diff --git a/.devcontainer/development/devcontainer.json b/.devcontainer/development/devcontainer.json
new file mode 100644
index 0000000..c7fffa9
--- /dev/null
+++ b/.devcontainer/development/devcontainer.json
@@ -0,0 +1,26 @@
+{
+  "name": "Development Container",
+  "image": "aaucns/flightstack-vscode:dev",
+  "runArgs": [
+    "--privileged",
+    "--network=host",
+    "--pid=host"
+  ],
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}"
+  },
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/${localWorkspaceFolderBasename},type=bind",
+  "workspaceFolder": "/home/vscode/${localWorkspaceFolderBasename}",
+  "mounts": [
+    "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind",
+    "source=${localEnv:HOME}${localEnv:USERPROFILE}/.bash_aliases,target=/home/vscode/.bash_aliases,type=bind",
+    "source=${localEnv:HOME}${localEnv:USERPROFILE}/.ssh,target=/home/vscode/.ssh,type=bind"
+  ],
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools-extension-pack"
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/.gitmodules b/.gitmodules
index 80a5413..5cda464 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -46,3 +46,6 @@
 [submodule "src/mavlink-gbp-release"]
 	path = src/mavlink-gbp-release
 	url = https://github.com/aau-cns/mavlink-gbp-release.git
+[submodule "src/mocap_bridge"]
+	path = src/mocap_bridge
+	url = https://github.com/aau-cns/mocap_bridge.git
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..dd4b7af
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,24 @@
+{
+    "configurations": [
+        {
+            "browse": {
+                "databaseFilename": "${default}",
+                "limitSymbolsToIncludedHeaders": false
+            },
+            "includePath": [
+                "/opt/ros/noetic/include/",
+                "/usr/include/",
+                "${workspaceFolder}/devel/include",
+                "${workspaceFolder}/build/",
+                "${workspaceFolder}/src/**/include/"
+            ],
+            "name": "ROS",
+            "intelliSenseMode": "gcc-x64",
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "gnu11",
+            "cppStandard": "c++17",
+            "configurationProvider": "b2.catkin_tools"
+        }
+    ],
+    "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..3ad0136
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,74 @@
+{
+  "files.associations": {
+    "cctype": "cpp",
+    "cstddef": "cpp",
+    "cstdlib": "cpp",
+    "cstring": "cpp",
+    "cwchar": "cpp",
+    "cwctype": "cpp",
+    "array": "cpp",
+    "atomic": "cpp",
+    "bit": "cpp",
+    "*.tcc": "cpp",
+    "compare": "cpp",
+    "concepts": "cpp",
+    "cstdint": "cpp",
+    "map": "cpp",
+    "set": "cpp",
+    "unordered_map": "cpp",
+    "unordered_set": "cpp",
+    "vector": "cpp",
+    "exception": "cpp",
+    "algorithm": "cpp",
+    "functional": "cpp",
+    "memory": "cpp",
+    "memory_resource": "cpp",
+    "random": "cpp",
+    "string": "cpp",
+    "string_view": "cpp",
+    "tuple": "cpp",
+    "type_traits": "cpp",
+    "utility": "cpp",
+    "initializer_list": "cpp",
+    "iosfwd": "cpp",
+    "iostream": "cpp",
+    "istream": "cpp",
+    "new": "cpp",
+    "ostream": "cpp",
+    "sstream": "cpp",
+    "stdexcept": "cpp",
+    "streambuf": "cpp",
+    "typeinfo": "cpp",
+    "strstream": "cpp",
+    "bitset": "cpp",
+    "chrono": "cpp",
+    "clocale": "cpp",
+    "cmath": "cpp",
+    "complex": "cpp",
+    "condition_variable": "cpp",
+    "cstdarg": "cpp",
+    "cstdio": "cpp",
+    "ctime": "cpp",
+    "deque": "cpp",
+    "list": "cpp",
+    "fstream": "cpp",
+    "iomanip": "cpp",
+    "limits": "cpp",
+    "mutex": "cpp",
+    "optional": "cpp",
+    "ratio": "cpp",
+    "system_error": "cpp",
+    "thread": "cpp",
+    "typeindex": "cpp",
+    "variant": "cpp"
+  },
+  "python.autoComplete.extraPaths": [
+    "${workspaceFolder}/devel/lib/python3/dist-packages",
+    "/opt/ros/noetic/lib/python3/dist-packages"
+  ],
+  "python.analysis.extraPaths": [
+    "${workspaceFolder}/devel/lib/python3/dist-packages",
+    "/opt/ros/noetic/lib/python3/dist-packages"
+  ],
+  "cmake.configureOnOpen": false
+}
\ No newline at end of file
diff --git a/scripts/create_bringup.sh b/scripts/create_bringup.sh
index e6ca7c9..6b75f77 100755
--- a/scripts/create_bringup.sh
+++ b/scripts/create_bringup.sh
@@ -98,6 +98,15 @@ WORKSPACE_SRC=${PATH_WS}/${CONFIG_NAME}_cws/src
 PACKAGE_DIR=${PATH_WS}/${CONFIG_NAME}_cws/src/${CONFIG_NAME}
 BRINGUP_DIR=${PATH_WS}/${CONFIG_NAME}_cws/src/${CONFIG_NAME}/${CONFIG_NAME}_bringup
 
+# check if executed in correct folder
+if [ ! -d 'scripts' ]; then
+  echo "${COL_ERR}No 'scripts' folder found, please execute this script in the root directory of the flightstack_cws.${NC}"
+  exit 1;
+elif [ ! -f 'scripts/create_bringup.sh' ]
+  echo "${COL_ERR}No 'create_bringup' script found within the './scripts' folder, please execute this script in the root directory of the flightstack_cws.${NC}"
+  exit 1;
+fi
+
 # create directory and copy template
 mkdir -p ${PACKAGE_DIR}
 rsync -avPh $(pwd)/src/flightstack/template_config/ ${PACKAGE_DIR}
diff --git a/src/autonomy_engine b/src/autonomy_engine
index faade34..d121cc8 160000
--- a/src/autonomy_engine
+++ b/src/autonomy_engine
@@ -1 +1 @@
-Subproject commit faade344b119dcca82f6f27b8502deb8a9d6c045
+Subproject commit d121cc8bee3781372146af9d2ad861f5abddde2e
diff --git a/src/data_recorder b/src/data_recorder
index 9c02347..073bf10 160000
--- a/src/data_recorder
+++ b/src/data_recorder
@@ -1 +1 @@
-Subproject commit 9c0234717dca76ac3734d86ec230646ec1ac56bc
+Subproject commit 073bf10aa381c316e0db819dbc81fe606a0cbf21
diff --git a/src/flightstack/flightstack_bringup/configs/global/fs_vars.env b/src/flightstack/flightstack_bringup/configs/global/fs_vars.env
index a88500e..7ea02b2 100755
--- a/src/flightstack/flightstack_bringup/configs/global/fs_vars.env
+++ b/src/flightstack/flightstack_bringup/configs/global/fs_vars.env
@@ -1,5 +1,9 @@
 #!/usr/bin/env bash
 
+# path related variables
+export FS_SCRIPTS_PATH=$(rospack find flightstack_scripts)
+export FS_VARS_FILE=$(rospack find flightstack_bringup)/configs/global/fs_vars.env
+
 # object tracking related variables
 export FS_OPTITRACK_OBJECT_NAME="cnsuav"
 
@@ -14,7 +18,7 @@ export FS_RECORD_ADD_DEV1_SENSOR=()
 export FS_RECORD_ADD_DEV1_CAM=()
 # e.g. these topics require the installation of the matrixvision driver
 # see https://github.com/ethz-asl/matrixvision_camera
-# export FS_RECORD_ADD_DEV1_CMAS=(
+# export FS_RECORD_ADD_DEV1_CAM=(
 # "/camera/image_raw"
 # "/camera/camera_info"
 # )
diff --git a/src/flightstack/flightstack_bringup/launch/fs_estimation.launch b/src/flightstack/flightstack_bringup/launch/fs_estimation.launch
index 9e50f3d..6054e91 100644
--- a/src/flightstack/flightstack_bringup/launch/fs_estimation.launch
+++ b/src/flightstack/flightstack_bringup/launch/fs_estimation.launch
@@ -14,6 +14,11 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
 
 <launch>
   <arg name="dev_id"                    default="1" />
+  <arg name="ros_ns"                    default="" />
+
+  <!-- topic prefix for namespace -->
+  <arg name="topic_prefix"              value="/$(arg ros_ns)" if="$(eval arg('ros_ns') != '')" />
+  <arg name="topic_prefix"              value="" unless="$(eval arg('ros_ns') != '')" />
 
   <arg name="optitrack_object_name"     default="$(env FS_OPTITRACK_OBJECT_NAME)" />
 
@@ -22,12 +27,12 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
   <arg name="use_px4_bridge"            default="False" />
 
   <!-- MaRS arguments -->
-  <arg name="mars_imu_in"               default="/mavros/imu/data_raw" />
-  <arg name="mars_transform_in"         default="/$(arg optitrack_object_name)/vrpn_client/raw_transform" />
-  <arg name="mars_pose_out"             default="/mavros/vision_pose/pose" />
-  <arg name="mars_lite_ext_state_out"   default="/mavros/external_state_lite/external_state_estimate_lite" />
-  <arg name="mars_gps_pos_in"           default="/mavros/global_position/raw/fix" />
-  <arg name="mars_gps_vel_in"           default="/mavros/global_position/raw/gps_vel" />
+  <arg name="mars_imu_in"               default="$(arg topic_prefix)/mavros/imu/data_raw" />
+  <arg name="mars_transform_in"         default="$(arg topic_prefix)/$(arg optitrack_object_name)/vrpn_client/raw_transform" />
+  <arg name="mars_pose_out"             default="$(arg topic_prefix)/mavros/vision_pose/pose" />
+  <arg name="mars_lite_ext_state_out"   default="$(arg topic_prefix)/mavros/external_state_lite/external_state_estimate_lite" />
+  <arg name="mars_gps_pos_in"           default="$(arg topic_prefix)/mavros/global_position/raw/fix" />
+  <arg name="mars_gps_vel_in"           default="$(arg topic_prefix)/mavros/global_position/raw/gps_vel" />
 
 
   <arg name="mars_config_in"            default="$(find mars_ros)/launch/config/pose_config.yaml" unless="$(arg use_gps)" />
diff --git a/src/flightstack/flightstack_bringup/launch/fs_namespace.launch b/src/flightstack/flightstack_bringup/launch/fs_namespace.launch
new file mode 100644
index 0000000..652d54f
--- /dev/null
+++ b/src/flightstack/flightstack_bringup/launch/fs_namespace.launch
@@ -0,0 +1,83 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+  Copyright (C) 2023 Martin Scheiber,
+  Control of Networked Systems Group, University of Klagenfurt, Austria.
+  
+  All rights reserved.
+  
+  This software is licensed under the terms of the BSD-2-Clause-License with
+  no commercial use allowed, the full terms of which are made available
+  in the LICENSE file. No license in patents is granted.
+  
+  You can contact the author at <martin.scheiber@aau.at>
+-->
+<launch>
+  <arg name="dev_id"            default="1" />
+  <arg name="ros_namespace"     default="cnsuav" />
+
+  <!-- parameters required for launching with fs_dev scripts -->
+  <arg name="dev_type"          default="xu4" />
+  <arg name="use_gps"           default="False" />
+  <arg name="rec_script_file"   default="$(find flightstack_scripts)/record_scripts/record_full.sh" />
+  <arg name="store_script_file" default="$(find flightstack_scripts)/store_scripts/safe_merge_data_single_dev.sh" />
+  <arg name="estimator_init_service_name" default="/$(arg ros_namespace)/$(env FS_ESTIMATOR_NODE_NAME)/init_service" />
+  <arg name="config_filepath"             default="$(find flightstack_bringup)/configs/autonomy/config_dh.yaml" />
+
+  <arg name="launch_file"       default="all" />
+  <!-- choose between 'all', 'estimation', 'navigation', 'operator', 'recording', 'saftey', and 'sensors'-->
+
+  <group ns="$(arg ros_namespace)">
+    <!-- ESTIMATION -->
+    <include file="$(find flightstack_bringup)/launch/fs_estimation.launch" 
+              if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'estimation')">
+      <arg name="dev_id"          value="$(arg dev_id)" />
+      <arg name="ros_ns"          value="$(arg ros_namespace)" />
+
+      <arg name="use_gps"         value="$(arg use_gps)" />
+    </include>
+
+    <!-- NAVIGATION -->
+    <include file="$(find flightstack_bringup)/launch/fs_navigation.launch" 
+              if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'navigation')">
+      <arg name="dev_id"          value="$(arg dev_id)" />
+      <arg name="ros_ns"          value="$(arg ros_namespace)" />
+
+      <arg name="use_gps"         value="$(arg use_gps)" />
+    </include>
+
+    <!-- OPERATOR -->
+    <include file="$(find flightstack_bringup)/launch/fs_operator.launch" 
+              if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'operator')">
+      <arg name="dev_id"          value="$(arg dev_id)" />
+      <arg name="ros_ns"          value="$(arg ros_namespace)" />
+
+      <arg name="estimator_init_service_name" value="$(arg estimator_init_service_name)" />
+      <arg name="config_filepath" value="$(arg config_filepath)" />
+    </include>
+
+    <!-- RECORDING -->
+    <include file="$(find flightstack_bringup)/launch/fs_recording.launch" 
+              if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'recording')">
+      <arg name="dev_id"          value="$(arg dev_id)" />
+      <arg name="ros_ns"          value="$(arg ros_namespace)" />
+    </include>
+
+    <!-- SAFETY -->
+    <include file="$(find flightstack_bringup)/launch/fs_safety.launch" 
+              if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'safety')">
+      <arg name="dev_id"          value="$(arg dev_id)" />
+      <arg name="ros_ns"          value="$(arg ros_namespace)" />
+
+      <arg name="use_gps"         value="$(arg use_gps)" />
+    </include>
+
+    <!-- SENSORS -->
+    <include file="$(find flightstack_bringup)/launch/fs_sensors.launch" 
+              if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'sensors')">
+      <arg name="dev_id"          value="$(arg dev_id)" />
+      <arg name="ros_ns"          value="$(arg ros_namespace)" />
+
+      <arg name="use_gps"         value="$(arg use_gps)" />
+    </include>
+  </group>
+</launch>
diff --git a/src/flightstack/flightstack_bringup/launch/fs_navigation.launch b/src/flightstack/flightstack_bringup/launch/fs_navigation.launch
index 09eed89..364e27c 100644
--- a/src/flightstack/flightstack_bringup/launch/fs_navigation.launch
+++ b/src/flightstack/flightstack_bringup/launch/fs_navigation.launch
@@ -14,6 +14,11 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
 
 <launch>
   <arg name="dev_id"        default="1" />
+  <arg name="ros_ns" default="" />
+
+  <!-- topic prefix for namespace -->
+  <arg name="topic_prefix" value="/$(arg ros_ns)" if="$(eval arg('ros_ns') != '')" />
+  <arg name="topic_prefix" value="" unless="$(eval arg('ros_ns') != '')" />
 
   <!-- system args -->
   <arg name="use_gps"               default="False" /> <!-- INFO(scm): kept for legacy reasons -->
@@ -37,8 +42,21 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
 
   <!-- odometry in -->
   <arg name="use_odom"                        default="True" />
-  <arg name="topic_odom_in"                   default="/$(env FS_ESTIMATOR_NODE_NAME)/odom_state_out" />
-  <arg name="topic_pose_in"                   default="/$(env FS_ESTIMATOR_NODE_NAME)/pose_state_out" />
+  <arg name="topic_odom_in"                   default="$(arg topic_prefix)/$(env FS_ESTIMATOR_NODE_NAME)/odom_state_out" />
+  <arg name="topic_pose_in"                   default="$(arg topic_prefix)/$(env FS_ESTIMATOR_NODE_NAME)/pose_state_out" />
+
+  <!-- mavros topics and services (for NS remapping) - value-based only -->
+  <arg name="ms_mavros_topic_state_in"          value="$(arg topic_prefix)/mavros/state" />
+  <arg name="ms_mavros_topic_extended_state_in" value="$(arg topic_prefix)/mavros/extended_state" />
+  <arg name="ms_mavros_topic_local_pose_in"     value="$(arg topic_prefix)/mavros/local_position/pose" />
+  <arg name="ms_autonomy_topic_request_in"      value="$(arg topic_prefix)/autonomy/request" />
+  <arg name="ms_mavros_topic_setpoint_out"      value="$(arg topic_prefix)/mavros/setpoint_position/local" />
+  <arg name="ms_autonomy_topic_response_out"    value="$(arg topic_prefix)/autonomy/response" />
+  <arg name="ms_mavros_service_arming_out"      value="$(arg topic_prefix)/mavros/cmd/arming" />
+  <arg name="ms_mavros_service_command_out"     value="$(arg topic_prefix)/mavros/cmd/command" />
+  <arg name="ms_mavros_service_land_out"        value="$(arg topic_prefix)/mavros/cmd/land" />
+  <arg name="ms_mavros_service_set_mode_out"    value="$(arg topic_prefix)/mavros/set_mode" />
+  <!-- TODO(scm): might not be required as PHN/NH difference already sets these values correctly -->
 
   <group if="$(eval arg('dev_id') == 1)">
     <include file="$(find mission_sequencer)/launch/mission_sequencer.launch">
diff --git a/src/flightstack/flightstack_bringup/launch/fs_operator.launch b/src/flightstack/flightstack_bringup/launch/fs_operator.launch
index c591d23..d236ff2 100644
--- a/src/flightstack/flightstack_bringup/launch/fs_operator.launch
+++ b/src/flightstack/flightstack_bringup/launch/fs_operator.launch
@@ -14,6 +14,11 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
 
 <launch>
   <arg name="dev_id" default="1" />
+  <arg name="ros_ns" default="" />
+
+  <!-- topic prefix for namespace -->
+  <arg name="topic_prefix" value="/$(arg ros_ns)" if="$(eval arg('ros_ns') != '')" />
+  <arg name="topic_prefix" value="" unless="$(eval arg('ros_ns') != '')" />
 
   <!-- system args -->
   <arg name="use_gps"               default="False" /> <!-- INFO(scm): kept for legacy reasons -->
@@ -22,21 +27,22 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
   <arg name="config_filepath"                         default="$(find flightstack_bringup)/configs/autonomy/config_dh.yaml" />
 
   <!-- autonomy topics -->
-  <arg name="watchdog_heartbeat_topic"                default="/watchdog/status" />
-  <arg name="watchdog_status_topic"                   default="/watchdog/log" />
-  <arg name="watchdog_action_topic"                   default="/watchdog/action" />
-  <arg name="mission_sequencer_request_topic"         default="/autonomy/request" />
-  <arg name="mission_sequencer_response_topic"        default="/autonomy/response" />
-  <arg name="landing_detection_topic"                 default="/toland_detector/is_landed" />
-  <arg name="mission_sequencer_waypoints_topic"       default="/mission_sequencer/waypoint_list" />
+  <arg name="watchdog_heartbeat_topic"                default="$(arg topic_prefix)/watchdog/status" />
+  <arg name="watchdog_status_topic"                   default="$(arg topic_prefix)/watchdog/log" />
+  <arg name="watchdog_action_topic"                   default="$(arg topic_prefix)/watchdog/action" />
+  <arg name="mission_sequencer_request_topic"         default="$(arg topic_prefix)/autonomy/request" />
+  <arg name="mission_sequencer_response_topic"        default="$(arg topic_prefix)/autonomy/response" />
+  <arg name="landing_detection_topic"                 default="$(arg topic_prefix)/toland_detector/is_landed" />
+  <arg name="mission_sequencer_waypoints_topic"       default="$(arg topic_prefix)/mission_sequencer/waypoint_list" />
+  <arg name="mavros_rc_topic"                         default="$(arg topic_prefix)/mavros/rc/in" />
 
   <!-- autonomy services -->
-  <arg name="watchdog_start_service_name"             default="/watchdog/service/start" />
-  <arg name="data_recrding_service_name"              default="/data_recorder/record" />
-  <arg name="takeoff_service_name"                    default="/toland_detector/service/takeoff" />
-  <arg name="estimator_supervisor_service_name"       default="/estimator_supervisor/service/supervision" />
-  <arg name="estimator_init_service_name"             default="/$(env FS_ESTIMATOR_NODE_NAME)/init_service" />
-  <arg name="inflight_sensor_init_services_name"      default="[/sensor/start]" />
+  <arg name="watchdog_start_service_name"             default="$(arg topic_prefix)/watchdog/service/start" />
+  <arg name="data_recrding_service_name"              default="$(arg topic_prefix)/data_recorder/record" />
+  <arg name="takeoff_service_name"                    default="$(arg topic_prefix)/toland_detector/service/takeoff" />
+  <arg name="estimator_supervisor_service_name"       default="$(arg topic_prefix)/estimator_supervisor/service/supervision" />
+  <arg name="estimator_init_service_name"             default="$(arg topic_prefix)/$(env FS_ESTIMATOR_NODE_NAME)/init_service" />
+  <arg name="inflight_sensor_init_services_name"      default="[$(arg topic_prefix)/sensor/start]" />
 
   <!-- other arguments -->
   <arg name="watchdog_rate_Hz"                        default="0.5" />
@@ -45,7 +51,7 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
   <arg name="maximum_flight_time_min"                 default="5" />
   <arg name="fix_timeout_ms"                          default="25000" />
   <arg name="mission_id_no_ui"                        default="1" />
-  <arg name="logger_filepath"                         default="$(env HOME)/.ros/log/autonomy/" />
+  <arg name="logger_filepath"                         default="$(env HOME)/.ros/log/autonomy$(arg topic_prefix)/" />
   <arg name="trajectory_dir"                          default="$(find flightstack_bringup)/trajectories/" />
   <arg name="landing_aux_channel"                     default="4" />
 
@@ -60,6 +66,7 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
   <arg name="inflight_sensors_init_service"           default="false" />
   <arg name="hover_after_mission_completion"          default="false" />
   <arg name="sequence_multiple_in_flight"             default="false" />
+  <arg name="register_aux"                            default="false" />
 
   <!-- Raspberry PI 1 launches -->
   <group if="$(eval arg('dev_id') == 1)">
@@ -76,6 +83,7 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
       <arg name="mission_sequencer_response_topic"        value="$(arg mission_sequencer_response_topic)" />
       <arg name="landing_detection_topic"                 value="$(arg landing_detection_topic)" />
       <arg name="mission_sequencer_waypoints_topic"       value="$(arg mission_sequencer_waypoints_topic)" />
+      <arg name="rc_topic"                                value="$(arg mavros_rc_topic)" />
 
       <!-- arguments services -->
       <arg name="watchdog_start_service_name"             value="$(arg watchdog_start_service_name)" />
@@ -105,6 +113,7 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
       <arg name="activate_landing_detection"              value="$(arg activate_landing_detection)" />
       <arg name="hover_after_mission_completion"          value="$(arg hover_after_mission_completion)" />
       <arg name="sequence_multiple_in_flight"             value="$(arg sequence_multiple_in_flight)" />
+      <arg name="register_aux"                            value="$(arg register_aux)" />
     </include>
   </group>
 </launch>
diff --git a/src/flightstack/flightstack_bringup/launch/fs_recording.launch b/src/flightstack/flightstack_bringup/launch/fs_recording.launch
index 2dd343b..dc927ce 100644
--- a/src/flightstack/flightstack_bringup/launch/fs_recording.launch
+++ b/src/flightstack/flightstack_bringup/launch/fs_recording.launch
@@ -13,27 +13,32 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
 -->
 
 <launch>
-    <arg name="dev_id"    default="1" />
-
-    <!-- data recorder paramters -->
-    <arg name="rec_script_file"   default="$(find flightstack_scripts)/record_scripts/record_full.sh" />
-    <arg name="rec_cmd"           default="dev1_full" />
-
-    <arg name="store_script_file" default="$(find flightstack_scripts)/store_scripts/safe_merge_data_single_dev.sh" />
-    <arg name="store_cmd"         default="-z" />
-    <!--  for cmdline empty use 
-          https://answers.ros.org/question/296116/provide-empty-string-as-roslaunch-argument-substitution/?answer=317185#post-id-317185 
-    -->
-    
-    <arg name="rec_verbose"       default="False" />
-
-    <group if="$(eval arg('dev_id') == 1)">
-      <include file="$(find data_recorder)/launch/recorder.launch">
-        <arg name="record_script"   value="$(arg rec_script_file)" />
-        <arg name="record_cmd"      value="$(arg rec_cmd)" />
-        <arg name="store_script"    value="$(arg store_script_file)" />
-        <arg name="store_cmd"       value="$(arg store_cmd)" />
-        <arg name="verbose"         value="$(arg rec_verbose)" />
-      </include>
-    </group>
+  <arg name="dev_id"    default="1" />
+  <arg name="ros_ns"    default="" />
+
+  <!-- topic prefix for namespace -->
+  <arg name="topic_prefix"  value="/$(arg ros_ns)" if="$(eval arg('ros_ns') != '')" />
+  <arg name="topic_prefix"  value="" unless="$(eval arg('ros_ns') != '')" />
+
+  <!-- data recorder paramters -->
+  <arg name="rec_script_file"   default="$(find flightstack_scripts)/record_scripts/record_full.sh" />
+  <arg name="rec_cmd"           default="dev1_full" />
+
+  <arg name="store_script_file" default="$(find flightstack_scripts)/store_scripts/safe_merge_data_single_dev.sh" />
+  <arg name="store_cmd"         default="-z" />
+  <!--  for cmdline empty use 
+        https://answers.ros.org/question/296116/provide-empty-string-as-roslaunch-argument-substitution/?answer=317185#post-id-317185 
+  -->
+  
+  <arg name="rec_verbose"       default="False" />
+
+  <group if="$(eval arg('dev_id') == 1)">
+    <include file="$(find data_recorder)/launch/recorder.launch">
+      <arg name="record_script"   value="$(arg rec_script_file)" />
+      <arg name="record_cmd"      value="$(arg rec_cmd)" />
+      <arg name="store_script"    value="$(arg store_script_file)" />
+      <arg name="store_cmd"       value="$(arg store_cmd)" />
+      <arg name="verbose"         value="$(arg rec_verbose)" />
+    </include>
+  </group>
 </launch>
diff --git a/src/flightstack/flightstack_bringup/launch/fs_safety.launch b/src/flightstack/flightstack_bringup/launch/fs_safety.launch
index bdf3d98..d7ee3d0 100644
--- a/src/flightstack/flightstack_bringup/launch/fs_safety.launch
+++ b/src/flightstack/flightstack_bringup/launch/fs_safety.launch
@@ -14,6 +14,11 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
 
 <launch>
   <arg name="dev_id" default="1" />
+  <arg name="ros_ns" default="" />
+
+  <!-- topic prefix for namespace -->
+  <arg name="topic_prefix"  value="/$(arg ros_ns)" if="$(eval arg('ros_ns') != '')" />
+  <arg name="topic_prefix"  value="" unless="$(eval arg('ros_ns') != '')" />
 
   <arg name="use_gps"                   default="False" />
 
@@ -28,28 +33,42 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
   <arg name="watchdog_topics_cfg_file"  default="$(find flightstack_bringup)/configs/watchdog/topics_gps.yaml" if="$(arg use_gps)" />
   <arg name="watchdog_nodes_cfg_file"   default="$(find flightstack_bringup)/configs/watchdog/nodes_gps.yaml" if="$(arg use_gps)" />
 
+  <arg name="watchdog_topic_action_in"  default="$(arg topic_prefix)/watchdog/action" />
+  <arg name="watchdog_topic_log_out"    default="$(arg topic_prefix)/watchdog/log" />
+  <arg name="watchdog_topic_status_out" default="$(arg topic_prefix)/watchdog/status" />
+  <arg name="watchdog_service_start"    default="$(arg topic_prefix)/watchdog/service/start" />
+
   <!-- TOLand Parameters -->
-  <arg name="toland_imu"                default="/mavros/imu/data_raw" />
-  <arg name="toland_agl"                default="/lidar_lite/range" />
-  <arg name="toland_baro"               default="/mavros/imu/static_pressure" />
+  <arg name="toland_imu"                default="$(arg topic_prefix)/mavros/imu/data_raw" />
+  <arg name="toland_agl"                default="$(arg topic_prefix)/lidar_lite/range" />
+  <arg name="toland_baro"               default="$(arg topic_prefix)/mavros/imu/static_pressure" />
   <!-- <arg name="toland_default"            default="baro" /> -->
   <arg name="toland_default"            default="disabled" /> <!-- baro is too unreliable as AGL sensor for landing detection -->
   <arg name="angle_threshold"           default="10.0" />
   <arg name="distance_threshold"        default="0.38" />
+  <arg name="toland_window_s"           default="1.0" />
+  <arg name="toland_use_median"         default="false" />
 
   <!-- Supervisor parameter -->
-  <arg name="topic_to_supervise"        default="/mavros/vision_pose/pose" />
+  <arg name="topic_to_supervise"        default="$(arg topic_prefix)/mavros/vision_pose/pose" />
   <arg name="window_s"                  default="10.0" />
   <arg name="max_norm"                  default="0.3" />
 
   <!-- Raspberry PI 1 launches -->
   <group if="$(eval arg('dev_id') == 1)">
     <include file="$(find watchdog_bringup)/launch/watchdog.launch">
-      <arg name="do_verbose"        value="$(arg watchdog_verbose)" />
-      <arg name="entity_check_rate" value="$(arg watchdog_check_dt)" />
-      <arg name="topics_cfg_file"   value="$(arg watchdog_topics_cfg_file)" />
-      <arg name="nodes_cfg_file"    value="$(arg watchdog_nodes_cfg_file)" />
-      <arg name="drivers_cfg_file"  value="$(arg watchdog_drivers_cfg_file)" />
+      <arg name="do_verbose"            value="$(arg watchdog_verbose)" />
+      <arg name="entity_check_rate"     value="$(arg watchdog_check_dt)" />
+      <arg name="topics_cfg_file"       value="$(arg watchdog_topics_cfg_file)" />
+      <arg name="nodes_cfg_file"        value="$(arg watchdog_nodes_cfg_file)" />
+      <arg name="drivers_cfg_file"      value="$(arg watchdog_drivers_cfg_file)" />
+
+      <arg name="ros_namespace_prefix"  value="$(arg topic_prefix)" />
+
+      <arg name="action_i"          value="$(arg watchdog_topic_action_in)" />
+      <arg name="log_o"             value="$(arg watchdog_topic_log_out)" />
+      <arg name="status_o"          value="$(arg watchdog_topic_status_out)" />
+      <arg name="start_service_o"   value="$(arg watchdog_service_start)" />
     </include>
 
     <include file="$(find estimator_supervisor)/launch/supervisor.launch">
@@ -66,6 +85,8 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
       <arg name="default_sensor"      value="$(arg toland_default)" />
       <arg name="angle_threshold"     value="$(arg angle_threshold)" />
       <arg name="distance_threshold"  value="$(arg distance_threshold)" />
+      <arg name="sensor_readings_window"  value="$(arg toland_window_s)" />
+      <arg name="use_median"              value="$(arg toland_use_median)" />
     </include>
   </group>
 </launch>
diff --git a/src/flightstack/flightstack_bringup/launch/fs_sensors.launch b/src/flightstack/flightstack_bringup/launch/fs_sensors.launch
index 02b7913..5c20c6e 100644
--- a/src/flightstack/flightstack_bringup/launch/fs_sensors.launch
+++ b/src/flightstack/flightstack_bringup/launch/fs_sensors.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!--
-Copyright (C) 2022 Martin Scheiber, Christian Brommer,
+Copyright (C) 2022-2023 Martin Scheiber, Christian Brommer,
 and others, Control of Networked Systems, University of Klagenfurt, Austria.
 
 All rights reserved.
@@ -13,15 +13,25 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
 -->
 
 <launch>
-  <arg name="dev_id"    default="1" />
-  <arg name="dev_type"  default="xu4" /> <!-- or "pi" -->
-  <arg name="dev_port"  default="" /> <!--ignored if empty -->
-  <arg name="dev_baud"  default="" /> <!--ignored if empty -->
+  <arg name="dev_id"                default="1" />
+  <arg name="dev_type"              default="xu4" /> <!-- or "pi" -->
+  <arg name="dev_port"              default="" /> <!--ignored if empty -->
+  <arg name="dev_baud"              default="" /> <!--ignored if empty -->
+  <arg name="px4_config_file"       default="$(find mavros)/launch/px4_config.yaml" />
+  <arg name="px4_pluginlists_file"  default="$(find mavros)/launch/px4_pluginlists.yaml" />
+  <arg name="px4_autorestart"       default="False" />
+  <arg name="ros_ns"                default="" />
+
+  <!-- topic prefix for namespace -->
+  <arg name="topic_prefix"  value="/$(arg ros_ns)" if="$(eval arg('ros_ns') != '')" />
+  <arg name="topic_prefix"  value="" unless="$(eval arg('ros_ns') != '')" />
 
   <!-- Optitrack Arguments -->
-  <arg name="use_gps"               default="False" />
-  <arg name="optitrack_object_name" default="$(env FS_OPTITRACK_OBJECT_NAME)" />
-  <arg name="optitrack_throttle"    default="False" />
+  <arg name="use_gps"                 default="False" />
+  <arg name="optitrack_object_name"   default="$(env FS_OPTITRACK_OBJECT_NAME)" />
+  <arg name="optitrack_throttle"      default="False" />
+  <arg name="optitrack_throttle_rate" default="30" />
+  <arg name="optitrack_remap_to_ctrl" default="$(arg optitrack_throttle)" />
 
   <!-- Device 1 -->
   <group if="$(eval arg('dev_id') == 1)">
@@ -29,10 +39,16 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
       <arg name="platform"          value="$(arg dev_type)" if="$(eval not arg('dev_port'))" />
       <arg name="device_id"         value="$(arg dev_port)" unless="$(eval not arg('dev_port'))"/>
       <arg name="conn_baudrate"     value="$(arg dev_baud)" unless="$(eval not arg('dev_baud'))"/>
+
+      <arg name="config_file"       value="$(arg px4_config_file)" />
+      <arg name="pluginlists_file"  value="$(arg px4_pluginlists_file)" />
+      <arg name="respawn_mavros"    value="$(arg px4_autorestart)" />
     </include>
     <include file="$(find flightstack_bringup)/launch/individual/optitrack_aau_dronehall.launch" unless="$(arg use_gps)">
       <arg name="object_name"       value="$(arg optitrack_object_name)" />
       <arg name="throttle"          value="$(arg optitrack_throttle)" />
+      <arg name="throttle_rate"     value="$(arg optitrack_throttle_rate)" />
+      <arg name="remap_to_ctrl"     value="$(arg optitrack_remap_to_ctrl)" />
     </include>
   </group>
 
diff --git a/src/flightstack/flightstack_bringup/launch/individual/fs_posctrl.launch b/src/flightstack/flightstack_bringup/launch/individual/fs_posctrl.launch
new file mode 100644
index 0000000..9b0c2a6
--- /dev/null
+++ b/src/flightstack/flightstack_bringup/launch/individual/fs_posctrl.launch
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+Copyright (C) 2022-2024 Martin Scheiber, Christian Brommer,
+and others, Control of Networked Systems, University of Klagenfurt, Austria.
+
+All rights reserved.
+
+This software is licensed under the terms of the BSD-2-Clause-License with
+no commercial use allowed, the full terms of which are made available
+in the LICENSE file. No license in patents is granted.
+
+You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ieee.org>.
+-->
+
+<launch>
+  <arg name="dev_id"                default="1" />
+  <arg name="dev_type"              default="xu4" /> <!-- or "pi" -->
+  <arg name="dev_port"              default="" /> <!--ignored if empty -->
+  <arg name="dev_baud"              default="" /> <!--ignored if empty -->
+  <arg name="px4_config_file"       default="$(find mavros)/launch/px4_config.yaml" />
+  <arg name="px4_pluginlists_file"  default="$(find mavros)/launch/px4_pluginlists.yaml" />
+  <arg name="px4_autorestart"       default="False" />
+  <arg name="ros_ns"                default="" />
+
+  <!-- Optitrack Arguments -->
+  <arg name="use_gps"                 default="False" />
+  <arg name="optitrack_object_name"   default="$(env FS_OPTITRACK_OBJECT_NAME)" />
+  <arg name="optitrack_throttle"      default="False" />
+  <arg name="optitrack_throttle_rate" default="30" />
+
+  <!-- Device 1 -->
+  <group if="$(eval arg('dev_id') == 1)">
+    <include file="$(find flightstack_bringup)/launch/fs_sensors.launch">
+      <arg name="dev_id"                  value="$(arg value)" />
+      <arg name="dev_type"                value="$(arg dev_type)" />
+      <arg name="dev_port"                value="$(arg dev_port)" />
+      <arg name="dev_baud"                value="$(arg dev_baud)" />
+      <arg name="px4_config_file"         value="$(arg px4_config_file)" />
+      <arg name="px4_pluginlists_file"    value="$(arg px4_pluginlists_file)" />
+      <arg name="px4_autorestart"         value="$(arg px4_autorestart)" />
+      <arg name="ros_ns"                  value="$(arg ros_ns)" />
+
+      <arg name="use_gps"                 value="$(arg use_gps)" />
+      <arg name="optitrack_object_name"   value="$(arg optitrack_object_name)" />
+      <arg name="optitrack_throttle"      value="$(arg optitrack_throttle)" />
+      <arg name="optitrack_throttle_rate" value="$(arg optitrack_throttle_rate)" />
+      <arg name="optitrack_remap_to_ctrl" value="True" />
+    </include>
+  </group>
+
+</launch>
\ No newline at end of file
diff --git a/src/flightstack/flightstack_bringup/launch/individual/optitrack_aau_dronehall.launch b/src/flightstack/flightstack_bringup/launch/individual/optitrack_aau_dronehall.launch
index 1d369f7..f167055 100644
--- a/src/flightstack/flightstack_bringup/launch/individual/optitrack_aau_dronehall.launch
+++ b/src/flightstack/flightstack_bringup/launch/individual/optitrack_aau_dronehall.launch
@@ -18,8 +18,10 @@ and <martin.scheiber@ieee.org>.
 
   <!-- throttle options -->
   <arg name="throttle"            default="False" />
-  <arg name="throttle_in_topic"   default="/$(arg object_name)/vrpn_client/raw_pose" />
-  <arg name="throttle_out_topic"  default="/mavros/vision_pose/pose" />
+  <arg name="remap_to_ctrl"       default="$(arg throttle)" />
+  <arg name="throttle_in_topic"   default="/$(arg object_name)/vrpn_client/raw_pose_throttled" />
+  <arg name="throttle_out_topic"  default="/$(arg object_name)/vrpn_client/raw_pose" unless="$(arg remap_to_ctrl)" />
+  <arg name="throttle_out_topic"  default="/mavros/vision_pose/pose" if="$(arg remap_to_ctrl)" />
   <arg name="throttle_rate"       default="30" />
 
   <node ns="$(arg object_name)" name="vrpn_client" type="ros_vrpn_client" pkg="ros_vrpn_client" output="screen">
@@ -42,7 +44,8 @@ and <martin.scheiber@ieee.org>.
     <param name="rotational_estimator/output_minimal_quaternions" value="false" />
     <param name="rotational_estimator/output_minimal_quaternions" value="false" />
 
-    <remap from="/$(arg object_name)/vrpn_client/raw_pose" to="/mavros/vision_pose/pose" if="$(arg throttle)"/>
+    <remap from="/$(arg object_name)/vrpn_client/raw_pose" to="$(arg throttle_in_topic)" if="$(arg throttle)" />
+    <remap from="/$(arg object_name)/vrpn_client/raw_pose" to="/mavros/vision_pose/pose" if="$(eval arg('remap_to_ctrl') and not arg('throttle'))" />
   </node>
 
   <node
diff --git a/src/flightstack/flightstack_bringup/launch/individual/px4.launch b/src/flightstack/flightstack_bringup/launch/individual/px4.launch
index 6f7f7a9..90a5ec7 100644
--- a/src/flightstack/flightstack_bringup/launch/individual/px4.launch
+++ b/src/flightstack/flightstack_bringup/launch/individual/px4.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!--
-Copyright (C) 2022 Martin Scheiber, Christian Brommer,
+Copyright (C) 2022-2023 Martin Scheiber, Christian Brommer,
 and others, Control of Networked Systems, University of Klagenfurt, Austria.
 
 All rights reserved.
@@ -19,10 +19,35 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
   <arg name="device_id"         default="SAC0"  if="$(eval arg('platform') == 'xu4')" />
   <arg name="device_id"         default="THS0"  if="$(eval arg('platform') == 'agx')" />
   <arg name="device_id"         default="USB0"  if="$(eval arg('platform') == 'pc')" />
+  <arg name="device_id"         default="udp://:14550@127.0.0.1:14577"
+                                if="$(eval arg('platform') == 'sim')" />
 
   <arg name="conn_baudrate"     default="921600" />
 
-  <include file="$(find mavros)/launch/px4.launch">
-    <arg name="fcu_url" default="/dev/tty$(arg device_id):$(arg conn_baudrate)" />
+  <!-- default mavros parameters -->
+  <arg name="config_file"       default="$(find mavros)/launch/px4_config.yaml" />
+  <arg name="pluginlists_file"  default="$(find mavros)/launch/px4_pluginlists.yaml" />
+  <arg name="fcu_url"           default="/dev/tty$(arg device_id):$(arg conn_baudrate)" 
+                                  unless="$(eval arg('platform') == 'sim')" />
+  <arg name="fcu_url"           default="$(arg device_id)" 
+                                  if="$(eval arg('platform') == 'sim')" />
+  <arg name="gcs_url"           default="" />
+  <arg name="tgt_system"        default="1" />
+  <arg name="tgt_component"     default="1" />
+  <arg name="log_output"        default="screen" />
+  <arg name="fcu_protocol"      default="v2.0" />
+  <arg name="respawn_mavros"    default="false" />
+
+  <include file="$(find mavros)/launch/node.launch">
+    <arg name="pluginlists_yaml"  value="$(arg pluginlists_file)" />
+    <arg name="config_yaml"       value="$(arg config_file)" />
+
+    <arg name="fcu_url"           value="$(arg fcu_url)" />
+    <arg name="gcs_url"           value="$(arg gcs_url)" />
+    <arg name="tgt_system"        value="$(arg tgt_system)" />
+    <arg name="tgt_component"     value="$(arg tgt_component)" />
+    <arg name="log_output"        value="$(arg log_output)" />
+    <arg name="fcu_protocol"      value="$(arg fcu_protocol)" />
+    <arg name="respawn_mavros"    value="$(arg respawn_mavros)" />
   </include>
 </launch>
diff --git a/src/flightstack/flightstack_scripts/driver_scripts/rs_check.sh b/src/flightstack/flightstack_scripts/driver_scripts/rs_check.sh
index 67a94da..a6ef569 100755
--- a/src/flightstack/flightstack_scripts/driver_scripts/rs_check.sh
+++ b/src/flightstack/flightstack_scripts/driver_scripts/rs_check.sh
@@ -9,20 +9,37 @@
 # in the LICENSE file. No license in patents is granted.
 #
 # You can contact the author at <martin.scheiber@ieee.org>
-# and <christian.brommer@ieee.org>
+# and <christian.brommer@ieee.org>.
 
 # this bash script adheres to linux exit codes
 # see https://tldp.org/LDP/abs/html/exitcodes.html for further information
 
-# echo "[BASH - RS] checking sensor - Realsense"
+RS_IS_REMOTE=false
+RS_DEV_IP="10.42.0.102"
+RS_DEV_USER="flightstack"
+
+
+if [ ${RS_IS_REMOTE} == true ]; then
+  # echo "[BASH - RS] checking sensor - Realsense"
+  RS_CHECK="$(ssh ${RS_DEV_USER}@${RS_DEV_IP} 'rs-enumerate-devices')"
+  # echo "[BASH - RS] status: ${RS_CHECK}"
+
+  # check if device is found in lsusb
+  RS_ID="8087:0b37"
+  RS_STATUS="$(ssh ${RS_DEV_USER}@${RS_DEV_IP} 'lsusb' | grep ${RS_ID})"
+  # echo "[BASH - RS] status: ${RS_STATUS}"
+else
+  # echo "[BASH - RS] checking sensor - Realsense"
+  RS_CHECK="$(rs-enumerate-devices)"
+  # echo "[BASH - RS] status: ${RS_CHECK}"
+
+  # check if device is found in lsusb
+  RS_ID="8087:0b37"
+  RS_STATUS="$(lsusb | grep ${RS_ID})"
+  # echo "[BASH - RS] status: ${RS_STATUS}"
+fi
 
-RS_CHECK="$(rs-enumerate-devices)"
-# echo "[BASH - RS] status: ${RS_CHECK}"
 
-# check if device is found in lsusb
-RS_ID="8087:0b37"
-RS_STATUS="$(ssh core@10.42.0.102 'lsusb' | grep ${RS_ID})"
-# echo "[BASH - RS] status: ${RS_STATUS}"
 
 case $RS_STATUS in
   "")
diff --git a/src/flightstack/flightstack_scripts/driver_scripts/rs_restart.sh b/src/flightstack/flightstack_scripts/driver_scripts/rs_restart.sh
index 449f4e0..7e28baf 100755
--- a/src/flightstack/flightstack_scripts/driver_scripts/rs_restart.sh
+++ b/src/flightstack/flightstack_scripts/driver_scripts/rs_restart.sh
@@ -14,12 +14,22 @@
 # this bash script adheres to linux exit codes
 # see https://tldp.org/LDP/abs/html/exitcodes.html for further information
 
-# restart realsense hub
-# ssh core@10.42.0.102 'sudo uhubctl -a off --delay 2 -e -R -l2 -p1'
-# command by chris
-#ssh core@10.42.0.102 'sudo uhubctl --action cycle --location 2'
-ssh core@10.42.0.102 'sudo uhubctl --action cycle --location 2 -R --delay 5'
-sleep 5
-ssh core@10.42.0.102 'rs-enumerate-devices'
+RS_IS_REMOTE=false
+RS_DEV_IP="10.42.0.102"
+RS_DEV_USER="flightstack"
+
+if [ ${RS_IS_REMOTE} == true ]; then
+  # restart realsense hub
+  # ssh core@10.42.0.102 'sudo uhubctl -a off --delay 2 -e -R -l2 -p1'
+  # command by chris
+  #ssh core@10.42.0.102 'sudo uhubctl --action cycle --location 2'
+  ssh ${RS_DEV_USER}@${RS_DEV_IP} 'sudo uhubctl --action cycle --location 2 -R --delay 5'
+  sleep 5
+  ssh ${RS_DEV_USER}@${RS_DEV_IP} 'rs-enumerate-devices'
+else
+  sudo uhubctl --action cycle --location 2 -R --delay 5
+  sleep 5
+  rs-enumerate-devices
+fi
 
 exit 0
diff --git a/src/flightstack/flightstack_scripts/record_scripts/record_full.sh b/src/flightstack/flightstack_scripts/record_scripts/record_full.sh
index 6251a35..547be9d 100755
--- a/src/flightstack/flightstack_scripts/record_scripts/record_full.sh
+++ b/src/flightstack/flightstack_scripts/record_scripts/record_full.sh
@@ -48,11 +48,12 @@ path_media=""
 
 DEV1_CAM_NODELET_MANAGER="record_dev1_manager"
 DEV2_CAM_NODELET_MANAGER="record_dev2_manager"
-B_CAMS_START_MANAGER=true
+B_CAMS_START_MANAGER=false
 
 # booleans (flags)
 B_USE_ROSBAG_RECORD=false
 B_DEBUG_ON=false
+B_DRY_RUN=false
 
 ################################################################################
 # Help                                                                         #
@@ -75,7 +76,9 @@ print_help(){
     echo ""
     echo "    -b              use 'rosbag record' instead of the flight stack's"
     echo "                      'nodlet recorder'"
-    echo "    -c              use 'nodelet_manager' for standard recording settings"
+    echo "    -c              use 'nodelet_manager' for camera recording settings"
+    echo "    -s              enable starting of camera recording manager"
+    echo "    -n              dry-run"
     echo "    -v              enable detailed debug output"
     echo ""
     echo "    -h          print this help"
@@ -103,7 +106,7 @@ fi
 OPTIND=$((OPTIND+1));
 
 # parse flags
-while getopts hvbcl:m:p: flag
+while getopts hvsnbcl:m:p: flag
 do
   case "${flag}" in
     l) path_local=${OPTARG};;
@@ -111,10 +114,12 @@ do
     p) bag_name=${OPTARG};;
 
     c)  DEV1_CAM_NODELET_MANAGER="nodelet_manager";
-        DEV2_CAM_NODELET_MANAGER="nodelet_manager";
-        B_CAMS_START_MANAGER=false;;
+        DEV2_CAM_NODELET_MANAGER="nodelet_manager";;
+
+    s)  B_CAMS_START_MANAGER=true;;
     
     b) B_USE_ROSBAG_RECORD=true;;
+    n) B_DRY_RUN=true;;
     v) B_DEBUG_ON=true;;
     h) print_help;;
 
@@ -143,6 +148,12 @@ if [ ! -d "${path_media}" ]; then
   mkdir -p ${path_media}
 fi
 
+################################################################################
+# GET GLOBAL VARS                                                              #
+################################################################################
+
+source ${FS_VARS_FILE}
+
 ################################################################################
 # SETUP TOPIC GROUPS                                                           #
 ################################################################################
@@ -154,9 +165,14 @@ px4_topics=(
 "/mavros/global_position/raw/gps_vel"
 "/mavros/global_position/raw/satellites"
 "/mavros/imu/static_pressure"
+"/mavros/imu/diff_pressure"
 "/mavros/imu/temperature_imu"
+"/mavros/imu/temperature_baro"
 "/mavros/motor_speeds/speed"
 "/mavros/battery"
+"/mavros/rc/in"
+"/mavros/rc/out"
+"/mavros/rc/override"
 )
 
 mocap_vehicle_topics=(
@@ -168,10 +184,14 @@ autonomy_topics=(
 "/autonomy/response"
 "/autonomy/logger"
 "/toland/is_landed"
+"/toland_detector/is_landed"
+"/toland_detector/is_takeoff"
 )
 
 ms_topics=(
 "/mission_sequencer/waypoint_list"
+"/mission_sequencer/get_waypoint_list"
+"/mission_sequencer/waypoint_reached"
 "/mavros/setpoint_position/local"
 "/mavros/setpoint_position/global"
 "/mavros/state"
@@ -191,6 +211,8 @@ est_topics=(
 "/mavros/local_position/pose_cov"
 "/mavros/local_position/odom"
 "/mavros/local_position/odom_cov"
+"/mavros/external_state/external_state"
+"/mavros/external_state_lite/external_state_lite"
 )
 
 mars_topics=(
@@ -219,6 +241,13 @@ ${px4_topics[@]}
 ${FS_RECORD_ADD_DEV1_SENSOR[@]}
 )
 
+if [ ${B_DEBUG_ON} == true ]; then
+  echo "sensor additions:  ${#FS_RECORD_ADD_DEV1_SENSOR[@]}"
+  for entry in ${FS_RECORD_ADD_DEV1_SENSOR[@]}; do
+    echo "${entry}"
+  done
+fi
+
 ### Nodes
 group_mod1_nodes=(
 ${autonomy_topics[@]}
@@ -234,6 +263,13 @@ group_mod1_cams=(
 ${FS_RECORD_ADD_DEV1_CAM[@]}
 )
 
+if [ ${B_DEBUG_ON} == true ]; then
+  echo "cam additions: ${#FS_RECORD_ADD_DEV1_CAM[@]}"
+  for entry in ${FS_RECORD_ADD_DEV1_CAM[@]}; do
+    echo "${entry}"
+  done
+fi
+
 
 # generate final list of topics for recording - dev1
 if [ ${B_USE_ROSBAG_RECORD} == true ]; then
@@ -503,7 +539,7 @@ else
       start_manager:=${B_CAMS_START_MANAGER}
       nodelet_manager_name:=${DEV1_CAM_NODELET_MANAGER}
       nodelet_name:=record_dev1_cams
-      rosbag_path:=${path_local} rosbag_prefix:=${bag_name}_mod1_cams
+      rosbag_path:=${path_media} rosbag_prefix:=${bag_name}_mod1_cams
       rosbag_topics:=[${topics_mod1_cams%,}]" )
   fi
 
@@ -528,10 +564,12 @@ echo ""
 
 # execute recording in bkg
 for cmd in "${RECORD_CMD_ARR[@]}"; do
-  if [ ${B_DEBUG_ON} == true ]; then
+  if [ ${B_DEBUG_ON} == true ] || [ ${B_DRY_RUN} == true ]; then
     echo -e "${COL_DEB}executing: ${cmd}${NC}"
   fi
-  ${cmd} &
+  if [ ${B_DRY_RUN} != true ]; then
+    ${cmd} &
+  fi
 done
 
 if [ ${B_DEBUG_ON} = true ]; then
diff --git a/src/flightstack/flightstack_scripts/store_scripts/safe_merge_data_single_dev.sh b/src/flightstack/flightstack_scripts/store_scripts/safe_merge_data_single_dev.sh
index 5ad5d4b..6db79af 100755
--- a/src/flightstack/flightstack_scripts/store_scripts/safe_merge_data_single_dev.sh
+++ b/src/flightstack/flightstack_scripts/store_scripts/safe_merge_data_single_dev.sh
@@ -136,16 +136,19 @@ RSYNC_CMD="rsync -rptgoDL"
 
 # check if rsync is permited with these options to destdir
 echo "testing rsync" >> /tmp/rsync_test.log 
-${RSYNC_CMD} /tmp/rsync_test.log ${DIR_NAME}/
+${RSYNC_CMD} /tmp/rsync_test.log ${DIR_NAME}/ 2> /dev/null
 if [ $? -eq 0 ]; then
-  # rsync succeeded, remove test file
+  # rsync succeeded, remove test file and dir if empty
   rm -rf ${DIR_NAME}/rsync_test.log
+  rmdir ${DIR_NAME} 2> /dev/null
 else
   # failed rsync, change to simpler version, fewer permitions
+  echo -e "${COL_WARN}rsync test failed, changing to simpler version${NC}"
   RSYNC_CMD="rsync -rpDL -A --no-perms"
 
-  # remove test file, if exists
+  # remove test file, if exists and dir if empty
   rm -rf ${DIR_NAME}/rsync_test.log
+  rmdir ${DIR_NAME} 2> /dev/null
 fi
 
 if [ ${B_DEBUG_ON} = true ]; then
diff --git a/src/flightstack/template_config/template_bringup/configs/global/template_vars.env b/src/flightstack/template_config/template_bringup/configs/global/template_vars.env
index 46e8aa3..f393025 100644
--- a/src/flightstack/template_config/template_bringup/configs/global/template_vars.env
+++ b/src/flightstack/template_config/template_bringup/configs/global/template_vars.env
@@ -1,5 +1,9 @@
 #!/usr/bin/env bash
 
+# path related variables
+export FS_SCRIPTS_PATH=$(rospack find flightstack_scripts)
+export FS_VARS_FILE=$(rospack find template_bringup)/configs/global/template_vars.env
+
 # object tracking related variables
 export FS_OPTITRACK_OBJECT_NAME="cnsuav"
 
@@ -14,7 +18,7 @@ export FS_RECORD_ADD_DEV1_SENSOR=()
 export FS_RECORD_ADD_DEV1_CAM=()
 # e.g. these topics require the installation of the matrixvision driver
 # see https://github.com/ethz-asl/matrixvision_camera
-# export FS_RECORD_ADD_DEV1_CMAS=(
+# export FS_RECORD_ADD_DEV1_CAM=(
 # "/camera/image_raw"
 # "/camera/camera_info"
 # )
diff --git a/src/flightstack/template_config/template_bringup/launch/template_estimation.launch b/src/flightstack/template_config/template_bringup/launch/template_estimation.launch
index 8e3ba3c..1c28427 100644
--- a/src/flightstack/template_config/template_bringup/launch/template_estimation.launch
+++ b/src/flightstack/template_config/template_bringup/launch/template_estimation.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!--
-Copyright (C) 2022 Martin Scheiber, Christian Brommer,
+Copyright (C) 2022-2023 Martin Scheiber, Christian Brommer,
 and others, Control of Networked Systems, University of Klagenfurt, Austria.
 
 All rights reserved.
diff --git a/src/flightstack/template_config/template_bringup/launch/template_namespace.launch b/src/flightstack/template_config/template_bringup/launch/template_namespace.launch
new file mode 100644
index 0000000..4f6f487
--- /dev/null
+++ b/src/flightstack/template_config/template_bringup/launch/template_namespace.launch
@@ -0,0 +1,53 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+  Copyright (C) 2023 Martin Scheiber,
+  Control of Networked Systems Group, University of Klagenfurt, Austria.
+  
+  All rights reserved.
+  
+  This software is licensed under the terms of the BSD-2-Clause-License with
+  no commercial use allowed, the full terms of which are made available
+  in the LICENSE file. No license in patents is granted.
+  
+  You can contact the author at <martin.scheiber@aau.at>
+-->
+<launch>
+  <arg name="dev_id"          default="1" />
+  <arg name="ros_namespace"   default="cnsuav" />
+
+  <arg name="launch_file"     default="all" />
+  <!-- choose between 'all', 'estimation', 'navigation', 'operator', 'recording', 'saftey', and 'sensors'-->
+
+  <group ns="$(arg ros_namespace)">
+    <include file="$(find template_bringup)/launch/template_estimation.launch" 
+              if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'estimation')">
+      <arg name="dev_id"          value="$(arg dev_id)" />
+      <arg name="ros_ns"          value="$(arg ros_namespace)" />
+    </include>
+    <include file="$(find template_bringup)/launch/template_navigation.launch" 
+              if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'navigation')">
+      <arg name="dev_id"          value="$(arg dev_id)" />
+      <arg name="ros_ns"          value="$(arg ros_namespace)" />
+    </include>
+    <include file="$(find template_bringup)/launch/template_operator.launch" 
+              if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'operator')">
+      <arg name="dev_id"          value="$(arg dev_id)" />
+      <arg name="ros_ns"          value="$(arg ros_namespace)" />
+    </include>
+    <include file="$(find template_bringup)/launch/template_recording.launch" 
+              if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'recording')">
+      <arg name="dev_id"          value="$(arg dev_id)" />
+      <arg name="ros_ns"          value="$(arg ros_namespace)" />
+    </include>
+    <include file="$(find template_bringup)/launch/template_safety.launch" 
+              if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'safety')">
+      <arg name="dev_id"          value="$(arg dev_id)" />
+      <arg name="ros_ns"          value="$(arg ros_namespace)" />
+    </include>
+    <include file="$(find template_bringup)/launch/template_sensors.launch" 
+              if="$(eval arg('launch_file') == 'all' or arg('launch_file') == 'sensors')">
+      <arg name="dev_id"          value="$(arg dev_id)" />
+      <arg name="ros_ns"          value="$(arg ros_namespace)" />
+    </include>
+  </group>
+</launch>
diff --git a/src/flightstack/template_config/template_bringup/launch/template_navigation.launch b/src/flightstack/template_config/template_bringup/launch/template_navigation.launch
index ccde691..43f8c81 100644
--- a/src/flightstack/template_config/template_bringup/launch/template_navigation.launch
+++ b/src/flightstack/template_config/template_bringup/launch/template_navigation.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!--
-Copyright (C) 2022 Martin Scheiber, Christian Brommer,
+Copyright (C) 2022-2023 Martin Scheiber, Christian Brommer,
 and others, Control of Networked Systems, University of Klagenfurt, Austria.
 
 All rights reserved.
diff --git a/src/flightstack/template_config/template_bringup/launch/template_operator.launch b/src/flightstack/template_config/template_bringup/launch/template_operator.launch
index 51cc946..83eda8b 100644
--- a/src/flightstack/template_config/template_bringup/launch/template_operator.launch
+++ b/src/flightstack/template_config/template_bringup/launch/template_operator.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!--
-Copyright (C) 2022 Martin Scheiber, Christian Brommer,
+Copyright (C) 2022-2023 Martin Scheiber, Christian Brommer,
 and others, Control of Networked Systems, University of Klagenfurt, Austria.
 
 All rights reserved.
diff --git a/src/flightstack/template_config/template_bringup/launch/template_recording.launch b/src/flightstack/template_config/template_bringup/launch/template_recording.launch
index 9255ac1..e6d95ba 100644
--- a/src/flightstack/template_config/template_bringup/launch/template_recording.launch
+++ b/src/flightstack/template_config/template_bringup/launch/template_recording.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!--
-Copyright (C) 2022 Martin Scheiber, Christian Brommer,
+Copyright (C) 2022-2023 Martin Scheiber, Christian Brommer,
 and others, Control of Networked Systems, University of Klagenfurt, Austria.
 
 All rights reserved.
diff --git a/src/flightstack/template_config/template_bringup/launch/template_safety.launch b/src/flightstack/template_config/template_bringup/launch/template_safety.launch
index 73d279f..fd877ab 100644
--- a/src/flightstack/template_config/template_bringup/launch/template_safety.launch
+++ b/src/flightstack/template_config/template_bringup/launch/template_safety.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!--
-Copyright (C) 2022 Martin Scheiber, Christian Brommer,
+Copyright (C) 2022-2023 Martin Scheiber, Christian Brommer,
 and others, Control of Networked Systems, University of Klagenfurt, Austria.
 
 All rights reserved.
diff --git a/src/flightstack/template_config/template_bringup/launch/template_sensors.launch b/src/flightstack/template_config/template_bringup/launch/template_sensors.launch
index 0e7715d..ab8cad5 100644
--- a/src/flightstack/template_config/template_bringup/launch/template_sensors.launch
+++ b/src/flightstack/template_config/template_bringup/launch/template_sensors.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!--
-Copyright (C) 2022 Martin Scheiber, Christian Brommer,
+Copyright (C) 2022-2023 Martin Scheiber, Christian Brommer,
 and others, Control of Networked Systems, University of Klagenfurt, Austria.
 
 All rights reserved.
@@ -13,10 +13,11 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
 -->
 
 <launch>
-  <arg name="dev_id"    default="1" />
-  <arg name="dev_type"  default="xu4" /> <!-- or "pi", "agx", or "pc" - otherwise set values below manually -->
-  <arg name="dev_port"  default="" /> <!--ignored if empty -->
-  <arg name="dev_baud"  default="" /> <!--ignored if empty -->
+  <arg name="dev_id"          default="1" />
+  <arg name="dev_type"        default="xu4" /> <!-- or "pi", "agx", or "pc" - otherwise set values below manually -->
+  <arg name="dev_port"        default="" /> <!--ignored if empty -->
+  <arg name="dev_baud"        default="" /> <!--ignored if empty -->
+  <arg name="px4_autorestart" default="False" />
 
   <!-- Optitrack Arguments -->
   <arg name="use_gps"               default="False" />
@@ -24,10 +25,11 @@ You can contact the authors at <martin.scheiber@ieee.org>, <christian.brommer@ie
   <arg name="optitrack_throttle"    default="False" />
 
   <include file="$(find flightstack_bringup)/launch/fs_sensors.launch">
-    <arg name="dev_id"    value="$(arg dev_id)" />
-    <arg name="dev_type"  value="$(arg dev_type)" /> <!-- or "pi" -->
-    <arg name="dev_port"  value="$(arg dev_port)" /> <!--ignored if empty -->
-    <arg name="dev_baud"  value="$(arg dev_baud)" /> <!--ignored if empty -->
+    <arg name="dev_id"          value="$(arg dev_id)" />
+    <arg name="dev_type"        value="$(arg dev_type)" /> <!-- or "pi" -->
+    <arg name="dev_port"        value="$(arg dev_port)" /> <!--ignored if empty -->
+    <arg name="dev_baud"        value="$(arg dev_baud)" /> <!--ignored if empty -->
+    <arg name="px4_autorestart" value="$(arg px4_autorestart)" />
 
     <!-- Optitrack Arguments -->
     <arg name="use_gps"               value="$(arg use_gps)" />
diff --git a/src/mars_ros b/src/mars_ros
index 58b1e99..d1b152d 160000
--- a/src/mars_ros
+++ b/src/mars_ros
@@ -1 +1 @@
-Subproject commit 58b1e99621ce921bb5a55511235ed239f85493da
+Subproject commit d1b152d21ace9b98e44d29bf1edf14e5e3af6923
diff --git a/src/mission_sequencer b/src/mission_sequencer
index 33ad1a3..dcb8f50 160000
--- a/src/mission_sequencer
+++ b/src/mission_sequencer
@@ -1 +1 @@
-Subproject commit 33ad1a3644093fe8d09d2d200851895ccbe3c612
+Subproject commit dcb8f50fb9e93ca3fe4f6b22e81a47c2848eadc8
diff --git a/src/mocap_bridge b/src/mocap_bridge
new file mode 160000
index 0000000..f8a62a8
--- /dev/null
+++ b/src/mocap_bridge
@@ -0,0 +1 @@
+Subproject commit f8a62a84d36db892ac098315957eb11b0f7bda13
diff --git a/src/ros_watchdog b/src/ros_watchdog
index c62b5a4..04ec32e 160000
--- a/src/ros_watchdog
+++ b/src/ros_watchdog
@@ -1 +1 @@
-Subproject commit c62b5a4db49914ba910eaa1e8575ba48376d1d4a
+Subproject commit 04ec32e983615da7106212b7c8c36fbe8ac0dd5c
diff --git a/src/toland_flight b/src/toland_flight
index 20dd57f..917e7e9 160000
--- a/src/toland_flight
+++ b/src/toland_flight
@@ -1 +1 @@
-Subproject commit 20dd57f321f657506616be4eacf5e9cf35059fa9
+Subproject commit 917e7e9c0eb0c646dd06a3d8c1103d24fdfdca03