marker);
 }
 
-void Visualizer::displayWindupPoint(const Eigen::Vector3d &kick_windup_point, const std::string &support_foot_frame) {
+void Visualizer::displayWindupPoint(const Eigen::Vector3d& kick_windup_point, const std::string& support_foot_frame) {
   if (windup_publisher_->get_subscription_count() == 0) return;
 
   tf2::Vector3 tf_kick_windup_point;
@@ -71,8 +71,8 @@ void Visualizer::displayWindupPoint(const Eigen::Vector3d &kick_windup_point, co
   windup_publisher_->publish(marker);
 }
 
-void Visualizer::publishGoals(const KickPositions &positions, const KickPositions &stabilized_positions,
-                              const moveit::core::RobotStatePtr &robot_state, KickPhase engine_phase) {
+void Visualizer::publishGoals(const KickPositions& positions, const KickPositions& stabilized_positions,
+                              const moveit::core::RobotStatePtr& robot_state, KickPhase engine_phase) {
   /* only calculate the debug information if someone is subscribing */
   if (debug_publisher_->get_subscription_count() == 0) {
     return;
diff --git a/bitbots_motion/bitbots_dynup/.gitignore b/src/bitbots_motion/bitbots_dynup/.gitignore
similarity index 100%
rename from bitbots_motion/bitbots_dynup/.gitignore
rename to src/bitbots_motion/bitbots_dynup/.gitignore
diff --git a/bitbots_motion/bitbots_dynup/CMakeLists.txt b/src/bitbots_motion/bitbots_dynup/CMakeLists.txt
similarity index 100%
rename from bitbots_motion/bitbots_dynup/CMakeLists.txt
rename to src/bitbots_motion/bitbots_dynup/CMakeLists.txt
diff --git a/bitbots_motion/bitbots_dynup/README.md b/src/bitbots_motion/bitbots_dynup/README.md
similarity index 100%
rename from bitbots_motion/bitbots_dynup/README.md
rename to src/bitbots_motion/bitbots_dynup/README.md
diff --git a/bitbots_motion/bitbots_dynup/__init__.py b/src/bitbots_motion/bitbots_dynup/__init__.py
similarity index 100%
rename from bitbots_motion/bitbots_dynup/__init__.py
rename to src/bitbots_motion/bitbots_dynup/__init__.py
diff --git a/bitbots_motion/bitbots_dynup/bitbots_dynup_py/__init__.py b/src/bitbots_motion/bitbots_dynup/bitbots_dynup_py/__init__.py
similarity index 100%
rename from bitbots_motion/bitbots_dynup/bitbots_dynup_py/__init__.py
rename to src/bitbots_motion/bitbots_dynup/bitbots_dynup_py/__init__.py
diff --git a/bitbots_motion/bitbots_dynup/bitbots_dynup_py/py_dynup_wrapper.py b/src/bitbots_motion/bitbots_dynup/bitbots_dynup_py/py_dynup_wrapper.py
similarity index 100%
rename from bitbots_motion/bitbots_dynup/bitbots_dynup_py/py_dynup_wrapper.py
rename to src/bitbots_motion/bitbots_dynup/bitbots_dynup_py/py_dynup_wrapper.py
diff --git a/bitbots_motion/bitbots_dynup/config/dynup_config.yaml b/src/bitbots_motion/bitbots_dynup/config/dynup_config.yaml
similarity index 100%
rename from bitbots_motion/bitbots_dynup/config/dynup_config.yaml
rename to src/bitbots_motion/bitbots_dynup/config/dynup_config.yaml
diff --git a/bitbots_motion/bitbots_dynup/config/dynup_optimization.yaml b/src/bitbots_motion/bitbots_dynup/config/dynup_optimization.yaml
similarity index 100%
rename from bitbots_motion/bitbots_dynup/config/dynup_optimization.yaml
rename to src/bitbots_motion/bitbots_dynup/config/dynup_optimization.yaml
diff --git a/bitbots_motion/bitbots_dynup/config/dynup_sim.yaml b/src/bitbots_motion/bitbots_dynup/config/dynup_sim.yaml
similarity index 100%
rename from bitbots_motion/bitbots_dynup/config/dynup_sim.yaml
rename to src/bitbots_motion/bitbots_dynup/config/dynup_sim.yaml
diff --git a/bitbots_motion/bitbots_dynup/config/dynup_sim_darwin.yaml b/src/bitbots_motion/bitbots_dynup/config/dynup_sim_darwin.yaml
similarity index 100%
rename from bitbots_motion/bitbots_dynup/config/dynup_sim_darwin.yaml
rename to src/bitbots_motion/bitbots_dynup/config/dynup_sim_darwin.yaml
diff --git a/bitbots_motion/bitbots_dynup/docs/_static/flowchart.png b/src/bitbots_motion/bitbots_dynup/docs/_static/flowchart.png
similarity index 100%
rename from bitbots_motion/bitbots_dynup/docs/_static/flowchart.png
rename to src/bitbots_motion/bitbots_dynup/docs/_static/flowchart.png
diff --git a/bitbots_motion/bitbots_dynup/docs/_static/logo.png b/src/bitbots_motion/bitbots_dynup/docs/_static/logo.png
similarity index 100%
rename from bitbots_motion/bitbots_dynup/docs/_static/logo.png
rename to src/bitbots_motion/bitbots_dynup/docs/_static/logo.png
diff --git a/bitbots_motion/bitbots_dynup/docs/conf.py b/src/bitbots_motion/bitbots_dynup/docs/conf.py
similarity index 100%
rename from bitbots_motion/bitbots_dynup/docs/conf.py
rename to src/bitbots_motion/bitbots_dynup/docs/conf.py
diff --git a/bitbots_motion/bitbots_dynup/docs/index.rst b/src/bitbots_motion/bitbots_dynup/docs/index.rst
similarity index 100%
rename from bitbots_motion/bitbots_dynup/docs/index.rst
rename to src/bitbots_motion/bitbots_dynup/docs/index.rst
diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp
similarity index 98%
rename from bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp
rename to src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp
index 5a04b90d7..86f87e957 100644
--- a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp
+++ b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp
@@ -27,7 +27,7 @@ class DynupEngine : public bitbots_splines::AbstractEngine<DynupRequest, DynupRe
 
   DynupResponse update(double dt) override;
 
-  void setGoals(const DynupRequest &goals) override;
+  void setGoals(const DynupRequest& goals) override;
 
   /*
    * Publishes debug markers
diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp
similarity index 78%
rename from bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp
rename to src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp
index f14e95c86..6dbdfb0ac 100644
--- a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp
+++ b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp
@@ -17,7 +17,7 @@ class DynupIK : public bitbots_splines::AbstractIK<DynupResponse> {
  public:
   explicit DynupIK(rclcpp::Node::SharedPtr node);
   void init(moveit::core::RobotModelPtr kinematic_model) override;
-  bitbots_splines::JointGoals calculate(const DynupResponse &ik_goals) override;
+  bitbots_splines::JointGoals calculate(const DynupResponse& ik_goals) override;
   void reset() override;
   void setDirection(DynupDirection direction);
   moveit::core::RobotStatePtr get_goal_state();
@@ -25,11 +25,11 @@ class DynupIK : public bitbots_splines::AbstractIK<DynupResponse> {
 
  private:
   rclcpp::Node::SharedPtr node_;
-  moveit::core::JointModelGroup *all_joints_group_;
-  moveit::core::JointModelGroup *l_arm_joints_group_;
-  moveit::core::JointModelGroup *l_leg_joints_group_;
-  moveit::core::JointModelGroup *r_arm_joints_group_;
-  moveit::core::JointModelGroup *r_leg_joints_group_;
+  moveit::core::JointModelGroup* all_joints_group_;
+  moveit::core::JointModelGroup* l_arm_joints_group_;
+  moveit::core::JointModelGroup* l_leg_joints_group_;
+  moveit::core::JointModelGroup* r_arm_joints_group_;
+  moveit::core::JointModelGroup* r_leg_joints_group_;
   moveit::core::RobotStatePtr goal_state_;
   sensor_msgs::msg::JointState::ConstSharedPtr joint_state_;
   DynupDirection direction_;
diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp
similarity index 97%
rename from bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp
rename to src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp
index 028b35f43..6d09f072d 100644
--- a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp
+++ b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp
@@ -50,7 +50,7 @@ using namespace std::placeholders;
  */
 class DynupNode {
  public:
-  explicit DynupNode(rclcpp::Node::SharedPtr node, const std::string &ns = "",
+  explicit DynupNode(rclcpp::Node::SharedPtr node, const std::string& ns = "",
                      std::vector<rclcpp::Parameter> parameters = {});
 
   void onSetParameters();
@@ -59,9 +59,9 @@ class DynupNode {
 
   void jointStateCallback(const sensor_msgs::msg::JointState::SharedPtr joint_states);
 
-  DynupEngine *getEngine();
+  DynupEngine* getEngine();
 
-  DynupIK *getIK();
+  DynupIK* getIK();
 
   /**
    * Retrieve current positions of left foot and trunk relative to right foot
@@ -84,7 +84,7 @@ class DynupNode {
    * Callback that gets executed whenever #m_server receives a new goal.
    * @param goal New goal to process
    */
-  rclcpp_action::GoalResponse goalCb(const rclcpp_action::GoalUUID &uuid, std::shared_ptr<const DynupGoal::Goal> goal);
+  rclcpp_action::GoalResponse goalCb(const rclcpp_action::GoalUUID& uuid, std::shared_ptr<const DynupGoal::Goal> goal);
 
   rclcpp_action::CancelResponse cancelCb(std::shared_ptr<DynupGoalHandle> goal);
 
@@ -147,7 +147,7 @@ class DynupNode {
   /**
    * Creates the Goal Msg
    */
-  bitbots_msgs::msg::JointCommand createGoalMsg(const bitbots_splines::JointGoals &goals);
+  bitbots_msgs::msg::JointCommand createGoalMsg(const bitbots_splines::JointGoals& goals);
 
   /**
    * Helper method to achieve correctly sampled rate
diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_pywrapper.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_pywrapper.hpp
similarity index 93%
rename from bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_pywrapper.hpp
rename to src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_pywrapper.hpp
index 82fe8a14e..219a8f422 100644
--- a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_pywrapper.hpp
+++ b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_pywrapper.hpp
@@ -17,7 +17,7 @@ using namespace ros2_python_extension;
 class PyDynupWrapper {
  public:
   explicit PyDynupWrapper(std::string ns);
-  py::bytes step(double dt, py::bytes &imu_msg, py::bytes &joint_state_msg);
+  py::bytes step(double dt, py::bytes& imu_msg, py::bytes& joint_state_msg);
   py::bytes step_open_loop(double dt);
   py::bytes get_poses();
   void reset();
diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp
similarity index 93%
rename from bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp
rename to src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp
index d4d2b861f..dce20bc4e 100644
--- a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp
+++ b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp
@@ -18,7 +18,7 @@ namespace bitbots_dynup {
 class Stabilizer : public bitbots_splines::AbstractStabilizer<DynupResponse> {
  public:
   explicit Stabilizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Stabilizer params);
-  DynupResponse stabilize(const DynupResponse &response, const rclcpp::Duration &dt) override;
+  DynupResponse stabilize(const DynupResponse& response, const rclcpp::Duration& dt) override;
   void setRSoleToTrunk(geometry_msgs::msg::TransformStamped r_sole_to_trunk);
   void setParams(bitbots_dynup::Params::Stabilizer params);
   void reset() override;
diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_utils.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_utils.hpp
similarity index 100%
rename from bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_utils.hpp
rename to src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_utils.hpp
diff --git a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp
similarity index 86%
rename from bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp
rename to src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp
index 35a8195dd..5655197c5 100644
--- a/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp
+++ b/src/bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp
@@ -21,13 +21,13 @@ namespace bitbots_dynup {
 
 class Visualizer : bitbots_splines::AbstractVisualizer {
  public:
-  Visualizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Visualizer params, const std::string &base_topic);
+  Visualizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Visualizer params, const std::string& base_topic);
 
   void setParams(bitbots_dynup::Params::Visualizer params);
 
-  void displaySplines(bitbots_splines::PoseSpline splines, const std::string &frame);
-  void publishIKOffsets(const moveit::core::RobotModelPtr &model, const DynupResponse &response,
-                        const bitbots_splines::JointGoals &ik_joint_goals);
+  void displaySplines(bitbots_splines::PoseSpline splines, const std::string& frame);
+  void publishIKOffsets(const moveit::core::RobotModelPtr& model, const DynupResponse& response,
+                        const bitbots_splines::JointGoals& ik_joint_goals);
 
  private:
   rclcpp::Node::SharedPtr node_;
diff --git a/bitbots_motion/bitbots_dynup/launch/dynup.launch b/src/bitbots_motion/bitbots_dynup/launch/dynup.launch
similarity index 100%
rename from bitbots_motion/bitbots_dynup/launch/dynup.launch
rename to src/bitbots_motion/bitbots_dynup/launch/dynup.launch
diff --git a/bitbots_motion/bitbots_dynup/launch/test.launch b/src/bitbots_motion/bitbots_dynup/launch/test.launch
similarity index 100%
rename from bitbots_motion/bitbots_dynup/launch/test.launch
rename to src/bitbots_motion/bitbots_dynup/launch/test.launch
diff --git a/bitbots_motion/bitbots_dynup/msg/DynupEngineDebug.msg b/src/bitbots_motion/bitbots_dynup/msg/DynupEngineDebug.msg
similarity index 100%
rename from bitbots_motion/bitbots_dynup/msg/DynupEngineDebug.msg
rename to src/bitbots_motion/bitbots_dynup/msg/DynupEngineDebug.msg
diff --git a/bitbots_motion/bitbots_dynup/msg/DynupIkOffset.msg b/src/bitbots_motion/bitbots_dynup/msg/DynupIkOffset.msg
similarity index 100%
rename from bitbots_motion/bitbots_dynup/msg/DynupIkOffset.msg
rename to src/bitbots_motion/bitbots_dynup/msg/DynupIkOffset.msg
diff --git a/bitbots_motion/bitbots_dynup/msg/DynupPoses.msg b/src/bitbots_motion/bitbots_dynup/msg/DynupPoses.msg
similarity index 100%
rename from bitbots_motion/bitbots_dynup/msg/DynupPoses.msg
rename to src/bitbots_motion/bitbots_dynup/msg/DynupPoses.msg
diff --git a/bitbots_motion/bitbots_dynup/package.xml b/src/bitbots_motion/bitbots_dynup/package.xml
similarity index 100%
rename from bitbots_motion/bitbots_dynup/package.xml
rename to src/bitbots_motion/bitbots_dynup/package.xml
diff --git a/bitbots_motion/bitbots_dynup/scripts/dummy_client.py b/src/bitbots_motion/bitbots_dynup/scripts/dummy_client.py
similarity index 100%
rename from bitbots_motion/bitbots_dynup/scripts/dummy_client.py
rename to src/bitbots_motion/bitbots_dynup/scripts/dummy_client.py
diff --git a/bitbots_motion/bitbots_dynup/setup.py b/src/bitbots_motion/bitbots_dynup/setup.py
similarity index 100%
rename from bitbots_motion/bitbots_dynup/setup.py
rename to src/bitbots_motion/bitbots_dynup/setup.py
diff --git a/bitbots_motion/bitbots_dynup/src/__init__.py b/src/bitbots_motion/bitbots_dynup/src/__init__.py
similarity index 100%
rename from bitbots_motion/bitbots_dynup/src/__init__.py
rename to src/bitbots_motion/bitbots_dynup/src/__init__.py
diff --git a/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp b/src/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp
similarity index 99%
rename from bitbots_motion/bitbots_dynup/src/dynup_engine.cpp
rename to src/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp
index 157c32631..407f089c0 100644
--- a/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp
+++ b/src/bitbots_motion/bitbots_dynup/src/dynup_engine.cpp
@@ -643,7 +643,7 @@ double DynupEngine::calcDescendSplines(double time) {
   return time;
 }
 
-void DynupEngine::setGoals(const DynupRequest &goals) {
+void DynupEngine::setGoals(const DynupRequest& goals) {
   // we use hand splines from shoulder frame instead of base_link
   geometry_msgs::msg::Pose l_hand = goals.l_hand_pose;
   geometry_msgs::msg::Pose r_hand = goals.r_hand_pose;
@@ -672,7 +672,7 @@ void DynupEngine::setGoals(const DynupRequest &goals) {
   } else {
     // Placeholders for the parameters, we assure that we have all parameters before, so we can use -1 as a placeholder
     double foot_distance = -1, trunk_x_final = -1, trunk_pitch = -1, trunk_height = -1;
-    for (auto &param : walking_params) {
+    for (auto& param : walking_params) {
       if (param.get_name() == "engine.trunk_pitch") {
         trunk_pitch = param.get_value<double>();
       } else if (param.get_name() == "engine.trunk_height") {
diff --git a/bitbots_motion/bitbots_dynup/src/dynup_ik.cpp b/src/bitbots_motion/bitbots_dynup/src/dynup_ik.cpp
similarity index 100%
rename from bitbots_motion/bitbots_dynup/src/dynup_ik.cpp
rename to src/bitbots_motion/bitbots_dynup/src/dynup_ik.cpp
diff --git a/bitbots_motion/bitbots_dynup/src/dynup_node.cpp b/src/bitbots_motion/bitbots_dynup/src/dynup_node.cpp
similarity index 97%
rename from bitbots_motion/bitbots_dynup/src/dynup_node.cpp
rename to src/bitbots_motion/bitbots_dynup/src/dynup_node.cpp
index a37f009f3..7b6530f3f 100644
--- a/bitbots_motion/bitbots_dynup/src/dynup_node.cpp
+++ b/src/bitbots_motion/bitbots_dynup/src/dynup_node.cpp
@@ -3,7 +3,7 @@
 namespace bitbots_dynup {
 using namespace std::chrono_literals;
 
-DynupNode::DynupNode(rclcpp::Node::SharedPtr node, const std::string &ns, std::vector<rclcpp::Parameter> parameters)
+DynupNode::DynupNode(rclcpp::Node::SharedPtr node, const std::string& ns, std::vector<rclcpp::Parameter> parameters)
     : node_(node),
       param_listener_(node_),
       params_(param_listener_.get_params()),
@@ -48,7 +48,7 @@ DynupNode::DynupNode(rclcpp::Node::SharedPtr node, const std::string &ns, std::v
     rcl_interfaces::msg::ListParametersResult parameter_list =
         parameters_client->list_parameters({"robot_description_kinematics"}, 10);
     auto copied_parameters = parameters_client->get_parameters(parameter_list.names);
-    for (auto &parameter : copied_parameters) {
+    for (auto& parameter : copied_parameters) {
       moveit_node->declare_parameter(parameter.get_name(), parameter.get_type());
       moveit_node->set_parameter(parameter);
     }
@@ -207,7 +207,7 @@ void DynupNode::execute(const std::shared_ptr<DynupGoalHandle> goal_handle) {
   }
 }
 
-rclcpp_action::GoalResponse DynupNode::goalCb(const rclcpp_action::GoalUUID &uuid,
+rclcpp_action::GoalResponse DynupNode::goalCb(const rclcpp_action::GoalUUID& uuid,
                                               std::shared_ptr<const DynupGoal::Goal> goal) {
   RCLCPP_INFO(node_->get_logger(), "Received goal request");
   (void)uuid;
@@ -339,13 +339,13 @@ bitbots_dynup::msg::DynupPoses DynupNode::getCurrentPoses() {
     msg.r_arm_pose = transform2pose(r_hand_transformed);
     msg.header.stamp = node_->get_clock()->now();
     return msg;
-  } catch (tf2::TransformException &exc) {
+  } catch (tf2::TransformException& exc) {
     RCLCPP_ERROR_STREAM(node_->get_logger(), exc.what());
     return msg;
   }
 }
 
-bitbots_msgs::msg::JointCommand DynupNode::createGoalMsg(const bitbots_splines::JointGoals &goals) {
+bitbots_msgs::msg::JointCommand DynupNode::createGoalMsg(const bitbots_splines::JointGoals& goals) {
   /* Construct JointCommand message */
   bitbots_msgs::msg::JointCommand command;
   command.header.stamp = node_->get_clock()->now();
@@ -367,13 +367,13 @@ bitbots_msgs::msg::JointCommand DynupNode::createGoalMsg(const bitbots_splines::
   return command;
 }
 
-DynupEngine *DynupNode::getEngine() { return &engine_; }
+DynupEngine* DynupNode::getEngine() { return &engine_; }
 
-DynupIK *DynupNode::getIK() { return &ik_; }
+DynupIK* DynupNode::getIK() { return &ik_; }
 
 }  // namespace bitbots_dynup
 
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
   // init node
   rclcpp::init(argc, argv);
 
diff --git a/bitbots_motion/bitbots_dynup/src/dynup_pywrapper.cpp b/src/bitbots_motion/bitbots_dynup/src/dynup_pywrapper.cpp
similarity index 95%
rename from bitbots_motion/bitbots_dynup/src/dynup_pywrapper.cpp
rename to src/bitbots_motion/bitbots_dynup/src/dynup_pywrapper.cpp
index 0ceb2aa34..45fa581be 100644
--- a/bitbots_motion/bitbots_dynup/src/dynup_pywrapper.cpp
+++ b/src/bitbots_motion/bitbots_dynup/src/dynup_pywrapper.cpp
@@ -12,7 +12,7 @@ PyDynupWrapper::PyDynupWrapper(const std::string ns) {
 
 void PyDynupWrapper::spin_some() { rclcpp::spin_some(node_); }
 
-py::bytes PyDynupWrapper::step(double dt, py::bytes &imu_msg, py::bytes &joint_state_msg) {
+py::bytes PyDynupWrapper::step(double dt, py::bytes& imu_msg, py::bytes& joint_state_msg) {
   bitbots_msgs::msg::JointCommand result = dynup_->step(
       dt, std::make_shared<sensor_msgs::msg::Imu>(fromPython<sensor_msgs::msg::Imu>(imu_msg)),
       std::make_shared<sensor_msgs::msg::JointState>(fromPython<sensor_msgs::msg::JointState>(joint_state_msg)));
@@ -49,7 +49,7 @@ py::bytes PyDynupWrapper::get_poses() {
   return toPython<bitbots_dynup::msg::DynupPoses>(poses);
 }
 
-bool string2bool(const std::string &v) {
+bool string2bool(const std::string& v) {
   return !v.empty() && (strcasecmp(v.c_str(), "true") == 0 || atoi(v.c_str()) != 0);
 }
 
diff --git a/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp b/src/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp
similarity index 97%
rename from bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp
rename to src/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp
index 31771a5ff..aab401d98 100644
--- a/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp
+++ b/src/bitbots_motion/bitbots_dynup/src/dynup_stabilizer.cpp
@@ -17,7 +17,7 @@ void Stabilizer::reset() {
   pid_trunk_roll_.reset();
 }
 
-DynupResponse Stabilizer::stabilize(const DynupResponse &ik_goals, const rclcpp::Duration &dt) {
+DynupResponse Stabilizer::stabilize(const DynupResponse& ik_goals, const rclcpp::Duration& dt) {
   tf2::Transform right_foot_goal;
 
   // Check if we have all the necessary data to stabilize
diff --git a/bitbots_motion/bitbots_dynup/src/dynup_utils.cpp b/src/bitbots_motion/bitbots_dynup/src/dynup_utils.cpp
similarity index 100%
rename from bitbots_motion/bitbots_dynup/src/dynup_utils.cpp
rename to src/bitbots_motion/bitbots_dynup/src/dynup_utils.cpp
diff --git a/bitbots_motion/bitbots_dynup/src/visualizer.cpp b/src/bitbots_motion/bitbots_dynup/src/visualizer.cpp
similarity index 95%
rename from bitbots_motion/bitbots_dynup/src/visualizer.cpp
rename to src/bitbots_motion/bitbots_dynup/src/visualizer.cpp
index 5228b28e5..50b62ded5 100644
--- a/bitbots_motion/bitbots_dynup/src/visualizer.cpp
+++ b/src/bitbots_motion/bitbots_dynup/src/visualizer.cpp
@@ -3,7 +3,7 @@
 
 namespace bitbots_dynup {
 Visualizer::Visualizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Visualizer params,
-                       const std::string &base_topic)
+                       const std::string& base_topic)
     : node_(node), base_topic_(base_topic), params_(params) {
   /* make sure base_topic_ has consistent scheme */
   if (base_topic.compare(base_topic.size() - 1, 1, "/") != 0) {
@@ -18,7 +18,7 @@ Visualizer::Visualizer(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Visu
 
 void Visualizer::setParams(bitbots_dynup::Params::Visualizer params) { params_ = params; }
 
-void Visualizer::displaySplines(bitbots_splines::PoseSpline splines, const std::string &frame) {
+void Visualizer::displaySplines(bitbots_splines::PoseSpline splines, const std::string& frame) {
   // if (spline_publisher_->get_subscription_count() == 0)
   //     return;
   visualization_msgs::msg::MarkerArray path = getPath(splines, frame, params_.spline_smoothness, node_);
@@ -26,8 +26,8 @@ void Visualizer::displaySplines(bitbots_splines::PoseSpline splines, const std::
   spline_publisher_->publish(path);
 }
 
-void Visualizer::publishIKOffsets(const moveit::core::RobotModelPtr &model, const DynupResponse &response,
-                                  const bitbots_splines::JointGoals &ik_joint_goals) {
+void Visualizer::publishIKOffsets(const moveit::core::RobotModelPtr& model, const DynupResponse& response,
+                                  const bitbots_splines::JointGoals& ik_joint_goals) {
   bitbots_dynup::msg::DynupIkOffset msg;
   // those are the motor goals for the robot computed by the IK
   moveit::core::RobotStatePtr ik_state = std::make_shared<moveit::core::RobotState>(model);
diff --git a/bitbots_motion/bitbots_hcm/CMakeLists.txt b/src/bitbots_motion/bitbots_hcm/CMakeLists.txt
similarity index 100%
rename from bitbots_motion/bitbots_hcm/CMakeLists.txt
rename to src/bitbots_motion/bitbots_hcm/CMakeLists.txt
diff --git a/bitbots_motion/bitbots_hcm/bitbots_hcm/__init__.py b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/__init__.py
similarity index 100%
rename from bitbots_motion/bitbots_hcm/bitbots_hcm/__init__.py
rename to src/bitbots_motion/bitbots_hcm/bitbots_hcm/__init__.py
diff --git a/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/__init__.py b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/__init__.py
similarity index 100%
rename from bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/__init__.py
rename to src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/__init__.py
diff --git a/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/__init__.py b/src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/__init__.py
similarity index 100%
rename from bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/__init__.py
rename to src/bitbots_motion/bitbots_hcm/bitbots_hcm/hcm_dsd/actions/__init__.py
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rename to src/bitbots_motion/bitbots_quintic_walk/bitbots_quintic_walk_py/py_walk.py
diff --git a/bitbots_motion/bitbots_quintic_walk/cmake/FindEigen.cmake b/src/bitbots_motion/bitbots_quintic_walk/cmake/FindEigen.cmake
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/cmake/FindEigen.cmake
rename to src/bitbots_motion/bitbots_quintic_walk/cmake/FindEigen.cmake
diff --git a/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_pybullet_wolfgang.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_pybullet_wolfgang.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/deep_quintic_pybullet_wolfgang.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_pybullet_wolfgang.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_robot.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_robot.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/deep_quintic_robot.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_robot.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_chape.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_chape.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_chape.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_chape.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_mrl_hsl.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_mrl_hsl.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_mrl_hsl.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_mrl_hsl.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_op3.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_op3.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_op3.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_op3.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_rfc.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_rfc.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_rfc.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_rfc.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_wolfgang.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_wolfgang.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_wolfgang.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/deep_quintic_webots_wolfgang.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/optimization.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/optimization.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/optimization.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/optimization.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/plotjuggler_layout.xml b/src/bitbots_motion/bitbots_quintic_walk/config/plotjuggler_layout.xml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/plotjuggler_layout.xml
rename to src/bitbots_motion/bitbots_quintic_walk/config/plotjuggler_layout.xml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/robots/amy.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/robots/amy.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/robots/amy.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/robots/amy.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/robots/default.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/robots/default.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/robots/default.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/robots/default.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/robots/donna.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/robots/donna.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/robots/donna.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/robots/donna.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/robots/jack.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/robots/jack.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/robots/jack.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/robots/jack.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/robots/melody.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/robots/melody.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/robots/melody.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/robots/melody.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/robots/rory.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/robots/rory.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/robots/rory.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/robots/rory.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walk.rviz b/src/bitbots_motion/bitbots_quintic_walk/config/walk.rviz
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walk.rviz
rename to src/bitbots_motion/bitbots_quintic_walk/config/walk.rviz
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_bez_simulator.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_bez_simulator.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_bez_simulator.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_bez_simulator.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_chape_simulator.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_chape_simulator.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_chape_simulator.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_chape_simulator.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_gankenkun_simulator.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_gankenkun_simulator.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_gankenkun_simulator.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_gankenkun_simulator.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_mrl_hsl_simulator.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_mrl_hsl_simulator.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_mrl_hsl_simulator.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_mrl_hsl_simulator.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_nao_simulator.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_nao_simulator.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_nao_simulator.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_nao_simulator.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_nugus_simulator.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_nugus_simulator.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_nugus_simulator.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_nugus_simulator.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_op3_simulator.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_op3_simulator.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_op3_simulator.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_op3_simulator.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_rfc_simulator.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_rfc_simulator.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_rfc_simulator.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_rfc_simulator.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_robotis_op2_optimized_single_steps.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_robotis_op2_optimized_single_steps.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_robotis_op2_optimized_single_steps.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_robotis_op2_optimized_single_steps.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_robotis_op2_simulator.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_robotis_op2_simulator.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_robotis_op2_simulator.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_robotis_op2_simulator.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_sahrv74_simulator.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_sahrv74_simulator.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_sahrv74_simulator.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_sahrv74_simulator.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_evaluation.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_evaluation.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_evaluation.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_evaluation.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_robot.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_robot.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_robot.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_robot.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_robot_no_limits.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_robot_no_limits.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_robot_no_limits.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_robot_no_limits.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_simulator.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_simulator.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_simulator.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_simulator.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_viz.yaml b/src/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_viz.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_viz.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/config/walking_wolfgang_viz.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/docs/_static/FSM.png b/src/bitbots_motion/bitbots_quintic_walk/docs/_static/FSM.png
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/docs/_static/FSM.png
rename to src/bitbots_motion/bitbots_quintic_walk/docs/_static/FSM.png
diff --git a/bitbots_motion/bitbots_quintic_walk/docs/_static/approach.png b/src/bitbots_motion/bitbots_quintic_walk/docs/_static/approach.png
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/docs/_static/approach.png
rename to src/bitbots_motion/bitbots_quintic_walk/docs/_static/approach.png
diff --git a/bitbots_motion/bitbots_quintic_walk/docs/_static/engine_params.png b/src/bitbots_motion/bitbots_quintic_walk/docs/_static/engine_params.png
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/docs/_static/engine_params.png
rename to src/bitbots_motion/bitbots_quintic_walk/docs/_static/engine_params.png
diff --git a/bitbots_motion/bitbots_quintic_walk/docs/_static/engine_step.png b/src/bitbots_motion/bitbots_quintic_walk/docs/_static/engine_step.png
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/docs/_static/engine_step.png
rename to src/bitbots_motion/bitbots_quintic_walk/docs/_static/engine_step.png
diff --git a/bitbots_motion/bitbots_quintic_walk/docs/_static/logo.png b/src/bitbots_motion/bitbots_quintic_walk/docs/_static/logo.png
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/docs/_static/logo.png
rename to src/bitbots_motion/bitbots_quintic_walk/docs/_static/logo.png
diff --git a/bitbots_motion/bitbots_quintic_walk/docs/conf.py b/src/bitbots_motion/bitbots_quintic_walk/docs/conf.py
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/docs/conf.py
rename to src/bitbots_motion/bitbots_quintic_walk/docs/conf.py
diff --git a/bitbots_motion/bitbots_quintic_walk/docs/index.rst b/src/bitbots_motion/bitbots_quintic_walk/docs/index.rst
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/docs/index.rst
rename to src/bitbots_motion/bitbots_quintic_walk/docs/index.rst
diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp
similarity index 97%
rename from bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp
rename to src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp
index 5b9cf96cd..ebee94f64 100644
--- a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_engine.hpp
@@ -29,7 +29,7 @@ class WalkEngine : public bitbots_splines::AbstractEngine<WalkRequest, WalkRespo
 
   // methods from abstract engine class
   WalkResponse update(double dt) override;
-  void setGoals(const WalkRequest &goals) override;
+  void setGoals(const WalkRequest& goals) override;
   void reset() override;
   [[nodiscard]] int getPercentDone() const override;
 
@@ -170,14 +170,14 @@ class WalkEngine : public bitbots_splines::AbstractEngine<WalkRequest, WalkRespo
    * Set the target pose of current support foot during next support phase and update support foot.
    * The target foot pose diff is given with respect to next support foot pose (current flying foot target).
    */
-  void stepFromSupport(const tf2::Transform &diff);
+  void stepFromSupport(const tf2::Transform& diff);
 
   /**
    * Set target pose of current support foot using diff orders.
    * Zero vector means in place walking.
    * Special handle of lateral and turn step to avoid foot collision.
    */
-  void stepFromOrders(const std::vector<double> &linear_orders, double angular_z);
+  void stepFromOrders(const std::vector<double>& linear_orders, double angular_z);
 
   /**
    * Small helper method to get euler angle instead of quaternion.
diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_ik.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_ik.hpp
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_ik.hpp
rename to src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_ik.hpp
diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp
similarity index 97%
rename from bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp
rename to src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp
index 9b847ba28..17e02e0ea 100644
--- a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_node.hpp
@@ -52,8 +52,8 @@ namespace bitbots_quintic_walk {
 
 class WalkNode {
  public:
-  explicit WalkNode(rclcpp::Node::SharedPtr node, const std::string &ns = "",
-                    const std::vector<rclcpp::Parameter> &moveit_parameters = {});
+  explicit WalkNode(rclcpp::Node::SharedPtr node, const std::string& ns = "",
+                    const std::vector<rclcpp::Parameter>& moveit_parameters = {});
   bitbots_msgs::msg::JointCommand step(double dt);
   bitbots_msgs::msg::JointCommand step(double dt, geometry_msgs::msg::Twist::SharedPtr cmdvel_msg,
                                        sensor_msgs::msg::Imu::SharedPtr imu_msg,
@@ -105,9 +105,9 @@ class WalkNode {
    */
   void robotStateCb(bitbots_msgs::msg::RobotControlState::SharedPtr msg);
 
-  WalkEngine *getEngine();
-  WalkIK *getIk();
-  moveit::core::RobotModelPtr *get_kinematic_model();
+  WalkEngine* getEngine();
+  WalkIK* getIk();
+  moveit::core::RobotModelPtr* get_kinematic_model();
 
   nav_msgs::msg::Odometry getOdometry();
 
diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp
similarity index 73%
rename from bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp
rename to src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp
index 2436bd40d..ec44dd953 100644
--- a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_pywrapper.hpp
@@ -22,14 +22,14 @@ using namespace ros2_python_extension;
 
 class PyWalkWrapper {
  public:
-  explicit PyWalkWrapper(const std::string &ns, const std::vector<py::bytes> &walk_parameter_msgs = {},
-                         const std::vector<py::bytes> &moveit_parameter_msgs = {},
+  explicit PyWalkWrapper(const std::string& ns, const std::vector<py::bytes>& walk_parameter_msgs = {},
+                         const std::vector<py::bytes>& moveit_parameter_msgs = {},
                          bool force_smooth_step_transition = false);
-  py::bytes step(double dt, py::bytes &cmdvel_msg, py::bytes &imu_msg, py::bytes &jointstate_msg,
-                 py::bytes &pressure_left, py::bytes &pressure_right);
-  py::bytes step_relative(double dt, py::bytes &step_msg, py::bytes &imu_msg, py::bytes &jointstate_msg,
-                          py::bytes &pressure_left, py::bytes &pressure_right);
-  py::bytes step_open_loop(double dt, py::bytes &cmdvel_msg);
+  py::bytes step(double dt, py::bytes& cmdvel_msg, py::bytes& imu_msg, py::bytes& jointstate_msg,
+                 py::bytes& pressure_left, py::bytes& pressure_right);
+  py::bytes step_relative(double dt, py::bytes& step_msg, py::bytes& imu_msg, py::bytes& jointstate_msg,
+                          py::bytes& pressure_left, py::bytes& pressure_right);
+  py::bytes step_open_loop(double dt, py::bytes& cmdvel_msg);
   py::bytes get_left_foot_pose();
   py::bytes get_right_foot_pose();
   py::bytes get_odom();
diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_stabilizer.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_stabilizer.hpp
similarity index 90%
rename from bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_stabilizer.hpp
rename to src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_stabilizer.hpp
index 7b5387833..51416948c 100644
--- a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_stabilizer.hpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_stabilizer.hpp
@@ -18,7 +18,7 @@ class WalkStabilizer : public bitbots_splines::AbstractStabilizer<WalkResponse>
  public:
   explicit WalkStabilizer(rclcpp::Node::SharedPtr node);
   void reset() override;
-  WalkResponse stabilize(const WalkResponse &response, const rclcpp::Duration &dt) override;
+  WalkResponse stabilize(const WalkResponse& response, const rclcpp::Duration& dt) override;
 
  private:
   control_toolbox::PidROS pid_trunk_fused_pitch_;
diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_utils.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_utils.hpp
similarity index 97%
rename from bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_utils.hpp
rename to src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_utils.hpp
index cb50c5b7a..50cd7cb2f 100644
--- a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_utils.hpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_utils.hpp
@@ -103,7 +103,7 @@ inline double angleDistance(double angle_src, double angle_dst) {
   }
 }
 
-inline void tf_pose_to_msg(tf2::Transform &tf_pose, geometry_msgs::msg::Pose &msg_pose) {
+inline void tf_pose_to_msg(tf2::Transform& tf_pose, geometry_msgs::msg::Pose& msg_pose) {
   msg_pose.position.x = tf_pose.getOrigin().getX();
   msg_pose.position.y = tf_pose.getOrigin().getY();
   msg_pose.position.z = tf_pose.getOrigin().getZ();
diff --git a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_visualizer.hpp b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_visualizer.hpp
similarity index 91%
rename from bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_visualizer.hpp
rename to src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_visualizer.hpp
index df7f38cbe..62d695227 100644
--- a/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_visualizer.hpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/include/bitbots_quintic_walk/walk_visualizer.hpp
@@ -23,9 +23,9 @@ class WalkVisualizer : public bitbots_splines::AbstractVisualizer {
  public:
   explicit WalkVisualizer(rclcpp::Node::SharedPtr node, walking::Params::Node::Tf tf_config);
 
-  visualization_msgs::msg::Marker createArrowMarker(const std::string &name_space, const std::string &frame,
-                                                    const geometry_msgs::msg::Pose &pose,
-                                                    const std_msgs::msg::ColorRGBA &color);
+  visualization_msgs::msg::Marker createArrowMarker(const std::string& name_space, const std::string& frame,
+                                                    const geometry_msgs::msg::Pose& pose,
+                                                    const std_msgs::msg::ColorRGBA& color);
 
   std::pair<bitbots_quintic_walk::msg::WalkEngineDebug, visualization_msgs::msg::MarkerArray> buildEngineDebugMsgs(
       WalkResponse response);
@@ -35,8 +35,8 @@ class WalkVisualizer : public bitbots_splines::AbstractVisualizer {
 
   void init(moveit::core::RobotModelPtr kinematic_model);
 
-  void publishDebug(const WalkResponse &current_response, const moveit::core::RobotStatePtr &current_state,
-                    const bitbots_splines::JointGoals &motor_goals);
+  void publishDebug(const WalkResponse& current_response, const moveit::core::RobotStatePtr& current_state,
+                    const bitbots_splines::JointGoals& motor_goals);
 
   std_msgs::msg::ColorRGBA colorFactory(double r, double g, double b) {
     std_msgs::msg::ColorRGBA color;
diff --git a/bitbots_motion/bitbots_quintic_walk/launch/quintic_walk.launch b/src/bitbots_motion/bitbots_quintic_walk/launch/quintic_walk.launch
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/launch/quintic_walk.launch
rename to src/bitbots_motion/bitbots_quintic_walk/launch/quintic_walk.launch
diff --git a/bitbots_motion/bitbots_quintic_walk/launch/test.launch b/src/bitbots_motion/bitbots_quintic_walk/launch/test.launch
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/launch/test.launch
rename to src/bitbots_motion/bitbots_quintic_walk/launch/test.launch
diff --git a/bitbots_motion/bitbots_quintic_walk/msg/WalkDebug.msg b/src/bitbots_motion/bitbots_quintic_walk/msg/WalkDebug.msg
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/msg/WalkDebug.msg
rename to src/bitbots_motion/bitbots_quintic_walk/msg/WalkDebug.msg
diff --git a/bitbots_motion/bitbots_quintic_walk/msg/WalkEngineDebug.msg b/src/bitbots_motion/bitbots_quintic_walk/msg/WalkEngineDebug.msg
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/msg/WalkEngineDebug.msg
rename to src/bitbots_motion/bitbots_quintic_walk/msg/WalkEngineDebug.msg
diff --git a/bitbots_motion/bitbots_quintic_walk/package.xml b/src/bitbots_motion/bitbots_quintic_walk/package.xml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/package.xml
rename to src/bitbots_motion/bitbots_quintic_walk/package.xml
diff --git a/bitbots_motion/bitbots_quintic_walk/scripts/test_solvable_speeds.py b/src/bitbots_motion/bitbots_quintic_walk/scripts/test_solvable_speeds.py
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/scripts/test_solvable_speeds.py
rename to src/bitbots_motion/bitbots_quintic_walk/scripts/test_solvable_speeds.py
diff --git a/bitbots_motion/bitbots_quintic_walk/setup.py b/src/bitbots_motion/bitbots_quintic_walk/setup.py
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/setup.py
rename to src/bitbots_motion/bitbots_quintic_walk/setup.py
diff --git a/bitbots_motion/bitbots_quintic_walk/src/parameters.yaml b/src/bitbots_motion/bitbots_quintic_walk/src/parameters.yaml
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/src/parameters.yaml
rename to src/bitbots_motion/bitbots_quintic_walk/src/parameters.yaml
diff --git a/bitbots_motion/bitbots_quintic_walk/src/walk_engine.cpp b/src/bitbots_motion/bitbots_quintic_walk/src/walk_engine.cpp
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/src/walk_engine.cpp
rename to src/bitbots_motion/bitbots_quintic_walk/src/walk_engine.cpp
diff --git a/bitbots_motion/bitbots_quintic_walk/src/walk_ik.cpp b/src/bitbots_motion/bitbots_quintic_walk/src/walk_ik.cpp
similarity index 95%
rename from bitbots_motion/bitbots_quintic_walk/src/walk_ik.cpp
rename to src/bitbots_motion/bitbots_quintic_walk/src/walk_ik.cpp
index 14b4d5a0e..d4e8fa1d3 100644
--- a/bitbots_motion/bitbots_quintic_walk/src/walk_ik.cpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/src/walk_ik.cpp
@@ -17,7 +17,7 @@ void WalkIK::init(moveit::core::RobotModelPtr kinematic_model) {
   }
 }
 
-bitbots_splines::JointGoals WalkIK::calculate(const WalkResponse &ik_goals) {
+bitbots_splines::JointGoals WalkIK::calculate(const WalkResponse& ik_goals) {
   // change goals from support foot based coordinate system to trunk based coordinate system
   tf2::Transform trunk_to_support_foot_goal = ik_goals.support_foot_to_trunk.inverse();
   tf2::Transform trunk_to_flying_foot_goal = trunk_to_support_foot_goal * ik_goals.support_foot_to_flying_foot;
@@ -76,9 +76,9 @@ void WalkIK::reset() {
 
 void WalkIK::setConfig(walking::Params::Node::Ik config) { config_ = config; }
 
-const std::vector<std::string> &WalkIK::getLeftLegJointNames() { return left_leg_joints_group_->getJointModelNames(); }
+const std::vector<std::string>& WalkIK::getLeftLegJointNames() { return left_leg_joints_group_->getJointModelNames(); }
 
-const std::vector<std::string> &WalkIK::getRightLegJointNames() {
+const std::vector<std::string>& WalkIK::getRightLegJointNames() {
   return right_leg_joints_group_->getJointModelNames();
 }
 
diff --git a/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp b/src/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
similarity index 99%
rename from bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
rename to src/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
index 3342fa51d..46f775fd2 100644
--- a/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
@@ -407,10 +407,6 @@ void WalkNode::imuCb(const sensor_msgs::msg::Imu::SharedPtr msg) {
   current_trunk_fused_pitch_ = imu_fused.fusedPitch;
   current_trunk_fused_roll_ = imu_fused.fusedRoll;
 
-  // get angular velocities
-  double roll_vel = msg->angular_velocity.x;
-  double pitch_vel = msg->angular_velocity.y;
-
   // Calculate ema (exponential moving average) of y (sideways) acceleration in a time-independet manner
   if (last_imu_measurement_time_) {
     auto time_delta = rclcpp::Time(msg->header.stamp) - last_imu_measurement_time_.value();
@@ -429,6 +425,10 @@ void WalkNode::imuCb(const sensor_msgs::msg::Imu::SharedPtr msg) {
     // Get the sub struct of the imu stability stop config
     auto params = config_.node.stability_stop.imu;
 
+    // Get angular velocities
+    double roll_vel = msg->angular_velocity.x;
+    double pitch_vel = msg->angular_velocity.y;
+
     // Check if we have to stop the walk
     double pitch_delta = pitch - wanted_pitch;
     if (abs(roll) > params.roll.threshold or abs(pitch_delta) > params.pitch.threshold or
diff --git a/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp b/src/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp
similarity index 92%
rename from bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp
rename to src/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp
index e0f2ac570..0fb1da82b 100644
--- a/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/src/walk_pywrapper.cpp
@@ -2,8 +2,8 @@
 
 void PyWalkWrapper::spin_some() { rclcpp::spin_some(node_); }
 
-PyWalkWrapper::PyWalkWrapper(const std::string &ns, const std::vector<py::bytes> &walk_parameter_msgs,
-                             const std::vector<py::bytes> &moveit_parameter_msgs, bool force_smooth_step_transition) {
+PyWalkWrapper::PyWalkWrapper(const std::string& ns, const std::vector<py::bytes>& walk_parameter_msgs,
+                             const std::vector<py::bytes>& moveit_parameter_msgs, bool force_smooth_step_transition) {
   // initialize rclcpp if not already done
   if (!rclcpp::contexts::get_global_default_context()->is_valid()) {
     rclcpp::init(0, nullptr);
@@ -12,7 +12,7 @@ PyWalkWrapper::PyWalkWrapper(const std::string &ns, const std::vector<py::bytes>
   // internal function to deserialize the parameter messages
   auto deserialize_parameters = [](std::vector<py::bytes> parameter_msgs) {
     std::vector<rclcpp::Parameter> cpp_parameters = {};
-    for (auto &parameter_msg : parameter_msgs) {
+    for (auto& parameter_msg : parameter_msgs) {
       cpp_parameters.push_back(
           rclcpp::Parameter::from_parameter_msg(fromPython<rcl_interfaces::msg::Parameter>(parameter_msg)));
     }
@@ -38,8 +38,8 @@ PyWalkWrapper::PyWalkWrapper(const std::string &ns, const std::vector<py::bytes>
   walk_node_->getEngine()->setForceSmoothStepTransition(force_smooth_step_transition);
 }
 
-py::bytes PyWalkWrapper::step(double dt, py::bytes &cmdvel_msg, py::bytes &imu_msg, py::bytes &jointstate_msg,
-                              py::bytes &pressure_left, py::bytes &pressure_right) {
+py::bytes PyWalkWrapper::step(double dt, py::bytes& cmdvel_msg, py::bytes& imu_msg, py::bytes& jointstate_msg,
+                              py::bytes& pressure_left, py::bytes& pressure_right) {
   bitbots_msgs::msg::JointCommand result = walk_node_->step(
       dt, std::make_shared<geometry_msgs::msg::Twist>(fromPython<geometry_msgs::msg::Twist>(cmdvel_msg)),
       std::make_shared<sensor_msgs::msg::Imu>(fromPython<sensor_msgs::msg::Imu>(imu_msg)),
@@ -49,8 +49,8 @@ py::bytes PyWalkWrapper::step(double dt, py::bytes &cmdvel_msg, py::bytes &imu_m
   return toPython<bitbots_msgs::msg::JointCommand>(result);
 }
 
-py::bytes PyWalkWrapper::step_relative(double dt, py::bytes &step_msg, py::bytes &imu_msg, py::bytes &jointstate_msg,
-                                       py::bytes &pressure_left, py::bytes &pressure_right) {
+py::bytes PyWalkWrapper::step_relative(double dt, py::bytes& step_msg, py::bytes& imu_msg, py::bytes& jointstate_msg,
+                                       py::bytes& pressure_left, py::bytes& pressure_right) {
   bitbots_msgs::msg::JointCommand result = walk_node_->step_relative(
       dt, std::make_shared<geometry_msgs::msg::Twist>(fromPython<geometry_msgs::msg::Twist>(step_msg)),
       std::make_shared<sensor_msgs::msg::Imu>(fromPython<sensor_msgs::msg::Imu>(imu_msg)),
@@ -60,7 +60,7 @@ py::bytes PyWalkWrapper::step_relative(double dt, py::bytes &step_msg, py::bytes
   return toPython<bitbots_msgs::msg::JointCommand>(result);
 }
 
-py::bytes PyWalkWrapper::step_open_loop(double dt, py::bytes &cmdvel_msg) {
+py::bytes PyWalkWrapper::step_open_loop(double dt, py::bytes& cmdvel_msg) {
   geometry_msgs::msg::PoseArray result = walk_node_->step_open_loop(
       dt, std::make_shared<geometry_msgs::msg::Twist>(fromPython<geometry_msgs::msg::Twist>(cmdvel_msg)));
   return toPython<geometry_msgs::msg::PoseArray>(result);
@@ -147,8 +147,8 @@ void PyWalkWrapper::publish_debug() { walk_node_->publish_debug(); }
 bool PyWalkWrapper::reset_and_test_if_speed_possible(py::bytes cmd_vel, double pos_threshold) {
   walk_node_->reset(bitbots_quintic_walk::WalkState::WALKING, 0.0,
                     std::make_shared<geometry_msgs::msg::Twist>(fromPython<geometry_msgs::msg::Twist>(cmd_vel)), true);
-  bitbots_quintic_walk::WalkEngine *engine = walk_node_->getEngine();
-  bitbots_quintic_walk::WalkIK *ik = walk_node_->getIk();
+  bitbots_quintic_walk::WalkEngine* engine = walk_node_->getEngine();
+  bitbots_quintic_walk::WalkIK* ik = walk_node_->getIk();
   bitbots_quintic_walk::WalkResponse current_response;
   bitbots_splines::JointGoals joint_goals;
   moveit::core::RobotStatePtr goal_state;
diff --git a/bitbots_motion/bitbots_quintic_walk/src/walk_stabilizer.cpp b/src/bitbots_motion/bitbots_quintic_walk/src/walk_stabilizer.cpp
similarity index 100%
rename from bitbots_motion/bitbots_quintic_walk/src/walk_stabilizer.cpp
rename to src/bitbots_motion/bitbots_quintic_walk/src/walk_stabilizer.cpp
diff --git a/bitbots_motion/bitbots_quintic_walk/src/walk_visualizer.cpp b/src/bitbots_motion/bitbots_quintic_walk/src/walk_visualizer.cpp
similarity index 98%
rename from bitbots_motion/bitbots_quintic_walk/src/walk_visualizer.cpp
rename to src/bitbots_motion/bitbots_quintic_walk/src/walk_visualizer.cpp
index a4e5d5151..d1a117aba 100644
--- a/bitbots_motion/bitbots_quintic_walk/src/walk_visualizer.cpp
+++ b/src/bitbots_motion/bitbots_quintic_walk/src/walk_visualizer.cpp
@@ -10,9 +10,9 @@ WalkVisualizer::WalkVisualizer(rclcpp::Node::SharedPtr node, walking::Params::No
 
 void WalkVisualizer::init(moveit::core::RobotModelPtr kinematic_model) { kinematic_model_ = kinematic_model; }
 
-void WalkVisualizer::publishDebug(const WalkResponse &current_response,
-                                  const moveit::core::RobotStatePtr &current_state,
-                                  const bitbots_splines::JointGoals &motor_goals) {
+void WalkVisualizer::publishDebug(const WalkResponse& current_response,
+                                  const moveit::core::RobotStatePtr& current_state,
+                                  const bitbots_splines::JointGoals& motor_goals) {
   visualization_msgs::msg::MarkerArray marker_array;
 
   auto [engine_debug, engine_markers] = buildEngineDebugMsgs(current_response);
@@ -140,7 +140,7 @@ std::pair<bitbots_quintic_walk::msg::WalkDebug, visualization_msgs::msg::MarkerA
   // IK results
   moveit::core::RobotStatePtr goal_state;
   goal_state.reset(new moveit::core::RobotState(kinematic_model_));
-  auto &[names, goals] = joint_goals;
+  auto& [names, goals] = joint_goals;
   for (size_t i = 0; i < names.size(); i++) {
     // besides its name, this method only changes a single joint position...
     goal_state->setJointPositions(names[i], &goals[i]);
@@ -254,10 +254,10 @@ std::pair<bitbots_quintic_walk::msg::WalkDebug, visualization_msgs::msg::MarkerA
   return {msg, marker_array};
 }
 
-visualization_msgs::msg::Marker WalkVisualizer::createArrowMarker(const std::string &name_space,
-                                                                  const std::string &frame,
-                                                                  const geometry_msgs::msg::Pose &pose,
-                                                                  const std_msgs::msg::ColorRGBA &color) {
+visualization_msgs::msg::Marker WalkVisualizer::createArrowMarker(const std::string& name_space,
+                                                                  const std::string& frame,
+                                                                  const geometry_msgs::msg::Pose& pose,
+                                                                  const std_msgs::msg::ColorRGBA& color) {
   visualization_msgs::msg::Marker marker_msg;
   marker_msg.header.frame_id = frame;
 
diff --git a/bitbots_motion/bitbots_rl_motion/CMakeLists.txt b/src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt
similarity index 73%
rename from bitbots_motion/bitbots_rl_motion/CMakeLists.txt
rename to src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt
index 7f83a4899..bc44f75a6 100644
--- a/bitbots_motion/bitbots_rl_motion/CMakeLists.txt
+++ b/src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt
@@ -8,8 +8,9 @@ enable_bitbots_docs()
 
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY rl_walk_models DESTINATION share/${PROJECT_NAME})
-
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/rl_walk_models")
+  install(DIRECTORY rl_walk_models DESTINATION share/${PROJECT_NAME})
+endif()
 install(PROGRAMS scripts/rl_walk.py DESTINATION lib/${PROJECT_NAME})
 
 ament_package()
diff --git a/bitbots_motion/bitbots_rl_motion/config/rl_walk_sim.yaml b/src/bitbots_motion/bitbots_rl_motion/config/rl_walk_sim.yaml
similarity index 100%
rename from bitbots_motion/bitbots_rl_motion/config/rl_walk_sim.yaml
rename to src/bitbots_motion/bitbots_rl_motion/config/rl_walk_sim.yaml
diff --git a/bitbots_motion/bitbots_rl_motion/docs/_static/logo.png b/src/bitbots_motion/bitbots_rl_motion/docs/_static/logo.png
similarity index 100%
rename from bitbots_motion/bitbots_rl_motion/docs/_static/logo.png
rename to src/bitbots_motion/bitbots_rl_motion/docs/_static/logo.png
diff --git a/bitbots_motion/bitbots_rl_motion/docs/conf.py b/src/bitbots_motion/bitbots_rl_motion/docs/conf.py
similarity index 100%
rename from bitbots_motion/bitbots_rl_motion/docs/conf.py
rename to src/bitbots_motion/bitbots_rl_motion/docs/conf.py
diff --git a/bitbots_motion/bitbots_rl_motion/docs/index.rst b/src/bitbots_motion/bitbots_rl_motion/docs/index.rst
similarity index 100%
rename from bitbots_motion/bitbots_rl_motion/docs/index.rst
rename to src/bitbots_motion/bitbots_rl_motion/docs/index.rst
diff --git a/bitbots_motion/bitbots_rl_motion/docs/manual/rl_motion.rst b/src/bitbots_motion/bitbots_rl_motion/docs/manual/rl_motion.rst
similarity index 100%
rename from bitbots_motion/bitbots_rl_motion/docs/manual/rl_motion.rst
rename to src/bitbots_motion/bitbots_rl_motion/docs/manual/rl_motion.rst
diff --git a/bitbots_motion/bitbots_rl_motion/launch/rl_walk.launch b/src/bitbots_motion/bitbots_rl_motion/launch/rl_walk.launch
similarity index 100%
rename from bitbots_motion/bitbots_rl_motion/launch/rl_walk.launch
rename to src/bitbots_motion/bitbots_rl_motion/launch/rl_walk.launch
diff --git a/bitbots_motion/bitbots_rl_motion/launch/test.launch b/src/bitbots_motion/bitbots_rl_motion/launch/test.launch
similarity index 100%
rename from bitbots_motion/bitbots_rl_motion/launch/test.launch
rename to src/bitbots_motion/bitbots_rl_motion/launch/test.launch
diff --git a/bitbots_motion/bitbots_rl_motion/package.xml b/src/bitbots_motion/bitbots_rl_motion/package.xml
similarity index 100%
rename from bitbots_motion/bitbots_rl_motion/package.xml
rename to src/bitbots_motion/bitbots_rl_motion/package.xml
diff --git a/bitbots_motion/bitbots_rl_motion/scripts/rl_walk.py b/src/bitbots_motion/bitbots_rl_motion/scripts/rl_walk.py
similarity index 100%
rename from bitbots_motion/bitbots_rl_motion/scripts/rl_walk.py
rename to src/bitbots_motion/bitbots_rl_motion/scripts/rl_walk.py
diff --git a/bitbots_motion/bitbots_rl_motion/setup.py b/src/bitbots_motion/bitbots_rl_motion/setup.py
similarity index 100%
rename from bitbots_motion/bitbots_rl_motion/setup.py
rename to src/bitbots_motion/bitbots_rl_motion/setup.py
diff --git a/bitbots_motion/bitbots_splines/CMakeLists.txt b/src/bitbots_motion/bitbots_splines/CMakeLists.txt
similarity index 100%
rename from bitbots_motion/bitbots_splines/CMakeLists.txt
rename to src/bitbots_motion/bitbots_splines/CMakeLists.txt
diff --git a/bitbots_motion/bitbots_splines/bitbots_splines/__init__.py b/src/bitbots_motion/bitbots_splines/bitbots_splines/__init__.py
similarity index 100%
rename from bitbots_motion/bitbots_splines/bitbots_splines/__init__.py
rename to src/bitbots_motion/bitbots_splines/bitbots_splines/__init__.py
diff --git a/bitbots_motion/bitbots_splines/bitbots_splines/polynom.py b/src/bitbots_motion/bitbots_splines/bitbots_splines/polynom.py
similarity index 100%
rename from bitbots_motion/bitbots_splines/bitbots_splines/polynom.py
rename to src/bitbots_motion/bitbots_splines/bitbots_splines/polynom.py
diff --git a/bitbots_motion/bitbots_splines/bitbots_splines/smooth_spline.py b/src/bitbots_motion/bitbots_splines/bitbots_splines/smooth_spline.py
similarity index 100%
rename from bitbots_motion/bitbots_splines/bitbots_splines/smooth_spline.py
rename to src/bitbots_motion/bitbots_splines/bitbots_splines/smooth_spline.py
diff --git a/bitbots_motion/bitbots_splines/bitbots_splines/test.py b/src/bitbots_motion/bitbots_splines/bitbots_splines/test.py
similarity index 100%
rename from bitbots_motion/bitbots_splines/bitbots_splines/test.py
rename to src/bitbots_motion/bitbots_splines/bitbots_splines/test.py
diff --git a/bitbots_motion/bitbots_splines/docs/_static/logo.png b/src/bitbots_motion/bitbots_splines/docs/_static/logo.png
similarity index 100%
rename from bitbots_motion/bitbots_splines/docs/_static/logo.png
rename to src/bitbots_motion/bitbots_splines/docs/_static/logo.png
diff --git a/bitbots_motion/bitbots_splines/docs/conf.py b/src/bitbots_motion/bitbots_splines/docs/conf.py
similarity index 100%
rename from bitbots_motion/bitbots_splines/docs/conf.py
rename to src/bitbots_motion/bitbots_splines/docs/conf.py
diff --git a/bitbots_motion/bitbots_splines/docs/index.rst b/src/bitbots_motion/bitbots_splines/docs/index.rst
similarity index 100%
rename from bitbots_motion/bitbots_splines/docs/index.rst
rename to src/bitbots_motion/bitbots_splines/docs/index.rst
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_engine.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_engine.hpp
similarity index 95%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_engine.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_engine.hpp
index f1f15e06d..ad37b9dc8 100644
--- a/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_engine.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_engine.hpp
@@ -19,7 +19,7 @@ class AbstractEngine {
    * Set new goals for the engine to calculate splines from.
    * @param goals An instance of RequestType that describes the goals that the spline should fulfill
    */
-  virtual void setGoals(const RequestType &goals) = 0;
+  virtual void setGoals(const RequestType& goals) = 0;
   /**
    * Reset the engine to its initial state.
    */
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_ik.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_ik.hpp
similarity index 87%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_ik.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_ik.hpp
index 93b8fac25..f58cb26b8 100644
--- a/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_ik.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_ik.hpp
@@ -19,8 +19,8 @@ typedef std::pair<std::vector<std::string>, std::vector<double>> JointGoals;
  * @param values New values for the previously defined joint names
  * @return new joint goals with updated values
  */
-inline JointGoals joint_goals_update(const JointGoals &goals, const std::vector<std::string> &names,
-                                     const std::vector<double> &values, rclcpp::Logger logger) {
+inline JointGoals joint_goals_update(const JointGoals& goals, const std::vector<std::string>& names,
+                                     const std::vector<double>& values, rclcpp::Logger logger) {
   JointGoals result = goals;
 
   if (names.size() != values.size()) {
@@ -46,8 +46,8 @@ inline JointGoals joint_goals_update(const JointGoals &goals, const std::vector<
  * @param diffs Differences to be applied to the previously defined joint names
  * @return new joint goals with updated values
  */
-inline JointGoals joint_goals_update_diff(const JointGoals &goals, const std::vector<std::string> &names,
-                                          const std::vector<double> &diffs, rclcpp::Logger logger) {
+inline JointGoals joint_goals_update_diff(const JointGoals& goals, const std::vector<std::string>& names,
+                                          const std::vector<double>& diffs, rclcpp::Logger logger) {
   JointGoals result = goals;
 
   if (names.size() != diffs.size()) {
@@ -77,7 +77,7 @@ class AbstractIK {
    * @param positions the cartesian positions of end points and custom additional information (e.g. support foot)
    * @return motor positions
    */
-  virtual JointGoals calculate(const Positions &positions) = 0;
+  virtual JointGoals calculate(const Positions& positions) = 0;
   /**
    * Reset the IK to its initial state.
    */
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp
similarity index 89%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp
index ee736462f..e5bcd0cf4 100644
--- a/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_stabilizer.hpp
@@ -18,7 +18,7 @@ class AbstractStabilizer {
    * @param positions An instance of Positions that contains the results of the engine's calculations.
    * @return A pointer to BioIK Goals that can be passed to the AbstractIK.
    */
-  virtual Positions stabilize(const Positions &positions, const rclcpp::Duration &dt) = 0;
+  virtual Positions stabilize(const Positions& positions, const rclcpp::Duration& dt) = 0;
 };
 }  // namespace bitbots_splines
 
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_visualizer.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_visualizer.hpp
similarity index 93%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_visualizer.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_visualizer.hpp
index 49fb8c159..819003bc7 100644
--- a/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_visualizer.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/abstract_visualizer.hpp
@@ -17,7 +17,7 @@ class AbstractVisualizer {
    * @param frame The frame in which the position is given
    * @return The visualization marker
    */
-  visualization_msgs::msg::Marker getMarker(const tf2::Vector3 &position, const std::string &frame,
+  visualization_msgs::msg::Marker getMarker(const tf2::Vector3& position, const std::string& frame,
                                             rclcpp::Node::SharedPtr node) {
     visualization_msgs::msg::Marker marker;
 
@@ -46,7 +46,7 @@ class AbstractVisualizer {
    * @param smoothness The smoothness of the splines
    * @return The visualization markers
    */
-  visualization_msgs::msg::MarkerArray getPath(bitbots_splines::PoseSpline &spline, const std::string &frame,
+  visualization_msgs::msg::MarkerArray getPath(bitbots_splines::PoseSpline& spline, const std::string& frame,
                                                const double smoothness, rclcpp::Node::SharedPtr node) {
     visualization_msgs::msg::MarkerArray marker_array;
     visualization_msgs::msg::Marker base_marker;
@@ -83,13 +83,13 @@ class AbstractVisualizer {
     // Marker for spline orientation
     // Get all times of manually added points
     std::list<double> times;
-    for (const SmoothSpline::Point &p : spline.roll()->points()) {
+    for (const SmoothSpline::Point& p : spline.roll()->points()) {
       times.push_back(p.time);
     }
-    for (const SmoothSpline::Point &p : spline.pitch()->points()) {
+    for (const SmoothSpline::Point& p : spline.pitch()->points()) {
       times.push_back(p.time);
     }
-    for (const SmoothSpline::Point &p : spline.yaw()->points()) {
+    for (const SmoothSpline::Point& p : spline.yaw()->points()) {
       times.push_back(p.time);
     }
     times.sort();
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/combination.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/combination.hpp
similarity index 100%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/combination.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/combination.hpp
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/euler.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/euler.hpp
similarity index 95%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/euler.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/euler.hpp
index 17cf51a61..297d0b228 100644
--- a/bitbots_motion/bitbots_splines/include/bitbots_splines/euler.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/euler.hpp
@@ -40,7 +40,7 @@ enum EulerType {
 /**
  * Return false if given Euler angles range are no valid
  */
-inline bool CheckEulerBounds(const Eigen::Vector3d &angles) {
+inline bool CheckEulerBounds(const Eigen::Vector3d& angles) {
   return (angles(0) >= -M_PI && angles(0) <= M_PI) &&
          ((angles(1) > -M_PI / 2.0 && angles(1) < M_PI / 2.0) ||
           (angles(0) == 0 && angles(2) == 0 && (angles(1) == -M_PI / 2.0 || angles(1) == M_PI / 2.0))) &&
@@ -51,7 +51,7 @@ inline bool CheckEulerBounds(const Eigen::Vector3d &angles) {
  * Convert given Euler angles of given
  * convention type to rotation matrix
  */
-inline Eigen::Matrix3d EulerToMatrix(const Eigen::Vector3d &angles, EulerType eulerType) {
+inline Eigen::Matrix3d EulerToMatrix(const Eigen::Vector3d& angles, EulerType eulerType) {
   Eigen::Quaternion<double> quat;
   switch (eulerType) {
     case EulerYawPitchRoll: {
@@ -101,7 +101,7 @@ inline Eigen::Matrix3d EulerToMatrix(const Eigen::Vector3d &angles, EulerType eu
  * Convert the given rotation matrix into
  * Euler angles of given convention
  */
-inline Eigen::Vector3d MatrixToEuler(const Eigen::Matrix3d &mat, EulerType eulerType) {
+inline Eigen::Vector3d MatrixToEuler(const Eigen::Matrix3d& mat, EulerType eulerType) {
   Eigen::Vector3d tmp(0.0, 0.0, 0.0);
   switch (eulerType) {
     case EulerYawPitchRoll: {
@@ -135,7 +135,7 @@ inline Eigen::Vector3d MatrixToEuler(const Eigen::Matrix3d &mat, EulerType euler
  * to [Roll, Pitch, Yaw] ZYX intrinsic euler
  * angle (Better range than Eigen conversion).
  */
-inline Eigen::Vector3d MatrixToEulerIntrinsic(const Eigen::Matrix3d &mat) {
+inline Eigen::Vector3d MatrixToEulerIntrinsic(const Eigen::Matrix3d& mat) {
   // Eigen euler angles and with better range)
   Eigen::Vector3d angles;
   // Roll
@@ -152,7 +152,7 @@ inline Eigen::Vector3d MatrixToEulerIntrinsic(const Eigen::Matrix3d &mat) {
  * Convert given Euler angles in [Roll, Pitch, Yaw]
  * ZYX intrinsic format to rotation matrix
  */
-inline Eigen::Matrix3d EulerIntrinsicToMatrix(const Eigen::Vector3d &angles) {
+inline Eigen::Matrix3d EulerIntrinsicToMatrix(const Eigen::Vector3d& angles) {
   Eigen::AngleAxisd yawRot(angles.z(), Eigen::Vector3d::UnitZ());
   Eigen::AngleAxisd pitchRot(angles.y(), Eigen::Vector3d::UnitY());
   Eigen::AngleAxisd rollRot(angles.x(), Eigen::Vector3d::UnitX());
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/newton_binomial.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/newton_binomial.hpp
similarity index 100%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/newton_binomial.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/newton_binomial.hpp
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/polynom.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/polynom.hpp
similarity index 83%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/polynom.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/polynom.hpp
index db8e3f7ef..ec01d88dd 100644
--- a/bitbots_motion/bitbots_splines/include/bitbots_splines/polynom.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/polynom.hpp
@@ -32,14 +32,14 @@ class Polynom {
    * indexed from constant to
    * higher degree
    */
-  const std::vector<double> &getCoefs() const;
-  std::vector<double> &getCoefs();
+  const std::vector<double>& getCoefs() const;
+  std::vector<double>& getCoefs();
 
   /**
    * Access to coefficient
    */
-  const double &operator()(size_t index) const;
-  double &operator()(size_t index);
+  const double& operator()(size_t index) const;
+  double& operator()(size_t index);
 
   /**
    * Return polynom degree
@@ -60,7 +60,7 @@ class Polynom {
    * Some useful operators
    */
   void operator*=(double coef);
-  void operator+=(const Polynom &p);
+  void operator+=(const Polynom& p);
 
   /**
    * Update the polynom coefficients
@@ -79,7 +79,7 @@ class Polynom {
 /**
  * Print operator
  */
-std::ostream &operator<<(std::ostream &os, const Polynom &p);
+std::ostream& operator<<(std::ostream& os, const Polynom& p);
 
 }  // namespace bitbots_splines
 
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/pose_spline.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/pose_spline.hpp
similarity index 91%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/pose_spline.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/pose_spline.hpp
index e1fce694f..edfb8b823 100644
--- a/bitbots_motion/bitbots_splines/include/bitbots_splines/pose_spline.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/pose_spline.hpp
@@ -33,12 +33,12 @@ class PoseSpline {
 
   std::string getDebugString();
 
-  SmoothSpline *x();
-  SmoothSpline *y();
-  SmoothSpline *z();
-  SmoothSpline *roll();
-  SmoothSpline *pitch();
-  SmoothSpline *yaw();
+  SmoothSpline* x();
+  SmoothSpline* y();
+  SmoothSpline* z();
+  SmoothSpline* roll();
+  SmoothSpline* pitch();
+  SmoothSpline* yaw();
 
  private:
   SmoothSpline x_;
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/position_spline.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/position_spline.hpp
similarity index 91%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/position_spline.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/position_spline.hpp
index 7f07740bc..e336d9407 100644
--- a/bitbots_motion/bitbots_splines/include/bitbots_splines/position_spline.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/position_spline.hpp
@@ -16,9 +16,9 @@ class PositionSpline {
   tf2::Vector3 getVel(double time);
   tf2::Vector3 getAcc(double time);
 
-  SmoothSpline *x();
-  SmoothSpline *y();
-  SmoothSpline *z();
+  SmoothSpline* x();
+  SmoothSpline* y();
+  SmoothSpline* z();
 
  private:
   SmoothSpline x_;
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/smooth_spline.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/smooth_spline.hpp
similarity index 95%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/smooth_spline.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/smooth_spline.hpp
index b6fe8ffab..731e3b45a 100644
--- a/bitbots_motion/bitbots_splines/include/bitbots_splines/smooth_spline.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/smooth_spline.hpp
@@ -37,8 +37,8 @@ class SmoothSpline : public Spline {
   /**
    * Access to points container
    */
-  const std::vector<Point> &points() const;
-  std::vector<Point> &points();
+  const std::vector<Point>& points() const;
+  std::vector<Point>& points();
 
   /**
    * Recompute splines interpolation model
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/spline.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline.hpp
similarity index 91%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/spline.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline.hpp
index b09a5c62e..5a614747a 100644
--- a/bitbots_motion/bitbots_splines/include/bitbots_splines/spline.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline.hpp
@@ -62,8 +62,8 @@ class Spline {
    * Write and read splines data into given
    * iostream in ascii format
    */
-  void exportData(std::ostream &os) const;
-  void importData(std::istream &is);
+  void exportData(std::ostream& os) const;
+  void importData(std::istream& is);
 
   /**
    * Return the number of internal polynom
@@ -73,19 +73,19 @@ class Spline {
   /**
    * Access to given by its index
    */
-  const SplineT &part(size_t index) const;
+  const SplineT& part(size_t index) const;
 
   /**
    * Add a part with given polynom
    * and min/max time range
    */
-  void addPart(const Polynom &poly, double min, double max);
+  void addPart(const Polynom& poly, double min, double max);
 
   /**
    * Replace this spline part with the
    * internal data of given spline
    */
-  void copyData(const Spline &sp);
+  void copyData(const Spline& sp);
 
  protected:
   /**
diff --git a/bitbots_motion/bitbots_splines/include/bitbots_splines/spline_container.hpp b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline_container.hpp
similarity index 86%
rename from bitbots_motion/bitbots_splines/include/bitbots_splines/spline_container.hpp
rename to src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline_container.hpp
index 441ab310b..57d6a704f 100644
--- a/bitbots_motion/bitbots_splines/include/bitbots_splines/spline_container.hpp
+++ b/src/bitbots_motion/bitbots_splines/include/bitbots_splines/spline_container.hpp
@@ -40,7 +40,7 @@ class SplineContainer {
    * spline constructor.
    */
   template <typename... Args>
-  inline void add(const std::string &name, Args... args) {
+  inline void add(const std::string& name, Args... args) {
     if (container_.count(name) != 0) {
       throw std::logic_error("SplineContainer spline already added");
     }
@@ -51,18 +51,18 @@ class SplineContainer {
    * Return true if given spline
    * name is contained
    */
-  inline bool exist(const std::string &name) const { return container_.count(name) > 0; }
+  inline bool exist(const std::string& name) const { return container_.count(name) > 0; }
 
   /**
    * Access to given named spline
    */
-  inline const T &get(const std::string &name) const {
+  inline const T& get(const std::string& name) const {
     if (container_.count(name) == 0) {
       throw std::logic_error("SplineContainer invalid name: " + name);
     }
     return container_.at(name);
   }
-  inline T &get(const std::string &name) {
+  inline T& get(const std::string& name) {
     if (container_.count(name) == 0) {
       throw std::logic_error("SplineContainer invalid name: " + name);
     }
@@ -72,8 +72,8 @@ class SplineContainer {
   /**
    * Access to internal map container
    */
-  const std::map<std::string, T> &get() const { return container_; }
-  std::map<std::string, T> &get() { return container_; }
+  const std::map<std::string, T>& get() const { return container_; }
+  std::map<std::string, T>& get() { return container_; }
 
   /**
    * Returns all time points where a point in any spline exists.
@@ -82,9 +82,9 @@ class SplineContainer {
     std::set<double> times;
     std::vector<double> times_sorted;
     // go trough all splines
-    for (const auto &sp : container_) {
+    for (const auto& sp : container_) {
       // go trough all points of the spline
-      for (const SmoothSpline::Point &point : sp.second.points()) {
+      for (const SmoothSpline::Point& point : sp.second.points()) {
         times.insert(point.time);
       }
     }
@@ -104,7 +104,7 @@ class SplineContainer {
     }
     bool is_first = true;
     double m = 0.0;
-    for (const auto &sp : container_) {
+    for (const auto& sp : container_) {
       if (is_first || m > sp.second.min()) {
         m = sp.second.min();
         is_first = false;
@@ -118,7 +118,7 @@ class SplineContainer {
     }
     bool is_first = true;
     double m = 0.0;
-    for (const auto &sp : container_) {
+    for (const auto& sp : container_) {
       if (is_first || m < sp.second.max()) {
         m = sp.second.max();
         is_first = false;
@@ -131,7 +131,7 @@ class SplineContainer {
    * Export to and Import from given file name
    * in "spline" CSV format prefixed with spline name
    */
-  void exportData(const std::string &file_name) const {
+  void exportData(const std::string& file_name) const {
     if (container_.size() == 0) {
       throw std::logic_error("SplineContainer empty");
     }
@@ -141,14 +141,14 @@ class SplineContainer {
       throw std::runtime_error("SplineContainer unable to write file: " + file_name);
     }
 
-    for (const auto &sp : container_) {
+    for (const auto& sp : container_) {
       file << "'" << sp.first << "' ";
       sp.second.exportData(file);
     }
 
     file.close();
   }
-  void importData(const std::string &file_name) {
+  void importData(const std::string& file_name) {
     std::ifstream file(file_name);
     if (!file.is_open()) {
       throw std::runtime_error("SplineContainer unable to read file: " + file_name);
diff --git a/bitbots_motion/bitbots_splines/package.xml b/src/bitbots_motion/bitbots_splines/package.xml
similarity index 100%
rename from bitbots_motion/bitbots_splines/package.xml
rename to src/bitbots_motion/bitbots_splines/package.xml
diff --git a/bitbots_motion/bitbots_splines/scripts/plot_splines.py b/src/bitbots_motion/bitbots_splines/scripts/plot_splines.py
similarity index 100%
rename from bitbots_motion/bitbots_splines/scripts/plot_splines.py
rename to src/bitbots_motion/bitbots_splines/scripts/plot_splines.py
diff --git a/bitbots_motion/bitbots_splines/setup.py b/src/bitbots_motion/bitbots_splines/setup.py
similarity index 100%
rename from bitbots_motion/bitbots_splines/setup.py
rename to src/bitbots_motion/bitbots_splines/setup.py
diff --git a/bitbots_motion/bitbots_splines/src/Spline/polynom.cpp b/src/bitbots_motion/bitbots_splines/src/Spline/polynom.cpp
similarity index 83%
rename from bitbots_motion/bitbots_splines/src/Spline/polynom.cpp
rename to src/bitbots_motion/bitbots_splines/src/Spline/polynom.cpp
index 546526193..bfc4f6fe5 100644
--- a/bitbots_motion/bitbots_splines/src/Spline/polynom.cpp
+++ b/src/bitbots_motion/bitbots_splines/src/Spline/polynom.cpp
@@ -15,11 +15,11 @@ Polynom::Polynom(unsigned int degree) : coefs_() {
   }
 }
 
-const std::vector<double> &Polynom::getCoefs() const { return coefs_; }
-std::vector<double> &Polynom::getCoefs() { return coefs_; }
+const std::vector<double>& Polynom::getCoefs() const { return coefs_; }
+std::vector<double>& Polynom::getCoefs() { return coefs_; }
 
-const double &Polynom::operator()(size_t index) const { return coefs_.at(index); }
-double &Polynom::operator()(size_t index) { return coefs_.at(index); }
+const double& Polynom::operator()(size_t index) const { return coefs_.at(index); }
+double& Polynom::operator()(size_t index) { return coefs_.at(index); }
 
 size_t Polynom::degree() const { return coefs_.size() - 1; }
 
@@ -61,11 +61,11 @@ double Polynom::jerk(double x) const {
 }
 
 void Polynom::operator*=(double coef) {
-  for (double &_coef : coefs_) {
+  for (double& _coef : coefs_) {
     _coef *= coef;
   }
 }
-void Polynom::operator+=(const Polynom &p) {
+void Polynom::operator+=(const Polynom& p) {
   while (p.coefs_.size() > coefs_.size()) {
     coefs_.push_back(0.0);
   }
@@ -89,7 +89,7 @@ void Polynom::shift(double delta) {
   *this = n;
 }
 
-std::ostream &operator<<(std::ostream &os, const Polynom &p) {
+std::ostream& operator<<(std::ostream& os, const Polynom& p) {
   os << "degree=" << p.degree() << " ";
   for (size_t i = 0; i < p.degree() + 1; i++) {
     os << p(i) << " ";
diff --git a/bitbots_motion/bitbots_splines/src/Spline/pose_spline.cpp b/src/bitbots_motion/bitbots_splines/src/Spline/pose_spline.cpp
similarity index 88%
rename from bitbots_motion/bitbots_splines/src/Spline/pose_spline.cpp
rename to src/bitbots_motion/bitbots_splines/src/Spline/pose_spline.cpp
index e9566d915..603fb4f08 100644
--- a/bitbots_motion/bitbots_splines/src/Spline/pose_spline.cpp
+++ b/src/bitbots_motion/bitbots_splines/src/Spline/pose_spline.cpp
@@ -53,17 +53,17 @@ tf2::Quaternion PoseSpline::getOrientation(double time) {
   return quat;
 }
 
-SmoothSpline *PoseSpline::x() { return &x_; }
+SmoothSpline* PoseSpline::x() { return &x_; }
 
-SmoothSpline *PoseSpline::y() { return &y_; }
+SmoothSpline* PoseSpline::y() { return &y_; }
 
-SmoothSpline *PoseSpline::z() { return &z_; }
+SmoothSpline* PoseSpline::z() { return &z_; }
 
-SmoothSpline *PoseSpline::roll() { return &roll_; }
+SmoothSpline* PoseSpline::roll() { return &roll_; }
 
-SmoothSpline *PoseSpline::pitch() { return &pitch_; }
+SmoothSpline* PoseSpline::pitch() { return &pitch_; }
 
-SmoothSpline *PoseSpline::yaw() { return &yaw_; }
+SmoothSpline* PoseSpline::yaw() { return &yaw_; }
 
 std::string PoseSpline::getDebugString() {
   std::string output;
diff --git a/bitbots_motion/bitbots_splines/src/Spline/position_spline.cpp b/src/bitbots_motion/bitbots_splines/src/Spline/position_spline.cpp
similarity index 82%
rename from bitbots_motion/bitbots_splines/src/Spline/position_spline.cpp
rename to src/bitbots_motion/bitbots_splines/src/Spline/position_spline.cpp
index 4a5b65d35..871258525 100644
--- a/bitbots_motion/bitbots_splines/src/Spline/position_spline.cpp
+++ b/src/bitbots_motion/bitbots_splines/src/Spline/position_spline.cpp
@@ -16,10 +16,10 @@ tf2::Vector3 PositionSpline::getPos(double time) { return tf2::Vector3(x_.pos(ti
 tf2::Vector3 PositionSpline::getVel(double time) { return tf2::Vector3(x_.vel(time), y_.vel(time), z_.vel(time)); }
 tf2::Vector3 PositionSpline::getAcc(double time) { return tf2::Vector3(x_.acc(time), y_.acc(time), z_.acc(time)); }
 
-SmoothSpline *PositionSpline::x() { return &x_; }
+SmoothSpline* PositionSpline::x() { return &x_; }
 
-SmoothSpline *PositionSpline::y() { return &y_; }
+SmoothSpline* PositionSpline::y() { return &y_; }
 
-SmoothSpline *PositionSpline::z() { return &z_; }
+SmoothSpline* PositionSpline::z() { return &z_; }
 
 }  // namespace bitbots_splines
diff --git a/bitbots_motion/bitbots_splines/src/Spline/smooth_spline.cpp b/src/bitbots_motion/bitbots_splines/src/Spline/smooth_spline.cpp
similarity index 93%
rename from bitbots_motion/bitbots_splines/src/Spline/smooth_spline.cpp
rename to src/bitbots_motion/bitbots_splines/src/Spline/smooth_spline.cpp
index 1a3f2cc86..55e4887fc 100644
--- a/bitbots_motion/bitbots_splines/src/Spline/smooth_spline.cpp
+++ b/src/bitbots_motion/bitbots_splines/src/Spline/smooth_spline.cpp
@@ -16,8 +16,8 @@ void SmoothSpline::addPoint(double time, double position, double velocity, doubl
   computeSplines();
 }
 
-const std::vector<SmoothSpline::Point> &SmoothSpline::points() const { return points_; }
-std::vector<SmoothSpline::Point> &SmoothSpline::points() { return points_; }
+const std::vector<SmoothSpline::Point>& SmoothSpline::points() const { return points_; }
+std::vector<SmoothSpline::Point>& SmoothSpline::points() { return points_; }
 
 void SmoothSpline::computeSplines() {
   Spline::splines_.clear();
@@ -26,7 +26,7 @@ void SmoothSpline::computeSplines() {
   }
 
   std::sort(points_.begin(), points_.end(),
-            [](const Point &p_1, const Point &p_2) -> bool { return p_1.time < p_2.time; });
+            [](const Point& p_1, const Point& p_2) -> bool { return p_1.time < p_2.time; });
 
   for (size_t i = 1; i < points_.size(); i++) {
     double time = points_[i].time - points_[i - 1].time;
@@ -97,7 +97,7 @@ Polynom SmoothSpline::polynomFit(double t, double pos_1, double vel_1, double ac
 std::string SmoothSpline::getDebugString() {
   std::string output;
   int i = 0;
-  for (const auto &p : points_) {
+  for (const auto& p : points_) {
     output += "Point:" + std::to_string(i) + "\n";
     output += "  Time: " + std::to_string(p.time) + "\n";
     output += "  Pos: " + std::to_string(p.position) + "\n";
diff --git a/bitbots_motion/bitbots_splines/src/Spline/spline.cpp b/src/bitbots_motion/bitbots_splines/src/Spline/spline.cpp
similarity index 92%
rename from bitbots_motion/bitbots_splines/src/Spline/spline.cpp
rename to src/bitbots_motion/bitbots_splines/src/Spline/spline.cpp
index 12a83b4a7..9a580b979 100644
--- a/bitbots_motion/bitbots_splines/src/Spline/spline.cpp
+++ b/src/bitbots_motion/bitbots_splines/src/Spline/spline.cpp
@@ -34,8 +34,8 @@ double Spline::max() const {
   }
 }
 
-void Spline::exportData(std::ostream &os) const {
-  for (const auto &spline : splines_) {
+void Spline::exportData(std::ostream& os) const {
+  for (const auto& spline : splines_) {
     os << std::setprecision(17) << spline.min << " ";
     os << std::setprecision(17) << spline.max << " ";
     os << std::setprecision(17) << spline.polynom.getCoefs().size() << " ";
@@ -45,7 +45,7 @@ void Spline::exportData(std::ostream &os) const {
   }
   os << std::endl;
 }
-void Spline::importData(std::istream &is) {
+void Spline::importData(std::istream& is) {
   bool is_format_error = false;
   while (is.good()) {
     is_format_error = true;
@@ -86,11 +86,11 @@ void Spline::importData(std::istream &is) {
 
 size_t Spline::size() const { return splines_.size(); }
 
-const Spline::SplineT &Spline::part(size_t index) const { return splines_.at(index); }
+const Spline::SplineT& Spline::part(size_t index) const { return splines_.at(index); }
 
-void Spline::addPart(const Polynom &poly, double min, double max) { splines_.push_back({poly, min, max}); }
+void Spline::addPart(const Polynom& poly, double min, double max) { splines_.push_back({poly, min, max}); }
 
-void Spline::copyData(const Spline &sp) {
+void Spline::copyData(const Spline& sp) {
   splines_ = sp.splines_;
   // Call possible post import
   importCallBack();
diff --git a/bitbots_motion/bitbots_splines/src/Utils/combination.cpp b/src/bitbots_motion/bitbots_splines/src/Utils/combination.cpp
similarity index 100%
rename from bitbots_motion/bitbots_splines/src/Utils/combination.cpp
rename to src/bitbots_motion/bitbots_splines/src/Utils/combination.cpp
diff --git a/bitbots_motion/bitbots_splines/src/Utils/newton_binomial.cpp b/src/bitbots_motion/bitbots_splines/src/Utils/newton_binomial.cpp
similarity index 100%
rename from bitbots_motion/bitbots_splines/src/Utils/newton_binomial.cpp
rename to src/bitbots_motion/bitbots_splines/src/Utils/newton_binomial.cpp
diff --git a/bitbots_msgs/CMakeLists.txt b/src/bitbots_msgs/CMakeLists.txt
similarity index 100%
rename from bitbots_msgs/CMakeLists.txt
rename to src/bitbots_msgs/CMakeLists.txt
diff --git a/bitbots_msgs/README.md b/src/bitbots_msgs/README.md
similarity index 100%
rename from bitbots_msgs/README.md
rename to src/bitbots_msgs/README.md
diff --git a/bitbots_msgs/action/Dynup.action b/src/bitbots_msgs/action/Dynup.action
similarity index 100%
rename from bitbots_msgs/action/Dynup.action
rename to src/bitbots_msgs/action/Dynup.action
diff --git a/bitbots_msgs/action/Kick.action b/src/bitbots_msgs/action/Kick.action
similarity index 100%
rename from bitbots_msgs/action/Kick.action
rename to src/bitbots_msgs/action/Kick.action
diff --git a/bitbots_msgs/action/LookAt.action b/src/bitbots_msgs/action/LookAt.action
similarity index 100%
rename from bitbots_msgs/action/LookAt.action
rename to src/bitbots_msgs/action/LookAt.action
diff --git a/bitbots_msgs/action/PlayAnimation.action b/src/bitbots_msgs/action/PlayAnimation.action
similarity index 100%
rename from bitbots_msgs/action/PlayAnimation.action
rename to src/bitbots_msgs/action/PlayAnimation.action
diff --git a/bitbots_msgs/docs/_static/logo.png b/src/bitbots_msgs/docs/_static/logo.png
similarity index 100%
rename from bitbots_msgs/docs/_static/logo.png
rename to src/bitbots_msgs/docs/_static/logo.png
diff --git a/bitbots_msgs/docs/conf.py b/src/bitbots_msgs/docs/conf.py
similarity index 100%
rename from bitbots_msgs/docs/conf.py
rename to src/bitbots_msgs/docs/conf.py
diff --git a/bitbots_msgs/docs/index.rst b/src/bitbots_msgs/docs/index.rst
similarity index 100%
rename from bitbots_msgs/docs/index.rst
rename to src/bitbots_msgs/docs/index.rst
diff --git a/bitbots_msgs/msg/Animation.msg b/src/bitbots_msgs/msg/Animation.msg
similarity index 100%
rename from bitbots_msgs/msg/Animation.msg
rename to src/bitbots_msgs/msg/Animation.msg
diff --git a/bitbots_msgs/msg/Audio.msg b/src/bitbots_msgs/msg/Audio.msg
similarity index 100%
rename from bitbots_msgs/msg/Audio.msg
rename to src/bitbots_msgs/msg/Audio.msg
diff --git a/bitbots_msgs/msg/Buttons.msg b/src/bitbots_msgs/msg/Buttons.msg
similarity index 100%
rename from bitbots_msgs/msg/Buttons.msg
rename to src/bitbots_msgs/msg/Buttons.msg
diff --git a/bitbots_msgs/msg/Cpu.msg b/src/bitbots_msgs/msg/Cpu.msg
similarity index 100%
rename from bitbots_msgs/msg/Cpu.msg
rename to src/bitbots_msgs/msg/Cpu.msg
diff --git a/bitbots_msgs/msg/Filesystem.msg b/src/bitbots_msgs/msg/Filesystem.msg
similarity index 100%
rename from bitbots_msgs/msg/Filesystem.msg
rename to src/bitbots_msgs/msg/Filesystem.msg
diff --git a/bitbots_msgs/msg/FootPressure.msg b/src/bitbots_msgs/msg/FootPressure.msg
similarity index 100%
rename from bitbots_msgs/msg/FootPressure.msg
rename to src/bitbots_msgs/msg/FootPressure.msg
diff --git a/bitbots_msgs/msg/HeadMode.msg b/src/bitbots_msgs/msg/HeadMode.msg
similarity index 100%
rename from bitbots_msgs/msg/HeadMode.msg
rename to src/bitbots_msgs/msg/HeadMode.msg
diff --git a/bitbots_msgs/msg/JointCommand.msg b/src/bitbots_msgs/msg/JointCommand.msg
similarity index 100%
rename from bitbots_msgs/msg/JointCommand.msg
rename to src/bitbots_msgs/msg/JointCommand.msg
diff --git a/bitbots_msgs/msg/JointTorque.msg b/src/bitbots_msgs/msg/JointTorque.msg
similarity index 100%
rename from bitbots_msgs/msg/JointTorque.msg
rename to src/bitbots_msgs/msg/JointTorque.msg
diff --git a/bitbots_msgs/msg/NetworkInterface.msg b/src/bitbots_msgs/msg/NetworkInterface.msg
similarity index 100%
rename from bitbots_msgs/msg/NetworkInterface.msg
rename to src/bitbots_msgs/msg/NetworkInterface.msg
diff --git a/bitbots_msgs/msg/PoseWithCertainty.msg b/src/bitbots_msgs/msg/PoseWithCertainty.msg
similarity index 100%
rename from bitbots_msgs/msg/PoseWithCertainty.msg
rename to src/bitbots_msgs/msg/PoseWithCertainty.msg
diff --git a/bitbots_msgs/msg/PoseWithCertaintyArray.msg b/src/bitbots_msgs/msg/PoseWithCertaintyArray.msg
similarity index 100%
rename from bitbots_msgs/msg/PoseWithCertaintyArray.msg
rename to src/bitbots_msgs/msg/PoseWithCertaintyArray.msg
diff --git a/bitbots_msgs/msg/RobotControlState.msg b/src/bitbots_msgs/msg/RobotControlState.msg
similarity index 100%
rename from bitbots_msgs/msg/RobotControlState.msg
rename to src/bitbots_msgs/msg/RobotControlState.msg
diff --git a/bitbots_msgs/msg/RobotRelative.msg b/src/bitbots_msgs/msg/RobotRelative.msg
similarity index 100%
rename from bitbots_msgs/msg/RobotRelative.msg
rename to src/bitbots_msgs/msg/RobotRelative.msg
diff --git a/bitbots_msgs/msg/RobotRelativeArray.msg b/src/bitbots_msgs/msg/RobotRelativeArray.msg
similarity index 100%
rename from bitbots_msgs/msg/RobotRelativeArray.msg
rename to src/bitbots_msgs/msg/RobotRelativeArray.msg
diff --git a/bitbots_msgs/msg/Strategy.msg b/src/bitbots_msgs/msg/Strategy.msg
similarity index 100%
rename from bitbots_msgs/msg/Strategy.msg
rename to src/bitbots_msgs/msg/Strategy.msg
diff --git a/bitbots_msgs/msg/TeamData.msg b/src/bitbots_msgs/msg/TeamData.msg
similarity index 100%
rename from bitbots_msgs/msg/TeamData.msg
rename to src/bitbots_msgs/msg/TeamData.msg
diff --git a/bitbots_msgs/msg/Workload.msg b/src/bitbots_msgs/msg/Workload.msg
similarity index 100%
rename from bitbots_msgs/msg/Workload.msg
rename to src/bitbots_msgs/msg/Workload.msg
diff --git a/bitbots_msgs/package.xml b/src/bitbots_msgs/package.xml
similarity index 100%
rename from bitbots_msgs/package.xml
rename to src/bitbots_msgs/package.xml
diff --git a/bitbots_msgs/pyproject.toml b/src/bitbots_msgs/pyproject.toml
similarity index 100%
rename from bitbots_msgs/pyproject.toml
rename to src/bitbots_msgs/pyproject.toml
diff --git a/bitbots_msgs/srv/AccelerometerCalibration.srv b/src/bitbots_msgs/srv/AccelerometerCalibration.srv
similarity index 100%
rename from bitbots_msgs/srv/AccelerometerCalibration.srv
rename to src/bitbots_msgs/srv/AccelerometerCalibration.srv
diff --git a/bitbots_msgs/srv/AddAnimation.srv b/src/bitbots_msgs/srv/AddAnimation.srv
similarity index 100%
rename from bitbots_msgs/srv/AddAnimation.srv
rename to src/bitbots_msgs/srv/AddAnimation.srv
diff --git a/bitbots_msgs/srv/ComplementaryFilterParams.srv b/src/bitbots_msgs/srv/ComplementaryFilterParams.srv
similarity index 100%
rename from bitbots_msgs/srv/ComplementaryFilterParams.srv
rename to src/bitbots_msgs/srv/ComplementaryFilterParams.srv
diff --git a/bitbots_msgs/srv/FootScale.srv b/src/bitbots_msgs/srv/FootScale.srv
similarity index 100%
rename from bitbots_msgs/srv/FootScale.srv
rename to src/bitbots_msgs/srv/FootScale.srv
diff --git a/bitbots_msgs/srv/IMURanges.srv b/src/bitbots_msgs/srv/IMURanges.srv
similarity index 100%
rename from bitbots_msgs/srv/IMURanges.srv
rename to src/bitbots_msgs/srv/IMURanges.srv
diff --git a/bitbots_msgs/srv/Leds.srv b/src/bitbots_msgs/srv/Leds.srv
similarity index 100%
rename from bitbots_msgs/srv/Leds.srv
rename to src/bitbots_msgs/srv/Leds.srv
diff --git a/bitbots_msgs/srv/ManualPenalize.srv b/src/bitbots_msgs/srv/ManualPenalize.srv
similarity index 100%
rename from bitbots_msgs/srv/ManualPenalize.srv
rename to src/bitbots_msgs/srv/ManualPenalize.srv
diff --git a/bitbots_msgs/srv/SetAccelerometerCalibrationThreshold.srv b/src/bitbots_msgs/srv/SetAccelerometerCalibrationThreshold.srv
similarity index 100%
rename from bitbots_msgs/srv/SetAccelerometerCalibrationThreshold.srv
rename to src/bitbots_msgs/srv/SetAccelerometerCalibrationThreshold.srv
diff --git a/bitbots_msgs/srv/SetObjectPose.srv b/src/bitbots_msgs/srv/SetObjectPose.srv
similarity index 100%
rename from bitbots_msgs/srv/SetObjectPose.srv
rename to src/bitbots_msgs/srv/SetObjectPose.srv
diff --git a/bitbots_msgs/srv/SetObjectPosition.srv b/src/bitbots_msgs/srv/SetObjectPosition.srv
similarity index 100%
rename from bitbots_msgs/srv/SetObjectPosition.srv
rename to src/bitbots_msgs/srv/SetObjectPosition.srv
diff --git a/bitbots_msgs/srv/SetTeachingMode.srv b/src/bitbots_msgs/srv/SetTeachingMode.srv
similarity index 100%
rename from bitbots_msgs/srv/SetTeachingMode.srv
rename to src/bitbots_msgs/srv/SetTeachingMode.srv
diff --git a/bitbots_msgs/srv/SimulatorPush.srv b/src/bitbots_msgs/srv/SimulatorPush.srv
similarity index 100%
rename from bitbots_msgs/srv/SimulatorPush.srv
rename to src/bitbots_msgs/srv/SimulatorPush.srv
diff --git a/bitbots_navigation/bitbots_localization/CMakeLists.txt b/src/bitbots_navigation/bitbots_localization/CMakeLists.txt
similarity index 100%
rename from bitbots_navigation/bitbots_localization/CMakeLists.txt
rename to src/bitbots_navigation/bitbots_localization/CMakeLists.txt
diff --git a/bitbots_navigation/bitbots_localization/README.md b/src/bitbots_navigation/bitbots_localization/README.md
similarity index 100%
rename from bitbots_navigation/bitbots_localization/README.md
rename to src/bitbots_navigation/bitbots_localization/README.md
diff --git a/bitbots_navigation/bitbots_localization/config/config.yaml b/src/bitbots_navigation/bitbots_localization/config/config.yaml
similarity index 100%
rename from bitbots_navigation/bitbots_localization/config/config.yaml
rename to src/bitbots_navigation/bitbots_localization/config/config.yaml
diff --git a/bitbots_navigation/bitbots_localization/config/localization.rviz b/src/bitbots_navigation/bitbots_localization/config/localization.rviz
similarity index 100%
rename from bitbots_navigation/bitbots_localization/config/localization.rviz
rename to src/bitbots_navigation/bitbots_localization/config/localization.rviz
diff --git a/bitbots_navigation/bitbots_localization/docs/_static/logo.png b/src/bitbots_navigation/bitbots_localization/docs/_static/logo.png
similarity index 100%
rename from bitbots_navigation/bitbots_localization/docs/_static/logo.png
rename to src/bitbots_navigation/bitbots_localization/docs/_static/logo.png
diff --git a/bitbots_navigation/bitbots_localization/docs/conf.py b/src/bitbots_navigation/bitbots_localization/docs/conf.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization/docs/conf.py
rename to src/bitbots_navigation/bitbots_localization/docs/conf.py
diff --git a/bitbots_navigation/bitbots_localization/docs/index.rst b/src/bitbots_navigation/bitbots_localization/docs/index.rst
similarity index 100%
rename from bitbots_navigation/bitbots_localization/docs/index.rst
rename to src/bitbots_navigation/bitbots_localization/docs/index.rst
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp
similarity index 92%
rename from bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp
rename to src/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp
index b91480c6f..af43ea948 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp
@@ -29,7 +29,7 @@ class RobotMotionModel : public particle_filter::MovementModel<RobotState> {
    * empty
 
    */
-  RobotMotionModel(const particle_filter::CRandomNumberGenerator &random_number_generator, double diffuse_xStdDev,
+  RobotMotionModel(const particle_filter::CRandomNumberGenerator& random_number_generator, double diffuse_xStdDev,
                    double diffuse_yStdDev, double diffuse_tStdDev, double diffuse_multiplier,
                    Eigen::Matrix<double, 3, 2> drift_cov);
 
@@ -38,14 +38,14 @@ class RobotMotionModel : public particle_filter::MovementModel<RobotState> {
    * @param linear Linear movement relative to the base footprint in cartesian space
    * @param angular Anular movement of of the robot in its z-axis, therefore only the z axis needs to be set
    */
-  void drift(RobotState &state, geometry_msgs::msg::Vector3 linear, geometry_msgs::msg::Vector3 angular) const override;
+  void drift(RobotState& state, geometry_msgs::msg::Vector3 linear, geometry_msgs::msg::Vector3 angular) const override;
 
   /**
    * The diffusion consists of a very small gaussian jitter on the
    * state's variable.
    * @param state Pointer to the state that has to be manipulated.
    */
-  void diffuse(RobotState &state) const override;
+  void diffuse(RobotState& state) const override;
 
   double diffuse_multiplier_;
 
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
similarity index 88%
rename from bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
rename to src/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
index f6c53a97b..2e45f3727 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
@@ -28,14 +28,14 @@ class RobotPoseObservationModel : public particle_filter::ObservationModel<Robot
    * empty
    */
   RobotPoseObservationModel(std::shared_ptr<Map> map_lines, std::shared_ptr<Map> map_goals,
-                            const bitbots_localization::Params &config, const FieldDimensions &field_dimensions);
+                            const bitbots_localization::Params& config, const FieldDimensions& field_dimensions);
 
   /**
    *
    * @param state Reference to the state that has to be weighted.
    * @return weight for the given state.
    */
-  double measure(const RobotState &state) const override;
+  double measure(const RobotState& state) const override;
 
   void set_measurement_lines_pc(sm::msg::PointCloud2 measurement);
 
@@ -55,10 +55,10 @@ class RobotPoseObservationModel : public particle_filter::ObservationModel<Robot
   void set_movement_since_goal_measurement(const tf2::Transform movement);
 
  private:
-  double calculate_weight_for_class(const RobotState &state,
-                                    const std::vector<std::pair<double, double>> &last_measurement,
+  double calculate_weight_for_class(const RobotState& state,
+                                    const std::vector<std::pair<double, double>>& last_measurement,
                                     std::shared_ptr<Map> map, double element_weight,
-                                    const tf2::Transform &movement_since_measurement) const;
+                                    const tf2::Transform& movement_since_measurement) const;
 
   // Measurements
   std::vector<std::pair<double, double>> last_measurement_lines_;
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
similarity index 90%
rename from bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
rename to src/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
index 2b3d6e554..e473e99b3 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
@@ -17,14 +17,14 @@ class ImportanceResamplingWE : public particle_filter::ImportanceResampling<Stat
   /**
    * A ParticleList is an array of pointers to Particles.
    */
-  typedef std::vector<particle_filter::Particle<StateType> *> ParticleList;
+  typedef std::vector<particle_filter::Particle<StateType>*> ParticleList;
 
  public:
   /**
    * The constructor of this base class inits some members.
    */
-  ImportanceResamplingWE<StateType>(int explorer_count,
-                                    std::shared_ptr<particle_filter::StateDistribution<StateType>> distribution);
+  ImportanceResamplingWE(int explorer_count,
+                         std::shared_ptr<particle_filter::StateDistribution<StateType>> distribution);
 
   /**
    * This is the main method of ImportanceResampling. It takes two references
@@ -33,7 +33,7 @@ class ImportanceResamplingWE : public particle_filter::ImportanceResampling<Stat
    * @param source the source list to draw new particles from.
    * @param destination the destination list where to put the copies.
    */
-  void resample(const ParticleList &source, const ParticleList &destination) const;
+  void resample(const ParticleList& source, const ParticleList& destination) const;
 
   /**
    * Sets the Random Number Generator to use in resample() to generate
@@ -61,8 +61,8 @@ ImportanceResamplingWE<StateType>::ImportanceResamplingWE(
 // this is an implementation of the algorithm presented in Propabilistic
 // Robotics by Sebastian Thrun et al.
 template <class StateType>
-void ImportanceResamplingWE<StateType>::resample(const ParticleList &sourceList,
-                                                 const ParticleList &destinationList) const {
+void ImportanceResamplingWE<StateType>::resample(const ParticleList& sourceList,
+                                                 const ParticleList& destinationList) const {
   assert(sourceList.size() == destinationList.size());
   // some particles (most of them usually) get resampled and explorer_count
   // particles get assigned a random state
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp
similarity index 89%
rename from bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp
rename to src/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp
index d457b09cd..6c119fdd6 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp
@@ -39,7 +39,7 @@ class RobotState {
 
   RobotState operator*(float factor) const;
 
-  RobotState &operator+=(const RobotState &other);
+  RobotState& operator+=(const RobotState& other);
 
   double getXPos() const;
 
@@ -61,10 +61,10 @@ class RobotState {
 
   void setCosTheta(double t);
 
-  double calcDistance(const RobotState &state) const;
+  double calcDistance(const RobotState& state) const;
 
-  static void convertParticleListToEigen(const std::vector<particle_filter::Particle<RobotState> *> &particle_list,
-                                         Eigen::MatrixXd &matrix, const bool ignore_explorers);
+  static void convertParticleListToEigen(const std::vector<particle_filter::Particle<RobotState>*>& particle_list,
+                                         Eigen::MatrixXd& matrix, const bool ignore_explorers);
 
   bool is_explorer_;
 
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp
similarity index 92%
rename from bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp
rename to src/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp
index 8e5b9b02a..9339d0f09 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp
@@ -15,7 +15,7 @@ namespace bitbots_localization {
 
 class RobotStateDistribution : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistribution(particle_filter::CRandomNumberGenerator &random_number_generator,
+  RobotStateDistribution(particle_filter::CRandomNumberGenerator& random_number_generator,
                          std::pair<double, double> initial_robot_pose, std::pair<double, double> field_size);
 
   const RobotState draw() const override;
@@ -31,7 +31,7 @@ class RobotStateDistribution : public particle_filter::StateDistribution<RobotSt
 
 class RobotStateDistributionStartLeft : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistributionStartLeft(particle_filter::CRandomNumberGenerator &random_number_generator,
+  RobotStateDistributionStartLeft(particle_filter::CRandomNumberGenerator& random_number_generator,
                                   std::pair<double, double> field_size);
 
   const RobotState draw() const override;
@@ -43,7 +43,7 @@ class RobotStateDistributionStartLeft : public particle_filter::StateDistributio
 
 class RobotStateDistributionOwnSideline : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistributionOwnSideline(particle_filter::CRandomNumberGenerator &random_number_generator,
+  RobotStateDistributionOwnSideline(particle_filter::CRandomNumberGenerator& random_number_generator,
                                     std::pair<double, double> field_size);
 
   const RobotState draw() const override;
@@ -55,7 +55,7 @@ class RobotStateDistributionOwnSideline : public particle_filter::StateDistribut
 
 class RobotStateDistributionOpponentHalf : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistributionOpponentHalf(particle_filter::CRandomNumberGenerator &random_number_generator,
+  RobotStateDistributionOpponentHalf(particle_filter::CRandomNumberGenerator& random_number_generator,
                                      std::pair<double, double> field_size);
 
   const RobotState draw() const override;
@@ -70,7 +70,7 @@ class RobotStateDistributionOpponentHalf : public particle_filter::StateDistribu
 
 class RobotStateDistributionOwnHalf : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistributionOwnHalf(particle_filter::CRandomNumberGenerator &random_number_generator,
+  RobotStateDistributionOwnHalf(particle_filter::CRandomNumberGenerator& random_number_generator,
                                 std::pair<double, double> field_size);
 
   const RobotState draw() const override;
@@ -85,7 +85,7 @@ class RobotStateDistributionOwnHalf : public particle_filter::StateDistribution<
 
 class RobotStateDistributionPosition : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistributionPosition(particle_filter::CRandomNumberGenerator &random_number_generator, double x, double y);
+  RobotStateDistributionPosition(particle_filter::CRandomNumberGenerator& random_number_generator, double x, double y);
 
   const RobotState draw() const override;
 
@@ -97,7 +97,7 @@ class RobotStateDistributionPosition : public particle_filter::StateDistribution
 
 class RobotStateDistributionPose : public particle_filter::StateDistribution<RobotState> {
  public:
-  RobotStateDistributionPose(particle_filter::CRandomNumberGenerator &random_number_generator, double x, double y,
+  RobotStateDistributionPose(particle_filter::CRandomNumberGenerator& random_number_generator, double x, double y,
                              double t);
 
   const RobotState draw() const override;
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
similarity index 97%
rename from bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
rename to src/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
index b0309060b..28d083e11 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
+++ b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
@@ -100,20 +100,20 @@ class Localization {
    * Callback for the line point cloud measurements
    * @param msg Message containing the line point cloud.
    */
-  void LinePointcloudCallback(const sm::msg::PointCloud2 &msg);
+  void LinePointcloudCallback(const sm::msg::PointCloud2& msg);
 
   /**
    * Callback for goal posts measurements
    * @param msg Message containing the goal posts.
    */
-  void GoalPostsCallback(const sv3dm::msg::GoalpostArray &msg);  // TODO
+  void GoalPostsCallback(const sv3dm::msg::GoalpostArray& msg);  // TODO
 
   /**
    * Resets the state distribution of the state space
    * @param distribution The type of the distribution
    */
 
-  void SetInitialPositionCallback(const gm::msg::PoseWithCovarianceStamped &msg);
+  void SetInitialPositionCallback(const gm::msg::PoseWithCovarianceStamped& msg);
 
   void reset_filter(int distribution);
 
@@ -254,9 +254,9 @@ class Localization {
    * @param map map for this class
    * @param publisher ros publisher for the type visualization_msgs::msg::Marker
    */
-  void publish_debug_rating(const std::vector<std::pair<double, double>> &measurements, double scale,
+  void publish_debug_rating(const std::vector<std::pair<double, double>>& measurements, double scale,
                             const char name[24], std::shared_ptr<Map> map,
-                            rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr &publisher);
+                            rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr& publisher);
 
   /**
    * Updates the measurements for all classes
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/map.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/map.hpp
similarity index 100%
rename from bitbots_navigation/bitbots_localization/include/bitbots_localization/map.hpp
rename to src/bitbots_navigation/bitbots_localization/include/bitbots_localization/map.hpp
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/tools.hpp b/src/bitbots_navigation/bitbots_localization/include/bitbots_localization/tools.hpp
similarity index 100%
rename from bitbots_navigation/bitbots_localization/include/bitbots_localization/tools.hpp
rename to src/bitbots_navigation/bitbots_localization/include/bitbots_localization/tools.hpp
diff --git a/bitbots_navigation/bitbots_localization/launch/localization.launch b/src/bitbots_navigation/bitbots_localization/launch/localization.launch
similarity index 100%
rename from bitbots_navigation/bitbots_localization/launch/localization.launch
rename to src/bitbots_navigation/bitbots_localization/launch/localization.launch
diff --git a/bitbots_navigation/bitbots_localization/launch/test.launch b/src/bitbots_navigation/bitbots_localization/launch/test.launch
similarity index 100%
rename from bitbots_navigation/bitbots_localization/launch/test.launch
rename to src/bitbots_navigation/bitbots_localization/launch/test.launch
diff --git a/bitbots_navigation/bitbots_localization/package.xml b/src/bitbots_navigation/bitbots_localization/package.xml
similarity index 100%
rename from bitbots_navigation/bitbots_localization/package.xml
rename to src/bitbots_navigation/bitbots_localization/package.xml
diff --git a/bitbots_navigation/bitbots_localization/scripts/rviz_localization_sim.py b/src/bitbots_navigation/bitbots_localization/scripts/rviz_localization_sim.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization/scripts/rviz_localization_sim.py
rename to src/bitbots_navigation/bitbots_localization/scripts/rviz_localization_sim.py
diff --git a/bitbots_navigation/bitbots_localization/setup.py b/src/bitbots_navigation/bitbots_localization/setup.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization/setup.py
rename to src/bitbots_navigation/bitbots_localization/setup.py
diff --git a/bitbots_navigation/bitbots_localization/src/MotionModel.cpp b/src/bitbots_navigation/bitbots_localization/src/MotionModel.cpp
similarity index 93%
rename from bitbots_navigation/bitbots_localization/src/MotionModel.cpp
rename to src/bitbots_navigation/bitbots_localization/src/MotionModel.cpp
index d6c53ba2c..85b385edb 100644
--- a/bitbots_navigation/bitbots_localization/src/MotionModel.cpp
+++ b/src/bitbots_navigation/bitbots_localization/src/MotionModel.cpp
@@ -6,7 +6,7 @@
 
 namespace bitbots_localization {
 
-RobotMotionModel::RobotMotionModel(const particle_filter::CRandomNumberGenerator &random_number_generator,
+RobotMotionModel::RobotMotionModel(const particle_filter::CRandomNumberGenerator& random_number_generator,
                                    double diffuse_xStdDev, double diffuse_yStdDev, double diffuse_tStdDev,
                                    double diffuse_multiplier, Eigen::Matrix<double, 3, 2> drift_cov)
     : particle_filter::MovementModel<RobotState>(),
@@ -17,7 +17,7 @@ RobotMotionModel::RobotMotionModel(const particle_filter::CRandomNumberGenerator
       diffuse_tStdDev_(diffuse_tStdDev),
       drift_cov_(drift_cov) {}
 
-void RobotMotionModel::drift(RobotState &state, geometry_msgs::msg::Vector3 linear_movement,
+void RobotMotionModel::drift(RobotState& state, geometry_msgs::msg::Vector3 linear_movement,
                              geometry_msgs::msg::Vector3 rotational_movement) const {
   // Convert cartesian coordinates to polarcoordinates with an orientation
   auto [polar_rot, polar_dist] = cartesianToPolar(linear_movement.x, linear_movement.y);
@@ -44,7 +44,7 @@ void RobotMotionModel::drift(RobotState &state, geometry_msgs::msg::Vector3 line
   state.setTheta(theta);
 }
 
-void RobotMotionModel::diffuse(RobotState &state) const {
+void RobotMotionModel::diffuse(RobotState& state) const {
   state.setXPos(state.getXPos() + sample(diffuse_xStdDev_) * diffuse_multiplier_);
   state.setYPos(state.getYPos() + sample(diffuse_yStdDev_) * diffuse_multiplier_);
   double theta = state.getTheta() + sample(diffuse_tStdDev_) * diffuse_multiplier_;
diff --git a/bitbots_navigation/bitbots_localization/src/ObservationModel.cpp b/src/bitbots_navigation/bitbots_localization/src/ObservationModel.cpp
similarity index 92%
rename from bitbots_navigation/bitbots_localization/src/ObservationModel.cpp
rename to src/bitbots_navigation/bitbots_localization/src/ObservationModel.cpp
index d3f4c4fa5..3a737f0f4 100644
--- a/bitbots_navigation/bitbots_localization/src/ObservationModel.cpp
+++ b/src/bitbots_navigation/bitbots_localization/src/ObservationModel.cpp
@@ -7,8 +7,8 @@
 namespace bitbots_localization {
 
 RobotPoseObservationModel::RobotPoseObservationModel(std::shared_ptr<Map> map_lines, std::shared_ptr<Map> map_goals,
-                                                     const bitbots_localization::Params &config,
-                                                     const FieldDimensions &field_dimensions)
+                                                     const bitbots_localization::Params& config,
+                                                     const FieldDimensions& field_dimensions)
     : particle_filter::ObservationModel<RobotState>(),
       map_lines_(map_lines),
       map_goals_(map_goals),
@@ -18,8 +18,8 @@ RobotPoseObservationModel::RobotPoseObservationModel(std::shared_ptr<Map> map_li
 }
 
 double RobotPoseObservationModel::calculate_weight_for_class(
-    const RobotState &state, const std::vector<std::pair<double, double>> &last_measurement, std::shared_ptr<Map> map,
-    double element_weight, const tf2::Transform &movement_since_measurement) const {
+    const RobotState& state, const std::vector<std::pair<double, double>>& last_measurement, std::shared_ptr<Map> map,
+    double element_weight, const tf2::Transform& movement_since_measurement) const {
   double particle_weight_for_class;
   if (!last_measurement.empty()) {
     // Subtract (reverse) the movement from our state to get the hypothetical state at the time of the measurement
@@ -34,7 +34,7 @@ double RobotPoseObservationModel::calculate_weight_for_class(
   return particle_weight_for_class;
 }
 
-double RobotPoseObservationModel::measure(const RobotState &state) const {
+double RobotPoseObservationModel::measure(const RobotState& state) const {
   double particle_weight_lines =
       calculate_weight_for_class(state, last_measurement_lines_, map_lines_,
                                  config_.particle_filter.confidences.line_element, movement_since_line_measurement_);
@@ -75,7 +75,7 @@ void RobotPoseObservationModel::set_measurement_lines_pc(sm::msg::PointCloud2 me
 
 void RobotPoseObservationModel::set_measurement_goalposts(sv3dm::msg::GoalpostArray measurement) {
   // convert to polar
-  for (sv3dm::msg::Goalpost &post : measurement.posts) {
+  for (sv3dm::msg::Goalpost& post : measurement.posts) {
     std::pair<double, double> postPolar = cartesianToPolar(post.bb.center.position.x, post.bb.center.position.y);
     last_measurement_goal_.push_back(postPolar);
   }
diff --git a/bitbots_navigation/bitbots_localization/src/RobotState.cpp b/src/bitbots_navigation/bitbots_localization/src/RobotState.cpp
similarity index 91%
rename from bitbots_navigation/bitbots_localization/src/RobotState.cpp
rename to src/bitbots_navigation/bitbots_localization/src/RobotState.cpp
index 3f1cde1e2..e9c8e0705 100644
--- a/bitbots_navigation/bitbots_localization/src/RobotState.cpp
+++ b/src/bitbots_navigation/bitbots_localization/src/RobotState.cpp
@@ -25,7 +25,7 @@ RobotState RobotState::operator*(float factor) const {
   return newState;
 }
 
-RobotState &RobotState::operator+=(const RobotState &other) {
+RobotState& RobotState::operator+=(const RobotState& other) {
   m_XPos += other.m_XPos;
   m_YPos += other.m_YPos;
   m_SinTheta += other.m_SinTheta;
@@ -57,7 +57,7 @@ void RobotState::setSinTheta(double st) { m_SinTheta = st; }
 
 void RobotState::setCosTheta(double ct) { m_SinTheta = ct; }
 
-double RobotState::calcDistance(const RobotState &state) const {
+double RobotState::calcDistance(const RobotState& state) const {
   double diff = std::sqrt(std::pow(getXPos() - state.getXPos(), 2) + std::pow(getYPos() - state.getYPos(), 2));
   if (diff == 0.0) {
     diff = 0.0001;
@@ -65,17 +65,17 @@ double RobotState::calcDistance(const RobotState &state) const {
   return diff;
 }
 
-void RobotState::convertParticleListToEigen(const std::vector<particle_filter::Particle<RobotState> *> &particle_list,
-                                            Eigen::MatrixXd &matrix, const bool ignore_explorers) {
+void RobotState::convertParticleListToEigen(const std::vector<particle_filter::Particle<RobotState>*>& particle_list,
+                                            Eigen::MatrixXd& matrix, const bool ignore_explorers) {
   if (ignore_explorers) {
     int non_explorer_count =
         std::count_if(particle_list.begin(), particle_list.end(),
-                      [](particle_filter::Particle<RobotState> *particle) { return !particle->is_explorer_; });
+                      [](particle_filter::Particle<RobotState>* particle) { return !particle->is_explorer_; });
 
     matrix.resize(non_explorer_count, 3);
     int counter = 0;
     // #pragma parallel for
-    for (particle_filter::Particle<RobotState> *particle : particle_list) {
+    for (particle_filter::Particle<RobotState>* particle : particle_list) {
       if (!particle->is_explorer_) {
         matrix(counter, 0) = particle->getState().getXPos();
         matrix(counter, 1) = particle->getState().getYPos();
diff --git a/bitbots_navigation/bitbots_localization/src/StateDistribution.cpp b/src/bitbots_navigation/bitbots_localization/src/StateDistribution.cpp
similarity index 90%
rename from bitbots_navigation/bitbots_localization/src/StateDistribution.cpp
rename to src/bitbots_navigation/bitbots_localization/src/StateDistribution.cpp
index 71107ea93..0e8ba1d49 100644
--- a/bitbots_navigation/bitbots_localization/src/StateDistribution.cpp
+++ b/src/bitbots_navigation/bitbots_localization/src/StateDistribution.cpp
@@ -7,7 +7,7 @@
 namespace bitbots_localization {
 
 RobotStateDistributionStartLeft::RobotStateDistributionStartLeft(
-    particle_filter::CRandomNumberGenerator &random_number_generator, std::pair<double, double> field_size) {
+    particle_filter::CRandomNumberGenerator& random_number_generator, std::pair<double, double> field_size) {
   field_size = field_size;
 }
 
@@ -24,7 +24,7 @@ const RobotState RobotStateDistributionStartLeft::draw() const {
 }
 
 RobotStateDistributionOwnSideline::RobotStateDistributionOwnSideline(
-    particle_filter::CRandomNumberGenerator &random_number_generator, std::pair<double, double> field_size) {
+    particle_filter::CRandomNumberGenerator& random_number_generator, std::pair<double, double> field_size) {
   field_x = field_size.first;
   field_y = field_size.second;
 }
@@ -42,7 +42,7 @@ const RobotState RobotStateDistributionOwnSideline::draw() const {
 }
 
 RobotStateDistributionOpponentHalf::RobotStateDistributionOpponentHalf(
-    particle_filter::CRandomNumberGenerator &random_number_generator, std::pair<double, double> field_size)
+    particle_filter::CRandomNumberGenerator& random_number_generator, std::pair<double, double> field_size)
     : random_number_generator_(random_number_generator) {
   // only own half
   min_x_ = (field_size.first / 2.0) + 0.5;
@@ -58,7 +58,7 @@ const RobotState RobotStateDistributionOpponentHalf::draw() const {
 }
 
 RobotStateDistributionOwnHalf::RobotStateDistributionOwnHalf(
-    particle_filter::CRandomNumberGenerator &random_number_generator, std::pair<double, double> field_size)
+    particle_filter::CRandomNumberGenerator& random_number_generator, std::pair<double, double> field_size)
     : random_number_generator_(random_number_generator) {
   // only own half
   min_x_ = -field_size.first / 2.0;
@@ -74,7 +74,7 @@ const RobotState RobotStateDistributionOwnHalf::draw() const {
 }
 
 RobotStateDistributionPosition::RobotStateDistributionPosition(
-    particle_filter::CRandomNumberGenerator &random_number_generator, double x, double y) {
+    particle_filter::CRandomNumberGenerator& random_number_generator, double x, double y) {
   x_ = x;
   y_ = y;
 }
@@ -84,7 +84,7 @@ const RobotState RobotStateDistributionPosition::draw() const {
                      random_number_generator_.getUniform(-M_PI, M_PI)));
 }
 
-RobotStateDistributionPose::RobotStateDistributionPose(particle_filter::CRandomNumberGenerator &random_number_generator,
+RobotStateDistributionPose::RobotStateDistributionPose(particle_filter::CRandomNumberGenerator& random_number_generator,
                                                        double x, double y, double t) {
   x_ = x;
   y_ = y;
diff --git a/bitbots_navigation/bitbots_localization/src/localization.cpp b/src/bitbots_navigation/bitbots_localization/src/localization.cpp
similarity index 97%
rename from bitbots_navigation/bitbots_localization/src/localization.cpp
rename to src/bitbots_navigation/bitbots_localization/src/localization.cpp
index 89c2e1a92..a6b054d8e 100644
--- a/bitbots_navigation/bitbots_localization/src/localization.cpp
+++ b/src/bitbots_navigation/bitbots_localization/src/localization.cpp
@@ -185,11 +185,11 @@ void Localization::run_filter_one_step() {
   robot_pose_observation_model_->clear_measurement();
 }
 
-void Localization::LinePointcloudCallback(const sm::msg::PointCloud2 &msg) { line_pointcloud_relative_ = msg; }
+void Localization::LinePointcloudCallback(const sm::msg::PointCloud2& msg) { line_pointcloud_relative_ = msg; }
 
-void Localization::GoalPostsCallback(const sv3dm::msg::GoalpostArray &msg) { goal_posts_relative_ = msg; }
+void Localization::GoalPostsCallback(const sv3dm::msg::GoalpostArray& msg) { goal_posts_relative_ = msg; }
 
-void Localization::SetInitialPositionCallback(const gm::msg::PoseWithCovarianceStamped &msg) {
+void Localization::SetInitialPositionCallback(const gm::msg::PoseWithCovarianceStamped& msg) {
   // Transform the given pose to map frame
   auto pose_in_map = tf_buffer_->transform(msg, config_.ros.map_frame, tf2::durationFromSec(1.0));
 
@@ -290,7 +290,7 @@ void Localization::updateMeasurements() {
           odom_now);
       // Calculate the movement since the measurement was taken (in the local frame)
       return odom_at_measurement.inverseTimes(odom_now);
-    } catch (const tf2::TransformException &ex) {
+    } catch (const tf2::TransformException& ex) {
       RCLCPP_WARN(node_->get_logger(), "Could not acquire movement since measurement at time: %s Assumed no movement.",
                   ex.what());
       return tf2::Transform::getIdentity();
@@ -360,7 +360,7 @@ void Localization::getMotion() {
     // Set the variable for the transform of the previous step to the transform of the current step, because we finished
     // this step.
     previousOdomTransform_ = transformStampedNow;
-  } catch (const tf2::TransformException &ex) {
+  } catch (const tf2::TransformException& ex) {
     RCLCPP_WARN(node_->get_logger(), "Could not acquire motion for odom transforms: %s", ex.what());
   }
 }
@@ -380,7 +380,7 @@ void Localization::publish_transforms() {
   geometry_msgs::msg::TransformStamped odomDuringMeasurement, odomNow;
   try {
     odomNow = tf_buffer_->lookupTransform(config_.ros.odom_frame, config_.ros.base_footprint_frame, rclcpp::Time(0));
-  } catch (const tf2::TransformException &ex) {
+  } catch (const tf2::TransformException& ex) {
     RCLCPP_WARN(node_->get_logger(), "Could not acquire odom transforms: %s", ex.what());
   }
 
@@ -441,7 +441,7 @@ void Localization::publish_transforms() {
       map_odom_tf_last_published_time_ = map_odom_transform.header.stamp;
       br->sendTransform(map_odom_transform);
     }
-  } catch (const tf2::TransformException &ex) {
+  } catch (const tf2::TransformException& ex) {
     RCLCPP_WARN(node_->get_logger(), "Odom not available, therefore odom offset can not be published: %s", ex.what());
   }
 }
@@ -502,9 +502,9 @@ void Localization::publish_ratings() {
   }
 }
 
-void Localization::publish_debug_rating(const std::vector<std::pair<double, double>> &measurements, double scale,
+void Localization::publish_debug_rating(const std::vector<std::pair<double, double>>& measurements, double scale,
                                         const char name[], std::shared_ptr<Map> map,
-                                        rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr &publisher) {
+                                        rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr& publisher) {
   RobotState best_estimate = robot_pf_->getBestXPercentEstimate(config_.misc.percentage_best_particles);
 
   visualization_msgs::msg::Marker marker;
@@ -517,7 +517,7 @@ void Localization::publish_debug_rating(const std::vector<std::pair<double, doub
   marker.scale.x = scale;
   marker.scale.y = scale;
 
-  for (const std::pair<double, double> &measurement : measurements) {
+  for (const std::pair<double, double>& measurement : measurements) {
     // lines are in polar form!
     std::pair<double, double> observationRelative;
 
@@ -544,7 +544,7 @@ void Localization::publish_debug_rating(const std::vector<std::pair<double, doub
 }
 }  // namespace bitbots_localization
 
-int main(int argc, char *argv[]) {
+int main(int argc, char* argv[]) {
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared("bitbots_localization");
   [[maybe_unused]] auto localization = bitbots_localization::Localization(node);
diff --git a/bitbots_navigation/bitbots_localization/src/map.cpp b/src/bitbots_navigation/bitbots_localization/src/map.cpp
similarity index 94%
rename from bitbots_navigation/bitbots_localization/src/map.cpp
rename to src/bitbots_navigation/bitbots_localization/src/map.cpp
index 6491368c4..b990313a2 100644
--- a/bitbots_navigation/bitbots_localization/src/map.cpp
+++ b/src/bitbots_navigation/bitbots_localization/src/map.cpp
@@ -10,7 +10,7 @@ namespace fs = boost::filesystem;
 
 namespace bitbots_localization {
 
-Map::Map(const std::string &name, const std::string &type, const double out_of_map_value) {
+Map::Map(const std::string& name, const std::string& type, const double out_of_map_value) {
   // Set config
   out_of_map_value_ = out_of_map_value;
   // get package path
@@ -48,10 +48,10 @@ double Map::get_occupancy(double x, double y) {
   return occupancy / 100.0;
 }
 
-std::vector<double> Map::provideRating(const RobotState &state,
-                                       const std::vector<std::pair<double, double>> &observations) {
+std::vector<double> Map::provideRating(const RobotState& state,
+                                       const std::vector<std::pair<double, double>>& observations) {
   std::vector<double> rating;
-  for (const std::pair<double, double> &observation : observations) {
+  for (const std::pair<double, double>& observation : observations) {
     // lines are in polar form!
     std::pair<double, double> lineRelative;
 
diff --git a/bitbots_navigation/bitbots_localization/src/parameters.yml b/src/bitbots_navigation/bitbots_localization/src/parameters.yml
similarity index 100%
rename from bitbots_navigation/bitbots_localization/src/parameters.yml
rename to src/bitbots_navigation/bitbots_localization/src/parameters.yml
diff --git a/bitbots_navigation/bitbots_localization/src/tools.cpp b/src/bitbots_navigation/bitbots_localization/src/tools.cpp
similarity index 100%
rename from bitbots_navigation/bitbots_localization/src/tools.cpp
rename to src/bitbots_navigation/bitbots_localization/src/tools.cpp
diff --git a/bitbots_navigation/bitbots_localization/srv/ResetFilter.srv b/src/bitbots_navigation/bitbots_localization/srv/ResetFilter.srv
similarity index 100%
rename from bitbots_navigation/bitbots_localization/srv/ResetFilter.srv
rename to src/bitbots_navigation/bitbots_localization/srv/ResetFilter.srv
diff --git a/bitbots_navigation/bitbots_localization/srv/SetPaused.srv b/src/bitbots_navigation/bitbots_localization/srv/SetPaused.srv
similarity index 100%
rename from bitbots_navigation/bitbots_localization/srv/SetPaused.srv
rename to src/bitbots_navigation/bitbots_localization/srv/SetPaused.srv
diff --git a/bitbots_navigation/bitbots_localization/test/rostests/test_inital_localization_side.launch b/src/bitbots_navigation/bitbots_localization/test/rostests/test_inital_localization_side.launch
similarity index 100%
rename from bitbots_navigation/bitbots_localization/test/rostests/test_inital_localization_side.launch
rename to src/bitbots_navigation/bitbots_localization/test/rostests/test_inital_localization_side.launch
diff --git a/bitbots_navigation/bitbots_localization/test/rostests/test_initial_localization_side.py b/src/bitbots_navigation/bitbots_localization/test/rostests/test_initial_localization_side.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization/test/rostests/test_initial_localization_side.py
rename to src/bitbots_navigation/bitbots_localization/test/rostests/test_initial_localization_side.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/__init__.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/__init__.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/__init__.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/__init__.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/__init__.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/__init__.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/__init__.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/__init__.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/__init__.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/__init__.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/__init__.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/__init__.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/initialize.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/initialize.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/initialize.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/initialize.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/pick_up.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/pick_up.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/pick_up.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/pick_up.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/stop.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/stop.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/stop.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/actions/stop.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/__init__.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/__init__.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/__init__.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/__init__.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/fall.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/fall.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/fall.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/fall.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/game_state.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/game_state.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/game_state.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/game_state.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/pick_up.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/pick_up.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/pick_up.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/pick_up.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/walk.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/walk.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/walk.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/decisions/walk.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/localization.dsd b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/localization.dsd
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/localization.dsd
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/localization.dsd
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/localization_blackboard.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/localization_blackboard.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/localization_blackboard.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_dsd/localization_blackboard.py
diff --git a/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_handler.py b/src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_handler.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_handler.py
rename to src/bitbots_navigation/bitbots_localization_handler/bitbots_localization_handler/localization_handler.py
diff --git a/bitbots_navigation/bitbots_localization_handler/package.xml b/src/bitbots_navigation/bitbots_localization_handler/package.xml
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/package.xml
rename to src/bitbots_navigation/bitbots_localization_handler/package.xml
diff --git a/bitbots_navigation/bitbots_localization_handler/resource/bitbots_localization_handler b/src/bitbots_navigation/bitbots_localization_handler/resource/bitbots_localization_handler
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/resource/bitbots_localization_handler
rename to src/bitbots_navigation/bitbots_localization_handler/resource/bitbots_localization_handler
diff --git a/bitbots_navigation/bitbots_localization_handler/setup.cfg b/src/bitbots_navigation/bitbots_localization_handler/setup.cfg
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/setup.cfg
rename to src/bitbots_navigation/bitbots_localization_handler/setup.cfg
diff --git a/bitbots_navigation/bitbots_localization_handler/setup.py b/src/bitbots_navigation/bitbots_localization_handler/setup.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/setup.py
rename to src/bitbots_navigation/bitbots_localization_handler/setup.py
diff --git a/bitbots_navigation/bitbots_localization_handler/test/mypy.ini b/src/bitbots_navigation/bitbots_localization_handler/test/mypy.ini
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/test/mypy.ini
rename to src/bitbots_navigation/bitbots_localization_handler/test/mypy.ini
diff --git a/bitbots_navigation/bitbots_localization_handler/test/test_dsd_valid.py b/src/bitbots_navigation/bitbots_localization_handler/test/test_dsd_valid.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/test/test_dsd_valid.py
rename to src/bitbots_navigation/bitbots_localization_handler/test/test_dsd_valid.py
diff --git a/bitbots_navigation/bitbots_localization_handler/test/test_mypy.py b/src/bitbots_navigation/bitbots_localization_handler/test/test_mypy.py
similarity index 100%
rename from bitbots_navigation/bitbots_localization_handler/test/test_mypy.py
rename to src/bitbots_navigation/bitbots_localization_handler/test/test_mypy.py
diff --git a/bitbots_navigation/bitbots_odometry/CMakeLists.txt b/src/bitbots_navigation/bitbots_odometry/CMakeLists.txt
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/CMakeLists.txt
rename to src/bitbots_navigation/bitbots_odometry/CMakeLists.txt
diff --git a/bitbots_navigation/bitbots_odometry/config/odometry_config_amy.yaml b/src/bitbots_navigation/bitbots_odometry/config/odometry_config_amy.yaml
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/config/odometry_config_amy.yaml
rename to src/bitbots_navigation/bitbots_odometry/config/odometry_config_amy.yaml
diff --git a/bitbots_navigation/bitbots_odometry/config/odometry_config_default.yaml b/src/bitbots_navigation/bitbots_odometry/config/odometry_config_default.yaml
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/config/odometry_config_default.yaml
rename to src/bitbots_navigation/bitbots_odometry/config/odometry_config_default.yaml
diff --git a/bitbots_navigation/bitbots_odometry/config/odometry_config_donna.yaml b/src/bitbots_navigation/bitbots_odometry/config/odometry_config_donna.yaml
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/config/odometry_config_donna.yaml
rename to src/bitbots_navigation/bitbots_odometry/config/odometry_config_donna.yaml
diff --git a/bitbots_navigation/bitbots_odometry/config/odometry_config_jack.yaml b/src/bitbots_navigation/bitbots_odometry/config/odometry_config_jack.yaml
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/config/odometry_config_jack.yaml
rename to src/bitbots_navigation/bitbots_odometry/config/odometry_config_jack.yaml
diff --git a/bitbots_navigation/bitbots_odometry/config/odometry_config_melody.yaml b/src/bitbots_navigation/bitbots_odometry/config/odometry_config_melody.yaml
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/config/odometry_config_melody.yaml
rename to src/bitbots_navigation/bitbots_odometry/config/odometry_config_melody.yaml
diff --git a/bitbots_navigation/bitbots_odometry/config/odometry_config_rory.yaml b/src/bitbots_navigation/bitbots_odometry/config/odometry_config_rory.yaml
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/config/odometry_config_rory.yaml
rename to src/bitbots_navigation/bitbots_odometry/config/odometry_config_rory.yaml
diff --git a/bitbots_navigation/bitbots_odometry/config/odometry_config_template.yaml b/src/bitbots_navigation/bitbots_odometry/config/odometry_config_template.yaml
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/config/odometry_config_template.yaml
rename to src/bitbots_navigation/bitbots_odometry/config/odometry_config_template.yaml
diff --git a/bitbots_navigation/bitbots_odometry/docs/_static/logo.png b/src/bitbots_navigation/bitbots_odometry/docs/_static/logo.png
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/docs/_static/logo.png
rename to src/bitbots_navigation/bitbots_odometry/docs/_static/logo.png
diff --git a/bitbots_navigation/bitbots_odometry/docs/conf.py b/src/bitbots_navigation/bitbots_odometry/docs/conf.py
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/docs/conf.py
rename to src/bitbots_navigation/bitbots_odometry/docs/conf.py
diff --git a/bitbots_navigation/bitbots_odometry/docs/index.rst b/src/bitbots_navigation/bitbots_odometry/docs/index.rst
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/docs/index.rst
rename to src/bitbots_navigation/bitbots_odometry/docs/index.rst
diff --git a/bitbots_navigation/bitbots_odometry/include/bitbots_odometry/motion_odometry.hpp b/src/bitbots_navigation/bitbots_odometry/include/bitbots_odometry/motion_odometry.hpp
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/include/bitbots_odometry/motion_odometry.hpp
rename to src/bitbots_navigation/bitbots_odometry/include/bitbots_odometry/motion_odometry.hpp
diff --git a/bitbots_navigation/bitbots_odometry/launch/odometry.launch b/src/bitbots_navigation/bitbots_odometry/launch/odometry.launch
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/launch/odometry.launch
rename to src/bitbots_navigation/bitbots_odometry/launch/odometry.launch
diff --git a/bitbots_navigation/bitbots_odometry/package.xml b/src/bitbots_navigation/bitbots_odometry/package.xml
similarity index 100%
rename from bitbots_navigation/bitbots_odometry/package.xml
rename to src/bitbots_navigation/bitbots_odometry/package.xml
diff --git a/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp b/src/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp
similarity index 98%
rename from bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp
rename to src/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp
index d6c04f288..016d8e0a9 100644
--- a/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp
+++ b/src/bitbots_navigation/bitbots_odometry/src/motion_odometry.cpp
@@ -81,7 +81,7 @@ void MotionOdometry::loop() {
       q.setRPY(0, 0, yaw);
       previous_to_current_support.setRotation(q);
       odometry_to_support_foot_ = odometry_to_support_foot_ * previous_to_current_support;
-    } catch (tf2::TransformException &ex) {
+    } catch (tf2::TransformException& ex) {
       RCLCPP_WARN(this->get_logger(), "%s", ex.what());
       rclcpp::sleep_for(std::chrono::milliseconds(1000));
       return;
@@ -138,7 +138,7 @@ void MotionOdometry::loop() {
     odom_msg.twist = current_odom_msg_.twist;
     pub_odometry_->publish(odom_msg);
 
-  } catch (tf2::TransformException &ex) {
+  } catch (tf2::TransformException& ex) {
     RCLCPP_WARN(this->get_logger(), "%s", ex.what());
     rclcpp::sleep_for(std::chrono::milliseconds(1000));
     return;
@@ -167,7 +167,7 @@ void MotionOdometry::supportCallback(const biped_interfaces::msg::Phase::SharedP
                                      rclcpp::Duration::from_nanoseconds(1e9));
       odometry_to_support_foot_.setOrigin({-1 * base_to_current_support_msg.transform.translation.x,
                                            -1 * base_to_current_support_msg.transform.translation.y, 0});
-    } catch (tf2::TransformException &ex) {
+    } catch (tf2::TransformException& ex) {
       RCLCPP_WARN(this->get_logger(),
                   "Could not initialize motion odometry correctly, since there were no transforms available fast "
                   "enough on startup. Will initialize with 0,0,0");
@@ -179,7 +179,7 @@ void MotionOdometry::odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg)
 
 }  // namespace bitbots_odometry
 
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
   auto node = std::make_shared<bitbots_odometry::MotionOdometry>();
 
diff --git a/bitbots_navigation/bitbots_odometry/src/odometry_fuser.cpp b/src/bitbots_navigation/bitbots_odometry/src/odometry_fuser.cpp
similarity index 97%
rename from bitbots_navigation/bitbots_odometry/src/odometry_fuser.cpp
rename to src/bitbots_navigation/bitbots_odometry/src/odometry_fuser.cpp
index 694495d9c..90c7f2639 100644
--- a/bitbots_navigation/bitbots_odometry/src/odometry_fuser.cpp
+++ b/src/bitbots_navigation/bitbots_odometry/src/odometry_fuser.cpp
@@ -117,7 +117,7 @@ class OdometryFuser : public rclcpp::Node {
         geometry_msgs::msg::TransformStamped imu_mounting_transform =
             tf_buffer_.lookupTransform(imu_data_.header.frame_id, base_link_frame_, fused_time_);
         fromMsg(imu_mounting_transform.transform, imu_mounting_offset);
-      } catch (tf2::TransformException &ex) {
+      } catch (tf2::TransformException& ex) {
         RCLCPP_ERROR(this->get_logger(), "Not able to fuse IMU data with odometry due to a tf problem: %s", ex.what());
       }
 
@@ -148,8 +148,8 @@ class OdometryFuser : public rclcpp::Node {
 
   void supportCallback(const biped_interfaces::msg::Phase::SharedPtr msg) { support_state_cache_.add(msg); }
 
-  void imuCallback(const sensor_msgs::msg::Imu::SharedPtr &imu_msg,
-                   const nav_msgs::msg::Odometry::SharedPtr &motion_odom_msg) {
+  void imuCallback(const sensor_msgs::msg::Imu::SharedPtr& imu_msg,
+                   const nav_msgs::msg::Odometry::SharedPtr& motion_odom_msg) {
     imu_data_ = *imu_msg;
     odom_data_ = *motion_odom_msg;
     // Use the time of the imu as a baseline to do transforms and stuff because it is more timecritical than the walking
@@ -253,7 +253,7 @@ class OdometryFuser : public rclcpp::Node {
           support_frame = l_sole_frame_;
         rotation_point = tf_buffer_.lookupTransform(base_link_frame_, support_frame, fused_time_);
         fromMsg(rotation_point.transform, rotation_point_tf);
-      } catch (tf2::TransformException &ex) {
+      } catch (tf2::TransformException& ex) {
         RCLCPP_ERROR(this->get_logger(), "%s", ex.what());
       }
     } else if (current_support_state == biped_interfaces::msg::Phase::DOUBLE_STANCE) {
@@ -280,7 +280,7 @@ class OdometryFuser : public rclcpp::Node {
 
         rotation_point_tf = base_to_l_sole_tf * l_to_center_tf;
         rotation_point_tf.setRotation(zero_rotation);
-      } catch (tf2::TransformException &ex) {
+      } catch (tf2::TransformException& ex) {
         RCLCPP_ERROR(this->get_logger(), "%s", ex.what());
       }
     } else {
@@ -291,7 +291,7 @@ class OdometryFuser : public rclcpp::Node {
   }
 };
 
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
   auto node = std::make_shared<OdometryFuser>();
   rclcpp::experimental::executors::EventsExecutor exec;
diff --git a/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/.gitignore b/src/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/.gitignore
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/bitbots_path_planning/.gitignore
rename to src/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/.gitignore
diff --git a/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/__init__.py b/src/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/__init__.py
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/bitbots_path_planning/__init__.py
rename to src/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/__init__.py
diff --git a/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/controller.py b/src/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/controller.py
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/bitbots_path_planning/controller.py
rename to src/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/controller.py
diff --git a/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/path_planning.py b/src/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/path_planning.py
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/bitbots_path_planning/path_planning.py
rename to src/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/path_planning.py
diff --git a/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/planner.py b/src/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/planner.py
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/bitbots_path_planning/planner.py
rename to src/bitbots_navigation/bitbots_path_planning/bitbots_path_planning/planner.py
diff --git a/bitbots_navigation/bitbots_path_planning/config/path_planning_parameters.yaml b/src/bitbots_navigation/bitbots_path_planning/config/path_planning_parameters.yaml
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/config/path_planning_parameters.yaml
rename to src/bitbots_navigation/bitbots_path_planning/config/path_planning_parameters.yaml
diff --git a/bitbots_navigation/bitbots_path_planning/config/path_planning_viz.rviz b/src/bitbots_navigation/bitbots_path_planning/config/path_planning_viz.rviz
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/config/path_planning_viz.rviz
rename to src/bitbots_navigation/bitbots_path_planning/config/path_planning_viz.rviz
diff --git a/bitbots_navigation/bitbots_path_planning/launch/path_planning.launch b/src/bitbots_navigation/bitbots_path_planning/launch/path_planning.launch
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/launch/path_planning.launch
rename to src/bitbots_navigation/bitbots_path_planning/launch/path_planning.launch
diff --git a/bitbots_navigation/bitbots_path_planning/package.xml b/src/bitbots_navigation/bitbots_path_planning/package.xml
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/package.xml
rename to src/bitbots_navigation/bitbots_path_planning/package.xml
diff --git a/bitbots_navigation/bitbots_path_planning/resource/bitbots_path_planning b/src/bitbots_navigation/bitbots_path_planning/resource/bitbots_path_planning
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/resource/bitbots_path_planning
rename to src/bitbots_navigation/bitbots_path_planning/resource/bitbots_path_planning
diff --git a/bitbots_navigation/bitbots_path_planning/setup.cfg b/src/bitbots_navigation/bitbots_path_planning/setup.cfg
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/setup.cfg
rename to src/bitbots_navigation/bitbots_path_planning/setup.cfg
diff --git a/bitbots_navigation/bitbots_path_planning/setup.py b/src/bitbots_navigation/bitbots_path_planning/setup.py
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/setup.py
rename to src/bitbots_navigation/bitbots_path_planning/setup.py
diff --git a/bitbots_navigation/bitbots_path_planning/test/__init__.py b/src/bitbots_navigation/bitbots_path_planning/test/__init__.py
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/test/__init__.py
rename to src/bitbots_navigation/bitbots_path_planning/test/__init__.py
diff --git a/bitbots_navigation/bitbots_path_planning/test/__snapshots__/test_controller.ambr b/src/bitbots_navigation/bitbots_path_planning/test/__snapshots__/test_controller.ambr
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/test/__snapshots__/test_controller.ambr
rename to src/bitbots_navigation/bitbots_path_planning/test/__snapshots__/test_controller.ambr
diff --git a/bitbots_navigation/bitbots_path_planning/test/mypy.ini b/src/bitbots_navigation/bitbots_path_planning/test/mypy.ini
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/test/mypy.ini
rename to src/bitbots_navigation/bitbots_path_planning/test/mypy.ini
diff --git a/bitbots_navigation/bitbots_path_planning/test/test_controller.py b/src/bitbots_navigation/bitbots_path_planning/test/test_controller.py
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/test/test_controller.py
rename to src/bitbots_navigation/bitbots_path_planning/test/test_controller.py
diff --git a/bitbots_navigation/bitbots_path_planning/test/test_mypy.py b/src/bitbots_navigation/bitbots_path_planning/test/test_mypy.py
similarity index 100%
rename from bitbots_navigation/bitbots_path_planning/test/test_mypy.py
rename to src/bitbots_navigation/bitbots_path_planning/test/test_mypy.py
diff --git a/src/bitbots_navigation/bitbots_rust_nav/Cargo.lock b/src/bitbots_navigation/bitbots_rust_nav/Cargo.lock
new file mode 100644
index 000000000..e66b18b5a
--- /dev/null
+++ b/src/bitbots_navigation/bitbots_rust_nav/Cargo.lock
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diff --git a/src/bitbots_navigation/bitbots_rust_nav/Cargo.toml b/src/bitbots_navigation/bitbots_rust_nav/Cargo.toml
new file mode 100644
index 000000000..90f02cfaf
--- /dev/null
+++ b/src/bitbots_navigation/bitbots_rust_nav/Cargo.toml
@@ -0,0 +1,23 @@
+[package]
+name = "bitbots_rust_nav"
+version = "0.1.2"
+edition = "2021"
+
+[lib]
+name = "bitbots_rust_nav"
+crate-type = ["cdylib", "rlib"]
+
+[[bin]]
+name = "interactive_nav_demo"
+path = "src/bin.rs"
+
+[features]
+gui = ["dep:eframe"]
+
+[dependencies]
+eframe = {version="0.31.0", optional = true}
+geo = "0.29.3"
+keyed_priority_queue = "0.4.2"
+ordered-float = "4.5.0"
+pyo3 = "0.24.1"
+rand = "0.9.0"
\ No newline at end of file
diff --git a/src/bitbots_navigation/bitbots_rust_nav/README.md b/src/bitbots_navigation/bitbots_rust_nav/README.md
new file mode 100644
index 000000000..ab482dfc2
--- /dev/null
+++ b/src/bitbots_navigation/bitbots_rust_nav/README.md
@@ -0,0 +1,25 @@
+# bitbots_rust_nav
+
+A best-effort A*-on-visibility-graph implementation for path planning in obstacles maps where obstacles and the robot itself are assumed to be round.
+
+## Installation
+
+```bash
+pip install .
+```
+
+## API
+
+It exports three classes
+
+### `RoundObstacle`
+
+Represents a round obstacle with public fields `center: (float, float)` and `radius: float`. Can be created with the constructor `RoundObstacle(center, radius)`
+
+### `ObstacleMapConfig`
+
+Represents all configuration values for how obstacles should be treated with public fields `dilate: float` - the value by which the radii of the obstacles should be dilated (this should be set to approximately your own radius) - and `num_vertices` - the number of vertices the polygons approximating the round obstacles should have. Can be created with the constructor `ObstacleMapConfig(dilate, num_vertices)`
+
+### `ObstacleMap`
+
+Represents a set of obstacles on a plane with a given config. This has two fields: `config: ObstacleMapConfig` and `obstacles: [RoundObstacle]`. Can be created with the constructor `ObstacleMap(config, obstacles)`
diff --git a/src/bitbots_navigation/bitbots_rust_nav/pixi.toml b/src/bitbots_navigation/bitbots_rust_nav/pixi.toml
new file mode 100644
index 000000000..3e98eb26e
--- /dev/null
+++ b/src/bitbots_navigation/bitbots_rust_nav/pixi.toml
@@ -0,0 +1,11 @@
+[package]
+name = "bitbots_rust_nav"
+version = "0.1.0"
+
+[package.build]
+backend = { name = "pixi-build-python", version = "==0.4.0" }
+
+[package.host-dependencies]
+rust = ">=1.91.1,<1.92"
+maturin = ">=1.10.2,<2"
+python = "==3.12"
diff --git a/src/bitbots_navigation/bitbots_rust_nav/pyproject.toml b/src/bitbots_navigation/bitbots_rust_nav/pyproject.toml
new file mode 100644
index 000000000..933ab2aa6
--- /dev/null
+++ b/src/bitbots_navigation/bitbots_rust_nav/pyproject.toml
@@ -0,0 +1,16 @@
+[build-system]
+requires = ["maturin>=1.7,<2.0"]
+build-backend = "maturin"
+
+[project]
+name = "bitbots_rust_nav"
+requires-python = ">=3.12"
+classifiers = [
+    "Programming Language :: Rust",
+    "Programming Language :: Python :: Implementation :: CPython",
+    "Programming Language :: Python :: Implementation :: PyPy",
+]
+dynamic = ["version"]
+
+[tool.maturin]
+features = ["pyo3/extension-module"]
diff --git a/src/bitbots_navigation/bitbots_rust_nav/src/bin.rs b/src/bitbots_navigation/bitbots_rust_nav/src/bin.rs
new file mode 100644
index 000000000..3f3c7311a
--- /dev/null
+++ b/src/bitbots_navigation/bitbots_rust_nav/src/bin.rs
@@ -0,0 +1,165 @@
+#[cfg(feature = "gui")]
+mod gui {
+    use bitbots_rust_nav::map::{ObstacleMap, ObstacleMapConfig};
+    use bitbots_rust_nav::obstacle::RoundObstacle;
+    use eframe::egui;
+
+    pub struct PathfindingApp {
+        config: ObstacleMapConfig,
+        obstacles: Vec<RoundObstacle>,
+        start: Option<(f64, f64)>,
+        goal: Option<(f64, f64)>,
+        path: Vec<(f64, f64)>,
+        dragging: Option<usize>,
+    }
+
+    impl Default for PathfindingApp {
+        fn default() -> Self {
+            let config = ObstacleMapConfig {
+                robot_radius: 0.3,
+                margin: 0.25,
+                num_vertices: 12,
+            };
+            let obstacles = vec![
+                RoundObstacle {
+                    center: (1.0, 4.0),
+                    radius: 0.13 / 2.0,
+                },
+                RoundObstacle {
+                    center: (4.2, 4.2),
+                    radius: 1.3,
+                },
+                RoundObstacle {
+                    center: (5.0, 2.0),
+                    radius: 0.5 / 2.0,
+                },
+                RoundObstacle {
+                    center: (10.0, 10.0),
+                    radius: 0.5 / 2.0,
+                },
+            ];
+            Self {
+                config,
+                obstacles,
+                start: None,
+                goal: None,
+                path: Vec::new(),
+                dragging: None,
+            }
+        }
+    }
+
+    impl eframe::App for PathfindingApp {
+        fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
+            egui::CentralPanel::default().show(ctx, |ui| {
+                let (response, painter) = ui
+                    .allocate_painter(egui::Vec2::new(500.0, 500.0), egui::Sense::click_and_drag());
+                let rect = response.rect;
+                let to_screen =
+                    |(x, y): (f64, f64)| rect.min + egui::vec2(x as f32 * 40.0, y as f32 * 40.0);
+
+                if let Some(pos) = response.interact_pointer_pos() {
+                    let world_pos = (
+                        ((pos.x - rect.min.x) / 40.0) as f64,
+                        ((pos.y - rect.min.y) / 40.0) as f64,
+                    );
+                    if response.clicked_by(egui::PointerButton::Primary) {
+                        self.start = Some(world_pos);
+                    } else if response.clicked_by(egui::PointerButton::Secondary) {
+                        self.goal = Some(world_pos);
+                    }
+                }
+
+                if ctx.input(|i| i.modifiers.shift) {
+                    if response.drag_started() {
+                        if let Some(pos) = response.interact_pointer_pos() {
+                            self.dragging = self.obstacles.iter().position(|o| {
+                                let screen_pos = to_screen(o.center);
+                                screen_pos.distance(pos)
+                                    < (o.radius + self.config.robot_radius + self.config.margin)
+                                        as f32
+                                        * 40.0
+                            });
+                        }
+                    }
+
+                    if let Some(idx) = self.dragging {
+                        if let Some(pos) = response.interact_pointer_pos() {
+                            self.obstacles[idx].center = (
+                                ((pos.x - rect.min.x) / 40.0) as f64,
+                                ((pos.y - rect.min.y) / 40.0) as f64,
+                            );
+                        }
+                    }
+                    if response.drag_stopped() {
+                        self.dragging = None;
+                    }
+                }
+
+                for obstacle in &self.obstacles {
+                    let pos = to_screen(obstacle.center);
+                    let obstacle_layers = vec![
+                        (
+                            obstacle.radius + self.config.robot_radius + self.config.margin,
+                            egui::Color32::YELLOW,
+                        ),
+                        (
+                            obstacle.radius + self.config.robot_radius,
+                            egui::Color32::RED,
+                        ),
+                        (obstacle.radius, egui::Color32::BLACK),
+                    ];
+                    for (radius, color) in obstacle_layers {
+                        painter.circle_filled(pos, (radius as f32) * 40.0, color);
+                    }
+                }
+
+                if let (Some(start), Some(goal)) = (self.start, self.goal) {
+                    let omap = ObstacleMap::new(self.config, self.obstacles.clone());
+                    let time1 = std::time::Instant::now();
+                    self.path = omap.shortest_path(start, goal);
+                    let time2 = std::time::Instant::now();
+                    println!("Pathfinding took: {:?}", time2 - time1);
+                    for window in self.path.windows(2) {
+                        if let [a, b] = window {
+                            painter.line_segment(
+                                [to_screen(*a), to_screen(*b)],
+                                (2.0, egui::Color32::BLUE),
+                            );
+                        }
+                    }
+                }
+            });
+        }
+    }
+
+    pub fn run_gui() -> Result<(), eframe::Error> {
+        println!("Usage instructions:");
+        println!("  - Left click to set the start position");
+        println!("  - Right click to set the goal position");
+        println!("  - Hold Shift to drag obstacles");
+        println!("  - Have fun & Find bugs!");
+
+        let options = eframe::NativeOptions {
+            viewport: egui::ViewportBuilder::default()
+                .with_inner_size([500.0, 500.0])
+                .with_resizable(false),
+            ..Default::default()
+        };
+        eframe::run_native(
+            "Interactive Pathfinding",
+            options,
+            Box::new(|_| Ok(Box::new(PathfindingApp::default()))),
+        )
+    }
+}
+
+#[cfg(feature = "gui")]
+fn main() -> Result<(), eframe::Error> {
+    gui::run_gui()
+}
+
+#[cfg(not(feature = "gui"))]
+fn main() {
+    println!("GUI feature is disabled. Run with --features gui to enable.");
+}
diff --git a/src/bitbots_navigation/bitbots_rust_nav/src/lib.rs b/src/bitbots_navigation/bitbots_rust_nav/src/lib.rs
new file mode 100644
index 000000000..d60560de4
--- /dev/null
+++ b/src/bitbots_navigation/bitbots_rust_nav/src/lib.rs
@@ -0,0 +1,16 @@
+use map::{ObstacleMap, ObstacleMapConfig};
+use obstacle::RoundObstacle;
+use pyo3::prelude::*;
+
+pub mod map;
+pub mod obstacle;
+pub mod planner;
+
+#[pymodule]
+fn bitbots_rust_nav(m: &Bound<'_, PyModule>) -> PyResult<()> {
+    m.add_class::<RoundObstacle>()?;
+    m.add_class::<ObstacleMap>()?;
+    m.add_class::<ObstacleMapConfig>()?;
+    // Further classes and functions can be added here
+    Ok(())
+}
diff --git a/src/bitbots_navigation/bitbots_rust_nav/src/map.rs b/src/bitbots_navigation/bitbots_rust_nav/src/map.rs
new file mode 100644
index 000000000..f384f8e3e
--- /dev/null
+++ b/src/bitbots_navigation/bitbots_rust_nav/src/map.rs
@@ -0,0 +1,84 @@
+use geo::{BooleanOps, Coord, LineString, MultiPolygon, Polygon};
+use pyo3::prelude::*;
+
+use crate::{
+    obstacle::{Obstacle, RoundObstacle},
+    planner::PathPlanner,
+};
+
+/// Configuration values for the ObstacleMap, these should be given by ROS parameters
+#[pyclass(
+    eq,
+    str = "ObstacleMapConfig(robot_radius={robot_radius:?}, margin={margin:?}, num_vertices={num_vertices:?})"
+)]
+#[derive(Debug, Copy, Clone, PartialEq)]
+pub struct ObstacleMapConfig {
+    /// All obstacles are inflated by this amount, so we can assume the robot itself is a point
+    #[pyo3(set, get)]
+    pub robot_radius: f64,
+    /// Normal plans should not be directly on the edge of an obstacle,
+    /// this margin is added if possible
+    #[pyo3(set, get)]
+    pub margin: f64,
+    /// The number of vertices that the polygon representing an obstacle has
+    #[pyo3(set, get)]
+    pub num_vertices: usize,
+}
+
+#[pymethods]
+impl ObstacleMapConfig {
+    #[new]
+    /// Create a new config with the given values
+    pub fn new(robot_radius: f64, margin: f64, num_vertices: usize) -> Self {
+        Self {
+            robot_radius,
+            margin,
+            num_vertices,
+        }
+    }
+}
+
+#[pyclass(eq, str = "ObstacleMap(obstacles={obstacles:?})")]
+#[derive(Debug, Clone, PartialEq)]
+pub struct ObstacleMap {
+    #[pyo3(get, set)]
+    config: ObstacleMapConfig,
+    #[pyo3(get, set)]
+    obstacles: Vec<RoundObstacle>,
+}
+
+#[pymethods]
+impl ObstacleMap {
+    #[new]
+    pub fn new(config: ObstacleMapConfig, obstacles: Vec<RoundObstacle>) -> Self {
+        Self { config, obstacles }
+    }
+
+    pub fn shortest_path(&self, start: (f64, f64), goal: (f64, f64)) -> Vec<(f64, f64)> {
+        PathPlanner::new(self, start, goal).shortest_path()
+    }
+}
+
+impl ObstacleMap {
+    pub fn as_vertices(&self) -> Vec<Coord> {
+        self.obstacles
+            .iter()
+            .flat_map(|obstacle| obstacle.as_vertices(&self.config))
+            .collect()
+    }
+
+    fn as_polygons(&self, margin: bool) -> Vec<Polygon> {
+        self.obstacles
+            .iter()
+            .map(|obstacle| obstacle.as_polygon(&self.config, margin))
+            .collect()
+    }
+
+    pub fn as_multipolygon(&self, margin: bool) -> MultiPolygon {
+        let polygons = self.as_polygons(margin);
+        polygons.iter().fold(
+            MultiPolygon::new(vec![Polygon::new(LineString::new(vec![]), vec![])]),
+            |a, b| a.union(b),
+        )
+    }
+}
diff --git a/src/bitbots_navigation/bitbots_rust_nav/src/obstacle.rs b/src/bitbots_navigation/bitbots_rust_nav/src/obstacle.rs
new file mode 100644
index 000000000..7f41a2cdc
--- /dev/null
+++ b/src/bitbots_navigation/bitbots_rust_nav/src/obstacle.rs
@@ -0,0 +1,65 @@
+use pyo3::prelude::*;
+
+use geo::{Coord, LineString, Polygon};
+
+use crate::map::ObstacleMapConfig;
+
+pub trait Obstacle {
+    /// Return the vertices of this obstacle inflated by the robot size and margin for the visibility graph generation
+    fn as_vertices(&self, config: &ObstacleMapConfig) -> Vec<Coord>;
+
+    /// Return the polygon representation of this obstacle inflated by the robot size and optionally the margin for intersection checking
+    fn as_polygon(&self, config: &ObstacleMapConfig, margin: bool) -> Polygon;
+}
+
+/// A round obstacle
+#[pyclass(eq, str = "RoundObstacle(center={center:?} radius={radius:?})")]
+#[derive(Debug, Clone, Copy, PartialEq)]
+pub struct RoundObstacle {
+    /// The center of the obstacle
+    #[pyo3(get, set)]
+    pub center: (f64, f64),
+    /// The radius of the obstacle
+    #[pyo3(get, set)]
+    pub radius: f64,
+}
+
+#[pymethods]
+impl RoundObstacle {
+    #[new]
+    pub fn new(center: (f64, f64), radius: f64) -> Self {
+        Self { center, radius }
+    }
+}
+
+impl RoundObstacle {
+    /// A helper function to generate a num_vertices-sided Polygon with own radius plus offset
+    fn regular_ngon(&self, num_vertices: usize, offset: f64) -> Vec<Coord> {
+        (0..num_vertices)
+            .map(|side| {
+                let angle = (side as f64) / (num_vertices as f64) * std::f64::consts::TAU;
+                let radius = self.radius + offset;
+                Coord::from(self.center) + Coord::from((radius * angle.cos(), radius * angle.sin()))
+            })
+            .collect()
+    }
+}
+
+/// Value subtracted from the radius of obstacles for intersection checking
+pub const EPSILON: f64 = 0.01;
+
+impl Obstacle for RoundObstacle {
+    fn as_vertices(&self, config: &ObstacleMapConfig) -> Vec<Coord> {
+        self.regular_ngon(config.num_vertices, config.robot_radius + config.margin)
+    }
+
+    fn as_polygon(&self, config: &ObstacleMapConfig, margin: bool) -> Polygon {
+        let inflation = if margin {
+            config.robot_radius + config.margin
+        } else {
+            config.robot_radius
+        };
+        let vertices = self.regular_ngon(config.num_vertices, inflation - EPSILON);
+        Polygon::new(LineString::new(vertices), vec![])
+    }
+}
diff --git a/src/bitbots_navigation/bitbots_rust_nav/src/planner.rs b/src/bitbots_navigation/bitbots_rust_nav/src/planner.rs
new file mode 100644
index 000000000..fa9027bb5
--- /dev/null
+++ b/src/bitbots_navigation/bitbots_rust_nav/src/planner.rs
@@ -0,0 +1,167 @@
+use std::{
+    cmp::Reverse,
+    collections::{HashMap, HashSet},
+};
+
+use geo::{Contains, Coord, Distance, Euclidean, Intersects, Line, MultiPolygon};
+use keyed_priority_queue::{Entry, KeyedPriorityQueue};
+use ordered_float::OrderedFloat;
+
+use crate::map::ObstacleMap;
+
+#[derive(Debug, Clone)]
+pub struct PathPlanner {
+    vertices: Vec<Coord>,
+    obstacle_critical: MultiPolygon,
+    obstacle_with_margin: MultiPolygon,
+    start: usize,
+    goal: usize,
+    open: KeyedPriorityQueue<usize, Reverse<OrderedFloat<f64>>>,
+    g_score: HashMap<usize, OrderedFloat<f64>>,
+    successors: HashSet<usize>,
+    from: HashMap<usize, usize>,
+}
+
+const MULTIPLIER: f64 = 10.0;
+
+impl PathPlanner {
+    /// Create a new path planner planning task with the given map, start and goal
+    pub fn new(map: &ObstacleMap, start: (f64, f64), goal: (f64, f64)) -> Self {
+        let mut vertices = map.as_vertices();
+        vertices.append(&mut vec![start.into(), goal.into()]);
+        let start: usize = vertices.len() - 2;
+        let goal = vertices.len() - 1;
+        let obstacle_critical = map.as_multipolygon(false);
+        let obstacle_with_margin = map.as_multipolygon(true);
+        let mut open = KeyedPriorityQueue::<usize, Reverse<OrderedFloat<f64>>>::new();
+        open.push(
+            start,
+            Reverse(OrderedFloat(Euclidean::distance(
+                vertices[start],
+                vertices[goal],
+            ))),
+        );
+        let from = HashMap::<usize, usize>::new();
+        let successors = HashSet::<usize>::from_iter(0..vertices.len());
+        let mut g_score = HashMap::<usize, OrderedFloat<f64>>::new();
+        g_score.insert(start, OrderedFloat(0.0));
+        Self {
+            vertices,
+            obstacle_critical,
+            obstacle_with_margin,
+            start,
+            goal,
+            open,
+            g_score,
+            successors,
+            from,
+        }
+    }
+
+    /// Part of A* algorithm, calculates the heuristic for the given node.
+    /// Often the heuristic is the euclidean distance to the goal.
+    fn heuristic(&self, node: usize) -> OrderedFloat<f64> {
+        self.distance(node, self.goal)
+    }
+
+    /// Calculates the euclidean distance between two vertices
+    fn distance(&self, from: usize, to: usize) -> OrderedFloat<f64> {
+        OrderedFloat(Euclidean::distance(self.vertices[from], self.vertices[to]))
+    }
+
+    /// Part of A* algorithm, reconstructs the path from the start to the goal vertex
+    /// based on the predecessors calculated during the search
+    fn reconstruct_path(&self, vertex: usize) -> Vec<(f64, f64)> {
+        let mut path = vec![vertex];
+        let mut current = vertex;
+        while let Some(previous) = self.from.get(&current) {
+            current = *previous;
+            path.push(*previous);
+        }
+        path.reverse();
+        path.into_iter()
+            .map(|idx| self.vertices[idx].x_y())
+            .collect()
+    }
+
+    // Calculates and rates the connections of the vertex
+    fn expand_node(&mut self, vertex: usize) {
+        let g_vertex = *self
+            .g_score
+            .get(&vertex)
+            .unwrap_or(&OrderedFloat(f64::INFINITY));
+        for successor in self.successors.iter().cloned() {
+            let connection = Line::new(self.vertices[vertex], self.vertices[successor]);
+            // Check if the connection intersects with anything
+            let multiplier = if self.obstacle_with_margin.intersects(&connection) {
+                // Check if we are at the start or goal
+                // We want to always allow connections to the start and goal,
+                // but we want to penalize connections that intersect with an obstacles critical area
+                // So we don't want to connect the visibility graph through an obstacle except for the start and goal
+                if (self.start == vertex && self.goal == successor) // Best effort backup solution, so we allow the direct connection at high cost
+                    // Also consider start and goal as inside the obstacle (at high cost if we are inside the critical area, and at low cost if we are inside the margin)
+                    || (self.goal == successor && self.obstacle_with_margin.contains(&connection.end_point()))
+                    || (self.start == vertex && self.obstacle_with_margin.contains(&connection.start_point())
+                ) {
+                    // Use high cost for connections that intersect with the critical area of an obstacle
+                    if self.obstacle_critical.intersects(&connection) {
+                        OrderedFloat(MULTIPLIER)
+                    } else {
+                        // When we are at the start or goal and the connection is inside the obstacle margin,
+                        // but not critical we want to allow this connection without penalty.
+                        // This way we avoid situations where the robot gets stuck.
+                        // Image a situation where the robot follows the normal path around an obstacle.
+                        // Due to the nature of things it's start point is not exactly on the edge.
+                        // We therefore are inside the obstacle and get a high cost roughly 50 percent of the time.
+                        // This leads to us going back to the vertex we came from
+                        // (it has the shortest path though the high cost region) and trying again.
+                        // Immediately after departing from the vertex we are inside the obstacle again (~50 percent of the time).
+                        // This can lead to the robot getting stuck in a loop.
+                        // We therefore add a margin around the obstacle where we don't penalize start and end connections,
+                        // while prohibiting normal connections of the visibility graph (to avoid getting too close to the obstacle again).
+                        OrderedFloat(1.0)
+                    }
+                } else {
+                    // Ignore connections that intersect with obstacles
+                    // (except for the start and goal as they might be inside the obstacle and we do a best effort solution)
+                    continue;
+                }
+            } else {
+                // Don't penalize connections that don't intersect with anything
+                OrderedFloat(1.0)
+            };
+
+            // Part of A* algorithm
+            let g_successor = *self
+                .g_score
+                .get(&successor)
+                .unwrap_or(&OrderedFloat(f64::INFINITY));
+            let g_tentative = g_vertex + multiplier * self.distance(vertex, successor);
+            if g_tentative < g_successor {
+                self.from.insert(successor, vertex);
+                self.g_score.insert(successor, g_tentative);
+                let new_f_score = Reverse(g_tentative + self.heuristic(successor));
+                match self.open.entry(successor) {
+                    Entry::Occupied(entry) => {
+                        entry.set_priority(new_f_score);
+                    }
+                    Entry::Vacant(entry) => {
+                        entry.set_priority(new_f_score);
+                    }
+                }
+            }
+        }
+    }
+
+    /// Find the shortest path from the start to the goal considering the obstacles
+    pub fn shortest_path(mut self) -> Vec<(f64, f64)> {
+        while let Some((vertex, _)) = self.open.pop() {
+            if vertex == self.goal {
+                return self.reconstruct_path(vertex);
+            }
+            self.successors.remove(&vertex);
+            self.expand_node(vertex);
+        }
+        unreachable!()
+    }
+}
diff --git a/bitbots_robot/README.md b/src/bitbots_robot/README.md
similarity index 100%
rename from bitbots_robot/README.md
rename to src/bitbots_robot/README.md
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diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_armMesh.proto
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rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_legMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_lower_leg_spacerMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_motor_connectorMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-106_bodyMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_mx-64-bodyMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_backMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_left_frontMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_backMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_holder_right_frontMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_nuc_mainMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_connectorMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_sea_ninjaflexMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_shoulder_connectorMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_speaker_holderMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_lowerMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_spring_holder_upperMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_bottomMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_springholder_newMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_thrustbearingholderMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bottomMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_leftMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_bumper_rightMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_torso_topMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_armMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_arm_spacerMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_legMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_upper_leg_spacerMesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/Wolfgang_xh-540Mesh.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/ankle.stl
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/baseplate_odroid_xu4_core.stl
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/basler_ace_gige_c-mount_v01.stl
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery.stl
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diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_cage.stl
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diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/battery_clip.stl
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diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl
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rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_lower_basler_wolfgang_imu_v2.2.stl
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl
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rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_left.stl
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl
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rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/camera_side_basler_wolfgang_v2.2_right.stl
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/connector_shoulder.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/connector_shoulder.stl
similarity index 100%
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diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/core.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/core.stl
similarity index 100%
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diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/dummy_speaker.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/dummy_speaker.stl
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diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/flex_stollen.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/flex_stollen.stl
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diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_cover.stl b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_meshes/foot_cover.stl
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similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPaintedMetal.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPaintedMetal.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPlastic.proto b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPlastic.proto
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPlastic.proto
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/WolfgangPlastic.proto
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/carbon_fiber.jpg b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/carbon_fiber.jpg
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/carbon_fiber.jpg
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/carbon_fiber.jpg
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_0.png b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_0.png
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_0.png
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_0.png
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_1.png b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_1.png
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_1.png
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_1.png
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_2.png b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_2.png
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_2.png
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_2.png
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_3.png b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_3.png
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_3.png
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_3.png
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_4.png b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_4.png
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_4.png
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_4.png
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_5.png b/src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_5.png
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_5.png
rename to src/bitbots_simulation/bitbots_webots_sim/protos/robots/Wolfgang/Wolfgang_textures/number_5.png
diff --git a/bitbots_simulation/bitbots_webots_sim/protos/textures/net.png b/src/bitbots_simulation/bitbots_webots_sim/protos/textures/net.png
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/protos/textures/net.png
rename to src/bitbots_simulation/bitbots_webots_sim/protos/textures/net.png
diff --git a/bitbots_simulation/bitbots_webots_sim/scripts/fix_urdf_for_webots.py b/src/bitbots_simulation/bitbots_webots_sim/scripts/fix_urdf_for_webots.py
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/scripts/fix_urdf_for_webots.py
rename to src/bitbots_simulation/bitbots_webots_sim/scripts/fix_urdf_for_webots.py
diff --git a/bitbots_simulation/bitbots_webots_sim/scripts/imu_lut_gen.py b/src/bitbots_simulation/bitbots_webots_sim/scripts/imu_lut_gen.py
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/scripts/imu_lut_gen.py
rename to src/bitbots_simulation/bitbots_webots_sim/scripts/imu_lut_gen.py
diff --git a/bitbots_simulation/bitbots_webots_sim/scripts/localization_faker.py b/src/bitbots_simulation/bitbots_webots_sim/scripts/localization_faker.py
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/scripts/localization_faker.py
rename to src/bitbots_simulation/bitbots_webots_sim/scripts/localization_faker.py
diff --git a/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py
similarity index 97%
rename from bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py
rename to src/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py
index 2dd1d040e..77e2c3c0d 100755
--- a/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py
+++ b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_simulator.py
@@ -76,7 +76,7 @@ def run_simulation(self):
     executor = EventsExecutor()
     executor.add_node(node)
 
-    thread = threading.Thread(target=executor.spin, daemon=True)
+    thread = threading.Thread(target=executor.spin, args=(), daemon=True)
     thread.start()
     node.run_simulation()
 
diff --git a/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py
similarity index 97%
rename from bitbots_simulation/bitbots_webots_sim/scripts/start_single.py
rename to src/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py
index df15019c3..54a066587 100755
--- a/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py
+++ b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_single.py
@@ -64,7 +64,7 @@ def run(self):
     executor = EventsExecutor()
     executor.add_node(robot.node)
 
-    thread = threading.Thread(target=executor.spin, daemon=True)
+    thread = threading.Thread(target=executor.spin, args=(), daemon=True)
     thread.start()
     robot.run()
 
diff --git a/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py
similarity index 93%
rename from bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py
rename to src/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py
index 7e72d1850..2c2fababc 100755
--- a/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py
+++ b/src/bitbots_simulation/bitbots_webots_sim/scripts/start_webots_ros_supervisor.py
@@ -34,7 +34,7 @@ def run(self):
     executor = EventsExecutor()
     executor.add_node(supervisor.node)
 
-    thread = threading.Thread(target=executor.spin, daemon=True)
+    thread = threading.Thread(target=executor.spin, args=(), daemon=True)
     thread.start()
     supervisor.run()
 
diff --git a/bitbots_simulation/bitbots_webots_sim/setup.py b/src/bitbots_simulation/bitbots_webots_sim/setup.py
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/setup.py
rename to src/bitbots_simulation/bitbots_webots_sim/setup.py
diff --git a/bitbots_simulation/bitbots_webots_sim/worlds/1_bot.wbt b/src/bitbots_simulation/bitbots_webots_sim/worlds/1_bot.wbt
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/worlds/1_bot.wbt
rename to src/bitbots_simulation/bitbots_webots_sim/worlds/1_bot.wbt
diff --git a/bitbots_simulation/bitbots_webots_sim/worlds/4_bots.wbt b/src/bitbots_simulation/bitbots_webots_sim/worlds/4_bots.wbt
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/worlds/4_bots.wbt
rename to src/bitbots_simulation/bitbots_webots_sim/worlds/4_bots.wbt
diff --git a/bitbots_simulation/bitbots_webots_sim/worlds/deep_quintic_wolfgang.wbt b/src/bitbots_simulation/bitbots_webots_sim/worlds/deep_quintic_wolfgang.wbt
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/worlds/deep_quintic_wolfgang.wbt
rename to src/bitbots_simulation/bitbots_webots_sim/worlds/deep_quintic_wolfgang.wbt
diff --git a/bitbots_simulation/bitbots_webots_sim/worlds/deep_quintic_wolfgang_fast.wbt b/src/bitbots_simulation/bitbots_webots_sim/worlds/deep_quintic_wolfgang_fast.wbt
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/worlds/deep_quintic_wolfgang_fast.wbt
rename to src/bitbots_simulation/bitbots_webots_sim/worlds/deep_quintic_wolfgang_fast.wbt
diff --git a/bitbots_simulation/bitbots_webots_sim/worlds/optimization_wolfgang.wbt b/src/bitbots_simulation/bitbots_webots_sim/worlds/optimization_wolfgang.wbt
similarity index 100%
rename from bitbots_simulation/bitbots_webots_sim/worlds/optimization_wolfgang.wbt
rename to src/bitbots_simulation/bitbots_webots_sim/worlds/optimization_wolfgang.wbt
diff --git a/bitbots_team_communication/bitbots_team_communication/CMakeLists.txt b/src/bitbots_team_communication/bitbots_team_communication/CMakeLists.txt
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/CMakeLists.txt
rename to src/bitbots_team_communication/bitbots_team_communication/CMakeLists.txt
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.clang-format b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.clang-format
new file mode 100644
index 000000000..e377d3096
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.clang-format
@@ -0,0 +1,86 @@
+---
+# C++ files
+Language: Cpp
+BasedOnStyle: Google
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlinesLeft: false
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: true
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: false
+BinPackParameters: false
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  BeforeCatch:     true
+  BeforeElse:      true
+  IndentBraces:    false
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: true
+BreakStringLiterals: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+IndentWidth: 4
+KeepEmptyLinesAtTheStartOfBlocks: true
+MaxEmptyLinesToKeep: 2
+NamespaceIndentation: Inner
+PointerAlignment: Left
+ReflowComments: true
+SortIncludes: true
+SpaceAfterCStyleCast: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInContainerLiterals: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Cpp11
+TabWidth: 4
+UseTab: Never
+
+---
+# Protocol buffers
+Language: Proto
+BasedOnStyle: Google
+AccessModifierOffset: -4
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: true
+AlignConsecutiveDeclarations: true
+AlignEscapedNewlinesLeft: false
+AlignOperands: true
+AlignTrailingComments: true
+AllowShortBlocksOnASingleLine: false
+ColumnLimit: 120
+IndentWidth: 4
+KeepEmptyLinesAtTheStartOfBlocks: true
+MaxEmptyLinesToKeep: 2
+ReflowComments: true
+SortIncludes: true
+SpaceBeforeAssignmentOperators: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+TabWidth: 4
+UseTab: Never
+...
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.gitignore b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.gitignore
new file mode 100644
index 000000000..dc84959d1
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/.gitignore
@@ -0,0 +1,2 @@
+build/
+
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/CMakeLists.txt b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/CMakeLists.txt
new file mode 100644
index 000000000..a3205b295
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/CMakeLists.txt
@@ -0,0 +1,62 @@
+cmake_minimum_required(VERSION 3.0)
+project(RobocupProtocol)
+
+# We need protobuf to generate the messages
+find_package(Protobuf REQUIRED)
+
+function(COMPILE_PROTO proto_file output_dir return_var)
+  # Get the file without the extension
+  get_filename_component(file_we ${proto_file} NAME_WE)
+
+  # Run the protocol buffer compiler on the builtin protocol buffers
+  add_custom_command(
+    OUTPUT "${output_dir}/${file_we}.pb.cc" "${output_dir}/${file_we}.pb.h"
+    COMMAND ${PROTOBUF_PROTOC_EXECUTABLE} ARGS --cpp_out=${output_dir}
+            -I${CMAKE_CURRENT_SOURCE_DIR} ${proto_file}
+    DEPENDS ${proto_file}
+    COMMENT "Compiling protocol buffer ${proto_file}")
+
+  set_source_files_properties(
+    "${output_dir}/${file_we}.pb"
+    "${output_dir}/${file_we}.proto"
+    "${output_dir}/${file_we}.pb.cc"
+    "${output_dir}/${file_we}.pb.h"
+    "${output_dir}/${file_we}.cpp"
+    "${output_dir}/${file_we}.py.cpp"
+    "${output_dir}/${file_we}.h"
+    PROPERTIES GENERATED TRUE
+               # Prevent Effective C++ and unused parameter error checks being
+               # performed on
+               # generated files.
+               COMPILE_FLAGS
+               "-Wno-unused-parameter -Wno-error=unused-parameter -Wno-error")
+
+  set(${return_var}
+      "${output_dir}/${file_we}.pb.cc" "${output_dir}/${file_we}.pb.h"
+      PARENT_SCOPE)
+endfunction(COMPILE_PROTO)
+
+# Build our protobuf classes
+compile_proto("${CMAKE_CURRENT_SOURCE_DIR}/robocup.proto"
+              "${CMAKE_CURRENT_BINARY_DIR}" base_message)
+compile_proto("${CMAKE_CURRENT_SOURCE_DIR}/robocup_extension.proto"
+              "${CMAKE_CURRENT_BINARY_DIR}" extended_message)
+
+message(STATUS ${base_message})
+message(STATUS ${extended_message})
+
+add_executable(encode_base encode_base.cpp ${base_message})
+target_include_directories(encode_base PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_link_libraries(encode_base protobuf::libprotobuf)
+
+add_executable(decode_base decode_base.cpp ${base_message})
+target_include_directories(decode_base PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_link_libraries(decode_base protobuf::libprotobuf)
+
+add_executable(encode_extended encode_extended.cpp ${extended_message})
+target_include_directories(encode_extended PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_link_libraries(encode_extended protobuf::libprotobuf)
+
+add_executable(decode_extended decode_extended.cpp ${extended_message})
+target_include_directories(decode_extended PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+target_link_libraries(decode_extended protobuf::libprotobuf)
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/LICENSE.md b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/LICENSE.md
new file mode 100644
index 000000000..ecf4eaab9
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/LICENSE.md
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2019 NUbots
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/README.md b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/README.md
new file mode 100644
index 000000000..1def2ca69
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/README.md
@@ -0,0 +1,40 @@
+# RobocupProtocol
+Protobuf message protocol for the Robocup Humanoid league.
+
+This repository contains example protobuf messages and some code examples for encoding/decoding the different messages.
+
+## Files
+```bash
+RobocupProtocol/
+├── CMakeLists.txt                   # CMake project file
+├── decode_base.cpp                  # Decode using the official message
+├── decode_extended.cpp              # Decode using the extended message
+├── encode_base.cpp                  # Encode using the official message
+├── encode_extended.cpp              # Encode using the extended message
+├── run_all.sh                       # Script to build code and then run all permutations
+├── robocup.proto                    # The official message
+├── robocup_extension.proto          # The extended message
+└── utils.hpp                        # Utility functions for interpreting message contents
+```
+
+## Compiling
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+## Running
+There are four binaries that are built `encode_base`, `encode_extended`, `decode_base`, and `decode_extended`. 
+
+`encode_base` will create a message using the official message protocol and save it to a file named `base_message.pb`. 
+
+`encode_extended` will create a message using the extended message protocol and save it to a file named `extended_message.pb`. 
+
+`decode_base` will take a file as an argument and will decode that file using the official message protocol and print it to the screen in a json format.
+
+`decode_extended` will take a file as an argument and will decode that file using the extended message protocol and print it to the screen in a json format.
+
+Alternatively, if you execute the `run_all.sh` script, it will compile the code and run all permutations of encoding and decoding.
+
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_base.cpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_base.cpp
new file mode 100644
index 000000000..e8a130da1
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_base.cpp
@@ -0,0 +1,32 @@
+#include <google/protobuf/timestamp.pb.h>
+
+#include <chrono>
+#include <cmath>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <string>
+
+#include "robocup.pb.h"
+#include "utils.hpp"
+
+int main(int argc, char** argv) {
+    if (argc != 2) {
+        std::cout << "Usage: " << argv[0] << " <msg.pb>" << std::endl;
+        return 0;
+    }
+
+    std::string msg_file(argv[1]);
+
+    // Open the extended message and parse it
+    std::ifstream ifs(msg_file, std::ifstream::binary);
+
+    if (ifs.is_open()) {
+        // "Send" the message over the network and decode it
+        std::stringstream stream;
+        stream << ifs.rdbuf();
+        parse_message<robocup::humanoid::Message>(stream.str());
+    }
+
+    return 0;
+}
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_extended.cpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_extended.cpp
new file mode 100644
index 000000000..b720bf30c
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/decode_extended.cpp
@@ -0,0 +1,32 @@
+#include <google/protobuf/timestamp.pb.h>
+
+#include <chrono>
+#include <cmath>
+#include <fstream>
+#include <iostream>
+#include <sstream>
+#include <string>
+
+#include "robocup_extension.pb.h"
+#include "utils.hpp"
+
+int main(int argc, char** argv) {
+    if (argc != 2) {
+        std::cout << "Usage: " << argv[0] << " <msg.pb>" << std::endl;
+        return 0;
+    }
+
+    std::string msg_file(argv[1]);
+
+    // Open the extended message and parse it
+    std::ifstream ifs(msg_file, std::ifstream::binary);
+
+    if (ifs.is_open()) {
+        // Decode a message and print it
+        std::stringstream stream;
+        stream << ifs.rdbuf();
+        parse_message<robocup::humanoid::Message>(stream.str());
+    }
+
+    return 0;
+}
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_base.cpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_base.cpp
new file mode 100644
index 000000000..6ac5242a0
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_base.cpp
@@ -0,0 +1,136 @@
+#include <google/protobuf/timestamp.pb.h>
+
+#include <chrono>
+#include <cmath>
+#include <fstream>
+#include <iostream>
+#include <string>
+
+#include "robocup.pb.h"
+#include "utils.hpp"
+
+int main(void) {
+    // Create a new message which contains extensions
+    robocup::humanoid::Message msg;
+
+    // Set the transmission timestamp
+    auto d       = std::chrono::system_clock::now().time_since_epoch();
+    auto seconds = std::chrono::duration_cast<std::chrono::seconds>(d);
+    auto nanos   = std::chrono::duration_cast<std::chrono::nanoseconds>(d - seconds);
+    msg.mutable_timestamp()->set_seconds(seconds.count());
+    msg.mutable_timestamp()->set_nanos(nanos.count());
+
+    // Set player details
+    msg.mutable_current_pose()->set_player_id(3);
+    msg.mutable_current_pose()->set_team(robocup::humanoid::Team::BLUE);
+    msg.mutable_current_pose()->mutable_position()->set_x(1.0f);
+    msg.mutable_current_pose()->mutable_position()->set_y(3.0f);
+    msg.mutable_current_pose()->mutable_position()->set_z(M_PI / 3);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_x(1.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_y(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_z(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_x(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_y(1.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_z(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_x(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_y(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    // Set ball details
+    msg.mutable_ball()->mutable_position()->set_x(2.0f);
+    msg.mutable_ball()->mutable_position()->set_y(3.0f);
+    msg.mutable_ball()->mutable_position()->set_z(1.0f);
+    msg.mutable_ball()->mutable_velocity()->set_x(0.5f);
+    msg.mutable_ball()->mutable_velocity()->set_y(0.5f);
+    msg.mutable_ball()->mutable_velocity()->set_z(-0.5f);
+    msg.mutable_ball()->mutable_covariance()->mutable_x()->set_x(1.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_x()->set_y(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_x()->set_z(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_y()->set_x(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_y()->set_y(1.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_y()->set_z(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_z()->set_x(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_z()->set_y(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    // Set walk command
+    msg.mutable_walk_command()->set_x(0.15f);
+    msg.mutable_walk_command()->set_y(0.15f);
+    msg.mutable_walk_command()->set_z(-0.05f);
+
+    // Set target pose
+    msg.mutable_target_pose()->set_player_id(3);
+    msg.mutable_target_pose()->set_team(robocup::humanoid::Team::BLUE);
+    msg.mutable_target_pose()->mutable_position()->set_x(2.0f);
+    msg.mutable_target_pose()->mutable_position()->set_y(3.0f);
+    msg.mutable_target_pose()->mutable_position()->set_z(-M_PI / 3);
+
+    // Set kick target
+    msg.mutable_kick_target()->set_x(4.5f);
+    msg.mutable_kick_target()->set_y(0.0f);
+
+    // Set state
+    msg.set_state(robocup::humanoid::State::UNPENALISED);
+
+    // Set some others details
+    robocup::humanoid::Robot* other = msg.add_others();
+    other->set_player_id(2);
+    other->set_team(robocup::humanoid::Team::BLUE);
+    other->mutable_position()->set_x(1.0f);
+    other->mutable_position()->set_y(-3.0f);
+    other->mutable_position()->set_z(M_PI / 6);
+    other->mutable_covariance()->mutable_x()->set_x(1.0f);
+    other->mutable_covariance()->mutable_x()->set_y(0.0f);
+    other->mutable_covariance()->mutable_x()->set_z(0.0f);
+    other->mutable_covariance()->mutable_y()->set_x(0.0f);
+    other->mutable_covariance()->mutable_y()->set_y(1.0f);
+    other->mutable_covariance()->mutable_y()->set_z(0.0f);
+    other->mutable_covariance()->mutable_z()->set_x(0.0f);
+    other->mutable_covariance()->mutable_z()->set_y(0.0f);
+    other->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    other = msg.add_others();
+    other->set_player_id(1);
+    other->set_team(robocup::humanoid::Team::RED);
+    other->mutable_position()->set_x(4.5f);
+    other->mutable_position()->set_y(0.0f);
+    other->mutable_position()->set_z(M_PI);
+    other->mutable_covariance()->mutable_x()->set_x(1.0f);
+    other->mutable_covariance()->mutable_x()->set_y(0.0f);
+    other->mutable_covariance()->mutable_x()->set_z(0.0f);
+    other->mutable_covariance()->mutable_y()->set_x(0.0f);
+    other->mutable_covariance()->mutable_y()->set_y(1.0f);
+    other->mutable_covariance()->mutable_y()->set_z(0.0f);
+    other->mutable_covariance()->mutable_z()->set_x(0.0f);
+    other->mutable_covariance()->mutable_z()->set_y(0.0f);
+    other->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    other = msg.add_others();
+    other->set_player_id(0);
+    other->set_team(robocup::humanoid::Team::UNKNOWN_TEAM);
+    other->mutable_position()->set_x(4.0f);
+    other->mutable_position()->set_y(0.0f);
+    other->mutable_position()->set_z(M_PI);
+    other->mutable_covariance()->mutable_x()->set_x(1.0f);
+    other->mutable_covariance()->mutable_x()->set_y(0.0f);
+    other->mutable_covariance()->mutable_x()->set_z(0.0f);
+    other->mutable_covariance()->mutable_y()->set_x(0.0f);
+    other->mutable_covariance()->mutable_y()->set_y(1.0f);
+    other->mutable_covariance()->mutable_y()->set_z(0.0f);
+    other->mutable_covariance()->mutable_z()->set_x(0.0f);
+    other->mutable_covariance()->mutable_z()->set_y(0.0f);
+    other->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    // ******************************
+    // * Official message ends here *
+    // ******************************
+
+    // Dump serialised message to file
+    std::ofstream ofs("base_message.pb", std::ofstream::binary);
+    std::string string_msg;
+    msg.SerializeToString(&string_msg);
+    ofs.write(string_msg.data(), string_msg.size());
+    ofs.close();
+
+    return 0;
+}
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_extended.cpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_extended.cpp
new file mode 100644
index 000000000..256bcffbb
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/encode_extended.cpp
@@ -0,0 +1,139 @@
+#include <google/protobuf/timestamp.pb.h>
+
+#include <chrono>
+#include <cmath>
+#include <fstream>
+#include <iostream>
+#include <string>
+
+#include "robocup_extension.pb.h"
+#include "utils.hpp"
+
+int main(void) {
+    // Create a new message which contains extensions
+    robocup::humanoid::Message msg;
+
+    // Set the transmission timestamp
+    auto d       = std::chrono::system_clock::now().time_since_epoch();
+    auto seconds = std::chrono::duration_cast<std::chrono::seconds>(d);
+    auto nanos   = std::chrono::duration_cast<std::chrono::nanoseconds>(d - seconds);
+    msg.mutable_timestamp()->set_seconds(seconds.count());
+    msg.mutable_timestamp()->set_nanos(nanos.count());
+
+    // Set player details
+    msg.mutable_current_pose()->set_player_id(3);
+    msg.mutable_current_pose()->set_team(robocup::humanoid::Team::BLUE);
+    msg.mutable_current_pose()->mutable_position()->set_x(1.0f);
+    msg.mutable_current_pose()->mutable_position()->set_y(3.0f);
+    msg.mutable_current_pose()->mutable_position()->set_z(M_PI / 3);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_x(1.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_y(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_x()->set_z(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_x(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_y(1.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_y()->set_z(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_x(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_y(0.0f);
+    msg.mutable_current_pose()->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    // Set ball details
+    msg.mutable_ball()->mutable_position()->set_x(2.0f);
+    msg.mutable_ball()->mutable_position()->set_y(3.0f);
+    msg.mutable_ball()->mutable_position()->set_z(1.0f);
+    msg.mutable_ball()->mutable_velocity()->set_x(0.5f);
+    msg.mutable_ball()->mutable_velocity()->set_y(0.5f);
+    msg.mutable_ball()->mutable_velocity()->set_z(-0.5f);
+    msg.mutable_ball()->mutable_covariance()->mutable_x()->set_x(1.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_x()->set_y(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_x()->set_z(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_y()->set_x(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_y()->set_y(1.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_y()->set_z(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_z()->set_x(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_z()->set_y(0.0f);
+    msg.mutable_ball()->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    // Set walk command
+    msg.mutable_walk_command()->set_x(0.15f);
+    msg.mutable_walk_command()->set_y(0.15f);
+    msg.mutable_walk_command()->set_z(-0.05f);
+
+    // Set target pose
+    msg.mutable_target_pose()->set_player_id(3);
+    msg.mutable_target_pose()->set_team(robocup::humanoid::Team::BLUE);
+    msg.mutable_target_pose()->mutable_position()->set_x(2.0f);
+    msg.mutable_target_pose()->mutable_position()->set_y(3.0f);
+    msg.mutable_target_pose()->mutable_position()->set_z(-M_PI / 3);
+
+    // Set kick target
+    msg.mutable_kick_target()->set_x(4.5f);
+    msg.mutable_kick_target()->set_y(0.0f);
+
+    // Set state
+    msg.set_state(robocup::humanoid::State::UNPENALISED);
+
+    // Set some others details
+    robocup::humanoid::Robot* other = msg.add_others();
+    other->set_player_id(2);
+    other->set_team(robocup::humanoid::Team::BLUE);
+    other->mutable_position()->set_x(1.0f);
+    other->mutable_position()->set_y(-3.0f);
+    other->mutable_position()->set_z(M_PI / 6);
+    other->mutable_covariance()->mutable_x()->set_x(1.0f);
+    other->mutable_covariance()->mutable_x()->set_y(0.0f);
+    other->mutable_covariance()->mutable_x()->set_z(0.0f);
+    other->mutable_covariance()->mutable_y()->set_x(0.0f);
+    other->mutable_covariance()->mutable_y()->set_y(1.0f);
+    other->mutable_covariance()->mutable_y()->set_z(0.0f);
+    other->mutable_covariance()->mutable_z()->set_x(0.0f);
+    other->mutable_covariance()->mutable_z()->set_y(0.0f);
+    other->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    other = msg.add_others();
+    other->set_player_id(1);
+    other->set_team(robocup::humanoid::Team::RED);
+    other->mutable_position()->set_x(4.5f);
+    other->mutable_position()->set_y(0.0f);
+    other->mutable_position()->set_z(M_PI);
+    other->mutable_covariance()->mutable_x()->set_x(1.0f);
+    other->mutable_covariance()->mutable_x()->set_y(0.0f);
+    other->mutable_covariance()->mutable_x()->set_z(0.0f);
+    other->mutable_covariance()->mutable_y()->set_x(0.0f);
+    other->mutable_covariance()->mutable_y()->set_y(1.0f);
+    other->mutable_covariance()->mutable_y()->set_z(0.0f);
+    other->mutable_covariance()->mutable_z()->set_x(0.0f);
+    other->mutable_covariance()->mutable_z()->set_y(0.0f);
+    other->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    other = msg.add_others();
+    other->set_player_id(0);
+    other->set_team(robocup::humanoid::Team::UNKNOWN_TEAM);
+    other->mutable_position()->set_x(4.0f);
+    other->mutable_position()->set_y(0.0f);
+    other->mutable_position()->set_z(M_PI);
+    other->mutable_covariance()->mutable_x()->set_x(1.0f);
+    other->mutable_covariance()->mutable_x()->set_y(0.0f);
+    other->mutable_covariance()->mutable_x()->set_z(0.0f);
+    other->mutable_covariance()->mutable_y()->set_x(0.0f);
+    other->mutable_covariance()->mutable_y()->set_y(1.0f);
+    other->mutable_covariance()->mutable_y()->set_z(0.0f);
+    other->mutable_covariance()->mutable_z()->set_x(0.0f);
+    other->mutable_covariance()->mutable_z()->set_y(0.0f);
+    other->mutable_covariance()->mutable_z()->set_z(1.0f);
+
+    // ******************************
+    // * Official message ends here *
+    // ******************************
+
+    // Set max walking speed (an extension value)
+    msg.set_max_walking_speed(0.25f);
+
+    // Dump serialised message to file
+    std::ofstream ofs("extended_message.pb", std::ofstream::binary);
+    std::string string_msg;
+    msg.SerializeToString(&string_msg);
+    ofs.write(string_msg.data(), string_msg.size());
+    ofs.close();
+
+    return 0;
+}
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup.proto b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup.proto
new file mode 100644
index 000000000..5824ed626
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup.proto
@@ -0,0 +1,109 @@
+syntax = "proto3";
+
+package robocup.humanoid;
+
+import "google/protobuf/timestamp.proto";
+
+/// A column vector of two floats
+message fvec2 {
+    float x = 1;
+    float y = 2;
+}
+
+/// A column vector of three floats
+message fvec3 {
+    float x = 1;
+    float y = 2;
+    float z = 3;
+}
+
+/// A matrix of three vectors
+/// Specified as column vectors
+message fmat3 {
+    fvec3 x = 1;
+    fvec3 y = 2;
+    fvec3 z = 3;
+}
+
+/// The detected team of the robot
+enum Team {
+    UNKNOWN_TEAM = 0;
+    BLUE         = 1;
+    RED          = 2;
+}
+
+message Robot {
+    /// ID of the robot, 0 if not known
+    uint32 player_id = 1;
+
+    /// The position of the robot on the field according to the following convention
+    /// x meters along the field with 0 at the centre of the field and positive towards opponent goals
+    /// y meters across the field with 0 at the centre of the field and positive to the left
+    /// θ orientation of the robot (anti-clockwise from the x axis from above the field)
+    fvec3 position = 2;
+
+    /// The covariance measure of the robots [x, y, θ] values
+    /// If this is unavailable leave this unset
+    fmat3 covariance = 3;
+
+    /// Robot team, if known
+    Team team = 4;
+}
+
+message Ball {
+    /// The position of the ball on the field according to the following convention
+    /// x meters along the field with 0 at the centre of the field and positive towards opponent goals
+    /// y meters across the field with 0 at the centre of the field and positive to the left
+    /// z meters above the field with 0 at the surface of the field and positive up
+    fvec3 position = 1;
+
+    /// The velocity of the ball
+    /// x m/s along the field with 0 at the centre of the field and positive towards opponent goals
+    /// y m/s across the field with 0 at the centre of the field and positive to the left
+    /// z m/s above the field with 0 at the surface of the field and positive up
+    /// Set to 0 if not available
+    fvec3 velocity = 2;
+
+    /// The covariance measure of the balls [x, y, z] values
+    /// If this is unavailable leave this unset
+    fmat3 covariance = 3;
+}
+
+/// The current playing state of the robot
+enum State {
+    UNKNOWN_STATE = 0;
+    UNPENALISED   = 1;
+    PENALISED     = 2;
+}
+
+message Message {
+    /// Timestamp of message creation
+    google.protobuf.Timestamp timestamp = 1;
+
+    /// The robots current state
+    State state = 2;
+
+    /// Position, orientation, and covariance of the player on the field
+    Robot current_pose = 3;
+
+    /// The current walk speed of the robot in it's local [x, y, θ] coordinates
+    /// x and y in m/s and θ in rad/s
+    /// positive x being forwards, positive y being strafing to the left, and positive θ being anti-clockwise
+    fvec3 walk_command = 4;
+
+    /// Position and orientation of the players target on the field specified
+    Robot target_pose = 5;
+
+    /// Position that the robot is aiming to kick the ball to
+    /// If no kick is planned set to [0, 0]
+    /// Vector has origin on the ground between the robots feet
+    fvec2 kick_target = 6;
+
+    /// Position, velocity, and covariance of the ball on the field
+    Ball ball = 7;
+
+    /// Position, orientation, and covariance of detected robots on the field
+    repeated Robot others = 8;
+
+    /// IDs 1-100 are reserved for official use
+}
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup_extension.proto b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup_extension.proto
new file mode 100644
index 000000000..57023ec2d
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/robocup_extension.proto
@@ -0,0 +1,162 @@
+syntax = "proto3";
+
+package robocup.humanoid;
+
+import "google/protobuf/timestamp.proto";
+
+/// A column vector of two floats
+message fvec2 {
+    float x = 1;
+    float y = 2;
+}
+
+/// A column vector of three floats
+message fvec3 {
+    float x = 1;
+    float y = 2;
+    float z = 3;
+}
+
+/// A matrix of three vectors
+/// Specified as column vectors
+message fmat3 {
+    fvec3 x = 1;
+    fvec3 y = 2;
+    fvec3 z = 3;
+}
+
+/// The detected team of the robot
+enum Team {
+    UNKNOWN_TEAM = 0;
+    BLUE         = 1;
+    RED          = 2;
+}
+
+message Robot {
+    /// ID of the robot, 0 if not known
+    uint32 player_id = 1;
+
+    /// The position of the robot on the field according to the following convention
+    /// x meters along the field with 0 at the centre of the field and positive towards opponent goals
+    /// y meters across the field with 0 at the centre of the field and positive to the left
+    /// θ orientation of the robot (anti-clockwise from the x axis from above the field)
+    fvec3 position = 2;
+
+    /// The covariance measure of the robots [x, y, θ] values
+    /// If this is unavailable leave this unset
+    fmat3 covariance = 3;
+
+    /// Robot team, if known
+    Team team = 4;
+}
+
+message Ball {
+    /// The position of the ball on the field according to the following convention
+    /// x meters along the field with 0 at the centre of the field and positive towards opponent goals
+    /// y meters across the field with 0 at the centre of the field and positive to the left
+    /// z meters above the field with 0 at the surface of the field and positive up
+    fvec3 position = 1;
+
+    /// The velocity of the ball
+    /// x m/s along the field with 0 at the centre of the field and positive towards opponent goals
+    /// y m/s across the field with 0 at the centre of the field and positive to the left
+    /// z m/s above the field with 0 at the surface of the field and positive up
+    /// Set to 0 if not available
+    fvec3 velocity = 2;
+
+    /// The covariance measure of the balls [x, y, z] values
+    /// If this is unavailable leave this unset
+    fmat3 covariance = 3;
+}
+
+/// The current playing state of the robot
+enum State {
+    UNKNOWN_STATE = 0;
+    UNPENALISED   = 1;
+    PENALISED     = 2;
+}
+
+/// The role of the robot
+enum Role {
+    ROLE_UNDEFINED = 0;
+    ROLE_IDLING=1;
+    ROLE_OTHER=2;
+    ROLE_STRIKER=3;
+    ROLE_SUPPORTER=4;
+    ROLE_DEFENDER=5;
+    ROLE_GOALIE=6;
+}
+
+/// The current action of the robot
+enum Action {
+    ACTION_UNDEFINED=0;
+    ACTION_POSITIONING=1;
+    ACTION_GOING_TO_BALL=2;
+    ACTION_TRYING_TO_SCORE=3;
+    ACTION_WAITING=4;
+    ACTION_KICKING=5;
+    ACTION_SEARCHING=6;
+    ACTION_LOCALIZING=7;
+}
+
+/// The offensive strategy of the robot
+enum OffensiveSide {
+    SIDE_UNDEFINED = 0;
+    SIDE_LEFT = 1;
+    SIDE_MIDDLE = 2;
+    SIDE_RIGHT = 3;
+}
+
+message Message {
+    /// Timestamp of message creation
+    google.protobuf.Timestamp timestamp = 1;
+
+    /// The robots current state
+    State state = 2;
+
+    /// Position, orientation, and covariance of the player on the field
+    Robot current_pose = 3;
+
+    /// The current walk speed of the robot in it's local [x, y, θ] coordinates
+    /// x and y in m/s and θ in rad/s
+    /// positive x being forwards, positive y being strafing to the left, and positive θ being anti-clockwise
+    fvec3 walk_command = 4;
+
+    /// Position and orientation of the players target on the field specified
+    Robot target_pose = 5;
+
+    /// Position that the robot is aiming to kick the ball to
+    /// If no kick is planned set to [0, 0]
+    /// Vector has origin on the ground between the robots feet
+    fvec2 kick_target = 6;
+
+    /// Position, velocity, and covariance of the ball on the field
+    Ball ball = 7;
+
+    /// Position, orientation, and covariance of detected robots on the field
+    repeated Robot others = 8;
+
+    /// IDs 1-100 are reserved for official use
+
+    /****************************
+     * EXTENSIONS GO BELOW HERE *
+     ****************************/
+
+    /// Maximum walking speed of the robot
+    float max_walking_speed = 101;
+
+    /// Time the robot needs to reach the ball;
+    float time_to_ball = 104;
+
+    /// The role of the robot
+    Role role = 105;
+
+    /// The current action of the robot
+    Action action = 106;
+
+    /// The offensive strategy of the robot
+    OffensiveSide offensive_side = 107;
+
+    /// Confidence values of the obstacles
+    repeated float other_robot_confidence = 108;
+}
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/run_all.sh b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/run_all.sh
new file mode 100755
index 000000000..a10d2c1fa
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/run_all.sh
@@ -0,0 +1,26 @@
+#! /bin/bash
+
+mkdir -p build
+cd build
+
+cmake ..
+make
+
+# Encode base message and decode with the base message
+echo "Encode base message and decode with the base message"
+./encode_base && ./decode_base base_message.pb
+
+# Encode base message and decode with the extended message
+echo "Encode base message and decode with the extended message"
+./encode_base && ./decode_extended base_message.pb
+
+# Encode extended message and decode with the base message
+echo "Encode extended message and decode with the base message"
+./encode_extended && ./decode_base extended_message.pb
+
+# Encode extended message and decode with the base message
+echo "Encode extended message and decode with the base message"
+./encode_extended && ./decode_extended extended_message.pb
+
+cd ..
+
diff --git a/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/utils.hpp b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/utils.hpp
new file mode 100644
index 000000000..0342c4d1f
--- /dev/null
+++ b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol/utils.hpp
@@ -0,0 +1,59 @@
+#ifndef PROTOCOL_UTILS_HPP
+#define PROTOCOL_UTILS_HPP
+
+#include <google/protobuf/timestamp.pb.h>
+#include <google/protobuf/util/json_util.h>
+
+#include <chrono>
+#include <iostream>
+#include <string>
+
+inline std::chrono::time_point<std::chrono::system_clock> convert_timestamp(
+    const ::google::protobuf::Timestamp& timestamp) {
+    return std::chrono::time_point<std::chrono::system_clock>(std::chrono::seconds(timestamp.seconds())
+                                                              + std::chrono::nanoseconds(timestamp.nanos()));
+}
+
+template <typename T>
+std::string team_colour(const T& team) {
+    switch (team) {
+        case T::BLUE: return "BLUE";
+        case T::RED: return "RED";
+        default: return "UNKNOWN";
+    }
+}
+
+template <typename T>
+std::string state(const T& state) {
+    switch (state) {
+        case T::PENALISED: return "PENALISED";
+        case T::UNPENALISED: return "UNPENALISED";
+        default: return "UNKNOWN";
+    }
+}
+
+template <typename T>
+inline void print_message(const T& msg) {
+    ::google::protobuf::util::JsonPrintOptions options;
+    options.add_whitespace                = true;
+    options.always_print_primitive_fields = true;
+
+    std::string json_output;
+    ::google::protobuf::util::MessageToJsonString(msg, &json_output, options);
+
+    std::cout << "Parsed Message:" << std::endl;
+    std::cout << json_output << std::endl;
+}
+
+template <typename T>
+inline void parse_message(const std::string& string_msg) {
+    // Parse the message using the official protobuf message format
+    T msg;
+
+    // Parse the received message, this will ignore any IDs that aren't defined in the official message
+    msg.ParseFromString(string_msg);
+
+    print_message<T>(msg);
+}
+
+#endif  // PROTOCOL_UTILS_HPP
\ No newline at end of file
diff --git a/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/__init__.py b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/__init__.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/__init__.py
rename to src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/__init__.py
diff --git a/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py
rename to src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication.py
diff --git a/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/communication.py b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/communication.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/communication.py
rename to src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/communication.py
diff --git a/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/__init__.py b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/__init__.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/__init__.py
rename to src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/__init__.py
diff --git a/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/message_to_team_data_converter.py b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/message_to_team_data_converter.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/message_to_team_data_converter.py
rename to src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/message_to_team_data_converter.py
diff --git a/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/robocup_protocol_converter.py b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/robocup_protocol_converter.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/robocup_protocol_converter.py
rename to src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/robocup_protocol_converter.py
diff --git a/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/state_to_message_converter.py b/src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/state_to_message_converter.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/state_to_message_converter.py
rename to src/bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/converter/state_to_message_converter.py
diff --git a/bitbots_team_communication/bitbots_team_communication/config/team_comm_marker.rviz b/src/bitbots_team_communication/bitbots_team_communication/config/team_comm_marker.rviz
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/config/team_comm_marker.rviz
rename to src/bitbots_team_communication/bitbots_team_communication/config/team_comm_marker.rviz
diff --git a/bitbots_team_communication/bitbots_team_communication/config/team_communication_config.yaml b/src/bitbots_team_communication/bitbots_team_communication/config/team_communication_config.yaml
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/config/team_communication_config.yaml
rename to src/bitbots_team_communication/bitbots_team_communication/config/team_communication_config.yaml
diff --git a/bitbots_team_communication/bitbots_team_communication/docs/_static/logo.png b/src/bitbots_team_communication/bitbots_team_communication/docs/_static/logo.png
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/docs/_static/logo.png
rename to src/bitbots_team_communication/bitbots_team_communication/docs/_static/logo.png
diff --git a/bitbots_team_communication/bitbots_team_communication/docs/conf.py b/src/bitbots_team_communication/bitbots_team_communication/docs/conf.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/docs/conf.py
rename to src/bitbots_team_communication/bitbots_team_communication/docs/conf.py
diff --git a/bitbots_team_communication/bitbots_team_communication/docs/index.rst b/src/bitbots_team_communication/bitbots_team_communication/docs/index.rst
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/docs/index.rst
rename to src/bitbots_team_communication/bitbots_team_communication/docs/index.rst
diff --git a/bitbots_team_communication/bitbots_team_communication/launch/team_comm.launch b/src/bitbots_team_communication/bitbots_team_communication/launch/team_comm.launch
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/launch/team_comm.launch
rename to src/bitbots_team_communication/bitbots_team_communication/launch/team_comm.launch
diff --git a/bitbots_team_communication/bitbots_team_communication/launch/team_comm_standalone.launch b/src/bitbots_team_communication/bitbots_team_communication/launch/team_comm_standalone.launch
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/launch/team_comm_standalone.launch
rename to src/bitbots_team_communication/bitbots_team_communication/launch/team_comm_standalone.launch
diff --git a/bitbots_team_communication/bitbots_team_communication/launch/team_comm_test_marker.launch b/src/bitbots_team_communication/bitbots_team_communication/launch/team_comm_test_marker.launch
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/launch/team_comm_test_marker.launch
rename to src/bitbots_team_communication/bitbots_team_communication/launch/team_comm_test_marker.launch
diff --git a/bitbots_team_communication/bitbots_team_communication/mypy.ini b/src/bitbots_team_communication/bitbots_team_communication/mypy.ini
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/mypy.ini
rename to src/bitbots_team_communication/bitbots_team_communication/mypy.ini
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similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/package.xml
rename to src/bitbots_team_communication/bitbots_team_communication/package.xml
diff --git a/bitbots_team_communication/bitbots_team_communication/scripts/show_team_comm.py b/src/bitbots_team_communication/bitbots_team_communication/scripts/show_team_comm.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/scripts/show_team_comm.py
rename to src/bitbots_team_communication/bitbots_team_communication/scripts/show_team_comm.py
diff --git a/bitbots_team_communication/bitbots_team_communication/scripts/team_comm.py b/src/bitbots_team_communication/bitbots_team_communication/scripts/team_comm.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/scripts/team_comm.py
rename to src/bitbots_team_communication/bitbots_team_communication/scripts/team_comm.py
diff --git a/bitbots_team_communication/bitbots_team_communication/scripts/team_comm_test_marker.py b/src/bitbots_team_communication/bitbots_team_communication/scripts/team_comm_test_marker.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/scripts/team_comm_test_marker.py
rename to src/bitbots_team_communication/bitbots_team_communication/scripts/team_comm_test_marker.py
diff --git a/bitbots_team_communication/bitbots_team_communication/scripts/test_team_comm.py b/src/bitbots_team_communication/bitbots_team_communication/scripts/test_team_comm.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/scripts/test_team_comm.py
rename to src/bitbots_team_communication/bitbots_team_communication/scripts/test_team_comm.py
diff --git a/bitbots_team_communication/bitbots_team_communication/scripts/tmux_testing_setup.zsh b/src/bitbots_team_communication/bitbots_team_communication/scripts/tmux_testing_setup.zsh
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/scripts/tmux_testing_setup.zsh
rename to src/bitbots_team_communication/bitbots_team_communication/scripts/tmux_testing_setup.zsh
diff --git a/bitbots_team_communication/bitbots_team_communication/setup.cfg b/src/bitbots_team_communication/bitbots_team_communication/setup.cfg
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/setup.cfg
rename to src/bitbots_team_communication/bitbots_team_communication/setup.cfg
diff --git a/bitbots_team_communication/bitbots_team_communication/setup.py b/src/bitbots_team_communication/bitbots_team_communication/setup.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/setup.py
rename to src/bitbots_team_communication/bitbots_team_communication/setup.py
diff --git a/bitbots_team_communication/bitbots_team_communication/test/__init__.py b/src/bitbots_team_communication/bitbots_team_communication/test/__init__.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/test/__init__.py
rename to src/bitbots_team_communication/bitbots_team_communication/test/__init__.py
diff --git a/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_message_to_team_data_converter.ambr b/src/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_message_to_team_data_converter.ambr
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_message_to_team_data_converter.ambr
rename to src/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_message_to_team_data_converter.ambr
diff --git a/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_robocup_protocol_converter.ambr b/src/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_robocup_protocol_converter.ambr
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_robocup_protocol_converter.ambr
rename to src/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_robocup_protocol_converter.ambr
diff --git a/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr b/src/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr
similarity index 83%
rename from bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr
rename to src/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr
index 972bf4400..faca72f13 100644
--- a/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr
+++ b/src/bitbots_team_communication/bitbots_team_communication/test/converter/__snapshots__/test_state_to_message_converter.ambr
@@ -13,19 +13,19 @@
   }
   covariance {
     x {
-      x: 1.0
-      y: 2.0
-      z: 3.0
+      x: 1
+      y: 2
+      z: 3
     }
     y {
-      x: 4.0
-      y: 5.0
-      z: 6.0
+      x: 4
+      y: 5
+      z: 6
     }
     z {
-      x: 7.0
-      y: 8.0
-      z: 9.0
+      x: 7
+      y: 8
+      z: 9
     }
   }
   
@@ -42,19 +42,19 @@
 # name: test_convert_current_pose.1
   '''
   x {
-    x: 1.0
-    y: 2.0
-    z: 3.0
+    x: 1
+    y: 2
+    z: 3
   }
   y {
-    x: 4.0
-    y: 5.0
-    z: 6.0
+    x: 4
+    y: 5
+    z: 6
   }
   z {
-    x: 7.0
-    y: 8.0
-    z: 9.0
+    x: 7
+    y: 8
+    z: 9
   }
   
   '''
diff --git a/bitbots_team_communication/bitbots_team_communication/test/converter/test_message_to_team_data_converter.py b/src/bitbots_team_communication/bitbots_team_communication/test/converter/test_message_to_team_data_converter.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/test/converter/test_message_to_team_data_converter.py
rename to src/bitbots_team_communication/bitbots_team_communication/test/converter/test_message_to_team_data_converter.py
diff --git a/bitbots_team_communication/bitbots_team_communication/test/converter/test_robocup_protocol_converter.py b/src/bitbots_team_communication/bitbots_team_communication/test/converter/test_robocup_protocol_converter.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/test/converter/test_robocup_protocol_converter.py
rename to src/bitbots_team_communication/bitbots_team_communication/test/converter/test_robocup_protocol_converter.py
diff --git a/bitbots_team_communication/bitbots_team_communication/test/converter/test_state_to_message_converter.py b/src/bitbots_team_communication/bitbots_team_communication/test/converter/test_state_to_message_converter.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_communication/test/converter/test_state_to_message_converter.py
rename to src/bitbots_team_communication/bitbots_team_communication/test/converter/test_state_to_message_converter.py
diff --git a/bitbots_team_communication/bitbots_team_data_sim_rqt/bitbots_team_data_sim_rqt/__init__.py b/src/bitbots_team_communication/bitbots_team_data_sim_rqt/bitbots_team_data_sim_rqt/__init__.py
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rename from bitbots_team_communication/bitbots_team_data_sim_rqt/bitbots_team_data_sim_rqt/__init__.py
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diff --git a/bitbots_team_communication/bitbots_team_data_sim_rqt/bitbots_team_data_sim_rqt/team_data_ui.py b/src/bitbots_team_communication/bitbots_team_data_sim_rqt/bitbots_team_data_sim_rqt/team_data_ui.py
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similarity index 100%
rename from bitbots_team_communication/bitbots_team_data_sim_rqt/resource/RobotTeamDataSimulator.ui
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diff --git a/bitbots_team_communication/bitbots_team_data_sim_rqt/test/test_mypy.py b/src/bitbots_team_communication/bitbots_team_data_sim_rqt/test/test_mypy.py
similarity index 100%
rename from bitbots_team_communication/bitbots_team_data_sim_rqt/test/test_mypy.py
rename to src/bitbots_team_communication/bitbots_team_data_sim_rqt/test/test_mypy.py
diff --git a/bitbots_vision/README.md b/src/bitbots_vision/README.md
similarity index 100%
rename from bitbots_vision/README.md
rename to src/bitbots_vision/README.md
diff --git a/bitbots_vision/bitbots_vision/__init__.py b/src/bitbots_vision/bitbots_vision/__init__.py
similarity index 100%
rename from bitbots_vision/bitbots_vision/__init__.py
rename to src/bitbots_vision/bitbots_vision/__init__.py
diff --git a/bitbots_vision/bitbots_vision/params.py b/src/bitbots_vision/bitbots_vision/params.py
similarity index 100%
rename from bitbots_vision/bitbots_vision/params.py
rename to src/bitbots_vision/bitbots_vision/params.py
diff --git a/bitbots_vision/bitbots_vision/vision.py b/src/bitbots_vision/bitbots_vision/vision.py
similarity index 95%
rename from bitbots_vision/bitbots_vision/vision.py
rename to src/bitbots_vision/bitbots_vision/vision.py
index 9cc31131a..74dc60b4f 100755
--- a/bitbots_vision/bitbots_vision/vision.py
+++ b/src/bitbots_vision/bitbots_vision/vision.py
@@ -3,7 +3,6 @@
 from typing import Optional
 
 import rclpy
-from ament_index_python.packages import get_package_share_directory
 from cv_bridge import CvBridge
 from rcl_interfaces.msg import SetParametersResult
 from rclpy.experimental.events_executor import EventsExecutor
@@ -39,10 +38,6 @@ def __init__(self) -> None:
 
         logger.debug(f"Entering {self.__class__.__name__} constructor")
 
-        self._package_path = get_package_share_directory("bitbots_vision")
-
-        yoeo.YOEOObjectManager.set_package_directory(self._package_path)
-
         self._config: dict = {}
         self._cv_bridge = CvBridge()
 
diff --git a/bitbots_vision/bitbots_vision/vision_modules/__init__.py b/src/bitbots_vision/bitbots_vision/vision_modules/__init__.py
similarity index 100%
rename from bitbots_vision/bitbots_vision/vision_modules/__init__.py
rename to src/bitbots_vision/bitbots_vision/vision_modules/__init__.py
diff --git a/bitbots_vision/bitbots_vision/vision_modules/candidate.py b/src/bitbots_vision/bitbots_vision/vision_modules/candidate.py
similarity index 100%
rename from bitbots_vision/bitbots_vision/vision_modules/candidate.py
rename to src/bitbots_vision/bitbots_vision/vision_modules/candidate.py
diff --git a/bitbots_vision/bitbots_vision/vision_modules/debug.py b/src/bitbots_vision/bitbots_vision/vision_modules/debug.py
similarity index 100%
rename from bitbots_vision/bitbots_vision/vision_modules/debug.py
rename to src/bitbots_vision/bitbots_vision/vision_modules/debug.py
diff --git a/bitbots_vision/bitbots_vision/vision_modules/ros_utils.py b/src/bitbots_vision/bitbots_vision/vision_modules/ros_utils.py
similarity index 100%
rename from bitbots_vision/bitbots_vision/vision_modules/ros_utils.py
rename to src/bitbots_vision/bitbots_vision/vision_modules/ros_utils.py
diff --git a/bitbots_vision/bitbots_vision/vision_modules/yoeo/__init__.py b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/__init__.py
similarity index 100%
rename from bitbots_vision/bitbots_vision/vision_modules/yoeo/__init__.py
rename to src/bitbots_vision/bitbots_vision/vision_modules/yoeo/__init__.py
diff --git a/bitbots_vision/bitbots_vision/vision_modules/yoeo/model_config.py b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/model_config.py
similarity index 100%
rename from bitbots_vision/bitbots_vision/vision_modules/yoeo/model_config.py
rename to src/bitbots_vision/bitbots_vision/vision_modules/yoeo/model_config.py
diff --git a/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
similarity index 85%
rename from bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
rename to src/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
index 3aadfb974..caacbd1ff 100644
--- a/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
+++ b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py
@@ -1,4 +1,4 @@
-import os.path as osp
+import os
 from typing import Optional
 
 import rclpy
@@ -27,18 +27,8 @@ class YOEOObjectManager:
     _framework: str = ""
     _model_config: ModelConfig = ModelConfig()
     _model_path: str = ""
-    _package_directory: str = ""
-    _package_directory_set: bool = False
     _yoeo_instance: Optional[yoeo_handlers.IYOEOHandler] = None
 
-    @classmethod
-    def set_package_directory(cls, package_directory: str) -> None:
-        """
-        Set the package directory. Required before first use in order to have the correct paths for the models.
-        """
-        cls._package_directory = package_directory
-        cls._package_directory_set = True
-
     @classmethod
     def get(cls) -> yoeo_handlers.IYOEOHandler:
         """
@@ -73,13 +63,18 @@ def is_team_color_detection_supported(cls) -> bool:
 
     @classmethod
     def configure(cls, config: dict) -> None:
-        if not cls._package_directory_set:
-            logger.error("Package directory not set!")
-
         framework = config["yoeo_framework"]
         cls._verify_framework_parameter(framework)
 
-        model_path = cls._get_full_model_path(config["yoeo_model_path"])
+        conda_prefix = os.environ.get("CONDA_PREFIX", "")
+        if not conda_prefix:
+            raise ValueError(
+                "CONDA_PREFIX environment variable not set! We now expect YOEO models to be shared as conda packages."
+            )
+
+        # Assemble model package name and look at its share directory
+        model_path = os.path.join(conda_prefix, "share", "bitbots_model_" + config["yoeo_model_path"])
+
         cls._verify_required_neural_network_files_exist(framework, model_path)
 
         cls._configure_yoeo_instance(config, framework, model_path)
@@ -93,10 +88,6 @@ def _verify_framework_parameter(framework: str) -> None:
         if framework not in {"openvino", "onnx", "pytorch", "tvm"}:
             logger.error(f"Unknown neural network framework '{framework}'")
 
-    @classmethod
-    def _get_full_model_path(cls, model_path: str) -> str:
-        return osp.join(cls._package_directory, "models", model_path)
-
     @classmethod
     def _verify_required_neural_network_files_exist(cls, framework: str, model_path: str) -> None:
         if not cls._model_files_exist(framework, model_path):
diff --git a/bitbots_vision/bitbots_vision/vision_modules/yoeo/utils.py b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/utils.py
similarity index 100%
rename from bitbots_vision/bitbots_vision/vision_modules/yoeo/utils.py
rename to src/bitbots_vision/bitbots_vision/vision_modules/yoeo/utils.py
diff --git a/bitbots_vision/bitbots_vision/vision_modules/yoeo/vision_components.py b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/vision_components.py
similarity index 100%
rename from bitbots_vision/bitbots_vision/vision_modules/yoeo/vision_components.py
rename to src/bitbots_vision/bitbots_vision/vision_modules/yoeo/vision_components.py
diff --git a/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py
similarity index 99%
rename from bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py
rename to src/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py
index 9409dc3ea..5e0b90c92 100644
--- a/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py
+++ b/src/bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py
@@ -229,7 +229,7 @@ def __init__(
             raise ImportError("Could not import onnxruntime. The selected handler requires this package.") from e
 
         logger.debug(f"Loading file...\n\t{onnx_path}")
-        self._inference_session = onnxruntime.InferenceSession(onnx_path)
+        self._inference_session = onnxruntime.InferenceSession(onnx_path, providers=["WebGpuExecutionProvider"])
         self._input_layer = self._inference_session.get_inputs()[0]
 
         self._img_preprocessor: utils.IImagePreProcessor = utils.DefaultImagePreProcessor(
diff --git a/bitbots_vision/config/visionparams.yaml b/src/bitbots_vision/config/visionparams.yaml
similarity index 100%
rename from bitbots_vision/config/visionparams.yaml
rename to src/bitbots_vision/config/visionparams.yaml
diff --git a/bitbots_vision/config/visionparams_sim.yaml b/src/bitbots_vision/config/visionparams_sim.yaml
similarity index 93%
rename from bitbots_vision/config/visionparams_sim.yaml
rename to src/bitbots_vision/config/visionparams_sim.yaml
index 016b4ec89..9fefa9f33 100644
--- a/bitbots_vision/config/visionparams_sim.yaml
+++ b/src/bitbots_vision/config/visionparams_sim.yaml
@@ -20,7 +20,7 @@ bitbots_vision:
     yoeo_model_path: '2022_10_07_flo_torso21_yoeox'
     yoeo_nms_threshold: 0.4  # Non-maximum suppression threshold
     yoeo_conf_threshold: 0.5  # YOEO confidence threshold
-    yoeo_framework: 'pytorch'  # The neural network framework that should be used ['openvino', 'onnx', 'pytorch', 'tvm']
+    yoeo_framework: 'onnx'  # The neural network framework that should be used ['openvino', 'onnx', 'pytorch', 'tvm']
 
     ball_candidate_rating_threshold: 0.5 # A threshold for the minimum candidate rating
     ball_candidate_max_count: 1 # The maximum number of balls that should be published
diff --git a/bitbots_vision/docs/_static/logo.png b/src/bitbots_vision/docs/_static/logo.png
similarity index 100%
rename from bitbots_vision/docs/_static/logo.png
rename to src/bitbots_vision/docs/_static/logo.png
diff --git a/bitbots_vision/docs/conf.py b/src/bitbots_vision/docs/conf.py
similarity index 100%
rename from bitbots_vision/docs/conf.py
rename to src/bitbots_vision/docs/conf.py
diff --git a/bitbots_vision/docs/index.rst b/src/bitbots_vision/docs/index.rst
similarity index 100%
rename from bitbots_vision/docs/index.rst
rename to src/bitbots_vision/docs/index.rst
diff --git a/bitbots_vision/docs/manual/tutorials/basler_camera_setting.rst b/src/bitbots_vision/docs/manual/tutorials/basler_camera_setting.rst
similarity index 100%
rename from bitbots_vision/docs/manual/tutorials/basler_camera_setting.rst
rename to src/bitbots_vision/docs/manual/tutorials/basler_camera_setting.rst
diff --git a/bitbots_vision/docs/manual/tutorials/train_yolo.rst b/src/bitbots_vision/docs/manual/tutorials/train_yolo.rst
similarity index 100%
rename from bitbots_vision/docs/manual/tutorials/train_yolo.rst
rename to src/bitbots_vision/docs/manual/tutorials/train_yolo.rst
diff --git a/bitbots_vision/docs/manual/tutorials/tvm.rst b/src/bitbots_vision/docs/manual/tutorials/tvm.rst
similarity index 100%
rename from bitbots_vision/docs/manual/tutorials/tvm.rst
rename to src/bitbots_vision/docs/manual/tutorials/tvm.rst
diff --git a/bitbots_vision/docs/manual/tutorials/yolo_open_vino.rst b/src/bitbots_vision/docs/manual/tutorials/yolo_open_vino.rst
similarity index 100%
rename from bitbots_vision/docs/manual/tutorials/yolo_open_vino.rst
rename to src/bitbots_vision/docs/manual/tutorials/yolo_open_vino.rst
diff --git a/bitbots_vision/docs/manual/yoeo_vision.rst b/src/bitbots_vision/docs/manual/yoeo_vision.rst
similarity index 100%
rename from bitbots_vision/docs/manual/yoeo_vision.rst
rename to src/bitbots_vision/docs/manual/yoeo_vision.rst
diff --git a/bitbots_vision/launch/vision.launch b/src/bitbots_vision/launch/vision.launch
similarity index 100%
rename from bitbots_vision/launch/vision.launch
rename to src/bitbots_vision/launch/vision.launch
diff --git a/bitbots_vision/package.xml b/src/bitbots_vision/package.xml
similarity index 100%
rename from bitbots_vision/package.xml
rename to src/bitbots_vision/package.xml
diff --git a/bitbots_vision/resource/bitbots_vision b/src/bitbots_vision/resource/bitbots_vision
similarity index 100%
rename from bitbots_vision/resource/bitbots_vision
rename to src/bitbots_vision/resource/bitbots_vision
diff --git a/bitbots_vision/rosdoc.yaml b/src/bitbots_vision/rosdoc.yaml
similarity index 100%
rename from bitbots_vision/rosdoc.yaml
rename to src/bitbots_vision/rosdoc.yaml
diff --git a/bitbots_vision/scripts/extract_from_rosbag.py b/src/bitbots_vision/scripts/extract_from_rosbag.py
similarity index 100%
rename from bitbots_vision/scripts/extract_from_rosbag.py
rename to src/bitbots_vision/scripts/extract_from_rosbag.py
diff --git a/bitbots_vision/scripts/imgclean.sh b/src/bitbots_vision/scripts/imgclean.sh
similarity index 100%
rename from bitbots_vision/scripts/imgclean.sh
rename to src/bitbots_vision/scripts/imgclean.sh
diff --git a/bitbots_vision/scripts/rosbag_remapper.py b/src/bitbots_vision/scripts/rosbag_remapper.py
similarity index 100%
rename from bitbots_vision/scripts/rosbag_remapper.py
rename to src/bitbots_vision/scripts/rosbag_remapper.py
diff --git a/bitbots_vision/setup.cfg b/src/bitbots_vision/setup.cfg
similarity index 100%
rename from bitbots_vision/setup.cfg
rename to src/bitbots_vision/setup.cfg
diff --git a/bitbots_vision/setup.py b/src/bitbots_vision/setup.py
similarity index 100%
rename from bitbots_vision/setup.py
rename to src/bitbots_vision/setup.py
diff --git a/bitbots_vision/test/mypy.ini b/src/bitbots_vision/test/mypy.ini
similarity index 100%
rename from bitbots_vision/test/mypy.ini
rename to src/bitbots_vision/test/mypy.ini
diff --git a/bitbots_vision/test/test_mypy.py b/src/bitbots_vision/test/test_mypy.py
similarity index 100%
rename from bitbots_vision/test/test_mypy.py
rename to src/bitbots_vision/test/test_mypy.py
diff --git a/bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/.gitignore b/src/bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/.gitignore
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/.gitignore
rename to src/bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/.gitignore
diff --git a/bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/__init__.py b/src/bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/__init__.py
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/__init__.py
rename to src/bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/__init__.py
diff --git a/bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/ball_filter.py b/src/bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/ball_filter.py
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/ball_filter.py
rename to src/bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/ball_filter.py
diff --git a/bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/ball_sim.py b/src/bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/ball_sim.py
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/ball_sim.py
rename to src/bitbots_world_model/bitbots_ball_filter/bitbots_ball_filter/ball_sim.py
diff --git a/bitbots_world_model/bitbots_ball_filter/config/ball_filter_parameters.yaml b/src/bitbots_world_model/bitbots_ball_filter/config/ball_filter_parameters.yaml
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/config/ball_filter_parameters.yaml
rename to src/bitbots_world_model/bitbots_ball_filter/config/ball_filter_parameters.yaml
diff --git a/bitbots_world_model/bitbots_ball_filter/config/config.rviz b/src/bitbots_world_model/bitbots_ball_filter/config/config.rviz
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/config/config.rviz
rename to src/bitbots_world_model/bitbots_ball_filter/config/config.rviz
diff --git a/bitbots_world_model/bitbots_ball_filter/launch/ball_filter.launch b/src/bitbots_world_model/bitbots_ball_filter/launch/ball_filter.launch
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/launch/ball_filter.launch
rename to src/bitbots_world_model/bitbots_ball_filter/launch/ball_filter.launch
diff --git a/bitbots_world_model/bitbots_ball_filter/package.xml b/src/bitbots_world_model/bitbots_ball_filter/package.xml
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/package.xml
rename to src/bitbots_world_model/bitbots_ball_filter/package.xml
diff --git a/bitbots_world_model/bitbots_ball_filter/resource/bitbots_ball_filter b/src/bitbots_world_model/bitbots_ball_filter/resource/bitbots_ball_filter
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/resource/bitbots_ball_filter
rename to src/bitbots_world_model/bitbots_ball_filter/resource/bitbots_ball_filter
diff --git a/bitbots_world_model/bitbots_ball_filter/setup.cfg b/src/bitbots_world_model/bitbots_ball_filter/setup.cfg
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/setup.cfg
rename to src/bitbots_world_model/bitbots_ball_filter/setup.cfg
diff --git a/bitbots_world_model/bitbots_ball_filter/setup.py b/src/bitbots_world_model/bitbots_ball_filter/setup.py
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/setup.py
rename to src/bitbots_world_model/bitbots_ball_filter/setup.py
diff --git a/bitbots_world_model/bitbots_ball_filter/test/mypy.ini b/src/bitbots_world_model/bitbots_ball_filter/test/mypy.ini
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/test/mypy.ini
rename to src/bitbots_world_model/bitbots_ball_filter/test/mypy.ini
diff --git a/bitbots_world_model/bitbots_ball_filter/test/test_mypy.py b/src/bitbots_world_model/bitbots_ball_filter/test/test_mypy.py
similarity index 100%
rename from bitbots_world_model/bitbots_ball_filter/test/test_mypy.py
rename to src/bitbots_world_model/bitbots_ball_filter/test/test_mypy.py
diff --git a/bitbots_world_model/bitbots_robot_filter/bitbots_robot_filter/__init__.py b/src/bitbots_world_model/bitbots_robot_filter/bitbots_robot_filter/__init__.py
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/bitbots_robot_filter/__init__.py
rename to src/bitbots_world_model/bitbots_robot_filter/bitbots_robot_filter/__init__.py
diff --git a/bitbots_world_model/bitbots_robot_filter/bitbots_robot_filter/filter.py b/src/bitbots_world_model/bitbots_robot_filter/bitbots_robot_filter/filter.py
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/bitbots_robot_filter/filter.py
rename to src/bitbots_world_model/bitbots_robot_filter/bitbots_robot_filter/filter.py
diff --git a/bitbots_world_model/bitbots_robot_filter/config/params.yaml b/src/bitbots_world_model/bitbots_robot_filter/config/params.yaml
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/config/params.yaml
rename to src/bitbots_world_model/bitbots_robot_filter/config/params.yaml
diff --git a/bitbots_world_model/bitbots_robot_filter/launch/robot_filter.launch b/src/bitbots_world_model/bitbots_robot_filter/launch/robot_filter.launch
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/launch/robot_filter.launch
rename to src/bitbots_world_model/bitbots_robot_filter/launch/robot_filter.launch
diff --git a/bitbots_world_model/bitbots_robot_filter/package.xml b/src/bitbots_world_model/bitbots_robot_filter/package.xml
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/package.xml
rename to src/bitbots_world_model/bitbots_robot_filter/package.xml
diff --git a/bitbots_world_model/bitbots_robot_filter/resource/bitbots_robot_filter b/src/bitbots_world_model/bitbots_robot_filter/resource/bitbots_robot_filter
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/resource/bitbots_robot_filter
rename to src/bitbots_world_model/bitbots_robot_filter/resource/bitbots_robot_filter
diff --git a/bitbots_world_model/bitbots_robot_filter/setup.cfg b/src/bitbots_world_model/bitbots_robot_filter/setup.cfg
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/setup.cfg
rename to src/bitbots_world_model/bitbots_robot_filter/setup.cfg
diff --git a/bitbots_world_model/bitbots_robot_filter/setup.py b/src/bitbots_world_model/bitbots_robot_filter/setup.py
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/setup.py
rename to src/bitbots_world_model/bitbots_robot_filter/setup.py
diff --git a/bitbots_world_model/bitbots_robot_filter/test/mypy.ini b/src/bitbots_world_model/bitbots_robot_filter/test/mypy.ini
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/test/mypy.ini
rename to src/bitbots_world_model/bitbots_robot_filter/test/mypy.ini
diff --git a/bitbots_world_model/bitbots_robot_filter/test/test_copyright.py b/src/bitbots_world_model/bitbots_robot_filter/test/test_copyright.py
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/test/test_copyright.py
rename to src/bitbots_world_model/bitbots_robot_filter/test/test_copyright.py
diff --git a/bitbots_world_model/bitbots_robot_filter/test/test_mypy.py b/src/bitbots_world_model/bitbots_robot_filter/test/test_mypy.py
similarity index 100%
rename from bitbots_world_model/bitbots_robot_filter/test/test_mypy.py
rename to src/bitbots_world_model/bitbots_robot_filter/test/test_mypy.py
diff --git a/sync_includes_wolfgang_nuc.yaml b/sync_includes_wolfgang_nuc.yaml
deleted file mode 100644
index 9ed199c92..000000000
--- a/sync_includes_wolfgang_nuc.yaml
+++ /dev/null
@@ -1,78 +0,0 @@
-include:
-    - bitbots_behavior:
-        - bitbots_blackboard
-        - bitbots_body_behavior
-    - bitbots_lowlevel:
-        - bitbots_buttons
-        - bitbots_ros_control
-    - bitbots_misc:
-        - bitbots_basler_camera
-        - bitbots_bringup
-        - bitbots_diagnostic
-        - bitbots_docs
-        - bitbots_education
-        - bitbots_extrinsic_calibration
-        - bitbots_ipm
-        - bitbots_parameter_blackboard
-        - bitbots_robot_description
-        - bitbots_teleop
-        - bitbots_tts
-        - bitbots_utils
-        - system_monitor
-    - bitbots_motion:
-        - bitbots_animation_rqt
-        - bitbots_animation_server
-        - bitbots_dynamic_kick
-        - bitbots_dynup
-        - bitbots_hcm
-        - bitbots_head_mover
-        - bitbots_moveit_bindings
-        - bitbots_quintic_walk
-        - bitbots_splines
-    - bitbots_msgs
-    - bitbots_navigation:
-        - bitbots_localization
-        - bitbots_localization_handler
-        - bitbots_odometry
-        - bitbots_path_planning
-    - bitbots_team_communication:
-        - bitbots_team_communication
-        - bitbots_team_data_sim_rqt
-    - bitbots_vision
-    - bitbots_robot:
-        - wolfgang_animations
-        - wolfgang_description
-        - wolfgang_moveit_config
-    - bitbots_world_model:
-        - bitbots_ball_filter
-        - bitbots_robot_filter
-    - lib:
-        - audio_common
-        - bio_ik
-        - bio_ik_msgs
-        - biped_interfaces
-        - bitbots_tf_buffer
-        - dynamic_stack_decider
-        - dynamixel-workbench
-        - DynamixelSDK
-        - game_controller_hl
-        - game_controller_hl_interfaces
-        - humanoid_base_footprint
-        - ipm
-        - particle_filter
-        - ros2_numpy
-        - ros2_python_extension
-        - soccer_ipm
-        - udp_bridge
-    - requirements
-    - scripts
-exclude:
-    - "*.bag"
-    - "*.pyc"
-    - "*.git"
-    - "*.github"
-    - "cmake-build-debug"
-    - ".idea"
-    - ".vscode"
-    - "__pycache__"
-    - "bitbots_parameter_blackboard/config/game_settings.yaml"
diff --git a/workspace.repos b/workspace.repos
deleted file mode 100644
index 672de0f73..000000000
--- a/workspace.repos
+++ /dev/null
@@ -1,77 +0,0 @@
-repositories:
-  bitbots_team_communication/bitbots_team_communication/bitbots_team_communication/RobocupProtocol:
-    type: git
-    url: git@github.com:bit-bots/RobocupProtocol.git
-    version: master
-  lib/audio_common:
-    type: git
-    url: git@github.com:bit-bots/audio_common.git
-    version: ros2
-  lib/bio_ik:
-    type: git
-    url: git@github.com:bit-bots/bio_ik.git
-    version: ros2
-  lib/bio_ik_msgs:
-    type: git
-    url: git@github.com:bit-bots/bio_ik_msgs.git
-    version: master
-  lib/bitbots_tf_buffer:
-    type: git
-    url: git@github.com:bit-bots/bitbots_tf_buffer.git
-    version: main
-  lib/biped_interfaces:
-    type: git
-    url: git@github.com:ros-sports/biped_interfaces.git
-    version: rolling
-  lib/dynamic_stack_decider:
-    type: git
-    url: git@github.com:bit-bots/dynamic_stack_decider.git
-    version: master
-  lib/DynamixelSDK:
-    type: git
-    url: git@github.com:bit-bots/DynamixelSDK.git
-    version: master
-  lib/dynamixel-workbench:
-    type: git
-    url: git@github.com:bit-bots/dynamixel-workbench.git
-    version: master
-  lib/game_controller_hl:
-    type: git
-    url: git@github.com:ros-sports/game_controller_hl.git
-    version: rolling
-  lib/hlvs_player:
-    type: git
-    url: git@github.com:ros-sports/hlvs_player.git
-    version: main
-  lib/humanoid_base_footprint:
-    type: git
-    url: git@github.com:ros-sports/humanoid_base_footprint.git
-    version: master
-  lib/ipm:
-    type: git
-    url: git@github.com:ros-sports/ipm.git
-    version: rolling
-  lib/particle_filter:
-    type: git
-    url: git@github.com:bit-bots/particle_filter.git
-    version: master
-  lib/ros2_numpy:
-    type: git
-    url: git@github.com:bit-bots/ros2_numpy.git
-    version: rolling
-  lib/ros2_python_extension:
-    type: git
-    url: git@github.com:bit-bots/ros2_python_extension.git
-    version: main
-  lib/soccer_field_map_generator:
-    type: git
-    url: git@github.com:ros-sports/soccer_field_map_generator.git
-    version: rolling
-  lib/soccer_ipm:
-    type: git
-    url: git@github.com:ros-sports/soccer_ipm.git
-    version: rolling
-  lib/udp_bridge:
-    type: git
-    url: git@github.com:bit-bots/udp_bridge.git
-    version: master