diff --git a/.github/workflows/build-deb.yaml b/.github/workflows/build-deb.yaml
new file mode 100644
index 0000000..80dd8fc
--- /dev/null
+++ b/.github/workflows/build-deb.yaml
@@ -0,0 +1,110 @@
+name: Build and Publish Debian Package
+
+on:
+  push:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    env:
+      DEB_BUILD_OPTIONS: nocheck  # or whatever options you need
+    strategy:
+      matrix:
+        distro: [debian-bookworm, debian-bullseye, ubuntu-24.04, ubuntu-22.04]
+        include:
+          - distro: debian-bookworm
+            image: debian:bookworm
+            os: debian
+            version: bookworm
+          - distro: debian-bullseye
+            image: debian:bullseye
+            os: debian
+            version: bullseye
+          - distro: ubuntu-24.04
+            image: ubuntu:24.04
+            os: ubuntu
+            version: noble
+          - distro: ubuntu-22.04
+            image: ubuntu:22.04
+            os: ubuntu
+            version: jammy
+    container:
+      image: ${{ matrix.image }}
+    steps:
+      - name: Setup dependencies
+        run: |
+          apt-get update
+          apt-get install -y build-essential devscripts debhelper autotools-dev autoconf-archive pkg-config fakeroot sed git tar gzip python3-pip python3-venv curl jq libyaml-cpp-dev
+
+          curl -u "robert-burger-xas1:{{apiKey}}" -1sLf \
+                                                 'https://dl.cloudsmith.io/basic/robertburger/robotkernel/setup.deb.sh' \
+                                                 | bash
+          apt-get update
+          apt-get install -y robotkernel-service-helper
+
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Mark working directory as safe
+        run: git config --global --add safe.directory $GITHUB_WORKSPACE
+
+      - name: update branch name
+        run: |
+          safe_branch=$(echo "${GITHUB_REF_NAME}" | tr '/' '-')
+          VERSION=$(dpkg-parsechangelog | sed -n 's/^Version: //p')
+          sed "s|PACKAGE_VERSION|$VERSION|" configure.ac.in > configure.ac
+        env:
+          GITHUB_REF_NAME: ${{ github.ref_name }}
+          
+      - name: Prepare autotools
+        run: |
+          # Nur falls nicht schon vorhanden (optional)
+          autoreconf -fi
+
+      - name: Build .deb package
+        run: |
+          # baue mit dpkg-buildpackage (ohne signieren)
+          dpkg-buildpackage -us -uc -d
+
+      - name: Collect .deb artifact
+        run: |
+          mkdir -p artifacts/${{ matrix.os }}/${{ matrix.version }}
+          mv ../robotkernel*.deb artifacts/${{ matrix.os }}/${{ matrix.version }}
+      
+      - name: Set sanitized image name
+        id: sanitize
+        run: |
+          version=$(dpkg-parsechangelog | sed -n 's/^Version: //p')
+          echo "sanitized_image=$(echo "$version-$IMAGE" | tr '/:' '--')" >> $GITHUB_OUTPUT
+        env:
+          IMAGE: ${{ matrix.image }}
+
+      - name: Upload .deb package
+        uses: actions/upload-artifact@v4
+        with:
+          name: robotkernel-${{ steps.sanitize.outputs.sanitized_image }}.deb
+          path: artifacts/${{ matrix.os }}/${{ matrix.version }}/*.deb
+      
+      - name: Upload to Cloudsmith (${{ matrix.os }}/${{ matrix.version }})
+        env:
+          CLOUDSMITH_API_KEY: ${{ secrets.CLOUDSMITH_API_KEY }}
+        shell: bash
+        run: |
+          VERSION=$(dpkg-parsechangelog | sed -n 's/^Version: //p')
+          FILENAME="artifacts/${{ matrix.os }}/${{ matrix.version }}/robotkernel_${VERSION}_amd64.deb"
+          FILENAME_DEV="artifacts/${{ matrix.os }}/${{ matrix.version }}/robotkernel-dev_${VERSION}_amd64.deb"
+        
+          python3 -m venv cloudsmith
+          cd cloudsmith
+          source bin/activate
+
+          python3 -m pip install --upgrade pip
+          pip3 install cloudsmith-cli
+
+          cloudsmith push deb robertburger/robotkernel/${{ matrix.os }}/${{ matrix.version }} ../${FILENAME} \
+            --republish \
+            --api-key "$CLOUDSMITH_API_KEY"
+          
+            cloudsmith push deb robertburger/robotkernel/${{ matrix.os }}/${{ matrix.version }} ../${FILENAME_DEV} \
+            --republish \
+            --api-key "$CLOUDSMITH_API_KEY"
diff --git a/.github/workflows/c-cpp.yml b/.github/workflows/c-cpp.yml
deleted file mode 100644
index ec27667..0000000
--- a/.github/workflows/c-cpp.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: C/C++ CI
-
-on:
-  push:
-    branches: [ "release/6.0.0" ]
-  pull_request:
-    branches: [ "release/6.0.0" ]
-
-jobs:
-  build:
-
-    runs-on: ubuntu-latest
-
-    steps:
-    - uses: actions/checkout@v4
-    - name: autreconf
-      run: autoreconf -if
-    - name: configure
-      run: ./configure
-    - name: make
-      run: make
-    - name: make check
-      run: make check
-    - name: make distcheck
-      run: make distcheck
diff --git a/.github/workflows/cmake-single-platform.yml b/.github/workflows/cmake-single-platform.yml
deleted file mode 100644
index 48f9781..0000000
--- a/.github/workflows/cmake-single-platform.yml
+++ /dev/null
@@ -1,40 +0,0 @@
-# This starter workflow is for a CMake project running on a single platform. There is a different starter workflow if you need cross-platform coverage.
-# See: https://github.com/actions/starter-workflows/blob/main/ci/cmake-multi-platform.yml
-name: CMake on a single platform
-
-on:
-  push:
-    branches: [ "release/6.0.0" ]
-  pull_request:
-    branches: [ "release/6.0.0" ]
-
-env:
-  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
-  BUILD_TYPE: Release
-
-jobs:
-  build:
-    # The CMake configure and build commands are platform agnostic and should work equally well on Windows or Mac.
-    # You can convert this to a matrix build if you need cross-platform coverage.
-    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
-    runs-on: ubuntu-latest
-
-    steps:
-    - uses: actions/checkout@v4
-    - uses: robert-burger/libstring_util@master
-
-    - name: Configure CMake
-      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
-      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
-      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
-
-    - name: Build
-      # Build your program with the given configuration
-      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
-
-    - name: Test
-      working-directory: ${{github.workspace}}/build
-      # Execute tests defined by the CMake configuration.
-      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
-      run: ctest -C ${{env.BUILD_TYPE}}
-
diff --git a/conanfile.py b/conanfile.py
index c9eadeb..7ceb987 100644
--- a/conanfile.py
+++ b/conanfile.py
@@ -11,7 +11,7 @@ class MainProject(ConanFile):
     tool_requires = ["robotkernel_service_helper/[~6]@robotkernel/snapshot"]
 
     def source(self):
-        self.run(f"sed 's/AC_INIT(.*/AC_INIT([robotkernel], [{self.version}], [{self.author}])/' -i configure.ac")
+        self.run(f"sed 's/AC_INIT(.*/AC_INIT([robotkernel], [{self.version}], [{self.author}])/' configure.ac.in > configure.ac")
 
     def requirements(self):
         self.requires(f"{self.name}_ln_msgdef/{self.version}@{self.user}/{self.channel}")
diff --git a/configure.ac b/configure.ac.in
similarity index 89%
rename from configure.ac
rename to configure.ac.in
index 58eb58f..b91bb9b 100644
--- a/configure.ac
+++ b/configure.ac.in
@@ -7,7 +7,7 @@ AC_PREREQ([2.63])
 # Robotkernel Version and Maintainer are extracted from project.properties file, change
 # them there if needed
 #
-AC_INIT([robotkernel], m4_esyscmd_s([git describe --long --dirty --tags]), [Robert Burger <robert.burger@dlr.de>])
+AC_INIT([robotkernel], [PACKAGE_VERSION], [Robert Burger <robert.burger@dlr.de>])
 
 AC_CONFIG_MACRO_DIR([m4])
 AC_CONFIG_HEADERS([include/robotkernel/config.h])
@@ -30,6 +30,8 @@ AC_PROG_LIBTOOL
 AC_PROG_INSTALL
 m4_ifdef([PKG_PROG_PKG_CONFIG], [PKG_PROG_PKG_CONFIG])
 m4_ifdef([PKG_INSTALLDIR], [PKG_INSTALLDIR], [pkgconfigdir='${libdir}/pkgconfig' AC_SUBST([pkgconfigdir])])
+AC_PATH_PROG(SERVICE_GENERATE, service_generate)
+AS_IF([test "$SERVICE_GENERATE" = ""], [AC_MSG_ERROR(["service_generate not found. Install robotkernel-service-helper!"])], [])
 
 PKG_CHECK_MODULES([LTTNG_UST], [lttng-ust], [enable_lttng=yes], [enable_lttng=no])
 PKG_CHECK_MODULES([YAML_CPP], [yaml-cpp], [], [AC_MSG_ERROR([yaml-cpp not found])])
diff --git a/debian/autoreconf.after b/debian/autoreconf.after
deleted file mode 100644
index 8e466c8..0000000
--- a/debian/autoreconf.after
+++ /dev/null
@@ -1,142 +0,0 @@
-404d2777a992195e6cd4f869093524d1  ./project.properties
-5110366adb55f1dcc23f315bc9ae0c95  ./Makefile.in
-9239390ccd3129a236e6e3a4a4830a45  ./CMakeLists.txt
-c9671feb88339208a8c34c54ac7a6eef  ./config.guess
-3e690f23a8be0390c7cff2d28632c52d  ./README.wiki
-0b89019e0f142fd2fe883cd9ec8eff27  ./autom4te.cache/output.1
-8bc1211f5430f24286ccaab21c8e4141  ./autom4te.cache/traces.0
-0b89019e0f142fd2fe883cd9ec8eff27  ./autom4te.cache/output.0
-6a0f510814e5b6ef814d1a396b30913d  ./autom4te.cache/requests
-9396c04e90dddffdaf0b4b3b42b473d6  ./autom4te.cache/traces.1
-d5c51b3bda604181fbb8e054604c55b3  ./ar-lib
-54f964cfdb428a038366cf94b7daafc7  ./rk_test_package/conanfile.py
-4a102ca3a0f0a969667392affb6dbb05  ./BUILD.md
-d41d8cd98f00b204e9800998ecf8427e  ./ChangeLog
-af5f0594fcb4fc1df0ca5c196e28fac2  ./AUTHORS
-83033bdc5ec203b69a7046b5cb2b4522  ./config.sub
-1ebbd3e34237af26da5dc08a4e440464  ./LICENSE
-2901af302ebe19e653da3dd290d4f9cc  ./robotkernel.pc.in
-b9b117274ab68bc6d1cfa877b8daa23d  ./ltmain.sh
-ec1101503d6feb7cbfb4fbc27ade6ef7  ./share/service_definitions/robotkernel/log_base/configure_loglevel
-040d9dc79c06faa97f591373d1cd450a  ./share/service_definitions/robotkernel/kernel/service_interface_info
-76a80a953d2e11cd68095b936dd746f5  ./share/service_definitions/robotkernel/kernel/reconfigure_module
-d2f1882600f31d94e60c81aa3146e5d3  ./share/service_definitions/robotkernel/kernel/stream_info
-f136f95464a61a4d3b369cf0b7cf1f1d  ./share/service_definitions/robotkernel/kernel/list_devices
-e775f04efee81e25faf9f02ed4aa597d  ./share/service_definitions/robotkernel/kernel/remove_module
-acf0850b0d8d6a748c35925f0bc345f1  ./share/service_definitions/robotkernel/kernel/process_data_info
-503fa43b625f15d710040993fa0effd0  ./share/service_definitions/robotkernel/kernel/list_pd_injections
-49e32a69aa3b4003c40a1535ae12c8ca  ./share/service_definitions/robotkernel/kernel/add_module
-5d3c95263636b7842aba402b10bf0811  ./share/service_definitions/robotkernel/kernel/del_pd_injection
-22afa2fc585af7825940c135bb8ccb18  ./share/service_definitions/robotkernel/kernel/add_pd_injection
-35020734c267682ce89982574f5a965a  ./share/service_definitions/robotkernel/kernel/trigger_info
-edcf5d15a2e29b1da1013923be9c0d60  ./share/service_definitions/robotkernel/kernel/config_dump_log
-f39a842ba75d6616646107c85ef395f0  ./share/service_definitions/robotkernel/kernel/module_list
-02bb687d405fb07996e1edcb2aa298c8  ./share/service_definitions/robotkernel/kernel/get_dump_log
-0f016ae627cccb01268b0e50c54e5947  ./share/service_definitions/robotkernel/module/get_config
-885a9db4320d91247c2801d0171fe267  ./share/service_definitions/robotkernel/module/get_state
-be0d52d0683a52170d35fa640e3585c1  ./share/service_definitions/robotkernel/module/set_state
-f934bea9b575f0548d4649abeedf3997  ./.gitignore
-6f98a41f6a2d7a63a4279e9a876e5ff6  ./configure
-53e627f03d2b741a129da926c51ca8aa  ./missing
-8da3e8547d80ee0581353205b99bf174  ./rmc-build.yaml
-87ed769b074a066a8f4c6c4d91751c2e  ./aclocal.m4
-b149e38320a5e99d7c4b865c78bd83db  ./conanfile.msgdef.py
-7e738bc75d2cdae4f9c44a6c55c83fbe  ./RMC-Jenkinsfile
-ec69826f0e1adae2f684c99c706b09c1  ./m4/ax_cxx_compile_stdcxx.m4
-74c30d76d0d8f04f23eb7787db25479c  ./m4/deps.m4
-064af1799febaa676203302bbf359180  ./m4/ltoptions.m4
-5457d05f5d2f3421a1321e123df1dbce  ./m4/libtool.m4
-fa2891f9060865871cbbaa1c6e2d96f4  ./m4/ltsugar.m4
-1010d9423aceae3af75a5b000e7ee658  ./m4/ax_cxx_compile_stdcxx_11.m4
-6d0d74d5d9dfcee3157082fbe177ef98  ./m4/ac_check_pthread_setname_np.m4
-66554862aeafe54ffb0cf75c96e1123d  ./m4/ax_check_compile_flag.m4
-066c6943f63fe6d847b495580b37e09a  ./m4/ax_check_link_flag.m4
-22aa295bf5320aec7fba6756ff11058a  ./m4/lt~obsolete.m4
-d936fd6b2025c9b5322f826117d7f30c  ./m4/ltversion.m4
-9e1f2152ce7af51687de781d4e999aa9  ./m4/ax_prog_doxygen.m4
-98bdd516ebf332d333dde9df7541fcb3  ./seqm.yaml
-b090c5891571c820e91d345a9551af44  ./install-sh
-d41d8cd98f00b204e9800998ecf8427e  ./.gitmodules
-cb0ec4f66d59fb4a4c486553f562d9b2  ./conanfile.py
-0eef792fed01a1e4e446dc3966d7829d  ./msgdef_test_package/conanfile.py
-097d2f6b31c0901a91eb7a9a915c717f  ./doc/rk_uml.xmi
-b879d495d1fcdde02e691e1fcb878503  ./doc/structure.uxf
-2f054a2b17dd3340042e2724d1d34825  ./doc/images/rk_single_buffer.png
-fe196fdadaf75ebc2d60887ddece7851  ./doc/images/triple buffer.svg
-8b73fee9a2521329ce2e8fa0fef4c24f  ./doc/images/rk_overview.png
-cb2332fd29b4c3c80c9c20c6fca46e56  ./doc/images/rk_state_machine.svg
-f17477d26bae0c47a3ba7299a971bd9a  ./doc/images/triple buffer.png
-b96c5e3fb3ba04f6436249c977eb60d4  ./doc/images/rk_state_machine.png
-481d1f5ca8cbfc749fa1bbe2631c8015  ./doc/images/single buffer.svg
-9ef48db52a39ba9b3ac6d1bfb4ab6392  ./doc/images/rk_overview.svg
-108179d89616a92cc31da613b0e19377  ./doc/robotkernel-5 multiple service bridge example.png
-3ad662f8d938ca6b229f1645810fa1cb  ./doc/structure.xmi
-854ea5121373c298920ef640fe92a7da  ./src/test/cpp/test_cli_server.cpp
-c083d41d6623aecb7416e7e1295d35e5  ./src/main/cpp/rkc_loader.cpp
-772ce98b0b47f1c310c0b0fa5ef58d39  ./src/main/cpp/Makefile.in
-1c38e50b0277d38060a724f06412bb79  ./src/main/cpp/log_base.cpp
-384a67ad183be15a6b855b1255163b01  ./src/main/cpp/trigger_worker.cpp
-7a254908d8768235cbe6b12eb2b42029  ./src/main/cpp/stream.cpp
-77399ff89d7292510671e99494d1ac58  ./src/main/cpp/kernel_worker.cpp
-4e5224a55e7a79fd6304129080a03f39  ./src/main/cpp/kernel_c_wrapper.cpp
-9b60cfd840cb82811b36d9bc82fa5042  ./src/main/cpp/service_provider.cpp
-6c25a7fd997a29cf68f53c1c986b3d28  ./src/main/cpp/module_base.cpp
-0b510f8e7f23ca6ca9f23bcc2b707349  ./src/main/cpp/char_ringbuffer.cpp
-ff3415a565748f78745d3f7717eee44c  ./src/main/cpp/kernel.cpp
-4206a2df808be4a853f7bc97d37e94b2  ./src/main/cpp/rt_helper.cpp
-04ba5374a5d9a274007cd7cb43d5d13b  ./src/main/cpp/module.cpp
-70e15c6041f29d028042b1f1ccbd560d  ./src/main/cpp/trigger.cpp
-40f8d4c9646b0130d8a3f490a586b60a  ./src/main/cpp/exceptions.cpp
-42c599cd4134bd6439b741935c3e32d6  ./src/main/cpp/main.cpp
-cff64a91ef75e1cee5eb3a1eca42c4c1  ./src/main/cpp/dump_log.cpp
-feee3cd8a0d9c22d1d79b3518317eb76  ./src/main/cpp/bridge.cpp
-d941e44eb19e9ec7dfcf60a06b056540  ./src/main/cpp/log_thread.cpp
-cd44c683146870afde32fc5a578d07af  ./src/main/cpp/include/robotkernel/rt_helper.h
-56d727994bd736cc45307125bf88cb9a  ./src/main/cpp/include/robotkernel/lttng_tp.h
-4e99b2ce1bb545ba55644ae95a5f9510  ./src/main/cpp/include/robotkernel/service_provider_intf.h
-66dfbad6ef362240a73ddb7c9c35f157  ./src/main/cpp/include/robotkernel/trigger_worker.h
-369b6101fca1e44c0d2c713564738346  ./src/main/cpp/include/robotkernel/kernel_c_wrapper.h
-3fb0fa9e0b2591dca69ee5f61353580e  ./src/main/cpp/include/robotkernel/module_intf.h
-139488d0c8f2d3c6789197169e11225a  ./src/main/cpp/include/robotkernel/service_interface.h
-b65bee74e901fc62efa5877716016e51  ./src/main/cpp/include/robotkernel/log_thread.h
-0809652f5cfd62ed028320a3f9b9d1c1  ./src/main/cpp/include/robotkernel/process_data.h
-4131cc5d7095802409e5381b82fedcf1  ./src/main/cpp/include/robotkernel/service_provider.h
-7d27668c9ca43b776f2bba3993485e04  ./src/main/cpp/include/robotkernel/bridge_base.h
-e13b03bf264fc57f9058c18e41f13006  ./src/main/cpp/include/robotkernel/interface_intf.h
-cdd1dbc52beb57de7b0c0be56b607cda  ./src/main/cpp/include/robotkernel/rk_type.h
-fa349b4e0de3118d780e8caad3d21a6b  ./src/main/cpp/include/robotkernel/device_listener.h
-21f99977c1c978a3a308821971ca9b2c  ./src/main/cpp/include/robotkernel/so_file.h
-027f47028321e011c428e19d1754852a  ./src/main/cpp/include/robotkernel/helpers.h
-e4bdc90d393dc091707ec479d36ced17  ./src/main/cpp/include/robotkernel/device.h
-b922ceefb29e534c63a0ff01d8705502  ./src/main/cpp/include/robotkernel/char_ringbuffer.h
-75d2db53f08cc7b45dc467fe2ab39019  ./src/main/cpp/include/robotkernel/trigger.h
-0c8718a46fe6a32b1a829966e4a95feb  ./src/main/cpp/include/robotkernel/rkc_loader.h
-7c14f20511f989374b6386c95a1d68b0  ./src/main/cpp/include/robotkernel/config.h.in
-6caa395fe308c3433245d82b5ac6006e  ./src/main/cpp/include/robotkernel/module.h
-6244003d7f94531ca5d4a5ab5d3869a4  ./src/main/cpp/include/robotkernel/bridge_intf.h
-9e8a85e30400d172a6382ec0e5474bb4  ./src/main/cpp/include/robotkernel/kernel.h
-a5d113cacca6ee6d3f3e577a17e0c9de  ./src/main/cpp/include/robotkernel/service.h
-4cec53950dcce6d2ff23b439d326fa6e  ./src/main/cpp/include/robotkernel/service_provider_base.h
-f129cce6997ff45da42192375f8fb905  ./src/main/cpp/include/robotkernel/stream.h
-b524713f974403c24c4790a1c62b6ea4  ./src/main/cpp/include/robotkernel/exceptions.h
-b96f26cdc90b9881d2fa8c07797a62dd  ./src/main/cpp/include/robotkernel/log_base.h
-bea1a57d78847b51c79013d03db73c49  ./src/main/cpp/include/robotkernel/bridge.h
-1c50cfc373bb9731404e13f31081fdb7  ./src/main/cpp/include/robotkernel/kernel_worker.h
-77af075d7536567d8310a7b635850e1b  ./src/main/cpp/include/robotkernel/module_base.h
-cb6762822c506cad18b0af2a5fae3c9e  ./src/main/cpp/include/robotkernel/runnable.h
-c5060472c5e79c2af4fcd81a18929ed0  ./src/main/cpp/include/robotkernel/loglevel.h
-09f8400c6fbbf5a6d2e2b9f924e0bd8d  ./src/main/cpp/include/robotkernel/trigger_base.h
-1f2c9877643c7261634eabf22aeef45e  ./src/main/cpp/include/robotkernel/dump_log.h
-af27d1f09acea2443d3124b8d03fe55c  ./src/main/cpp/helpers.cpp
-6e567a5914c362a1bb805ec7088058c4  ./src/main/cpp/runnable.cpp
-68e726878ee63e554e8c760b4e544e01  ./src/main/cpp/so_file.cpp
-854eb951669492e30eea77ca742f6ac6  ./src/main/cpp/process_data.cpp
-de37ac6bce9d269999f1236b9f910bb7  ./src/main/cpp/rk_type.cpp
-a8867975e45f8c2d45c7ab300b43e5df  ./src/main/cpp/Makefile.am
-00282f20994c6f289dae2eadf50e5e23  ./README.md
-fc70d2cc4c5cb157098149403b786cdd  ./.dir-locals.el
-dc5de60a1ff2adec780006ed43998438  ./configure.ac
-91b287ce6c245893a75bd18dc53fb07a  ./depcomp
-db0112ab22825d7d6cb9257d34577cfc  ./compile
-349fd4a96340b98977990b9a6ebac491  ./Makefile.am
-73ca5335d6570fd7ff7cd4b0d66f9154  ./doxyfile
diff --git a/debian/autoreconf.before b/debian/autoreconf.before
deleted file mode 100644
index 1e79af8..0000000
--- a/debian/autoreconf.before
+++ /dev/null
@@ -1,125 +0,0 @@
-404d2777a992195e6cd4f869093524d1  ./project.properties
-9239390ccd3129a236e6e3a4a4830a45  ./CMakeLists.txt
-3e690f23a8be0390c7cff2d28632c52d  ./README.wiki
-54f964cfdb428a038366cf94b7daafc7  ./rk_test_package/conanfile.py
-4a102ca3a0f0a969667392affb6dbb05  ./BUILD.md
-d41d8cd98f00b204e9800998ecf8427e  ./ChangeLog
-af5f0594fcb4fc1df0ca5c196e28fac2  ./AUTHORS
-1ebbd3e34237af26da5dc08a4e440464  ./LICENSE
-2901af302ebe19e653da3dd290d4f9cc  ./robotkernel.pc.in
-b9b117274ab68bc6d1cfa877b8daa23d  ./ltmain.sh
-ec1101503d6feb7cbfb4fbc27ade6ef7  ./share/service_definitions/robotkernel/log_base/configure_loglevel
-040d9dc79c06faa97f591373d1cd450a  ./share/service_definitions/robotkernel/kernel/service_interface_info
-76a80a953d2e11cd68095b936dd746f5  ./share/service_definitions/robotkernel/kernel/reconfigure_module
-d2f1882600f31d94e60c81aa3146e5d3  ./share/service_definitions/robotkernel/kernel/stream_info
-f136f95464a61a4d3b369cf0b7cf1f1d  ./share/service_definitions/robotkernel/kernel/list_devices
-e775f04efee81e25faf9f02ed4aa597d  ./share/service_definitions/robotkernel/kernel/remove_module
-acf0850b0d8d6a748c35925f0bc345f1  ./share/service_definitions/robotkernel/kernel/process_data_info
-503fa43b625f15d710040993fa0effd0  ./share/service_definitions/robotkernel/kernel/list_pd_injections
-49e32a69aa3b4003c40a1535ae12c8ca  ./share/service_definitions/robotkernel/kernel/add_module
-5d3c95263636b7842aba402b10bf0811  ./share/service_definitions/robotkernel/kernel/del_pd_injection
-22afa2fc585af7825940c135bb8ccb18  ./share/service_definitions/robotkernel/kernel/add_pd_injection
-35020734c267682ce89982574f5a965a  ./share/service_definitions/robotkernel/kernel/trigger_info
-edcf5d15a2e29b1da1013923be9c0d60  ./share/service_definitions/robotkernel/kernel/config_dump_log
-f39a842ba75d6616646107c85ef395f0  ./share/service_definitions/robotkernel/kernel/module_list
-02bb687d405fb07996e1edcb2aa298c8  ./share/service_definitions/robotkernel/kernel/get_dump_log
-0f016ae627cccb01268b0e50c54e5947  ./share/service_definitions/robotkernel/module/get_config
-885a9db4320d91247c2801d0171fe267  ./share/service_definitions/robotkernel/module/get_state
-be0d52d0683a52170d35fa640e3585c1  ./share/service_definitions/robotkernel/module/set_state
-f934bea9b575f0548d4649abeedf3997  ./.gitignore
-8da3e8547d80ee0581353205b99bf174  ./rmc-build.yaml
-b149e38320a5e99d7c4b865c78bd83db  ./conanfile.msgdef.py
-7e738bc75d2cdae4f9c44a6c55c83fbe  ./RMC-Jenkinsfile
-ec69826f0e1adae2f684c99c706b09c1  ./m4/ax_cxx_compile_stdcxx.m4
-74c30d76d0d8f04f23eb7787db25479c  ./m4/deps.m4
-064af1799febaa676203302bbf359180  ./m4/ltoptions.m4
-5457d05f5d2f3421a1321e123df1dbce  ./m4/libtool.m4
-fa2891f9060865871cbbaa1c6e2d96f4  ./m4/ltsugar.m4
-1010d9423aceae3af75a5b000e7ee658  ./m4/ax_cxx_compile_stdcxx_11.m4
-6d0d74d5d9dfcee3157082fbe177ef98  ./m4/ac_check_pthread_setname_np.m4
-66554862aeafe54ffb0cf75c96e1123d  ./m4/ax_check_compile_flag.m4
-066c6943f63fe6d847b495580b37e09a  ./m4/ax_check_link_flag.m4
-22aa295bf5320aec7fba6756ff11058a  ./m4/lt~obsolete.m4
-d936fd6b2025c9b5322f826117d7f30c  ./m4/ltversion.m4
-9e1f2152ce7af51687de781d4e999aa9  ./m4/ax_prog_doxygen.m4
-98bdd516ebf332d333dde9df7541fcb3  ./seqm.yaml
-d41d8cd98f00b204e9800998ecf8427e  ./.gitmodules
-cb0ec4f66d59fb4a4c486553f562d9b2  ./conanfile.py
-0eef792fed01a1e4e446dc3966d7829d  ./msgdef_test_package/conanfile.py
-097d2f6b31c0901a91eb7a9a915c717f  ./doc/rk_uml.xmi
-b879d495d1fcdde02e691e1fcb878503  ./doc/structure.uxf
-2f054a2b17dd3340042e2724d1d34825  ./doc/images/rk_single_buffer.png
-fe196fdadaf75ebc2d60887ddece7851  ./doc/images/triple buffer.svg
-8b73fee9a2521329ce2e8fa0fef4c24f  ./doc/images/rk_overview.png
-cb2332fd29b4c3c80c9c20c6fca46e56  ./doc/images/rk_state_machine.svg
-f17477d26bae0c47a3ba7299a971bd9a  ./doc/images/triple buffer.png
-b96c5e3fb3ba04f6436249c977eb60d4  ./doc/images/rk_state_machine.png
-481d1f5ca8cbfc749fa1bbe2631c8015  ./doc/images/single buffer.svg
-9ef48db52a39ba9b3ac6d1bfb4ab6392  ./doc/images/rk_overview.svg
-108179d89616a92cc31da613b0e19377  ./doc/robotkernel-5 multiple service bridge example.png
-3ad662f8d938ca6b229f1645810fa1cb  ./doc/structure.xmi
-854ea5121373c298920ef640fe92a7da  ./src/test/cpp/test_cli_server.cpp
-c083d41d6623aecb7416e7e1295d35e5  ./src/main/cpp/rkc_loader.cpp
-1c38e50b0277d38060a724f06412bb79  ./src/main/cpp/log_base.cpp
-384a67ad183be15a6b855b1255163b01  ./src/main/cpp/trigger_worker.cpp
-7a254908d8768235cbe6b12eb2b42029  ./src/main/cpp/stream.cpp
-77399ff89d7292510671e99494d1ac58  ./src/main/cpp/kernel_worker.cpp
-4e5224a55e7a79fd6304129080a03f39  ./src/main/cpp/kernel_c_wrapper.cpp
-9b60cfd840cb82811b36d9bc82fa5042  ./src/main/cpp/service_provider.cpp
-6c25a7fd997a29cf68f53c1c986b3d28  ./src/main/cpp/module_base.cpp
-0b510f8e7f23ca6ca9f23bcc2b707349  ./src/main/cpp/char_ringbuffer.cpp
-ff3415a565748f78745d3f7717eee44c  ./src/main/cpp/kernel.cpp
-4206a2df808be4a853f7bc97d37e94b2  ./src/main/cpp/rt_helper.cpp
-04ba5374a5d9a274007cd7cb43d5d13b  ./src/main/cpp/module.cpp
-70e15c6041f29d028042b1f1ccbd560d  ./src/main/cpp/trigger.cpp
-40f8d4c9646b0130d8a3f490a586b60a  ./src/main/cpp/exceptions.cpp
-42c599cd4134bd6439b741935c3e32d6  ./src/main/cpp/main.cpp
-cff64a91ef75e1cee5eb3a1eca42c4c1  ./src/main/cpp/dump_log.cpp
-feee3cd8a0d9c22d1d79b3518317eb76  ./src/main/cpp/bridge.cpp
-d941e44eb19e9ec7dfcf60a06b056540  ./src/main/cpp/log_thread.cpp
-cd44c683146870afde32fc5a578d07af  ./src/main/cpp/include/robotkernel/rt_helper.h
-56d727994bd736cc45307125bf88cb9a  ./src/main/cpp/include/robotkernel/lttng_tp.h
-4e99b2ce1bb545ba55644ae95a5f9510  ./src/main/cpp/include/robotkernel/service_provider_intf.h
-66dfbad6ef362240a73ddb7c9c35f157  ./src/main/cpp/include/robotkernel/trigger_worker.h
-369b6101fca1e44c0d2c713564738346  ./src/main/cpp/include/robotkernel/kernel_c_wrapper.h
-3fb0fa9e0b2591dca69ee5f61353580e  ./src/main/cpp/include/robotkernel/module_intf.h
-139488d0c8f2d3c6789197169e11225a  ./src/main/cpp/include/robotkernel/service_interface.h
-b65bee74e901fc62efa5877716016e51  ./src/main/cpp/include/robotkernel/log_thread.h
-0809652f5cfd62ed028320a3f9b9d1c1  ./src/main/cpp/include/robotkernel/process_data.h
-4131cc5d7095802409e5381b82fedcf1  ./src/main/cpp/include/robotkernel/service_provider.h
-7d27668c9ca43b776f2bba3993485e04  ./src/main/cpp/include/robotkernel/bridge_base.h
-e13b03bf264fc57f9058c18e41f13006  ./src/main/cpp/include/robotkernel/interface_intf.h
-cdd1dbc52beb57de7b0c0be56b607cda  ./src/main/cpp/include/robotkernel/rk_type.h
-fa349b4e0de3118d780e8caad3d21a6b  ./src/main/cpp/include/robotkernel/device_listener.h
-21f99977c1c978a3a308821971ca9b2c  ./src/main/cpp/include/robotkernel/so_file.h
-027f47028321e011c428e19d1754852a  ./src/main/cpp/include/robotkernel/helpers.h
-e4bdc90d393dc091707ec479d36ced17  ./src/main/cpp/include/robotkernel/device.h
-b922ceefb29e534c63a0ff01d8705502  ./src/main/cpp/include/robotkernel/char_ringbuffer.h
-75d2db53f08cc7b45dc467fe2ab39019  ./src/main/cpp/include/robotkernel/trigger.h
-0c8718a46fe6a32b1a829966e4a95feb  ./src/main/cpp/include/robotkernel/rkc_loader.h
-6caa395fe308c3433245d82b5ac6006e  ./src/main/cpp/include/robotkernel/module.h
-6244003d7f94531ca5d4a5ab5d3869a4  ./src/main/cpp/include/robotkernel/bridge_intf.h
-9e8a85e30400d172a6382ec0e5474bb4  ./src/main/cpp/include/robotkernel/kernel.h
-a5d113cacca6ee6d3f3e577a17e0c9de  ./src/main/cpp/include/robotkernel/service.h
-4cec53950dcce6d2ff23b439d326fa6e  ./src/main/cpp/include/robotkernel/service_provider_base.h
-f129cce6997ff45da42192375f8fb905  ./src/main/cpp/include/robotkernel/stream.h
-b524713f974403c24c4790a1c62b6ea4  ./src/main/cpp/include/robotkernel/exceptions.h
-b96f26cdc90b9881d2fa8c07797a62dd  ./src/main/cpp/include/robotkernel/log_base.h
-bea1a57d78847b51c79013d03db73c49  ./src/main/cpp/include/robotkernel/bridge.h
-1c50cfc373bb9731404e13f31081fdb7  ./src/main/cpp/include/robotkernel/kernel_worker.h
-77af075d7536567d8310a7b635850e1b  ./src/main/cpp/include/robotkernel/module_base.h
-cb6762822c506cad18b0af2a5fae3c9e  ./src/main/cpp/include/robotkernel/runnable.h
-c5060472c5e79c2af4fcd81a18929ed0  ./src/main/cpp/include/robotkernel/loglevel.h
-09f8400c6fbbf5a6d2e2b9f924e0bd8d  ./src/main/cpp/include/robotkernel/trigger_base.h
-1f2c9877643c7261634eabf22aeef45e  ./src/main/cpp/include/robotkernel/dump_log.h
-af27d1f09acea2443d3124b8d03fe55c  ./src/main/cpp/helpers.cpp
-6e567a5914c362a1bb805ec7088058c4  ./src/main/cpp/runnable.cpp
-68e726878ee63e554e8c760b4e544e01  ./src/main/cpp/so_file.cpp
-854eb951669492e30eea77ca742f6ac6  ./src/main/cpp/process_data.cpp
-de37ac6bce9d269999f1236b9f910bb7  ./src/main/cpp/rk_type.cpp
-a8867975e45f8c2d45c7ab300b43e5df  ./src/main/cpp/Makefile.am
-00282f20994c6f289dae2eadf50e5e23  ./README.md
-fc70d2cc4c5cb157098149403b786cdd  ./.dir-locals.el
-dc5de60a1ff2adec780006ed43998438  ./configure.ac
-349fd4a96340b98977990b9a6ebac491  ./Makefile.am
-73ca5335d6570fd7ff7cd4b0d66f9154  ./doxyfile
diff --git a/debian/changelog b/debian/changelog
index 55856b9..a0ecc7c 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,5 +1,1352 @@
-robotkernel (5.0.0-1) unstable; urgency=medium
+robotkernel (6.0.0~pre1) unstable; urgency=low
 
-  * Initial release (Closes: #nnnn)  <nnnn is the bug number of your ITP>
+  * prepare: 6.0.0
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 8 May 2025 07:58:02 +0200
+
+robotkernel (5.0.50) unstable; urgency=low
+
+  * chore: removed printf
+  * fix: c_wrapper cleanup
+  * fix: cleaning up c_wrapper provider or consumer
+  * Merge pull request #33 from robotkernel/fix/check-module-cfg-is-mapping
+  * log_base: YAML::Node::IsDefined() returns true for Null nodes
+  * log_base: ensure module config is a yaml-mapping
+  * add: parsing of command line argument with \!arg config tag
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 8 May 2025 07:58:02 +0200
+
+robotkernel (5.0.49) unstable; urgency=low
+
+  * Merge pull request #30 from robotkernel/release/5.0.49
+  * Merge branch 'master' into release/5.0.49
+  * change: only set prio and affinity if not 0
+  * fix: issue when doing 1 second interval printing missing cond signal
+  * fix: non existing include dir for msgdefs
+
+ -- Burger, Robert <robert.burger@dlr.de>  Fri, 17 May 2024 07:16:11 +0200
+
+robotkernel (5.0.48) unstable; urgency=low
+
+  * Merge pull request #29 from robotkernel/fix/transitive_deps
+  * fix: conan2 needs transitive dependencies
+
+ -- Mühlbauer, Maximilian Sebastian <Maximilian.Muehlbauer@dlr.de>  Fri, 1 Mar 2024 12:53:25 +0100
+
+robotkernel (5.0.47) unstable; urgency=low
+
+  * Merge pull request #27 from robotkernel/fix/conan2_version_ranges
+  * fix: conan2 version ranges
+
+ -- Mühlbauer, Maximilian Sebastian <Maximilian.Muehlbauer@dlr.de>  Tue, 30 Jan 2024 14:58:51 +0100
+
+robotkernel (5.0.46) unstable; urgency=low
+
+  * Merge pull request #26 from robotkernel/release/5.0.46
+  * Merge pull request #25 from robotkernel/feat/update_yaml_cpp
+  * chore(deps): update yaml-cpp to 0.7.0
+  * add: some log messages on add_module  and remove_module
+  * fix: adding module with existing module name
+
+ -- Mühlbauer, Maximilian Sebastian <Maximilian.Muehlbauer@dlr.de>  Thu, 18 Jan 2024 10:36:48 +0100
+
+robotkernel (5.0.45) unstable; urgency=low
+
+  * Merge pull request #24 from robotkernel/feat/conan2_compat
+  * feat: conan2-compatible msgdef dirs
+  * chore: format
+  * fix(rk test): add conanrun env
+  * chore(rmc build): use build profiles
+  * chore(test pkg): conan 2 syntax
+  * chore(conanfile): conan 2 syntax
+  * chore: enable conan v2 mode
+
+ -- Mühlbauer, Maximilian Sebastian <Maximilian.Muehlbauer@dlr.de>  Thu, 23 Nov 2023 08:32:00 +0100
+
+robotkernel (5.0.44) unstable; urgency=low
+
+  * extend: exception when cosuming process data
+  * fixed service definition location
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 5 Sep 2023 06:16:46 +0200
+
+robotkernel (5.0.43) unstable; urgency=low
+
+  * updated robotkernel_service_helper dep
+  * added services namespace to generated service_definitions.h
+  * Merge branch 'master' into release/5.0.43
+  * Revert "rk_type conversion explicit now"
+  * rk_type conversion explicit now
+  * fixed signed warning
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 4 Aug 2023 12:11:09 +0200
+
+robotkernel (5.0.42) unstable; urgency=low
+
+  * removed template parameter from trigger_collector, better to pass it as variable in constructor
+  * fixed const converters of rk_type
+  * add namespace to trigger_collector
+  * added trigger_collector from module_miro
+  * Merge branch 'master' into release/5.0.42
+  * Merge branch 'release/5.0.42' of rmc-github.robotic.dlr.de:robotkernel/robotkernel into release/5.0.42
+  * fix for get_instance in v2 case
+  * Merge pull request #22 from robotkernel/fix/service_helper_tool_req
+  * Merge branch 'master' into fix/service_helper_tool_req
+  * Merge branch 'master' into release/5.0.42
+  * added debian build stuff
+  * fixed version generation
+  * updated build configs for msg defs
+  * changed version generation
+  * fix string literal, return value of write
+  * fix: tool_require service_helper
+  * add kernel_v2 class to enable adding of datatype descriptions
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 28 Jul 2023 12:13:08 +0200
+
+robotkernel (5.0.41) unstable; urgency=low
+
+  * fix: removed package_id as it is now part of conan_template
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 27 Jan 2023 06:10:48 +0100
+
+robotkernel (5.0.40) unstable; urgency=low
+
+  * Merge branch 'master' into release/5.0.40
+  * fix: provider and consumer classes
+  * changed: pd provider consumer improvements
+  * Merge branch 'master' into release/5.0.39
+  * change: removed debug printf
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 26 Jan 2023 16:57:15 +0100
+
+robotkernel (5.0.39) unstable; urgency=low
+
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * Merge pull request #20 from mueh-mm/patch-1
+  * feat: use full_package_mode instead of shared libs
+  * add: provider consumer classes in robotkernel
+  * add: excludes for modules
+  * add: ignore of generated doxygen folder
+  * fix: service defs of pd_injection
+  * Merge branch 'release/5.0.15'
+  * push on add_pd_injection service if no provider present
+  * easyier pd_entry construction
+  * changed back to c++11, fixed convert function to match old style
+  * changed to c++14
+  * removed pd injection hash, not needed
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 26 Jan 2023 14:18:37 +0100
+
+robotkernel (5.0.38) unstable; urgency=low
+
+  * Merge pull request #17 from mueh-mm/patch-1
+  * fix(options): yaml-cpp must be shared
+
+ -- Burger, Robert <robert.burger@dlr.de>  Wed, 16 Nov 2022 10:22:54 +0100
+
+robotkernel (5.0.37) unstable; urgency=low
+
+  * FIX: setting thread name directly with pthread_self
+
+ -- root <you@example.com>  Wed, 30 Mar 2022 15:37:59 +0200
+
+robotkernel (5.0.36) unstable; urgency=low
+
+  * CHANGE: timeout decreased
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 4 Mar 2022 10:02:59 +0100
+
+robotkernel (5.0.35) unstable; urgency=low
+
+  * FIX: message def pathes
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 3 Feb 2022 09:55:44 +0100
+
+robotkernel (5.0.34) unstable; urgency=low
+
+  * FIX: message def pathes
+  * CLEANUP: service definition assignment
+  * CHANGE: try to generate service definition strings from yaml
+  * ADD: added service def folder
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 1 Feb 2022 08:53:46 +0100
+
+robotkernel (5.0.33) unstable; urgency=low
+
+  * ADD: dummy test package for ln_msgdef
+  * CHANGE: ln msg def generation
+  * CHANGE: ln msg def generation
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 27 Jan 2022 08:59:03 +0100
+
+robotkernel (5.0.32) unstable; urgency=low
+
+  * FIX: fixed ln path
+  * FIX: ln message path
+  * CHANGE: switched build order on jenkins
+  * CHANGE: generating seperate ln message def packet
+  * CHANGE: only using default builds, user should do other builds on demand
+  * TEST: more builds on jenkins
+  * TEST: more builds on jenkins
+  * TEST: more builds on jenkins
+  * TEST: more builds on jenkins
+  * TEST: more builds on jenkins
+  * TEST: more builds on jenkins
+  * TEST: more builds on jenkins
+  * TEST: more builds on jenkins
+  * TEST: more builds on jenkins
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 3 Dec 2021 13:52:43 +0100
+
+robotkernel (5.0.31) unstable; urgency=low
+
+  * CHANGE: using new conan template with ln_helper
+  * FIX: module, bridge and service_provider must not match robotkernel name
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 2 Dec 2021 16:57:42 +0100
+
+robotkernel (5.0.30) unstable; urgency=low
+
+  * CHANGE: name of service_definitions export file to match latest template
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 2 Dec 2021 06:59:07 +0100
+
+robotkernel (5.0.29) unstable; urgency=low
+
+  * CHANGE: parsing name from config file, removing LN_PROGRAM_NAME from env
+  * CHANGE: next try config options
+  * FIX: library build
+  * ADD: version range for template
+  * CHANGE: using new python_requires
+  * TRY: moving option to rmc-build.yaml
+  * TRY: moving option to rmc-build.yaml
+  * TRY: moving option to rmc-build.yaml
+  * TRY: moving option to rmc-build.yaml
+  * CHANGE: template version
+  * CHANGE: generating message definitions with bridge_ln generator
+  * FIX: doxygen doc
+  * CHANGE: added deinit call to bridge_base
+  * FIX: destroying bridge shared pointer
+  * CHANGE: only join thread if not called from itself
+  * CHANGE: increased state check timeout
+  * FIX: switching module from error to init
+  * CHANGE: set state of module to 'INIT' before switching to 'BOOT'
+  * ADD: libSegfault linking
+  * ADD: runnable join
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 1 Dec 2021 16:15:03 +0100
+
+robotkernel (5.0.28) unstable; urgency=low
+
+  * ADD: sp_module_base_t typedef
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 24 Nov 2021 08:24:05 +0100
+
+robotkernel (5.0.27) unstable; urgency=low
+
+  * Merge pull request #14 from robotkernel/hotfix/use_range_for_stringutil
+  * fix: use version range for libstring_util
+
+ -- Burger, Robert <robert.burger@dlr.de>  Thu, 29 Jul 2021 11:03:11 +0200
+
+robotkernel (5.0.26) unstable; urgency=low
+
+  * MERGE branch 'master' into release/5.0.26
+  * ADD: env | grep prox tag in rkc files to evaluate environment variables
+  * FIX: removed wrong klog
+  * ADD: usage of power_up
+  * ADD: power up option from command line
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 24 Jun 2021 06:42:15 +0200
+
+robotkernel (5.0.25) unstable; urgency=low
+
+  * FIX: relative config file path in include
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 23 Jun 2021 09:14:51 +0200
+
+robotkernel (5.0.24) unstable; urgency=low
+
+  * FIX: recurse down if include file was loaded
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 23 Jun 2021 09:00:26 +0200
+
+robotkernel (5.0.23) unstable; urgency=low
+
+  * FIX: include file path relative to base config
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 23 Jun 2021 08:32:54 +0200
+
+robotkernel (5.0.22) unstable; urgency=low
+
+  * ADD: building on rkc_loader
+  * ADD: rkc_loader with !include statement
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 22 Jun 2021 16:10:47 +0200
+
+robotkernel (5.0.21) unstable; urgency=low
+
+  * FIX: namespace in funcs
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 13 Jan 2021 07:20:19 +0100
+
+robotkernel (5.0.20) unstable; urgency=low
+
+  * ADD: template helper
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 12 Jan 2021 07:41:03 +0100
+
+robotkernel (5.0.19) unstable; urgency=low
+
+  * MERGE: branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * ADD: funcs to get_data_type and length from string
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 9 Dec 2020 13:43:26 +0100
+
+robotkernel (5.0.18) unstable; urgency=low
+
+  * added yaml helper match_map and buffer to hex string converter
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 13 Jul 2020 15:08:37 +0200
+
+robotkernel (5.0.17) unstable; urgency=low
+
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * added c api to access process data
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 2 Jul 2020 13:07:50 +0200
+
+robotkernel (5.0.16) unstable; urgency=low
+
+  * returning error message on not supporting pd injection
+  * reworked pd injection
+  * fixed response size
+  * fixed registering list_pd_injection service
+  * registered list_pd_injection service
+  * added list pd injection service
+  * added pd injection service
+  * working on pd injection services
+  * added struct for pd_offset_and_type
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 2 Jun 2020 11:24:45 +0200
+
+robotkernel (5.0.15) unstable; urgency=low
+
+  * moved process data impl stuff
+  * added missing reference to offset
+  * added find pd offset and type function
+  * adding log message level based colors
+  * log output to module state machine
+  * style fix
+  * fixed gettid on debian
+  * fixed lttng check and conditional compile
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 20 May 2020 06:29:08 +0200
+
+robotkernel (5.0.14) unstable; urgency=low
+
+  * verbose log message on trigger removal
+  * switching modules to init on load
+  * removed legacy
+  * trying defaults
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 19 Feb 2020 10:10:28 +0100
+
+robotkernel (5.0.13) unstable; urgency=low
+
+  * fixed lttng log init
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 9 Dec 2019 09:06:46 +0100
+
+robotkernel (5.0.12) unstable; urgency=low
+
+  * added missing tracepoint header
+  * added lttng ust tracepoints
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 6 Dec 2019 09:48:02 +0100
+
+robotkernel (5.0.11) unstable; urgency=low
+
+  * doing verbose destruction
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 26 Nov 2019 11:50:20 +0100
+
+robotkernel (5.0.10) unstable; urgency=low
+
+  * release log while printing log message to ensure other threads do not need to wait until printing is finished
+  * now using conan_template python_requires
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 26 Nov 2019 07:12:56 +0100
+
+robotkernel (5.0.9) unstable; urgency=low
+
+  * added return value from main
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 12 Nov 2019 06:34:53 +0100
+
+robotkernel (5.0.8) unstable; urgency=low
+
+  * added test-run
+  * added simple execute test
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 11 Nov 2019 13:19:56 +0100
+
+robotkernel (5.0.7) unstable; urgency=low
+
+  * added set_port_settings call to serial_stream
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 8 Nov 2019 07:25:12 +0100
+
+robotkernel (5.0.6) unstable; urgency=low
+
+  * added serial_stream device
+  * fixed compiler warnings
+  * reverted build archs
+  * build arch test
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 7 Nov 2019 07:49:01 +0100
+
+robotkernel (5.0.5) unstable; urgency=low
+
+  * Merge branch 'release/5.0.5'
+  * Merge branch 'release/5.0.4' into release/5.0.5
+  * changed libstring_util to unstable to stable
+  * changed to default compiler on archs
+  * changed to new yaml-cpp version 0.6.2
+  * reduced build platforms to a minimum
+  * Merge branch 'release/5.0.5'
+  * Merge branch 'release/5.0.5' of rmc-github.robotic.dlr.de:robotkernel/robotkernel into release/5.0.5
+  * reduced build platforms to a minimum
+  * added architectures
+  * added architectures
+  * added architectures
+  * fixed jenkinsfile
+  * fixed jenkinsfile
+  * fixed jenkinsfile
+  * added architectures
+  * added architectures
+  * Merge branch 'master' into release/5.0.5
+  * Merge branch 'master' into release/5.0.4
+  * added tools include
+  * added software engineering quality management file
+  * build: updated build/ci files for cissy 1.0->2.0
+  * build: updated build/ci files for cissy 1.0->2.0
+  * build: updated build/ci files for cissy 1.0->2.0
+  * Merge pull request #10 from robotkernel/feat/osl15
+  * better string format, related to #12
+  * fixed bug #12
+  * added call_service call
+  * added more log output on setting/resetting pd provider/consumer
+  * throwing better exception on process data write/read/
+  * added volatile to pd_cookie
+  * removed lock of mtx in trigger_worker on tick
+  * fixed trigger waiter lock
+  * added logging to trace fd
+  * added missing string_util header
+  * added optional locking of trigger_waiter
+  * added optional locking of trigger_waiter
+  * added optional locking of trigger_waiter
+  * made trigger_worker accesible for others
+  * valgrind debug
+  * added more builds
+  * chore: added osl15 to target platforms
+  * adding license file, switching to new recipe
+  * added md names
+  * indent fixes
+  * removed not needed headers
+  * cleaned up bridge code
+  * solved race condition on add_device
+  * removed share folder, not needed any more
+  * updated jenkins file
+  * Merge branch 'master' into release/5.0.5
+  * fix: shared option for libstring_util
+  * removed archs
+  * added archs
+  * Merge branch 'master' into release/5.0.5
+  * re-added sled 32-bit
+  * removed 32-bit sled, not working with yaml a.t.m.
+  * added missing m4 makro
+  * fixed any target of rmc build
+  * fixed conanfile.py
+  * fixed any arch
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * added jenkins and conan
+  * chore: removed sled11 due to missing autoconf makro on system
+  * chore removed ubuntu12.04 due to missing c++11
+  * chore: using prerelease version of stringutil
+  * added archs
+  * chore: added build archs
+  * chore: preparations for release
+  * Create rmc-build.yaml
+  * updated jenkins file
+  * updated lib branch
+  * fixed jenkinsfile
+  * fixed jenkinsfile
+  * Merge branch 'master' into feat/conan
+  * fix some ci build fixes
+  * Merge pull request #8 from robotkernel/fix/dlopen_miss
+  * Update so_file.cpp
+  * removed buildbot
+  * Update so_file.cpp
+  * fix: module load respects LD_LIBRARY_PATH now
+  * fixed build files
+  * updated to current jenkins shared libaries
+  * updated yaml version and build targets
+  * chore: no more uploads for snapshots
+  * added default profiles
+  * chore: changed libstring_util channel to unstable
+  * feat: basic conan support
+  * prep 5.0.3
+  * fixed deregistering trigger switching modules back to preop
+  * added missing header to include build configuration
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 23 Oct 2019 10:55:54 +0200
+
+robotkernel (5.0.2) unstable; urgency=low
+
+  * prep 5.0.2
+  * fixed setting affinity and prio on linux
+  * changed some debug levels
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * returning clk_device on process_data_info service
+  * fix: better version specification
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 7 Sep 2018 08:56:11 +0200
+
+robotkernel (5.0.1) unstable; urgency=low
+
+  * prep 5.0.1
+  * fixed empty config string in emitting yaml, changed symbol import to local
+  * fixed rk version in ln_generate_includes
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 9 Apr 2018 12:44:27 +0200
+
+robotkernel (5.0.0) unstable; urgency=low
+
+  * added doc images
+  * changes for service prov handling
+  * preparing for first non-beta release
+  * added pd_provider and pd_consumer base classes
+  * changes to pd provider consumer
+  * trying to handle pd consumer and provider
+  * inc yaml-cpp version
+  * fixed service names
+  * fixed log_base service prefix
+  * testing interface before creating new one
+  * fixed process data copying without pop
+  * cleaned up service providers
+  * modified service provider base to use device listener
+  * added device listener header
+  * working on device_listeners, added optional trigger device to process data
+  * added generate_ln_includes, new beta release
+  * n.t.
+  * added SUPPORTED_LANGUAGES
+  * inc version because of new libstring_util
+  * fixed version
+  * Merge branch 'master' into robotkernel-5
+  * removed tabs
+  * added recursive mutex on module map, removed include of config.h in header
+  * fixed install rule of lnc include file
+  * setting thread name on std::thread
+  * added __refsLock
+  * changed to std::mutex and std::thread
+  * changed to c++11 mutex and conds
+  * fixed headers
+  * added licecnse header
+  * fixed headers, removed unused ones
+  * added documentation
+  * first robotkernel-5 release
+  * whitespace fixes
+  * changed doc
+  * added xmi
+  * added uml doc
+  * removed pt.in
+  * fixed autoconf generation of files
+  * fix: new project release structure changes
+  * removed mod request
+  * removed old request code
+  * changed sizes
+  * Merge branch 'robotkernel-5' of rmc-github.robotic.dlr.de:robotkernel/robotkernel into robotkernel-5
+  * Update README.md
+  * added overview image
+  * Update README.md
+  * Update README.md
+  * make image png smaller
+  * added png
+  * Update README.md
+  * added state machine image
+  * Update README.md
+  * changed doc
+  * Update BUILD.md
+  * Update README.md
+  * Create BUILD.md
+  * fixed requires in pc-file
+  * fixed service definition to match yaml specs
+  * fix: separator in dependencies
+  * deps
+  * working on dependencies in pt an pc file
+  * small fix for set_name of runnable
+  * shutting down modules in two stages now
+  * set thread name also if thread was not startet untill now
+  * removed not needed verbose message
+  * added new_data function to check if new pd has been written to process_data object
+  * inc to beta2 version
+  * reworked shutdown, not switching directly to init state
+  * new beta1 version
+  * changed to beta version
+  * latest release commit
+  * added trigger waiter to do one time calls
+  * added info services for trigger, stream and service_interface
+  * process data classes (single, triple, pointer)
+  * indent
+  * added robotkernel.inc.lnc to ignores
+  * added switch to boot state
+  * links and node and rmpm stuff
+  * added pthread_setname_np check
+  * small fixes
+  * added -non-static linker flag check
+  * added uml file
+  * fixed thread_name size to 16 chars
+  * added rt_helper set_thread_name
+  * changed visibility of thread_name
+  * removed module read and write functions
+  * add get_stream calL
+  * added stream device base class
+  * added mlockall
+  * added load_module function for loading additional robotkernel modules
+  * removed debug message
+  * implemented triple buffering of process data
+  * fixed logmessage
+  * service name fixes
+  * some clean up
+  * added missing bridge symbols
+  * added missing files
+  * make ticks work again
+  * Merge branch 'robotkernel-5' of rmc-github.robotic.dlr.de:robotkernel/robotkernel into robotkernel-5
+  * fixed build
+  * renamed trigger() to tick()
+  * renamed trigger() to tick()
+  * removed trigger_slave_id
+  * Update README.md
+  * removed README
+  * removed module_base cpp file, not needed
+  * devices renamed
+  * devices renamed
+  * changes services key to pair of owner and name
+  * added new/missing files
+  * reworked devices, and bridges
+  * fixed removing trigger worker from triggers
+  * fixed removing trigger from worker, destructing worker if it has no trigger left
+  * creating shared_ptr from module classes, reworked trigger classes
+  * doing some cleanup
+  * making rate of trigger adjustable
+  * simply getting own robotkernel module class with get_module() in module_base
+  * removed unnecessary stuff
+  * new trigger devices seem to work with small example (posix_timer, jitter_measurement
+  * added new trigger registry
+  * added process_data information services
+  * fixed recursive endless loop in set_state
+  * latest changes
+  * sleeping on main, not wasting cpu time
+  * cleanup changes
+  * Merge branch 'robotkernel-5' of rmc-github.robotic.dlr.de:robotkernel/robotkernel into robotkernel-5
+  * added process data registry to robokernel
+  * added m4 deps
+  * merging some old changes
+  * added generated m4 files
+  * added boot transitions
+  * added handling of module_state_boot
+  * added silent-rules
+  * added transitions
+  * added m4 scripts
+  * changed requires in pc file!
+  * fixed pc file
+  * removed ~ header
+  * added flags to pkg-config file
+  * added all headers to install rule
+  * added install rule for loglevel.h
+  * fixed pc file
+  * removed scripts and autogen
+  * fixed build
+  * cleaned up project structure
+  * added test_slave for service providers
+  * fixed namespace of errno_exception_tb
+  * reworked service_provider calls
+  * reworked service_provider calls
+  * removed bridge_interface.h, now in bridge_base.h
+  * added service provider interface
+  * added documention for add_service_requester
+  * fixed service provider log name, fixed add/remove service requester fcns
+  * added mutex, deadlock now
+  * added mutex, deadlock now
+  * doing service provider handling
+  * derived interface from so_file
+  * removed boost dependecy
+  * saving argc and argv in kernel
+  * fixed bridge_ln build
+  * removed some more links and nodes
+  * removed ln
+  * removed cli bridge, now separate project
+  * cleanep up module, deriving from so_file class
+  * removed jsonrpc_bridge from robotkernel
+  * added bridge loading, cleaned up, some new classes
+  * Merge branch 'service_interface' of rmc-github.robotic.dlr.de:robotkernel/robotkernel into robotkernel-boost
+  * Merge branch 'service_interface' into robotkernel-boost
+  * added bridge
+  * Merge branch 'service_interface' of rmc-github.robotic.dlr.de:robotkernel/robotkernel into service_interface
+  * status commit
+  * addee std=c++11
+  * added descritpion for jsonrpc-bridge services, fixed kernel services
+  * fixed yaml-cpp-rmc flags, fixed service cleanup
+  * fixed cleanup of services
+  * added get_module, fixed module macros
+  * fixed stopping of log_thread
+  * changed module map to hold shared pointer
+  * merged robotkernel-boost
+  * added jsonrpc bridge
+  * sc
+  * renamed files interface to service_provider
+  * fixed for vector service type
+  * some changes
+  * fixed cmake buildscript
+  * CliBridge vectors and bugfixes
+  * changes vector type
+  * added basic cli bridge
+  * added missing files
+  * using c++11 now
+  * more services with boost
+  * service communication now done with argument vector instead of yaml messages
+  * added loglevel.h
+  * some changes for no_ln
+  * working on no_ln
+  * added ln_bridge
+  * working on test robotkernel services with yaml
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 12 Mar 2018 06:54:14 +0100
+
+robotkernel (4.1.2) unstable; urgency=low
+
+  * updated scripts
+  * updated scripts
+  * fixed libstring_util version
+  * inc version
+  * changed generate_ln_includes version to select 4.1 robotkernel and modules
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 25 Sep 2017 10:03:07 +0200
+
+robotkernel (4.1.1) unstable; urgency=low
+
+  * prep release 4.1.1
+  * Merge branch 'sara-develop'
+  * error msg fixes and DESTDIR
+  * fixed typos
+  * update modules config path
+  * request_cb() & get_module() can work with currently loading module
+  * added MOD_REQUEST_GET_CFG_PATH
+  * added get_name accessor to module
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 9 Dec 2016 07:52:15 +0100
+
+robotkernel (4.1.0) unstable; urgency=low
+
+  * 'automated_commit'
+  * fixed message defs
+  * move message defs
+  * updated scripts manually
+  * updated scripts
+  * made members public
+  * initialized sync_logging flag with false
+  * fixed header copy rules in ptfile
+  * changed module_state_t
+  * fixed message definition namespaces
+  * moved sources and includes to src/main/cpp
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * 'scripts_updated'
+  * 'scripts_updated'
+  * 'scripts_updated'
+  * 'scripts_updated'
+  * 'replaced_with_default'
+  * 'scripts_updated'
+  * updated scripts
+  * updated scripts
+  * update scripts
+  * fixed pt file creation
+  * Trigger buildbot
+  * fixed buildbot badge for master
+  * merged RK4
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * added buildbot config
+  * added buildbot badge
+  * Update README
+  * added buildbot config file
+  * updated scripts
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * switch interface loading loglevel to verbose
+  * warn if interface is not found, do not dlopen("")
+  * warn if interface is not found, do not dlopen("")
+  * adding ext props
+  * udating scripts
+  * fixed problem with undefined LN_VERSION
+  * configuring dependencies with project.properties; fixed lttng problem on osl42; disabling lttng if tp file missing; updated scripts
+  * added message defs
+  * scripts_updated
+  * updated scripts
+  * "transforming"
+  * 'scripts_updated'
+  * added osl arch
+  * moving supported_archs to project.properties
+  * loading version and maintainer from properties file
+  * version now in one line
+  * 'scripts_updated'
+  * prepared project properties
+  * 'scripts_updated'
+  * 'scripts_updated'
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * make runnable::tid,run_flag protected to allow for unblocking without immediate join
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * added mod_trigger_slave_id
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 30 Nov 2016 10:28:19 +0100
+
+robotkernel (4.0.8) unstable; urgency=low
+
+  * Version increment
+  * added scripts
+  * udating scripts
+  * fixed problem with undefined LN_VERSION
+  * configuring dependencies with project.properties; fixed lttng problem on osl42; disabling lttng if tp file missing; updated scripts
+  * updated scripts
+  * "transforming"
+  * 'scripts_updated'
+  * added osl arch
+  * loading version and maintainer from properties file
+  * version now in one line
+  * 'scripts_updated'
+  * prepared project properties
+  * 'scripts_updated'
+  * 'scripts_updated'
+
+ -- Jan Cremer <jan.cremer@dlr.de>  Fri, 12 Aug 2016 10:04:07 +0200
+
+robotkernel (4.0.7) unstable; urgency=low
+
+  * udating scripts
+  * fixed problem with undefined LN_VERSION
+  * configuring dependencies with project.properties; fixed lttng problem on osl42; disabling lttng if tp file missing; updated scripts
+  * added message defs
+  * scripts_updated
+  * updated scripts
+  * "transforming"
+  * 'scripts_updated'
+  * added osl arch
+  * moving supported_archs to project.properties
+  * loading version and maintainer from properties file
+  * version now in one line
+  * 'scripts_updated'
+  * prepared project properties
+  * 'scripts_updated'
+  * 'scripts_updated'
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * make runnable::tid,run_flag protected to allow for unblocking without immediate join
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * include deps before module in need
+  * updated scripts
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * added new sync_logging cfg option
+  * visibly warn when mod_configure() is missing!
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * remove toplevel makefile to allow in-source-tree build
+  * fix compile vor yaml-cpp 0.5.1
+  * use head of scripts
+  * Merge branch 'master' of rmc-github.robotic.dlr.de:robotkernel/robotkernel
+  * ifdef for PKG_
+  * fixed configure.ac order
+
+ -- Jan Cremer <jan.cremer@dlr.de>  Wed, 10 Aug 2016 17:01:50 +0200
+
+robotkernel (4.0.6) unstable; urgency=low
+
+  * fixed yaml_version substition, prep 4.0.6
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 21 Mar 2016 10:42:13 +0100
+
+robotkernel (4.0.5) unstable; urgency=low
+
+  * scripts commit
+  * fixed order in configure.ac
+  * prep 4.0.5
+  * added rk_bin
+  * added rk_bin
+  * added new request to shift next trigger
+  * fixed triggered by
+  * RMPM_ENV must be after AM_INIT_AUTOMAKE
+  * PKG_ macros not avaliable on suse machines
+  * use head of scripts
+  * try to added trigger requests
+  * added ln cflags to robotkernel.pc.in
+  * use head of scripts
+  * use libstring_util
+  * added .pc.in file
+  * added submodule scripts
+  * removed scripts from this repo
+  * setting state to init during module load
+  * return -1 for not implemented requests and print warning message
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 21 Mar 2016 10:19:22 +0100
+
+robotkernel (4.0.4) unstable; urgency=low
+
+  * generating robotkernel.inc.lnc by configure
+  * fixed yaml version to 0.5.2, compatibility with existing modules
+  * fixed indenting
+  * Summary: better error message for not implemented request() method
+  * throw exception with field-name in get_as() if yaml throws an exception
+  * throw exception with field-name in get_as() if yaml throws an exception
+  * make gettid even more portable
+  * inc version
+  * inc ln version
+  * fixed bufpos
+  * have max time in cache
+  * gettid cleanups
+  * add rk_no_warnings define to disable warning window
+  * Summary: hightlight ERR and WARN lines
+  * Summary: catch exceptions thrown while trying to instanciate modules and rethrow them with name of module
+  * Summary: when reading config file of module check whether stream opening worked! fail()->bool
+  * Summary: caught exception in main() should produce error meessage not warning
+  * Summary: added line_highlight_regex for error messages, added warning_regex
+  * cache rmpm results
+  * cache rmpm results
+  * make clean target not fail
+  * reworked clean target to hopefully help migrate to new autocnf version
+  * make sure that build_all/all is first target in Makefile.suggested if really needed project can define a local-first-targets.mk which are named before build_all/all
+  * 
+  * fixed stat on file in local dir
+  * fixed pthread set affinity error msg
+  * also undef rkgui_path
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 10 Feb 2016 10:21:14 +0000
+
+robotkernel (4.0.3) unstable; urgency=low
+
+  * small bug with set affinity mask
+  * support specifying version specifier in rmpm macro
+  * inc version
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 13 Oct 2015 13:18:36 +0000
+
+robotkernel (4.0.2) unstable; urgency=low
+
+  * inc version
+  * fixed affinity parsing, fixed set_prio on not running thread
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 2 Oct 2015 11:37:05 +0000
+
+robotkernel (4.0.1) unstable; urgency=low
+
+  * added interface_base constructor added getter and setters in runnable
+  * clean install
+  * implemented register configure_loglevel
+  * small fixes, prep 4.0.1
+  * fixed log messages
+  * fixed cmd_delay header for yamlcpp 0.5.2
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 28 Sep 2015 07:45:29 +0000
+
+robotkernel (4.0.0) unstable; urgency=low
+
+  * added interface base prep 4.0.0
+  * switch to yaml-cpp 0.5.2 changed loglevel added loglevel to modules changing interface for creating rk_interface
+  * inc ln version
+  * loading of same modules and interfaces is only done once
+  * added ignorenores
+  * reworked loglevel's and prep 3.2.0
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 15 Sep 2015 06:53:53 +0000
+
+robotkernel (3.1.20) unstable; urgency=low
+
+  * added module_base impl
+  * prep 3.1.20
+  * moved logfunc
+
+ -- Robert Burger <robert.burger@dlr.de>  Wed, 9 Sep 2015 05:30:00 +0000
+
+robotkernel (3.1.19) unstable; urgency=low
+
+  * loglevel fix
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 8 Sep 2015 09:06:46 +0000
+
+robotkernel (3.1.18) unstable; urgency=low
+
+  * fixed logging
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 8 Sep 2015 08:33:31 +0000
+
+robotkernel (3.1.17) unstable; urgency=low
+
+  * fixed namespace
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 8 Sep 2015 08:15:38 +0000
+
+robotkernel (3.1.16) unstable; urgency=low
+
+  * added loglevel option to modules
+  * inc sercos version
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 8 Sep 2015 07:59:39 +0000
+
+robotkernel (3.1.15) unstable; urgency=low
+
+  * prep 3.1.15
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 7 Sep 2015 12:09:47 +0000
+
+robotkernel (3.1.14) unstable; urgency=low
+
+  * prep 3.1.14 with ln 0.7.5
+  * removed ln_base from scripts
+  * removed signal translator
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 7 Sep 2015 05:35:12 +0000
+
+robotkernel (3.1.13) unstable; urgency=low
+
+  * prep 3.1.13
+  * 
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 3 Sep 2015 12:22:50 +0000
+
+robotkernel (3.1.12) unstable; urgency=low
+
+  * prep 3.1.12
+  * add missing header
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 3 Sep 2015 12:06:29 +0000
+
+robotkernel (3.1.11) unstable; urgency=low
+
+  * prep 3.1.11
+  * fixed cmd_delay header
+  * added m4 build rule
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 3 Sep 2015 11:12:01 +0000
+
+robotkernel (3.1.10) unstable; urgency=low
+
+  * prep 3.1.10
+  * added virtual destructor to module_base
+  * kernel::logging method needs to catch case when there are no more empty logging pool objects and _log.get-pool_object() returns a NULL pointer
+  * module_base should initialize state member to init
+  * fixed path
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 1 Sep 2015 06:59:37 +0000
+
+robotkernel (3.1.9) unstable; urgency=low
+
+  * removed debug messages
+  * prep 3.1.9
+  * fixed missing , in share/ln/robotkernel.inc.lnc
+  * added module::add_depends() to add a new dependency to an existing module
+  * fixed typo
+  * reverted robert's HOST_OPTION only m64/m32 try
+  * use local-release target together with ARCH= to select arch
+  * fixed rk_libpath lnm warning and cleaned up not-defined style
+  * fixed rk_debug lnm warning
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 7 Aug 2015 04:45:55 +0000
+
+robotkernel (3.1.8) unstable; urgency=low
+
+  * prep 3.1.8
+  * added request to trigger_base
+  * fixed trigger_base
+  * fixes for stupid qnx compiler
+  * added module_base
+  * some work on code, added private constructors
+  * indent fixes
+  * added log level display to stdout
+  * fixed build for 32 and 64 bit linux on 64 bit linux
+  * moved comment
+  * fixed pathes
+  * extended RMPM_CHECK_MODULES m4 function to look for --with-<pkg>-domain=<new_domain> configure arguments
+  * added new build-single starget without -j for convenience, introduced CONFIGURE_ARGS, optionally include local-targets.mk into makefile
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 4 Aug 2015 07:05:21 +0000
+
+robotkernel (3.1.7) unstable; urgency=low
+
+  * remove angstrom-arm arch
+  * use ln 0.6.8
+  * added target to call ./autogen.sh if there is no Makefile.in
+  * check for pthread_setname at configure time
+  * use latest ln version
+  * allow to detect qnx6.3 with -DQNX63, add build_only_all target to only install all archs (configure only if needed), build_all_seq to first configure all, then install all
+  * indent
+  * added with_realpath option to generate_ln_includes
+  * fixed deps
+  * add without_undef option
+  * prep 3.1.3
+  * prep 3.1.5
+  * added HAVE_BY_CFLAGS m4 function, and only search for rmpm packages with matching arch
+
+ -- Florian Schmidt <Florian.Schmidt@dlr.de>  Mon, 8 Jun 2015 07:39:02 +0000
+
+robotkernel (3.1.6) unstable; urgency=low
+
+  * updated to latest ln 0.6.6
+  * prep 3.1.6, readded angstrom-armv7-gcc4.7
+  * re-worked makefiles
+  * builds now with new mk
+  * new build
+  * fixed m4 flags
+  * moved rmpm.m4 to scripts/m4
+  * removed m4
+  * added example supported archs comment
+  * have ARCH_CFLAGS in rmpm.m4,
+  * added build_only_all_seq and configure_only_all_seq targets
+  * include local supported_archs.mk in Makefile.suggested
+  * added Makefile.suggested from lnrkinterface
+  * added ubuntu12.04-armhf-gcc4.x arch to rmpm.m4
+  * moved rmpm.m4 into subdir
+  * copied m4/rmpm.m4 to scripts external
+  * removed ptfile
+  * e14 bbb compile target ubuntu12.04-armhf-gcc4.x.env
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 22 May 2015 06:48:18 +0000
+
+robotkernel (3.1.5) unstable; urgency=low
+
+  * prep 3.1.5
+  * build for ubuntu12.04-armhf-gcc4.x
+  * added support for ubuntu12.04-armhf-gcc4.x target
+  * added undef's
+  * improved interface not found error message
+  * added rk_term_timeout, rk_max_output_frequency to .inc.lnc
+  * merged changes from f_legs
+  * added arch file
+  * fixed yaml version
+  * prep 3.1.2
+  * added rk_use_template define
+
+ -- Florian Schmidt <Florian.Schmidt@dlr.de>  Mon, 27 Apr 2015 11:43:11 +0000
+
+robotkernel (3.1.4) unstable; urgency=low
+
+  * fixed for 3.1.4
+  * ln_generate args for arm in this scripts?
+  * fix pthread_setaffinity output, hack to list dir contents of module files to clear nfs cache (working on justin/face), use install -C to install header files to only overwrite them when they change
+  * whitespace cleanups
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 19 Mar 2015 13:00:30 +0000
+
+robotkernel (3.1.3) unstable; urgency=low
+
+  * prep 3.1.3 build against new links_and_nodes 0.6.2
+  * improved error messages
+  * add robotkernel config option do_not_unload_modules: true|false to avoid unloading of module/interface .so files (for valgrind memleak debugging)
+  * added emacs .dir-locals.el file to specify indentation settings for robotkernel sources
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 10 Mar 2015 06:58:29 +0000
+
+robotkernel (3.1.2) unstable; urgency=low
+
+  * prep 3.1.2
+  * use new ln 0.6.0 thread pool to handle ln service requests. pool name: main, default pool size 1 -> should be exactly the same behaviour as before. added new robotkernel toplevel yaml config field ln_thread_pool_size_main (has to be >=1)
+  * added data_generator_deps
+  * added ignore_files
+  * inc pkg version
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 6 Mar 2015 13:17:02 +0000
+
+robotkernel (3.1.1) unstable; urgency=low
+
+  * readded GET_CMD_DELAY request
+  * updated version
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 2 Feb 2015 08:50:23 +0000
+
+robotkernel (3.1.0) unstable; urgency=low
+
+  * removed interface request numbers and structs from module_intf.h -> will move to interfaces instead compiler warning fixes in log_thread prep 3.1.0
+  * incremented ln version
+  * generate_ln_includes reads .inc.lnc files to find # rk_depends: directive
+  * support optional include
+  * updated versions
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 30 Jan 2015 08:23:34 +0000
+
+robotkernel (3.0.17) unstable; urgency=low
+
+  * added new mod_trigger_slave_id updated ln version to 0.5.5 prep 3.0.17
+  * use LN_BASE from user env if avaliable
+  * instead of [module] use [<NAME OF MODULE>]
+  * moved kernel::logging into .cpp, added log_thread::fix_modname_length to fix printing length of module name (default: 20, set to 0 to disable), added new rk yaml config option log_fix_modname_length to set log_thread::fix_modname_length
+  * fixed default log level and fixed reseetting loglevel via config_dump_log
+  * added rk_debug switch for robotkernel.inc.lnc and added deps for module_data_generator
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 5 Dec 2014 08:28:34 +0000
+
+robotkernel (3.0.16) unstable; urgency=low
+
+  * prep 3.0.16
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 11 Nov 2014 12:59:46 +0000
+
+robotkernel (3.0.15) unstable; urgency=low
+
+  * prep 3.0.15
+  * link against new ln version, bugfix of IOV_MAX in ln lib
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 11 Nov 2014 10:37:14 +0000
+
+robotkernel (3.0.14) unstable; urgency=low
+
+  * prep 3.0.14
+  * completed new loglevels
+  * fixed va_list disaster
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 23 Oct 2014 11:02:31 +0000
+
+robotkernel (3.0.13) unstable; urgency=low
+
+  * prep 3.0.13
+  * added debug levels
+  * updated package version
+  * possibility to specify rk logfile
+  * added pd-intf dependancy for new jitter measurement module
+  * updated version
+
+ -- Robert Burger <robert.burger@dlr.de>  Fri, 17 Oct 2014 12:06:58 +0000
+
+robotkernel (3.0.12) unstable; urgency=low
+
+  * new robotkernel version
+  * fixed ln svc respond pointing to already destroyed string_buffer memories
+  * added generate_ln_includes script
+  * new rk yaml config value max_dump_log_len to enable dump log from beginning on
+  * add set_log_level field to config_dump_log service
+  * fix runnable/run_wrapper pthread_setaffinity-error output
+  * added rk_derive_from to robotkernel.inc.lnc
+  * added rk_output_encoding to robotkernel.inc.lnc
+  * fixes because rmpm does not like our arm arch
+  * reworked get_ln_base.py to return LN_BASE env var when there is not pkgtool
+  * moved ln include file for robotkernel_gui
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 7 Oct 2014 05:15:31 +0000
+
+robotkernel (3.0.11) unstable; urgency=low
+
+  * new release
+  * moved gui
+  * fixed log_thread starting, no more double singleton\nmore log output if module is not found\n
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 18 Sep 2014 09:31:14 +0000
+
+robotkernel (3.0.10) unstable; urgency=low
+
+  * fixed depends
+  * fixed depends
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 8 Sep 2014 10:57:47 +0000
+
+robotkernel (3.0.9) unstable; urgency=low
+
+  * new patch version, disable realtime signals
+  * fixed install directive
+  * fixed interface of canopen_protocol
+  * deactivate realtime singals, can now be used with signal_wait, signal_timedwait
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 8 Sep 2014 09:32:38 +0000
+
+robotkernel (3.0.8) unstable; urgency=low
+
+  * bugfix release
+  * added -Wall
+  * return value added
+  * fixed init order
+  * added defines
+  * fixed destruction on vxworks
+  * fixed init order
+  * fixed init order
+  * indent fix
+  * should fix affinity on vxworks
+  * added ld_so_conf option to ln include file
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 19 Aug 2014 10:56:54 +0000
+
+robotkernel (3.0.7) unstable; urgency=low
+
+  * bugfix release
+  * fixed mime-types
+  * install rule fix
+  * some gui message defs checks
+  * some gui message defs checks
+  * fixed ln include file
+  * added rk_libpath
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 12 Aug 2014 08:52:42 +0000
+
+robotkernel (3.0.6) unstable; urgency=low
+
+  * fixed lnc file
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 5 Aug 2014 11:30:30 +0000
+
+robotkernel (3.0.5) unstable; urgency=low
+
+  * bug fix release
+  * fixed include
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 5 Aug 2014 07:41:10 +0000
+
+robotkernel (3.0.4) unstable; urgency=low
+
+  * prepare header fixed bugfix release
+  * reorganized project structure
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 5 Aug 2014 07:36:02 +0000
+
+robotkernel (3.0.3) unstable; urgency=low
+
+  * renamed angstrom to rmpm scheme
+  * added armv7 env
+  * added get_ln_base.py
+
+ -- Robert Burger <robert.burger@dlr.de>  Tue, 5 Aug 2014 05:21:52 +0000
+
+robotkernel (3.0.2) unstable; urgency=low
+
+  * fixed depends
+  * fixed depends
+  * release patch 3.0.2
+  * changes ln inc files
+  * added yaml to depends
+  * added gereration of ptfile from configure
+  * added missing env file
+
+ -- Robert Burger <robert.burger@dlr.de>  Mon, 4 Aug 2014 07:58:24 +0000
+
+robotkernel (3.0.1) unstable; urgency=low
+
+  * fixes in build system
+  * bugfix release 3.0.1
+  * fixed ptfeil
+  * moved ln inc file to share
+  * removed model dir
+  * removed config dir
+  * added missing header to release
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 31 Jul 2014 11:33:19 +0000
+
+robotkernel (3.0.0) unstable; urgency=low
+
+  * fixed return in read() and write()
+  * fixed ptfile
+  * added debug and non-debug build
+  * imported from: https://rmsvn01.robotic.dlr.de/repos/f_soft_src/robotkernel/trunk rev : 43477
+  * creating svn directory 'https://rmsvn01.robotic.dlr.de/software/robotkernel/src/robotkernel/trunk' [rmpm admintool (burger_r, 2014-07-31-11-03-10)]
+
+ -- Robert Burger <robert.burger@dlr.de>  Thu, 31 Jul 2014 09:21:05 +0000
 
- -- Robert Burger <robert.burger@dlr.de>  Wed, 31 May 2023 09:33:45 +0200
diff --git a/debian/control b/debian/control
index 819105d..85a86aa 100644
--- a/debian/control
+++ b/debian/control
@@ -9,8 +9,17 @@ Homepage: <insert the upstream URL, if relevant>
 #Vcs-Git: https://salsa.debian.org/debian/robotkernel.git
 Rules-Requires-Root: no
 
+Package: robotkernel-dev
+Section: libdevel
+Architecture: any
+Multi-Arch: same
+Depends: ${shlibs:Depends}, ${misc:Depends}
+Description: <insert up to 60 chars description>
+ <insert long description, indented with spaces>
+
 Package: robotkernel
 Architecture: any
+Multi-Arch: same
 Depends: ${shlibs:Depends}, ${misc:Depends}
 Description: <insert up to 60 chars description>
  <insert long description, indented with spaces>
diff --git a/debian/debhelper-build-stamp b/debian/debhelper-build-stamp
deleted file mode 100644
index 9040a54..0000000
--- a/debian/debhelper-build-stamp
+++ /dev/null
@@ -1 +0,0 @@
-robotkernel
diff --git a/debian/files b/debian/files
deleted file mode 100644
index 661b15b..0000000
--- a/debian/files
+++ /dev/null
@@ -1,3 +0,0 @@
-robotkernel-dbgsym_5.0.0-1_amd64.deb debug optional automatic=yes
-robotkernel_5.0.0-1_amd64.buildinfo unknown optional
-robotkernel_5.0.0-1_amd64.deb unknown optional
diff --git a/debian/robotkernel-dev.install b/debian/robotkernel-dev.install
new file mode 100644
index 0000000..125bee0
--- /dev/null
+++ b/debian/robotkernel-dev.install
@@ -0,0 +1,2 @@
+usr/include/*
+usr/lib/*
diff --git a/debian/robotkernel.debhelper.log b/debian/robotkernel.debhelper.log
deleted file mode 100644
index f02bdf6..0000000
--- a/debian/robotkernel.debhelper.log
+++ /dev/null
@@ -1 +0,0 @@
-dh_autoreconf
diff --git a/debian/robotkernel.install b/debian/robotkernel.install
new file mode 100644
index 0000000..1df36c6
--- /dev/null
+++ b/debian/robotkernel.install
@@ -0,0 +1 @@
+usr/bin/*
diff --git a/debian/robotkernel.substvars b/debian/robotkernel.substvars
index 7a418f6..e9894fa 100644
--- a/debian/robotkernel.substvars
+++ b/debian/robotkernel.substvars
@@ -1,3 +1,3 @@
-shlibs:Depends=libc6 (>= 2.30), libgcc-s1 (>= 3.0), liblttng-ust0 (>= 2.5.0), libstdc++6 (>= 9), libyaml-cpp0.6 (>= 0.6.2)
+shlibs:Depends=libc6 (>= 2.34), libgcc-s1 (>= 3.0), liblttng-ust1 (>= 2.13.0), libstdc++6 (>= 11), libyaml-cpp0.7 (>= 0.7.0)
 misc:Depends=
 misc:Pre-Depends=
diff --git a/debian/rules b/debian/rules
index 646c5b9..80eeb0b 100755
--- a/debian/rules
+++ b/debian/rules
@@ -13,11 +13,11 @@ export DH_VERBOSE = 1
 # package maintainers to append LDFLAGS
 #export DEB_LDFLAGS_MAINT_APPEND = -Wl,--as-needed
 	
-export GIT_VERSION = $(shell git describe --long --dirty --tags)
-
-override_dh_autoreconf:
-	sed 's/AC_INIT(.*/AC_INIT([robotkernel], [${GIT_VERSION}], [Robert Burger <robert.burger@dlr.de>])/' -i configure.ac
-	dh_autoreconf
+#export GIT_VERSION = $(shell git describe --long --dirty --tags)
+#
+#override_dh_autoreconf:
+#	sed 's/AC_INIT(.*/AC_INIT([robotkernel], [${GIT_VERSION}], [Robert Burger <robert.burger@dlr.de>])/' -i configure.ac
+#	dh_autoreconf
 
 %:
 	dh $@
diff --git a/project.properties b/project.properties
deleted file mode 100644
index 386b89d..0000000
--- a/project.properties
+++ /dev/null
@@ -1,2 +0,0 @@
-MAINTAINER = Robert Burger <robert.burger@dlr.de>
-VERSION = 5.0.3-dev
diff --git a/robotkernel.pc.in b/robotkernel.pc.in
index c6f423b..2bfdf8b 100644
--- a/robotkernel.pc.in
+++ b/robotkernel.pc.in
@@ -7,6 +7,6 @@ Name: robotkernel
 Description: the robotkernel device driver framework
 URL: rmc-github.robotic.dlr.de:robotkernel/robotkernel.git
 Version: @VERSION@
-Requires: libstring_util >= 1.1, yaml-cpp >= 0.5.2
+Requires: yaml-cpp >= 0.5.2
 Cflags: -I@includedir@
 Libs: