diff --git a/modules/build.sh b/modules/build.sh
index 084991b75a6c9b3c53aed9f401b0f80563895ee9..0426813b1e3c1553664ac0cda70a2e01ad5a44c8 100755
--- a/modules/build.sh
+++ b/modules/build.sh
@@ -37,12 +37,12 @@ cd cmake-build-debug
 cmake ..
 make
 
-# build VeloxLib
-cd ../../VeloxLib/
+# build VeloxProtocolLib
+cd ../../VeloxProtocolLib/
 mkdir cmake-build-debug
 cd cmake-build-debug
 cmake ..
-make
+sudo make install
 
 # build ROS stuff
 cd ../../../
diff --git a/modules/catkin_ws/src/PC2CarLib/CMakeLists.txt b/modules/catkin_ws/src/PC2CarLib/CMakeLists.txt
index ee7b4aacb6b0c633ca447ecbd4eaf5699befdbbf..27330da6fc7a025afd26a9eb0436ea0109b2019e 100644
--- a/modules/catkin_ws/src/PC2CarLib/CMakeLists.txt
+++ b/modules/catkin_ws/src/PC2CarLib/CMakeLists.txt
@@ -20,10 +20,8 @@ set(CMAKE_CXX_FLAGS -pthread)
 
 set(SOURCE_FILES
         include/PC2CarLib/CommandSender.h
-        include/PC2CarLib/TimedValue.h
         include/PC2CarLib/PC2Car.h
         include/PC2CarLib/CommandReceiver.h
-        include/PC2CarLib/TimedValue.h
         include/PC2CarLib/json.hpp
         src/CommandReceiver.cpp)
 
@@ -32,7 +30,6 @@ set(PUBLIC_HEADER_FILES
         include/PC2CarLib/CommandReceiver.h
         include/PC2CarLib/json.hpp
         include/PC2CarLib/PC2Car.h
-        include/PC2CarLib/TimedValue.h
         ${CMAKE_CURRENT_BINARY_DIR}/PC2CarLibConfig.h)
 
 foreach(HEADER ${PUBLIC_HEADER_FILES})
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/CMakeLists.txt b/modules/catkin_ws/src/VeloxProtocolLib/CMakeLists.txt
index a255bfc819f6e207531fc3721701f809641238fc..99d133a4f0a47e62e2da802bb038974e490fb756 100644
--- a/modules/catkin_ws/src/VeloxProtocolLib/CMakeLists.txt
+++ b/modules/catkin_ws/src/VeloxProtocolLib/CMakeLists.txt
@@ -19,49 +19,49 @@ include_directories("${PROJECT_BINARY_DIR}")
 set(CMAKE_CXX_FLAGS -pthread)
 
 set(SOURCE_FILES
-        include/mavlink/checksum.h
-        include/mavlink/mavlink_conversions.h
-        include/mavlink/mavlink_get_info.h
-        include/mavlink/mavlink_helpers.h
-        include/mavlink/mavlink_sha256.h
-        include/mavlink/mavlink_types.h
-        include/mavlink/protocol.h
-        include/mavlink/velox/mavlink.h
-        include/mavlink/velox/mavlink_msg_carcontrol.h
-        include/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
-        include/mavlink/velox/mavlink_msg_cmd_request_msg.h
-        include/mavlink/velox/mavlink_msg_cmd_request_statechange.h
-        include/mavlink/velox/mavlink_msg_error.h
-        include/mavlink/velox/mavlink_msg_heartbeat.h
-        include/mavlink/velox/mavlink_msg_odometry.h
-        include/mavlink/velox/mavlink_msg_trajectory.h
-        include/mavlink/velox/testsuite.h
-        include/mavlink/velox/velox.h
-        include/mavlink/velox/version.h
-        include/Connection.h
+        include/VeloxProtocolLib/mavlink/checksum.h
+        include/VeloxProtocolLib/mavlink/mavlink_conversions.h
+        include/VeloxProtocolLib/mavlink/mavlink_get_info.h
+        include/VeloxProtocolLib/mavlink/mavlink_helpers.h
+        include/VeloxProtocolLib/mavlink/mavlink_sha256.h
+        include/VeloxProtocolLib/mavlink/mavlink_types.h
+        include/VeloxProtocolLib/mavlink/protocol.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_carcontrol.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_msg.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_statechange.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_error.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_heartbeat.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_odometry.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_trajectory.h
+        include/VeloxProtocolLib/mavlink/velox/testsuite.h
+        include/VeloxProtocolLib/mavlink/velox/velox.h
+        include/VeloxProtocolLib/mavlink/velox/version.h
+        include/VeloxProtocolLib/Connection.h
         src/Connection.cpp)
 
 set(PUBLIC_HEADER_FILES
-        include/mavlink/checksum.h
-        include/mavlink/mavlink_conversions.h
-        include/mavlink/mavlink_get_info.h
-        include/mavlink/mavlink_helpers.h
-        include/mavlink/mavlink_sha256.h
-        include/mavlink/mavlink_types.h
-        include/mavlink/protocol.h
-        include/mavlink/velox/mavlink.h
-        include/mavlink/velox/mavlink_msg_carcontrol.h
-        include/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
-        include/mavlink/velox/mavlink_msg_cmd_request_msg.h
-        include/mavlink/velox/mavlink_msg_cmd_request_statechange.h
-        include/mavlink/velox/mavlink_msg_error.h
-        include/mavlink/velox/mavlink_msg_heartbeat.h
-        include/mavlink/velox/mavlink_msg_odometry.h
-        include/mavlink/velox/mavlink_msg_trajectory.h
-        include/mavlink/velox/testsuite.h
-        include/mavlink/velox/velox.h
-        include/mavlink/velox/version.h
-        include/Connection.h
+        include/VeloxProtocolLib/mavlink/checksum.h
+        include/VeloxProtocolLib/mavlink/mavlink_conversions.h
+        include/VeloxProtocolLib/mavlink/mavlink_get_info.h
+        include/VeloxProtocolLib/mavlink/mavlink_helpers.h
+        include/VeloxProtocolLib/mavlink/mavlink_sha256.h
+        include/VeloxProtocolLib/mavlink/mavlink_types.h
+        include/VeloxProtocolLib/mavlink/protocol.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_carcontrol.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_msg.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_statechange.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_error.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_heartbeat.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_odometry.h
+        include/VeloxProtocolLib/mavlink/velox/mavlink_msg_trajectory.h
+        include/VeloxProtocolLib/mavlink/velox/testsuite.h
+        include/VeloxProtocolLib/mavlink/velox/velox.h
+        include/VeloxProtocolLib/mavlink/velox/version.h
+        include/VeloxProtocolLib/Connection.h
         ${CMAKE_CURRENT_BINARY_DIR}/VeloxProtocolLibConfig.h)
 
 foreach(HEADER ${PUBLIC_HEADER_FILES})
@@ -144,8 +144,10 @@ if(INSTALL_PACKAGE)
             EXPORT VeloxProtocolLibTargets
             LIBRARY DESTINATION "${INSTALL_LIB_DIR}"
             ARCHIVE DESTINATION "${INSTALL_LIB_DIR}"
-            RUNTIME DESTINATION "${INSTALL_LIB_DIR}" # for windows
-            PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}")
+            RUNTIME DESTINATION "${INSTALL_LIB_DIR}") # for windows
+
+    install(DIRECTORY "${CMAKE_CURRENT_LIST_DIR}/include/VeloxProtocolLib"
+            DESTINATION "${CMAKE_INSTALL_PREFIX}/include")
 
     # Install the VeloxProtocolLibConfig.cmake and VeloxProtocolLibConfigVersion.cmake
     install(FILES
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/Connection.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/Connection.h
similarity index 98%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/Connection.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/Connection.h
index ed9cc576dfb1b7c468bf905da2cc960634162580..eec2b32b03d63718ec61d89c950b32ea545eb792 100644
--- a/modules/catkin_ws/src/VeloxProtocolLib/include/Connection.h
+++ b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/Connection.h
@@ -10,7 +10,7 @@
 #include "NetworkingLib/Timer.h"
 #include "NetworkingLib/TimedValue.h"
 #include <boost/asio/serial_port.hpp>
-#include "../include/mavlink/velox/mavlink.h"
+#include "mavlink/velox/mavlink.h"
 
 namespace veloxProtocol
 {
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/checksum.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/checksum.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/checksum.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/checksum.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_conversions.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_conversions.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_conversions.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_conversions.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_get_info.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_get_info.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_get_info.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_get_info.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_helpers.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_helpers.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_helpers.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_helpers.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_sha256.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_sha256.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_sha256.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_sha256.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_types.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_types.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/mavlink_types.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/mavlink_types.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/protocol.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/protocol.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/protocol.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/protocol.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_carcontrol.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_carcontrol.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_carcontrol.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_carcontrol.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_cmd_request_clocksync.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_clocksync.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_cmd_request_msg.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_msg.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_cmd_request_msg.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_msg.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_cmd_request_statechange.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_statechange.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_cmd_request_statechange.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_cmd_request_statechange.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_error.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_error.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_error.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_error.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_heartbeat.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_heartbeat.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_heartbeat.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_heartbeat.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_odometry.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_odometry.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_odometry.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_odometry.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_trajectory.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_trajectory.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/mavlink_msg_trajectory.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/mavlink_msg_trajectory.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/testsuite.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/testsuite.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/testsuite.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/testsuite.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/velox.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/velox.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/velox.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/velox.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/version.h b/modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/version.h
similarity index 100%
rename from modules/catkin_ws/src/VeloxProtocolLib/include/mavlink/velox/version.h
rename to modules/catkin_ws/src/VeloxProtocolLib/include/VeloxProtocolLib/mavlink/velox/version.h
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/src/Connection.cpp b/modules/catkin_ws/src/VeloxProtocolLib/src/Connection.cpp
index 8b0f1d8e923695eda9c38ee66d4855dabf07e4ea..3118c6f9a9c919567b4067f00cae86a64ab27c17 100644
--- a/modules/catkin_ws/src/VeloxProtocolLib/src/Connection.cpp
+++ b/modules/catkin_ws/src/VeloxProtocolLib/src/Connection.cpp
@@ -2,7 +2,7 @@
 // Created by philipp on 20.04.18.
 //
 
-#include "../include/Connection.h"
+#include "../include/VeloxProtocolLib/Connection.h"
 
 namespace veloxProtocol
 {
diff --git a/modules/catkin_ws/src/VeloxProtocolLib/test/Main.cpp b/modules/catkin_ws/src/VeloxProtocolLib/test/Main.cpp
index aa2547c8a976f17152aca888ca053ddb6fb67fdc..765cd0b00da050b6c4f074e6df08efe6971e3ab7 100644
--- a/modules/catkin_ws/src/VeloxProtocolLib/test/Main.cpp
+++ b/modules/catkin_ws/src/VeloxProtocolLib/test/Main.cpp
@@ -2,7 +2,7 @@
 // Created by philipp on 20.04.18.
 //
 
-#include "../include/Connection.h"
+#include "../include/VeloxProtocolLib/Connection.h"
 #include <iostream>
 
 int main(int argc, char ** argv)
@@ -12,8 +12,11 @@ int main(int argc, char ** argv)
     auto conn = Connection::create(net);
     conn->open(
         "/dev/ttySAC0",
-        []
-        { std::cout << "Update received!\n"; },
+        [conn]
+        {
+            std::cout << "[Update]\nSpeed=" << conn->getMeasuredSpeed().get()
+                      << "\nSteering Angle: " << conn->getMeasuredSteeringAngle().get();
+        },
         []
         { std::cout << "Connection closed!\n"; });
 
diff --git a/modules/clean.sh b/modules/clean.sh
index 5ec5502192158d2be2cba75aaa3249997cb4013b..b6524a7212cee2b76edc2cf8c9c022810dcea539 100755
--- a/modules/clean.sh
+++ b/modules/clean.sh
@@ -6,3 +6,4 @@ rm -rf catkin_ws/src/NetworkingLib/cmake-build-debug
 rm -rf catkin_ws/src/PlatoonProtocolLib/cmake-build-debug
 rm -rf catkin_ws/src/PC2CarLib/cmake-build-debug
 rm -rf catkin_ws/src/PC/cmake-build-debug
+rm -rf catkin_ws/src/VeloxProtocolLib/cmake-build-debug