diff --git a/README.md b/README.md
index 0de3e69..c575548 100644
--- a/README.md
+++ b/README.md
@@ -4,15 +4,25 @@
 
 ### ROS 1 User
 * Install Ubuntu 20.04 and ROS NOETIC
-* Checkout the master branch
-* Please catkin build [SFUISE](https://github.com/ASIG-X/SFUISE) in your workspace to have the cf_msg, which is required in gptr.
-* Please install Ceres 2.0 and sophus
+* Please install depencies, including Ceres Solver (1.14) and sophus
   ```
   sudo apt install libfmt-dev # may be required as a dependency of sophus
   sudo apt install ros-noetic-sophus
   sudo apt install libceres-dev
   ```
-* Git clone and catkin build the repo.
+* Create a catkin workspace with [SFUISE](https://github.com/ASIG-X/SFUISE) (main branch) for the `cf_msgs` dependency, and [GPTR](https://github.com/brytsknguyen/gptr) (master branch)
+  ```
+  mkdir -p ~/gptr_ws/src && cd ~/gptr_ws
+  catkin init
+  cd src
+  git clone git@github.com:ASIG-X/SFUISE.git
+  git clone git@github.com:brytsknguyen/gptr.git
+  ```
+* Build the repo:
+  ```
+  cd ~/gptr_ws
+  catkin build gptr
+  ```
 
 ### ROS 2 User
 * Install Ubuntu 22.04 and ROS HUMBLE
@@ -42,7 +52,13 @@ Please raise an issue should you encounter any issue with the compilation of the
 
 You can download and unzip the file `cloud_avia_mid_dynamic_extrinsics` from [here](https://drive.google.com/file/d/1Q5fTn5OvWd_I2RvVfiUKir90q5HshzQM/view?usp=sharing). It contains the pointclouds and the prior map for the experiment.
 
-After that, modify the path to the data and prior map in `run_sim.launch` and launch it. You should see the following visualization from rviz.
+Launch the experiment with `run_lio_sim.launch`, ensuring that you set the path to the extracted folder correctly.
+```
+source ~/gptr_ws/devel/setup.bash
+roslaunch gptr run_lio_sim.launch path:=/path/to/cloud_avia_mid_dynamic_extrinsics
+```
+
+You should see the following visualization in rviz.
 
 <img src="docs/sim.gif" alt="synthetic_exp" width="600"/>
 
@@ -50,7 +66,13 @@ After that, modify the path to the data and prior map in `run_sim.launch` and la
 
 Similar to the synthetic dataset, please download the data and the prior map from [here](https://drive.google.com/file/d/1QId8X4LFxYdYewHSBXiDEAvpIFD8w-ei/view?usp=sharing).
 
-Then specify the paths to the data and prior map in `gptr/launch/run_lio_cathhs_iot.launch` before roslaunch. You should see the following illustration.
+Launch the experiment with `run_lio_cathhs_iot.launch`, ensuring that you set the path to the extracted folder correctly.
+```
+source ~/gptr_ws/devel/setup.bash
+roslaunch gptr run_lio_cathhs_iot.launch path:=/path/to/cathhs_07
+```
+
+You should see the following visualization in rviz.
 
 <img src="docs/cathhs.gif" alt="cathhs_exp" width="600"/>
 
@@ -64,11 +86,9 @@ Please use the scripts `analysis_cathhs.ipynb` and `analysis_sim.ipynb` to evalu
 
 Please download the [UTIL](https://utiasdsl.github.io/util-uwb-dataset/) (TDoA-inertial) dataset.
 
-Change `bag_file` and `anchor_path` in `gptr/launch/run_util.launch` according to your own path.
-
-For ROS1 users, please run
+For ROS1 users, please run with the correct path to the directory containing the extracted dataset:
 ```
-roslaunch gptr run_util.launch
+roslaunch gptr run_util.launch path:=/path/to/UTIL
 ```
 For ROS2 users, please first convert the UTIL dataset to ROS2 bag using `ros2bag_convert_util.sh` from [SFUISE2](https://github.com/ASIG-X/SFUISE2) and run
 ```
@@ -87,10 +107,10 @@ For comparison, a baseline approach based on ESKF is available in the paper of U
 
 ## Testing on visual-inertial estimation and calibration
 <img src="/docs/vicalib.gif" width="600"/>
-Run the following command from terminal
 
+Run the following command from terminal, changing the path as desired:
 ```
-roslaunch gptr run_vicalib.launch
+roslaunch gptr run_vicalib.launch result_save_path:=/path/to/results
 ```
 This dataset is converted from the original one in [here](https://gitlab.com/tum-vision/lie-spline-experiments).
 
diff --git a/gptr/launch/gptr_ui.rviz b/gptr/launch/gptr_ui.rviz
index ab871e9..5595206 100644
--- a/gptr/launch/gptr_ui.rviz
+++ b/gptr/launch/gptr_ui.rviz
@@ -10,7 +10,7 @@ Panels:
         - /ground_truth1/Shape1
         - /Odometry1/Shape1
       Splitter Ratio: 0.5
-    Tree Height: 746
+    Tree Height: 1239
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -228,7 +228,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 0.0010668616741895676
+      Distance: 7.582653522491455
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -236,25 +236,25 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.13623669743537903
-        Y: -1.8856688737869263
-        Z: 1.7679803371429443
+        X: 0
+        Y: 0
+        Z: 0
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.45039811730384827
+      Pitch: 0.49539807438850403
       Target Frame: <Fixed Frame>
-      Yaw: 3.418574810028076
+      Yaw: 3.4635751247406006
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1043
+  Height: 1536
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000375fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000780000004e800000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000006240000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000562fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000780000004e800000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000562000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000562fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000562000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b80000003efc0100000002fb0000000800540069006d00650100000000000009b8000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000085c0000056200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -263,6 +263,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1920
-  X: 0
-  Y: 1256
+  Width: 2488
+  X: 1992
+  Y: 861
diff --git a/gptr/launch/run_lio_cathhs_iot.launch b/gptr/launch/run_lio_cathhs_iot.launch
index f7121f4..2b120a8 100644
--- a/gptr/launch/run_lio_cathhs_iot.launch
+++ b/gptr/launch/run_lio_cathhs_iot.launch
@@ -11,8 +11,11 @@
     <!-- <arg name="sequence" default="cathhs_03"/> -->
     <!-- <arg name="sequence" default="cathhs_04"/> -->
 
+    <!-- Path -->
+    <arg name="path" default="/media/tmn/mySataSSD1/Experiments/gptr"/>
+
     <!-- Bag file -->
-    <arg name="lidar_bag_file" value="/media/tmn/mySataSSD1/Experiments/gptr/$(arg sequence)/"/>
+    <arg name="lidar_bag_file" value="$(arg path)"/>
 
     <!-- Initial start time of each sequence -->
     <!-- <arg name="skipped_time" value="3.5"  if="$(eval 'cathhs_06' in sequence)"/> -->
@@ -23,7 +26,7 @@
                                      0.2, 0, -0.2, 0, 90, 0 ]"/>
 
     <!-- Direction to log the exp -->
-    <arg name="log_dir" value="/media/tmn/mySataSSD1/Experiments/gptr/logs/lio/cathhs_exp/$(arg sequence)_gptr_two_lidar"/>
+    <arg name="log_dir" value="$(arg path)/logs/lio/cathhs_exp/$(arg sequence)_gptr_two_lidar"/>
 
     <!-- Multi-lidar motion estimation node -->
     <node required="false" pkg="gptr" type="gptr_lo" name="gptr_lo" output="screen"
@@ -31,7 +34,7 @@
           <!-- launch-prefix="gdb -ex run - -args"> -->
 
         <!-- Location of the prior map -->
-        <param name="priormap_file"   value="/media/tmn/mySataSSD1/Experiments/gptr/cathhs_iot_prior_2cm.pcd"/>
+        <param name="priormap_file"   value="$(arg path)/cathhs_iot_prior_2cm.pcd"/>
 
         <!-- Location of bag file -->
         <param name="lidar_bag_file"  value="$(arg lidar_bag_file)"/>
@@ -138,4 +141,4 @@
     <node pkg="rviz" type="rviz" name="rviz_odom" output="log" required="true"
         args="-d $(find gptr)/launch/gptr_lo_cathhs.rviz"/>
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/gptr/launch/run_lio_sim.launch b/gptr/launch/run_lio_sim.launch
index 5ce1790..c989431 100644
--- a/gptr/launch/run_lio_sim.launch
+++ b/gptr/launch/run_lio_sim.launch
@@ -8,8 +8,11 @@
     <!-- Sequence -->
     <arg name="sequence" default="cloud_avia_mid_dynamic_extrinsics"/>
 
+    <!-- Path -->
+    <arg name="path" default="/media/tmn/mySataSSD1/Experiments/gptr"/>
+
     <!-- Bag file -->
-    <arg name="lidar_bag_file" value="/media/tmn/mySataSSD1/Experiments/gptr/$(arg sequence)/"/>
+    <arg name="lidar_bag_file" value="$(arg path)/$(arg sequence)"/>
                                      
     <!-- Initial start time of each sequence -->
     <arg name="skipped_time" value="0"/>
@@ -19,7 +22,7 @@
                                     -0.3, -0.3, 0.55, -134, 0,  0 ]"/>
 
     <!-- Direction to log the exp -->
-    <arg name="log_dir" value="/media/tmn/mySataSSD1/Experiments/gptr/logs/lio/sim_exp/sim_$(arg sequence)_gptr_two_lidar/"/>
+    <arg name="log_dir" value="$(arg path)/logs/lio/sim_exp/sim_$(arg sequence)_gptr_two_lidar/"/>
 
     <!-- Multi-lidar motion estimation node -->
     <node required="false" pkg="gptr" type="gptr_lo" name="gptr_lo" output="screen"
@@ -27,7 +30,7 @@
           <!-- launch-prefix="gdb -ex run - -args"> -->
 
         <!-- Location of the prior map -->
-        <param name="priormap_file"   value="/media/tmn/mySataSSD1/Experiments/gptr/sim_priormap.pcd"/>
+        <param name="priormap_file"   value="$(arg path)/sim_priormap.pcd"/>
 
         <!-- Location of bag file -->
         <param name="lidar_bag_file"  value="$(arg lidar_bag_file)"/>
@@ -130,4 +133,4 @@
     <node pkg="rviz" type="rviz" name="rviz_odom" output="log" required="true"
           args="-d $(find gptr)/launch/gptr_lo_sim.rviz"/>
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/gptr/launch/run_util.launch b/gptr/launch/run_util.launch
index 4122b6e..fd883a7 100644
--- a/gptr/launch/run_util.launch
+++ b/gptr/launch/run_util.launch
@@ -2,9 +2,10 @@
 <launch>
 
     <!-- Name of the UWB sequence -->
-    <arg name="bag_file" default="/media/tmn/mySataSSD1/DATASETS/UTIL_DATASETS/dataset/flight-dataset/rosbag-data/const1/const1-trial1-tdoa2.bag"/>
-    <arg name="anchor_path" default="/media/tmn/mySataSSD1/DATASETS/UTIL_DATASETS/dataset/flight-dataset/survey-results/anchor_const1_survey.txt"/>
-    <arg name="result_save_path" default="/home/kailai/Documents/results/gptr/c1/"/>
+    <arg name="path" default="/media/tmn/mySataSSD1/DATASETS/UTIL_DATASETS"/>
+    <arg name="bag_file" default="$(arg path)/dataset/flight-dataset/rosbag-data/const1/const1-trial1-tdoa2.bag"/>
+    <arg name="anchor_path" default="$(arg path)/dataset/flight-dataset/survey-results/anchor_const1_survey.txt"/>
+    <arg name="result_save_path" default="$(arg path)/results/gptr/c1/"/>
 
     <!-- Launch the uwb imu fusion node -->
     <node pkg="gptr" type="gptr_ui" name="gptr_ui" output="screen">
@@ -50,4 +51,4 @@
           args="--clock $(arg bag_file) -r 0.5 -s 0.0"
           launch-prefix="bash -c 'sleep 1.0; $0 $@' "/>       
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/gptr/package.xml b/gptr/package.xml
index 0352fa2..38ad712 100644
--- a/gptr/package.xml
+++ b/gptr/package.xml
@@ -53,12 +53,14 @@
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>sophus</build_depend>
+  <build_depend>cf_msgs</build_depend>
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>cf_msgs</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->