diff --git a/gnc/ctl/src/ctl.cc b/gnc/ctl/src/ctl.cc
index f8aa4421c8..5db078cdaf 100644
--- a/gnc/ctl/src/ctl.cc
+++ b/gnc/ctl/src/ctl.cc
@@ -351,7 +351,7 @@ void Control::Initialize(void) {
 
 void Control::ReadParams(config_reader::ConfigReader* config) {
   if (!config->GetReal("tun_vel_gain", &tun_vel_gain))
-    ROS_FATAL("Unspecified tun_vel_gain.");
+    FF_FATAL("Unspecified tun_vel_gain.");
   Eigen::Vector3d temp;
   if (!msg_conversions::config_read_vector(config, "tun_accel_gain", &temp))
     FF_FATAL("Unspecified tun_accel_gain.");
diff --git a/localization/localization_common/CMakeLists.txt b/localization/localization_common/CMakeLists.txt
index f7e7451a25..ce0f39b942 100644
--- a/localization/localization_common/CMakeLists.txt
+++ b/localization/localization_common/CMakeLists.txt
@@ -28,13 +28,13 @@ set( CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -Wall -Werror -O3 -fPIC" )
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(rclcpy REQUIRED)
 
 find_package(astrobee REQUIRED)
 find_package(camera REQUIRED)
 find_package(config_reader REQUIRED)
 find_package(msg_conversions REQUIRED)
 find_package(ff_msgs REQUIRED)
+find_package(ff_common REQUIRED)
 
 # Find GTSAM
 find_package(GTSAM REQUIRED)
@@ -45,6 +45,11 @@ find_package(Eigen3 REQUIRED)
 # Allow other packages to use python scripts from this package
 ament_python_install_package(${PROJECT_NAME})
 
+# Install Python executables
+#install(PROGRAMS
+#  scripts/py_node.py
+#  DESTINATION lib/${PROJECT_NAME}
+#)
 
 ###########
 ## Build ##
@@ -75,7 +80,7 @@ add_library(${PROJECT_NAME} SHARED
   src/utilities.cc
 )
 target_link_libraries(${PROJECT_NAME} gtsam ${OpenCV_LIBRARIES})
-ament_target_dependencies(${PROJECT_NAME} rclcpp astrobee ff_msgs config_reader camera msg_conversions)
+ament_target_dependencies(${PROJECT_NAME} rclcpp astrobee ff_msgs config_reader camera msg_conversions ff_common)
 ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
 
 if(BUILD_TESTING)
diff --git a/localization/localization_common/include/localization_common/timestamped_set.h b/localization/localization_common/include/localization_common/timestamped_set.h
index a84eb38f08..2ed6f5cccb 100644
--- a/localization/localization_common/include/localization_common/timestamped_set.h
+++ b/localization/localization_common/include/localization_common/timestamped_set.h
@@ -176,7 +176,7 @@ template <typename T>
 TimestampedSet<T>::TimestampedSet(const std::vector<Time>& timestamps, const std::vector<T>& values,
                                   const boost::optional<int> max_size)
     : max_size_(max_size) {
-  for (int i = 0; i < values.size(); ++i) {
+  for (long unsigned int i = 0; i < values.size(); ++i) {
     Add(timestamps[i], values[i]);
   }
 }
@@ -186,7 +186,7 @@ bool TimestampedSet<T>::Add(const Time timestamp, const T& value) {
   if (Contains(timestamp)) return false;
   timestamp_value_map_.emplace(timestamp, value);
   // Optionally shrink elements to half of max size if max size exceeded. Removes first half of set.
-  if (max_size_ && size() > *max_size_) {
+  if (max_size_ && size() > (size_t)(*max_size_) ) {
     auto end_it = timestamp_value_map_.begin();
     std::advance(end_it, *max_size_ / 2);
     timestamp_value_map_.erase(timestamp_value_map_.begin(), end_it);
@@ -431,7 +431,7 @@ template <typename T>
 std::pair<typename std::map<Time, T>::const_iterator, typename std::map<Time, T>::const_iterator>
 TimestampedSet<T>::InRangeValues(const Time oldest_allowed_timestamp, const Time latest_allowed_timestamp) {
   auto upper_bound = timestamp_value_map_.upper_bound(latest_allowed_timestamp);
-  auto lower_bound = timestamp_value_map_.lower_bound(oldest_allowed_timestamp);
+  //auto lower_bound = timestamp_value_map_.lower_bound(oldest_allowed_timestamp);
   // No values less than latest allowed time
   if (upper_bound == timestamp_value_map_.cbegin()) return {cend(), cend()};
   return std::make_pair(timestamp_value_map_.lower_bound(oldest_allowed_timestamp), upper_bound);
diff --git a/localization/localization_common/include/localization_common/utilities.h b/localization/localization_common/include/localization_common/utilities.h
index 73e14df16e..62074c4bc0 100644
--- a/localization/localization_common/include/localization_common/utilities.h
+++ b/localization/localization_common/include/localization_common/utilities.h
@@ -21,7 +21,7 @@
 
 #include <config_reader/config_reader.h>
 #include <ff_msgs/msg/combined_nav_state.hpp>
-#include <ff_msgs/msg/graph_VIO_state.hpp>
+#include <ff_msgs/msg/graph_vio_state.hpp>
 #include <ff_msgs/msg/visual_landmarks.hpp>
 #include <localization_common/combined_nav_state.h>
 #include <localization_common/combined_nav_state_covariances.h>
@@ -41,6 +41,7 @@
 namespace ff_msgs {
 typedef msg::GraphState GraphState;
 typedef msg::VisualLandmarks VisualLandmarks;
+typedef msg::CombinedNavState CombinedNavState;
 }  // namespace ff_msgs
 
 #include <geometry_msgs/msg/pose.hpp>
@@ -129,7 +130,7 @@ ff_msgs::CombinedNavState CombinedNavStateToMsg(const CombinedNavState& combined
                                                 const PoseCovariance& pose_covariance,
                                                 const Eigen::Matrix3d& velocity_covariance,
                                                 const Eigen::Matrix<double, 6, 6>& imu_bias_covariance,
-                                                const TimestampedSet<PoseCovariance>& correlation_covariances = {});
+                                                const TimestampedSet<PoseCovariance>& correlation_covariances = TimestampedSet<PoseCovariance>());
 
 template <class LocMsgType>
 void CombinedNavStateToLocMsg(const CombinedNavState& combined_nav_state, LocMsgType& loc_msg);
diff --git a/localization/localization_common/package.xml b/localization/localization_common/package.xml
index 039c9cde17..0e3e86cc16 100644
--- a/localization/localization_common/package.xml
+++ b/localization/localization_common/package.xml
@@ -23,13 +23,14 @@
   <build_depend>config_reader</build_depend>
   <build_depend>msg_conversions</build_depend>
   <build_depend>ff_msgs</build_depend>
+  <build_depend>ff_common</build_depend>  
 
   <exec_depend>astrobee</exec_depend>
   <exec_depend>camera</exec_depend>
   <exec_depend>config_reader</exec_depend>
   <exec_depend>msg_conversions</exec_depend>
   <exec_depend>ff_msgs</exec_depend>
-
+  <exec_depend>ff_common</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/localization/localization_common/scripts/localization_common/__init__.py b/localization/localization_common/scripts/localization_common/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/localization/localization_common/scripts/localization_common/utilities.py b/localization/localization_common/scripts/localization_common/utilities.py
deleted file mode 100644
index 12c1c0a251..0000000000
--- a/localization/localization_common/scripts/localization_common/utilities.py
+++ /dev/null
@@ -1,129 +0,0 @@
-#!/usr/bin/python3
-# Copyright (c) 2017, United States Government, as represented by the
-# Administrator of the National Aeronautics and Space Administration.
-#
-# All rights reserved.
-#
-# The Astrobee platform is licensed under the Apache License, Version 2.0
-# (the "License"); you may not use this file except in compliance with the
-# License. You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
-# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
-# License for the specific language governing permissions and limitations
-# under the License.
-
-import datetime
-import glob
-import os
-import subprocess
-
-
-# Forward errors so we can recover failures
-# even when running commands through multiprocessing
-# pooling
-def full_traceback(func):
-    import functools
-    import traceback
-
-    @functools.wraps(func)
-    def wrapper(*args, **kwargs):
-        try:
-            return func(*args, **kwargs)
-        except Exception as e:
-            msg = "{}\n\nOriginal {}".format(e, traceback.format_exc())
-            raise type(e)(msg)
-
-    return wrapper
-
-
-def get_files(directory, file_string):
-    return glob.glob(os.path.join(directory, file_string))
-
-
-def get_files_recursive(directory, file_string):
-    subdirectory_csv_files = []
-    _, subdirectories, _ = next(os.walk(directory))
-    for subdirectory in subdirectories:
-        subdirectory_path = os.path.join(directory, subdirectory)
-        for subdirectory_csv_file in get_files(subdirectory_path, file_string):
-            subdirectory_csv_files.append(subdirectory_csv_file)
-    return subdirectory_csv_files
-
-
-def create_directory(directory=None):
-    if directory == None:
-        directory = os.path.join(
-            os.getcwd(), datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
-        )
-    if os.path.exists(directory):
-        print((directory + " already exists!"))
-        exit()
-    os.makedirs(directory)
-    return directory
-
-
-def load_dataframe(files):
-    # Importing the module only within this function
-    import pandas as pd
-
-    dataframes = [pd.read_csv(file) for file in files]
-    dataframe = pd.concat(dataframes)
-    return dataframe
-
-
-def run_command_and_save_output(command, output_filename="", print_command=True):
-    """
-    Run a command in the shell, save the output to a file, and print the output.
-
-    Parameters:
-        command (str): The shell command to be executed.
-        output_filename (str): (optional) The filename to save the command output. Default is an empty string.
-        print_command (bool): (optional) If True, print the command before executing. Default is True.
-
-    Returns:
-        tuple: A tuple containing the return code, standard output, and standard error.
-    """
-
-    if print_command:
-        print(command)
-
-    # If an output_filename is provided, open the file for writing
-    if output_filename != "":
-        f = open(output_filename, "w")
-
-    # Run the command in a subprocess and capture the output
-    stdout = ""
-    stderr = ""
-    popen = subprocess.Popen(
-        command,
-        shell=True,
-        stdout=subprocess.PIPE,
-        stderr=subprocess.STDOUT,
-        universal_newlines=True,
-    )
-    for stdout_line in iter(popen.stdout.readline, ""):
-        if output_filename != "":
-            f.write(stdout_line)
-        stdout += stdout_line
-
-    popen.stdout.close()
-
-    # Print the standard output and standard error
-    print(stdout)
-    print(stderr)
-
-    # Wait for the subprocess to finish and get the return code
-    return_code = popen.wait()
-    # If the return code is not 0, raise a subprocess.CalledProcessError
-    if return_code:
-        raise subprocess.CalledProcessError(return_code, command)
-
-    return (return_code, stdout, stderr)
-
-
-def basename(filename):
-    return os.path.splitext(os.path.basename(filename))[0]
diff --git a/localization/localization_common/src/distance_scaled_pose_covariance_interpolater.cc b/localization/localization_common/src/distance_scaled_pose_covariance_interpolater.cc
index 2ee8b4890f..6a5a5886c7 100644
--- a/localization/localization_common/src/distance_scaled_pose_covariance_interpolater.cc
+++ b/localization/localization_common/src/distance_scaled_pose_covariance_interpolater.cc
@@ -27,7 +27,7 @@ PoseCovariance DistanceScaledPoseCovarianceInterpolater::Interpolate(const PoseW
                                                                      const PoseWithCovariance& b,
                                                                      const Time& timestamp_a, const Time& timestamp_b) {
   const Eigen::Isometry3d relative_pose = a.pose.inverse() * b.pose;
-  const double translation_norm = relative_pose.translation().norm();
+  //const double translation_norm = relative_pose.translation().norm(); // -Werror=unused-variable
   const double orientation_angle = Eigen::AngleAxisd(relative_pose.linear()).angle();
   Eigen::Matrix<double, 6, 6> relative_covariance = Eigen::Matrix<double, 6, 6>::Zero();
   // Set translation part of covariance using translation norm
diff --git a/localization/localization_common/src/utilities.cc b/localization/localization_common/src/utilities.cc
index 9160a65410..3a279a905f 100644
--- a/localization/localization_common/src/utilities.cc
+++ b/localization/localization_common/src/utilities.cc
@@ -112,12 +112,16 @@ Time TimeFromHeader(const std_msgs::Header& header) { return GetTime(header.stam
 
 Time TimeFromRosTime(const rclcpp::Time& time) { return GetTime(time.seconds(), time.nanoseconds()); }
 
-rclcpp::Time TimeToRosTime(const Time timestamp) { 
-  int sec = (int)(floor(timestamp)); int nanosec = (timestamp - floor(timestamp))*1e9; 
-  return rclcpp::Time(sec, nanosec, RCL_ROS_TIME); 
+void TimeToHeader(const Time timestamp, std_msgs::Header& header) { 
+  rclcpp::Time t; 
+  TimeToMsg(timestamp, t);
+  header.stamp = builtin_interfaces::msg::Time(t);
 }
 
-void TimeToHeader(const Time timestamp, std_msgs::Header& header) { header.stamp = TimeToRosTime(timestamp); }
+void TimeToMsg(const Time timestamp, rclcpp::Time& time_msg) {
+  int sec = (int)(floor(timestamp)); int nanosec = (timestamp - floor(timestamp))*1e9; 
+  time_msg = rclcpp::Time(sec, nanosec, RCL_ROS_TIME); 
+}
 
 gtsam::Pose3 PoseFromMsg(const geometry_msgs::PoseStamped& msg) { return PoseFromMsg(msg.pose); }
 
@@ -204,9 +208,11 @@ ff_msgs::CombinedNavState CombinedNavStateToMsg(const CombinedNavState& combined
 
   // Write correlation pose covariances if available
   for (const auto& correlation_covariance : correlation_covariances.set()) {
-    ff_msgs::PoseCovarianceStamped covariance_msg;
+    ff_msgs::msg::PoseCovarianceStamped covariance_msg;
     mc::EigenCovarianceToMsg(correlation_covariance.second, covariance_msg.covariance);
-    TimeToMsg(correlation_covariance.first, covariance_msg.time);
+    rclcpp::Time cov_time;
+    TimeToMsg(correlation_covariance.first, cov_time);
+    covariance_msg.time = builtin_interfaces::msg::Time(cov_time);
     msg.correlation_covariances.push_back(covariance_msg);
   }
   return msg;
diff --git a/localization/localization_common/test/test_timestamped_set.cc b/localization/localization_common/test/test_timestamped_set.cc
index cd5347f2d5..c2840e9dc5 100644
--- a/localization/localization_common/test/test_timestamped_set.cc
+++ b/localization/localization_common/test/test_timestamped_set.cc
@@ -209,22 +209,22 @@ TEST(TimestampedSetTester, OldestLatestWithinBounds) {
 
 TEST(TimestampedSetTester, Clear) {
   lc::TimestampedSet<double> timestamped_set;
-  EXPECT_EQ(timestamped_set.size(), 0);
+  EXPECT_EQ(timestamped_set.size(), 0U);
   EXPECT_TRUE(timestamped_set.empty());
   // Add element 1
   const double value_1 = 100.3;
   const localization_common::Time timestamp_1 = 1.0;
   EXPECT_TRUE(timestamped_set.Add(timestamp_1, value_1));
-  EXPECT_EQ(timestamped_set.size(), 1);
+  EXPECT_EQ(timestamped_set.size(), 1U);
   EXPECT_FALSE(timestamped_set.empty());
   // Add element 2
   const double value_2 = 100.3;
   const localization_common::Time timestamp_2 = 3.3;
   EXPECT_TRUE(timestamped_set.Add(timestamp_2, value_2));
-  EXPECT_EQ(timestamped_set.size(), 2);
+  EXPECT_EQ(timestamped_set.size(), 2U);
   // Clear
   timestamped_set.Clear();
-  EXPECT_EQ(timestamped_set.size(), 0);
+  EXPECT_EQ(timestamped_set.size(), 0U);
   EXPECT_TRUE(timestamped_set.empty());
 }
 
@@ -434,17 +434,17 @@ TEST(TimestampedSetTester, LatestValues) {
   ASSERT_TRUE(timestamped_set.Add(t3, v3));
   {
     const auto latest_values = timestamped_set.LatestValues(2134);
-    EXPECT_EQ(latest_values.size(), 0);
+    EXPECT_EQ(latest_values.size(), 0U);
   }
   {
     const auto latest_values = timestamped_set.LatestValues((t2 + t3) / 2.0);
-    ASSERT_EQ(latest_values.size(), 1);
+    ASSERT_EQ(latest_values.size(), 1U);
     EXPECT_EQ(latest_values[0].value, v3);
     EXPECT_EQ(latest_values[0].timestamp, t3);
   }
   {
     const auto latest_values = timestamped_set.LatestValues(t2);
-    ASSERT_EQ(latest_values.size(), 2);
+    ASSERT_EQ(latest_values.size(), 2U);
     EXPECT_EQ(latest_values[0].value, v2);
     EXPECT_EQ(latest_values[0].timestamp, t2);
     EXPECT_EQ(latest_values[1].value, v3);
@@ -452,7 +452,7 @@ TEST(TimestampedSetTester, LatestValues) {
   }
   {
     const auto latest_values = timestamped_set.LatestValues(0.1);
-    ASSERT_EQ(latest_values.size(), 3);
+    ASSERT_EQ(latest_values.size(), 3U);
     EXPECT_EQ(latest_values[0].value, v1);
     EXPECT_EQ(latest_values[0].timestamp, t1);
     EXPECT_EQ(latest_values[1].value, v2);
@@ -462,7 +462,7 @@ TEST(TimestampedSetTester, LatestValues) {
   }
   {
     const auto latest_values = timestamped_set.LatestValues(0);
-    ASSERT_EQ(latest_values.size(), 4);
+    ASSERT_EQ(latest_values.size(), 4U);
     EXPECT_EQ(latest_values[0].value, v0);
     EXPECT_EQ(latest_values[0].timestamp, t0);
     EXPECT_EQ(latest_values[1].value, v1);
@@ -537,19 +537,19 @@ TEST(TimestampedSetTester, DownsampledValues) {
   {
     std::set<lc::Time> allowed_timestamps;
     const auto downsampled_values = timestamped_set.DownsampledValues(allowed_timestamps);
-    EXPECT_EQ(downsampled_values.size(), 0);
+    EXPECT_EQ(downsampled_values.size(), 0U);
   }
   {
     std::set<lc::Time> allowed_timestamps;
     allowed_timestamps.emplace((t1 + t2) / 2.0);
     const auto downsampled_values = timestamped_set.DownsampledValues(allowed_timestamps);
-    EXPECT_EQ(downsampled_values.size(), 0);
+    EXPECT_EQ(downsampled_values.size(), 0U);
   }
   {
     std::set<lc::Time> allowed_timestamps;
     allowed_timestamps.emplace(t1);
     const auto downsampled_values = timestamped_set.DownsampledValues(allowed_timestamps);
-    EXPECT_EQ(downsampled_values.size(), 1);
+    EXPECT_EQ(downsampled_values.size(), 1U);
     EXPECT_EQ(downsampled_values[0].timestamp, t1);
     EXPECT_EQ(downsampled_values[0].value, v1);
   }
@@ -558,7 +558,7 @@ TEST(TimestampedSetTester, DownsampledValues) {
     allowed_timestamps.emplace(t0);
     allowed_timestamps.emplace(t3);
     const auto downsampled_values = timestamped_set.DownsampledValues(allowed_timestamps);
-    EXPECT_EQ(downsampled_values.size(), 2);
+    EXPECT_EQ(downsampled_values.size(), 2U);
     EXPECT_EQ(downsampled_values[0].timestamp, t0);
     EXPECT_EQ(downsampled_values[0].value, v0);
     EXPECT_EQ(downsampled_values[1].timestamp, t3);
@@ -688,12 +688,12 @@ TEST(TimestampedSetTester, RemoveBelowLowerBoundValues) {
     {
       const int num_values_removed = timestamped_set.RemoveBelowLowerBoundValues(0);
       EXPECT_EQ(num_values_removed, 0);
-      EXPECT_EQ(timestamped_set.size(), 4);
+      EXPECT_EQ(timestamped_set.size(), 4U);
     }
     {
       const int num_values_removed = timestamped_set.RemoveBelowLowerBoundValues(-1.1);
       EXPECT_EQ(num_values_removed, 0);
-      EXPECT_EQ(timestamped_set.size(), 4);
+      EXPECT_EQ(timestamped_set.size(), 4U);
     }
   }
   {
@@ -712,7 +712,7 @@ TEST(TimestampedSetTester, RemoveBelowLowerBoundValues) {
     ASSERT_TRUE(timestamped_set.Add(t3, v3));
     const int num_values_removed = timestamped_set.RemoveBelowLowerBoundValues(0.1);
     EXPECT_EQ(num_values_removed, 0);
-    EXPECT_EQ(timestamped_set.size(), 4);
+    EXPECT_EQ(timestamped_set.size(), 4U);
   }
   {
     lc::TimestampedSet<double> timestamped_set;
@@ -730,7 +730,7 @@ TEST(TimestampedSetTester, RemoveBelowLowerBoundValues) {
     ASSERT_TRUE(timestamped_set.Add(t3, v3));
     const int num_values_removed = timestamped_set.RemoveBelowLowerBoundValues(1.334);
     EXPECT_EQ(num_values_removed, 1);
-    EXPECT_EQ(timestamped_set.size(), 3);
+    EXPECT_EQ(timestamped_set.size(), 3U);
     const auto timestamps = timestamped_set.Timestamps();
     EXPECT_EQ(timestamps[0], t1);
     EXPECT_EQ(timestamps[1], t2);
@@ -753,7 +753,7 @@ TEST(TimestampedSetTester, RemoveBelowLowerBoundValues) {
     ASSERT_TRUE(timestamped_set.Add(t3, v3));
     const int num_values_removed = timestamped_set.RemoveBelowLowerBoundValues(2.78);
     EXPECT_EQ(num_values_removed, 2);
-    EXPECT_EQ(timestamped_set.size(), 2);
+    EXPECT_EQ(timestamped_set.size(), 2U);
     const auto timestamps = timestamped_set.Timestamps();
     EXPECT_EQ(timestamps[0], t2);
     EXPECT_EQ(timestamps[1], t3);
@@ -775,7 +775,7 @@ TEST(TimestampedSetTester, RemoveBelowLowerBoundValues) {
     ASSERT_TRUE(timestamped_set.Add(t3, v3));
     const int num_values_removed = timestamped_set.RemoveBelowLowerBoundValues(1923.78);
     EXPECT_EQ(num_values_removed, 3);
-    EXPECT_EQ(timestamped_set.size(), 1);
+    EXPECT_EQ(timestamped_set.size(), 1U);
     const auto timestamps = timestamped_set.Timestamps();
     EXPECT_EQ(timestamps[0], t3);
   }
diff --git a/mobility/choreographer/src/choreographer_component.cc b/mobility/choreographer/src/choreographer_component.cc
index aa8a156c74..51ee5308ab 100644
--- a/mobility/choreographer/src/choreographer_component.cc
+++ b/mobility/choreographer/src/choreographer_component.cc
@@ -1163,13 +1163,13 @@ class ChoreographerComponent : public ff_util::FreeFlyerComponent {
       path.poses.push_back(ps);
     }
 
-    pub_segment_.publish(path);
+    pub_segment_->publish(path);
 
     // Initialize timers
-    tolerance_pos_timer_ = ros::Time::now();
-    tolerance_att_timer_ = ros::Time::now();
-    tolerance_vel_timer_ = ros::Time::now();
-    tolerance_omega_timer_ = ros::Time::now();
+    tolerance_pos_timer_ = GetTimeNow();
+    tolerance_att_timer_ = GetTimeNow();
+    tolerance_vel_timer_ = GetTimeNow();
+    tolerance_omega_timer_ = GetTimeNow();
 
     // Success!
     return true;
diff --git a/simulation/CMakeLists.txt b/simulation/CMakeLists.txt
index 58291dd0b1..3119884987 100644
--- a/simulation/CMakeLists.txt
+++ b/simulation/CMakeLists.txt
@@ -297,5 +297,7 @@ install(DIRECTORY launch
 
 # pluginlib_export_plugin_description_file(astrobee_gazebo gazebo_astrobee_plugins.xml)
 
+
 ament_package()
-# endif (ENABLE_GAZEBO)
+
+endif (ENABLE_GAZEBO)