diff --git a/.gitignore b/.gitignore
index f7a0f4c80768658455e612027166309c46046025..e14884adaaecb68059b4a1ef8a79c4d216b2b69c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,6 +2,8 @@
 build
 devel
 logs
+build_isolated
+devel_isolated
 build_release
 devel_release
 logs_release
diff --git a/.gitmodules b/.gitmodules
index 87452c2ace149d6e3dd9f65127cc0c1a54b01539..bc5aa899bd5dad599be31a620c27c35c98897e5b 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -40,3 +40,6 @@
 [submodule "src/tf_low_pass"]
 	path = src/tf_low_pass
 	url = git@git.rwth-aachen.de:tim.uebelhoer/tf_low_pass.git
+[submodule "src/static_transform_mux"]
+	path = src/static_transform_mux
+	url = git@github.com:tradr-project/static_transform_mux.git
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 290ee5d24212bf9105cf52feb5740930e87752bb..ae61602e656821d1b46deffe9876b71a07b3d9a4 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -7,6 +7,8 @@
             },
             "includePath": [
                 "${workspaceFolder}/devel/include",
+                "${workspaceFolder}/devel_isolated/include",
+                "${workspaceFolder}/devel_isolated/robo_guide_msgs/include",
                 "${workspaceFolder}/src/charuco_detect/include",
                 "${workspaceFolder}/src/realsense/ddynamic_reconfigure/include",
                 "${workspaceFolder}/src/iiwa_com/include",
@@ -14,7 +16,7 @@
                 "${workspaceFolder}/src/robo_guide/include",
                 "${workspaceFolder}/src/scigl_render_ros/include",
                 "${workspaceFolder}/src/filter_bay/include",
-                "${workspaceFolder}/src/scigl_render_ros/build/devel/include",                
+                "${workspaceFolder}/src/scigl_render_ros/build/devel/include",
                 "/opt/ros/melodic/include",
                 "/usr/include",
                 "~/.conan/data/",
diff --git a/docker/base/Dockerfile b/docker/base/Dockerfile
deleted file mode 100644
index 1e6df623d581c98a66c9fc5b354058326412f9bb..0000000000000000000000000000000000000000
--- a/docker/base/Dockerfile
+++ /dev/null
@@ -1,9 +0,0 @@
-# this dockerfile installs the basic dependencies
-# no hardware specific dependencies shall be included
-FROM ros:melodic-perception
-
-# install dependencies
-RUN apt-get update && apt-get install -y \
-        package-bar \
-        package-baz \
-        package-foo
\ No newline at end of file
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
new file mode 120000
index 0000000000000000000000000000000000000000..66dd650aca8bc895ebfd0001a46559de60baee2c
--- /dev/null
+++ b/src/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/melodic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/src/iiwa_eye_calibration b/src/iiwa_eye_calibration
index c1c81eb3545907fb22d636764039da5285a533b6..51e9559c3f990fe90f25b28f0f5ff71ab801cd04 160000
--- a/src/iiwa_eye_calibration
+++ b/src/iiwa_eye_calibration
@@ -1 +1 @@
-Subproject commit c1c81eb3545907fb22d636764039da5285a533b6
+Subproject commit 51e9559c3f990fe90f25b28f0f5ff71ab801cd04
diff --git a/src/robo_guide b/src/robo_guide
index 2bdcc4b2ffb9f2153c642f70f08e07b4a0967663..7a27f1bacbc9ecddf6b1c85adf6edb303271f9b3 160000
--- a/src/robo_guide
+++ b/src/robo_guide
@@ -1 +1 @@
-Subproject commit 2bdcc4b2ffb9f2153c642f70f08e07b4a0967663
+Subproject commit 7a27f1bacbc9ecddf6b1c85adf6edb303271f9b3
diff --git a/src/robo_guide_bags b/src/robo_guide_bags
index bd4484b81797baab6c25395921fdd451fdc833de..8b79757593be3193a796011228ce0b79df4b6986 160000
--- a/src/robo_guide_bags
+++ b/src/robo_guide_bags
@@ -1 +1 @@
-Subproject commit bd4484b81797baab6c25395921fdd451fdc833de
+Subproject commit 8b79757593be3193a796011228ce0b79df4b6986
diff --git a/src/static_transform_mux b/src/static_transform_mux
new file mode 160000
index 0000000000000000000000000000000000000000..3cc1e208ed2a713d0c5a8990b1fc20e19f1e00c1
--- /dev/null
+++ b/src/static_transform_mux
@@ -0,0 +1 @@
+Subproject commit 3cc1e208ed2a713d0c5a8990b1fc20e19f1e00c1