diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 1db02dd4e3c0500d3a15e429c7cfe7748ffcd026..c03f6893faf12db3f5178a420f44c280847a2fdd 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -3,19 +3,17 @@
   <component name="CMakeRunConfigurationManager" shouldGenerate="true" shouldDeleteObsolete="true">
     <generated>
       <config projectName="crs" targetName="tf_generate_messages_py" />
-      <config projectName="crs" targetName="actionlib_generate_messages_nodejs" />
-      <config projectName="crs" targetName="gmock_main" />
-      <config projectName="crs" targetName="dynamic_reconfigure_generate_messages_py" />
+      <config projectName="crs" targetName="crs_point_processing_node" />
       <config projectName="crs" targetName="er1_serial_node_student" />
       <config projectName="crs" targetName="actionlib_msgs_generate_messages_nodejs" />
       <config projectName="crs" targetName="pcl_msgs_generate_messages_py" />
       <config projectName="crs" targetName="std_msgs_generate_messages_lisp" />
       <config projectName="crs" targetName="actionlib_msgs_generate_messages_lisp" />
-      <config projectName="crs" targetName="actionlib_generate_messages_cpp" />
       <config projectName="crs" targetName="topic_tools_generate_messages_cpp" />
       <config projectName="crs" targetName="gtest_main" />
       <config projectName="crs" targetName="topic_tools_generate_messages_eus" />
-      <config projectName="crs" targetName="tf2_msgs_generate_messages_lisp" />
+      <config projectName="crs" targetName="actionlib_generate_messages_cpp" />
+      <config projectName="crs" targetName="er1_control_node_student" />
       <config projectName="crs" targetName="sensor_msgs_generate_messages_py" />
       <config projectName="crs" targetName="download_extra_data" />
       <config projectName="crs" targetName="_crs_generate_messages_check_deps_ER1ControlMsg" />
@@ -26,33 +24,34 @@
       <config projectName="crs" targetName="crs_generate_messages_nodejs" />
       <config projectName="crs" targetName="crs_er1driver" />
       <config projectName="crs" targetName="crs_er1_driver_node" />
-      <config projectName="crs" targetName="crs_point_processing_node" />
+      <config projectName="crs" targetName="crs_gencpp" />
+      <config projectName="crs" targetName="dynamic_reconfigure_generate_messages_py" />
       <config projectName="crs" targetName="sensor_msgs_generate_messages_nodejs" />
       <config projectName="crs" targetName="roscpp_generate_messages_lisp" />
       <config projectName="crs" targetName="sensor_msgs_generate_messages_lisp" />
       <config projectName="crs" targetName="bond_generate_messages_cpp" />
-      <config projectName="crs" targetName="roscpp_generate_messages_py" />
       <config projectName="crs" targetName="std_srvs_generate_messages_cpp" />
       <config projectName="crs" targetName="rosgraph_msgs_generate_messages_py" />
       <config projectName="crs" targetName="crs_generate_messages_py" />
       <config projectName="crs" targetName="er1_loop_node_student" />
       <config projectName="crs" targetName="bond_generate_messages_nodejs" />
       <config projectName="crs" targetName="tf2_msgs_generate_messages_py" />
-      <config projectName="crs" targetName="crs_genpy" />
+      <config projectName="crs" targetName="actionlib_generate_messages_nodejs" />
       <config projectName="crs" targetName="std_srvs_generate_messages_nodejs" />
       <config projectName="crs" targetName="std_msgs_generate_messages_cpp" />
+      <config projectName="crs" targetName="crs_gennodejs" />
       <config projectName="crs" targetName="roscpp_generate_messages_eus" />
       <config projectName="crs" targetName="crs_registration_feature" />
       <config projectName="crs" targetName="actionlib_generate_messages_eus" />
       <config projectName="crs" targetName="crs_generate_messages" />
       <config projectName="crs" targetName="clean_test_results" />
       <config projectName="crs" targetName="dynamic_reconfigure_generate_messages_lisp" />
-      <config projectName="crs" targetName="bond_generate_messages_py" />
-      <config projectName="crs" targetName="er1_serial_node" />
+      <config projectName="crs" targetName="crs_genpy" />
       <config projectName="crs" targetName="nodelet_generate_messages_py" />
       <config projectName="crs" targetName="pcl_ros_gencfg" />
-      <config projectName="crs" targetName="dynamic_reconfigure_generate_messages_cpp" />
-      <config projectName="crs" targetName="rosgraph_msgs_generate_messages_cpp" />
+      <config projectName="crs" targetName="roscpp_generate_messages_cpp" />
+      <config projectName="crs" targetName="nodelet_topic_tools_gencfg" />
+      <config projectName="crs" targetName="er1_driver_node_student" />
       <config projectName="crs" targetName="rosgraph_msgs_generate_messages_lisp" />
       <config projectName="crs" targetName="geometry_msgs_generate_messages_cpp" />
       <config projectName="crs" targetName="actionlib_generate_messages_lisp" />
@@ -60,43 +59,42 @@
       <config projectName="crs" targetName="tf2_msgs_generate_messages_cpp" />
       <config projectName="crs" targetName="crs_generate_messages_lisp" />
       <config projectName="crs" targetName="gtest" />
-      <config projectName="crs" targetName="crs_comon" />
+      <config projectName="crs" targetName="gmock_main" />
       <config projectName="crs" targetName="std_srvs_generate_messages_eus" />
-      <config projectName="crs" targetName="dynamic_reconfigure_generate_messages_eus" />
-      <config projectName="crs" targetName="bond_generate_messages_eus" />
-      <config projectName="crs" targetName="std_msgs_generate_messages_eus" />
+      <config projectName="crs" targetName="std_srvs_generate_messages_lisp" />
       <config projectName="crs" targetName="dynamic_reconfigure_generate_messages_nodejs" />
       <config projectName="crs" targetName="er1_loop_node" />
       <config projectName="crs" targetName="crs_point_processing_node_student" />
-      <config projectName="crs" targetName="pcl_msgs_generate_messages_cpp" />
-      <config projectName="crs" targetName="topic_tools_generate_messages_lisp" />
-      <config projectName="crs" targetName="tf_generate_messages_nodejs" />
+      <config projectName="crs" targetName="actionlib_generate_messages_py" />
+      <config projectName="crs" targetName="rosgraph_msgs_generate_messages_cpp" />
+      <config projectName="crs" targetName="std_msgs_generate_messages_eus" />
       <config projectName="crs" targetName="nodelet_generate_messages_lisp" />
       <config projectName="crs" targetName="topic_tools_generate_messages_nodejs" />
       <config projectName="crs" targetName="dynamic_reconfigure_gencfg" />
       <config projectName="crs" targetName="nodelet_generate_messages_cpp" />
       <config projectName="crs" targetName="pcl_msgs_generate_messages_lisp" />
-      <config projectName="crs" targetName="std_msgs_generate_messages_nodejs" />
+      <config projectName="crs" targetName="bond_generate_messages_py" />
       <config projectName="crs" targetName="actionlib_msgs_generate_messages_cpp" />
       <config projectName="crs" targetName="crs_tf_publisher_node" />
       <config projectName="crs" targetName="topic_tools_generate_messages_py" />
       <config projectName="crs" targetName="geometry_msgs_generate_messages_py" />
-      <config projectName="crs" targetName="er1_driver_node_student" />
-      <config projectName="crs" targetName="crs_generate_messages_eus" />
+      <config projectName="crs" targetName="topic_tools_generate_messages_lisp" />
+      <config projectName="crs" targetName="crs_genlisp" />
       <config projectName="crs" targetName="crs_er1_control_node" />
       <config projectName="crs" targetName="geometry_msgs_generate_messages_eus" />
-      <config projectName="crs" targetName="rosgraph_msgs_generate_messages_eus" />
+      <config projectName="crs" targetName="tf_generate_messages_eus" />
       <config projectName="crs" targetName="_crs_generate_messages_check_deps_ER1ControlMsgStudent" />
       <config projectName="crs" targetName="tf2_msgs_generate_messages_eus" />
       <config projectName="crs" targetName="bond_generate_messages_lisp" />
-      <config projectName="crs" targetName="crs_gennodejs" />
+      <config projectName="crs" targetName="er1_serial_node" />
       <config projectName="crs" targetName="crs_generate_messages_cpp" />
       <config projectName="crs" targetName="visualization_msgs_generate_messages_nodejs" />
+      <config projectName="crs" targetName="roscpp_generate_messages_nodejs" />
       <config projectName="crs" targetName="tests" />
       <config projectName="crs" targetName="tf_generate_messages_cpp" />
       <config projectName="crs" targetName="tf_generate_messages_lisp" />
       <config projectName="crs" targetName="tf2_msgs_generate_messages_nodejs" />
-      <config projectName="crs" targetName="nodelet_topic_tools_gencfg" />
+      <config projectName="crs" targetName="rosgraph_msgs_generate_messages_eus" />
       <config projectName="crs" targetName="nodelet_generate_messages_nodejs" />
       <config projectName="crs" targetName="visualization_msgs_generate_messages_lisp" />
       <config projectName="crs" targetName="std_srvs_generate_messages_py" />
@@ -104,25 +102,27 @@
       <config projectName="crs" targetName="geometry_msgs_generate_messages_nodejs" />
       <config projectName="crs" targetName="nodelet_generate_messages_eus" />
       <config projectName="crs" targetName="sensor_msgs_generate_messages_cpp" />
-      <config projectName="crs" targetName="visualization_msgs_generate_messages_py" />
+      <config projectName="crs" targetName="dynamic_reconfigure_generate_messages_cpp" />
       <config projectName="crs" targetName="geometry_msgs_generate_messages_lisp" />
       <config projectName="crs" targetName="actionlib_msgs_generate_messages_eus" />
-      <config projectName="crs" targetName="roscpp_generate_messages_cpp" />
+      <config projectName="crs" targetName="gmock" />
+      <config projectName="crs" targetName="crs_comon" />
       <config projectName="crs" targetName="crs_geneus" />
-      <config projectName="crs" targetName="doxygen" />
+      <config projectName="crs" targetName="bond_generate_messages_eus" />
       <config projectName="crs" targetName="rosgraph_msgs_generate_messages_nodejs" />
+      <config projectName="crs" targetName="tf_generate_messages_nodejs" />
+      <config projectName="crs" targetName="crs_registration_icp" />
       <config projectName="crs" targetName="visualization_msgs_generate_messages_cpp" />
-      <config projectName="crs" targetName="crs_genlisp" />
-      <config projectName="crs" targetName="sensor_msgs_generate_messages_eus" />
-      <config projectName="crs" targetName="er1_control_node_student" />
-      <config projectName="crs" targetName="roscpp_generate_messages_nodejs" />
-      <config projectName="crs" targetName="actionlib_generate_messages_py" />
-      <config projectName="crs" targetName="crs_gencpp" />
+      <config projectName="crs" targetName="tf2_msgs_generate_messages_lisp" />
+      <config projectName="crs" targetName="pcl_msgs_generate_messages_cpp" />
+      <config projectName="crs" targetName="std_msgs_generate_messages_nodejs" />
+      <config projectName="crs" targetName="doxygen" />
+      <config projectName="crs" targetName="crs_generate_messages_eus" />
       <config projectName="crs" targetName="std_msgs_generate_messages_py" />
-      <config projectName="crs" targetName="gmock" />
-      <config projectName="crs" targetName="std_srvs_generate_messages_lisp" />
-      <config projectName="crs" targetName="tf_generate_messages_eus" />
-      <config projectName="crs" targetName="crs_registration_icp" />
+      <config projectName="crs" targetName="visualization_msgs_generate_messages_py" />
+      <config projectName="crs" targetName="roscpp_generate_messages_py" />
+      <config projectName="crs" targetName="sensor_msgs_generate_messages_eus" />
+      <config projectName="crs" targetName="dynamic_reconfigure_generate_messages_eus" />
     </generated>
   </component>
   <component name="CMakeSettings">
@@ -132,9 +132,6 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="70f5d2b5-e1c9-415f-bbb3-eae2e165b096" name="Default Changelist" comment="Merge branch 'master' of https://fsstud.is.uni-due.de:8090/sfmabock/crs&#10;&#10;# Conflicts:&#10;#&#9;src/er1_driver_node/main.cpp&#10;#&#9;src/point_processing_node/main.cpp&#10;#&#9;src/point_processing_node_student/main.cpp">
-      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/er1_driver_node/main.cpp" beforeDir="false" afterPath="$PROJECT_DIR$/src/er1_driver_node/main.cpp" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/point_processing_node/main.cpp" beforeDir="false" afterPath="$PROJECT_DIR$/src/point_processing_node/main.cpp" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/point_processing_node_student/main.cpp" beforeDir="false" afterPath="$PROJECT_DIR$/src/point_processing_node_student/main.cpp" afterDir="false" />
     </list>
     <ignored path="$PROJECT_DIR$/cmake-build-debug/" />
@@ -149,18 +146,6 @@
   <component name="ExecutionTargetManager" SELECTED_TARGET="CMakeBuildProfile:Debug" />
   <component name="FileEditorManager">
     <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/registration_feature/main.cpp">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="204">
-              <caret line="298" column="10" selection-start-line="298" selection-start-column="10" selection-end-line="298" selection-end-column="10" />
-              <folding>
-                <element signature="e#0#20#0" expanded="true" />
-              </folding>
-            </state>
-          </provider>
-        </entry>
-      </file>
       <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/src/er1_driver_node/main.cpp">
           <provider selected="true" editor-type-id="text-editor">
@@ -173,8 +158,8 @@
       <file pinned="false" current-in-tab="true">
         <entry file="file://$PROJECT_DIR$/src/point_processing_node_student/main.cpp">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="-36">
-              <caret line="27" lean-forward="true" selection-start-line="27" selection-end-line="27" />
+            <state relative-caret-position="310">
+              <caret line="34" column="55" lean-forward="true" selection-start-line="34" selection-start-column="55" selection-end-line="34" selection-end-column="55" />
               <folding>
                 <element signature="e#0#20#0" expanded="true" />
               </folding>
@@ -185,8 +170,8 @@
       <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/src/point_processing_node/main.cpp">
           <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="355">
-              <caret line="46" lean-forward="true" selection-start-line="46" selection-end-line="46" />
+            <state relative-caret-position="670">
+              <caret line="67" selection-start-line="67" selection-end-line="67" />
               <folding>
                 <element signature="e#0#20#0" expanded="true" />
               </folding>
@@ -221,18 +206,6 @@
           </provider>
         </entry>
       </file>
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/src/registration_feature/helper.cpp">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="3915">
-              <caret line="261" column="18" selection-start-line="261" selection-start-column="18" selection-end-line="261" selection-end-column="18" />
-              <folding>
-                <element signature="e#0#42#0" expanded="true" />
-              </folding>
-            </state>
-          </provider>
-        </entry>
-      </file>
       <file pinned="false" current-in-tab="false">
         <entry file="file://$PROJECT_DIR$/../../../pcl/pcl-bin/include/pcl-1.9/pcl/registration/impl/correspondence_estimation.hpp">
           <provider selected="true" editor-type-id="text-editor">
@@ -242,18 +215,6 @@
           </provider>
         </entry>
       </file>
-      <file pinned="false" current-in-tab="false">
-        <entry file="file://$PROJECT_DIR$/include/registration_feature/helper.hpp">
-          <provider selected="true" editor-type-id="text-editor">
-            <state relative-caret-position="690">
-              <caret line="46" column="13" selection-start-line="46" selection-start-column="6" selection-end-line="46" selection-end-column="20" />
-              <folding>
-                <element signature="e#14#31#0" expanded="true" />
-              </folding>
-            </state>
-          </provider>
-        </entry>
-      </file>
     </leaf>
   </component>
   <component name="FindInProjectRecents">
@@ -301,7 +262,7 @@
     </option>
   </component>
   <component name="OCFindUsagesOptions" text="true" ivars="false" properties="true" derivedClasses="false" />
-  <component name="ProjectFrameBounds" extendedState="6">
+  <component name="ProjectFrameBounds" extendedState="7">
     <option name="x" value="1086" />
     <option name="y" value="369" />
     <option name="width" value="1914" />
@@ -371,20 +332,6 @@
               <item name="src" type="462c0819:PsiDirectoryNode" />
               <item name="point_processing_node_student" type="462c0819:PsiDirectoryNode" />
             </path>
-            <path>
-              <item name="crs" type="b2602c69:ProjectViewProjectNode" />
-              <item name="crs" type="47feb1d3:ProjectViewModuleNode" />
-              <item name="crs" type="462c0819:PsiDirectoryNode" />
-              <item name="src" type="462c0819:PsiDirectoryNode" />
-              <item name="registration_feature" type="462c0819:PsiDirectoryNode" />
-            </path>
-            <path>
-              <item name="crs" type="b2602c69:ProjectViewProjectNode" />
-              <item name="crs" type="47feb1d3:ProjectViewModuleNode" />
-              <item name="crs" type="462c0819:PsiDirectoryNode" />
-              <item name="src" type="462c0819:PsiDirectoryNode" />
-              <item name="registration_icp" type="462c0819:PsiDirectoryNode" />
-            </path>
             <path>
               <item name="crs" type="b2602c69:ProjectViewProjectNode" />
               <item name="crs" type="47feb1d3:ProjectViewModuleNode" />
@@ -1171,7 +1118,7 @@
     <servers />
   </component>
   <component name="TimeTrackingManager">
-    <option name="totallyTimeSpent" value="49804000" />
+    <option name="totallyTimeSpent" value="49808000" />
   </component>
   <component name="ToolWindowManager">
     <frame x="1079" y="369" width="1922" height="1175" extended-state="6" />
@@ -1433,8 +1380,8 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/src/point_processing_node/main.cpp">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="355">
-          <caret line="46" lean-forward="true" selection-start-line="46" selection-end-line="46" />
+        <state relative-caret-position="670">
+          <caret line="67" selection-start-line="67" selection-end-line="67" />
           <folding>
             <element signature="e#0#20#0" expanded="true" />
           </folding>
@@ -1443,8 +1390,8 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/src/point_processing_node_student/main.cpp">
       <provider selected="true" editor-type-id="text-editor">
-        <state relative-caret-position="-36">
-          <caret line="27" lean-forward="true" selection-start-line="27" selection-end-line="27" />
+        <state relative-caret-position="310">
+          <caret line="34" column="55" lean-forward="true" selection-start-line="34" selection-start-column="55" selection-end-line="34" selection-end-column="55" />
           <folding>
             <element signature="e#0#20#0" expanded="true" />
           </folding>
diff --git a/src/point_processing_node_student/main.cpp b/src/point_processing_node_student/main.cpp
index f4d919e298d69f2e2eaac16a457ca756669ebaa8..7057d918af8b85117b5cdc5ba1d8b21608c2698d 100644
--- a/src/point_processing_node_student/main.cpp
+++ b/src/point_processing_node_student/main.cpp
@@ -25,7 +25,7 @@ void callback(CloudRGBA::ConstPtr msgPtr) {
     ROS_INFO("Received a cloud with %i points", msgPtr->size());
 
 
-
+    // newline
 
     pcl::VoxelGrid<pcl::PointXYZRGBA> voxelFilter;
     voxelFilter.setInputCloud (msgPtr);