diff --git a/.gitignore b/.gitignore
index 9a537a02..260c3377 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,5 @@ doxybook2**
 bin
 include
 lib
+**/**/**/**/config.h
+**/**/**/**/streaming_conf.json
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 00000000..f50f978d
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,116 @@
+# syntax=docker/dockerfile:1.4
+# Build with 
+# TODO: Not use root! 
+# Add cache for apt update.xº
+ARG image_base=registry.klepsydra.io/amd64/galactic:20.04.0
+
+ARG registry=registry.klepsydra.io/repository
+ARG board=amd64
+ARG osrelease=focal
+
+FROM $image_base as system_dep
+ENV BUILD_MODE=Release
+
+USER root 
+
+# Install kpe dependencies. VPN required.
+# COPY public.gpg.key /tmp/public.gpg.key 
+
+RUN <<EOF
+# echo "deb https://${registry}/${board}/ ${osrelease} main" >> /etc/apt/sources.list.d/klepsydra.list 
+# apt-key add /tmp/public.gpg.key 
+# rm /tmp/public.gpg.key 
+# apt update
+
+pip3 config set global.extra-index-url https://registry.klepsydra.io/repository/kpe-pypi/simple
+pip3 install kpsr-codegen
+EOF
+
+RUN mkdir -p -m 0700 ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts
+
+FROM system_dep as kpe-core
+ENV KPE_CORE_TAG=v7.11.0
+RUN --mount=type=ssh git clone --branch ${KPE_CORE_TAG} --recurse-submodules git@github.com:klepsydra-technologies/kpe-core
+
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+cd /home/kpsruser/kpe-core
+# Patch to make it work. 
+sed -i 's/set(_SPDLOG_VERSION "1.5")/set(_SPDLOG_VERSION "1.5.0")/g' CMakeLists.txt
+mkdir build 
+cd build 
+cmake -DKPSR_WITH_YAML=false -DKPSR_WITH_SOCKET=true -DCMAKE_BUILD_TYPE=${BUILD_MODE} -DKPSR_WITH_ROS_HUMBLE_OR_ABOVE=true \
+-DKPSR_TEST_PERFORMANCE=false ../ 
+make -j
+sudo make install
+EOF
+
+
+FROM kpe-core as kpe-admin
+ENV KPE_ADMIN_TAG=v6.0.1
+RUN --mount=type=ssh git clone --branch ${KPE_ADMIN_TAG} --recurse-submodules git@github.com:klepsydra-technologies/kpe-admin
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+cd /home/kpsruser/kpe-admin
+mkdir build && cd build &&
+cmake -DKPSR_WITH_SOCKET=true -DKPSR_NO_LICENSE=true -DCMAKE_BUILD_TYPE=${BUILD_MODE} ../ &&
+make -j$(nproc) &&
+sudo make install
+EOF
+
+
+FROM kpe-admin as kpe-streaming
+ENV KPE_STREAMING_VER=v9.1.1
+RUN --mount=type=ssh git clone --branch ${KPE_STREAMING_VER} --recurse-submodules git@github.com:klepsydra-technologies/kpe-streaming
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+cd  /home/kpsruser/kpe-streaming
+mkdir build && cd build &&
+cmake -DCMAKE_BUILD_TYPE=${BUILD_MODE} ../ &&
+make -j$(nproc) &&
+sudo make install
+EOF
+
+# Install colcon, rosdep and dependencies
+FROM kpe-streaming as kpe-ros2-core
+ENV KPE_ROS2_CORE_VER=v1.0.0
+RUN --mount=type=ssh git clone --branch ${KPE_ROS2_CORE_VER} --recurse-submodules git@github.com:klepsydra-technologies/kpe-ros2-core.git
+ENV SSL_CERT_FILE=/etc/ssl/certs/ca-certificates.crt 
+
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+pip install -U rosdep
+rosdep init && rosdep update --include-eol-distros
+
+. /opt/ros/galactic/local_setup.sh
+mkdir -p /home/kpsruser/kpe-ros2-core-install/src 
+ln -s /home/kpsruser/kpe-ros2-core/ /home/kpsruser/kpe-ros2-core-install/src/kpe-ros2-core
+cd /home/kpsruser/kpe-ros2-core-install/ 
+rosdep install --from-paths src --ignore-src -r -y  && 
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_MODE}
+EOF
+
+FROM kpe-ros2-core as reference_sytem
+ENV KPE_REF_SYSTEM=update_klepsydra_executor
+RUN --mount=type=ssh git clone --branch ${KPE_REF_SYSTEM} --recurse-submodules git@github.com:klepsydra-technologies/reference-system.git
+
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+mkdir -p /home/kpsruser/colcon_reference-system/src
+ 
+ln -s /home/kpsruser/reference-system /home/kpsruser/colcon_reference-system/src/reference-system
+cd /home/kpsruser/colcon_reference-system/
+
+. /opt/ros/galactic/local_setup.sh
+colcon build --cmake-args -DCMAKE_PREFIX_PATH="/home/kpsruser/kpe-ros2-core-install/install" -DCMAKE_BUILD_TYPE=${BUILD_MODE} -DRUN_BENCHMARK=ON
+EOF
+
+# ToDO: This is not ideal. 
+# Necessary.
+ENV LD_LIBRARY_PATH=/home/kpsruser/kpe-ros2-core-install/install/kpsr_ros2_executor/lib:/usr/local/lib:/home/kpsruser/colcon_reference-system/install/reference_interfaces/lib:/opt/ros/galactic/lib/x86_64-linux-gnu:/opt/ros/galactic/lib
+ENV PYTHONPATH=/opt/ros/galactic/lib/python3.8/site-packages:/home/kpsruser/colcon_reference-system/install/reference_system/lib/python3.8/site-packages/
+
+# Modify entrypoint
+RUN sed -i '/^exec */i source /home/kpsruser/colcon_reference-system/install/setup.sh --' /opt/ros_entrypoint.sh 
+
+# Install dependencies.
+RUN pip3 install pandas==2.0.1 bokeh==2.4.1 psrecord==1.2 numpy==1.23.5 pygad==2.18.1 
+
+RUN chmod +x /home/kpsruser/reference-system/autoware_reference_system/scripts/benchmark.py
+WORKDIR /home/kpsruser/reference-system/
+CMD autoware_reference_system/scripts/benchmark.py 30 autoware_default_custom
\ No newline at end of file
diff --git a/DockerfileHumble b/DockerfileHumble
new file mode 100644
index 00000000..1fb2d1f4
--- /dev/null
+++ b/DockerfileHumble
@@ -0,0 +1,211 @@
+ARG image_base=osrf/ros:humble-desktop
+
+ARG registry=registry.klepsydra.io/repository
+ARG board=amd64
+ARG osrelease=jammy
+
+FROM $image_base as system_dep
+
+ENV TZ 'Europe/Madrid'
+ENV LC_ALL en_US.UTF-8
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+RUN groupadd --gid 10000 kpsruser && \
+    useradd --uid 10000 --gid kpsruser --shell /bin/bash --create-home kpsruser && \
+    usermod -aG sudo kpsruser && \
+    echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+
+ENV BUILD_MODE=Release
+
+ARG OPENSSLVERSION="OpenSSL_1_1_1i"
+RUN git clone https://github.com/openssl/openssl.git && \
+    cd openssl && git checkout ${OPENSSLVERSION} && \
+    ./config -fPIC shared && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../ && rm -rf openssl
+
+ARG YAMLCPPVERSION="yaml-cpp-0.7.0"
+RUN git clone https://github.com/jbeder/yaml-cpp && \
+    cd yaml-cpp && git checkout ${YAMLCPPVERSION} && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DYAML_CPP_BUILD_TESTS=Off ../ && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../../ && rm -rf yaml-cpp
+
+ARG ZMQVERSION="v4.3.4"
+RUN git clone https://github.com/zeromq/libzmq.git && \
+    cd libzmq && \
+    git checkout ${ZMQVERSION} && \
+    mkdir build && \
+    cd build && \
+    cmake ../ && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../../ && rm -rf libzmq
+
+ARG ZMQCPPVERSION="v4.8.0"
+RUN git clone https://github.com/zeromq/cppzmq.git && \
+    cd cppzmq && \
+    git checkout ${ZMQCPPVERSION} && \
+    mkdir build && cd build && \
+    cmake ../ && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../../ && rm -rf cppzmq
+
+ARG BENCHMARKVERSION="3b3de69400164013199ea448f051d94d7fc7d81f"
+RUN git clone https://github.com/google/benchmark.git && \
+    cd benchmark && \
+    git checkout ${BENCHMARKVERSION} && \
+    mkdir build && cd build && \
+    cmake -DBENCHMARK_DOWNLOAD_DEPENDENCIES=on -DCMAKE_BUILD_TYPE=Release ../ && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../../ && \
+    rm -rf benchmark
+
+RUN apt-get -y update && apt-get -y install libtool
+
+ARG PROTOBUFVERSION="v3.19.0"
+RUN git clone https://github.com/protocolbuffers/protobuf.git && \
+    cd protobuf && \
+    git checkout ${PROTOBUFVERSION} && \
+    git submodule update --init --recursive && \
+    ./autogen.sh && ./configure && \
+    make -j$(nproc) && \
+    sudo make install && ldconfig && \
+    cd ../../ && \
+    rm -rf protobuf
+
+ARG EIGENVERSION="3.4.0"
+RUN git clone https://gitlab.com/libeigen/eigen.git && \
+    cd eigen && \
+    git checkout ${EIGENVERSION} && \
+    mkdir build && cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release ../ && \
+    make -j$(nproc) && \
+    sudo make install && \
+    cd ../../ && \
+    rm -rf eigen
+
+ARG OPENCVVERSION="3.4.17"
+RUN git clone https://github.com/opencv/opencv.git && \
+    cd opencv && \
+    git checkout ${OPENCVVERSION} && \
+    mkdir build && cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DINSTALL_TESTS=OFF -DINSTALL_PYTHON_EXAMPLES=OFF -DINSTALL_C_EXAMPLES=OFF -DBUILD_opencv_apps=OFF ../ && \
+    make -j$(nproc) && \
+    sudo make install && \
+    cd ../../ && \
+    rm -rf opencv
+
+
+USER root
+WORKDIR /home/kpsruser
+RUN <<EOF
+# echo "deb https://${registry}/${board}/ ${osrelease} main" >> /etc/apt/sources.list.d/klepsydra.list 
+# apt-key add /tmp/public.gpg.key 
+# rm /tmp/public.gpg.key 
+# apt update
+apt-get -y install python3-pip
+pip config set global.extra-index-url https://registry.klepsydra.io/repository/kpe-pypi/simple
+pip install kpsr-codegen
+EOF
+
+RUN mkdir -p -m 0700 ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts
+
+FROM system_dep as kpe-core
+
+
+
+ENV KPE_CORE_TAG=v8.0.0
+RUN --mount=type=ssh git clone --branch ${KPE_CORE_TAG} --recurse-submodules git@github.com:klepsydra-technologies/kpe-core
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+cd /home/kpsruser/kpe-core
+# Patch to make it work. 
+sed -i 's/set(_SPDLOG_VERSION "1.5")/set(_SPDLOG_VERSION "1.9.2")/g' CMakeLists.txt
+mkdir build 
+cd build 
+cmake -DKPSR_WITH_YAML=false -DKPSR_WITH_SOCKET=true -DCMAKE_BUILD_TYPE=${BUILD_MODE} -DKPSR_WITH_ROS_HUMBLE_OR_ABOVE=true \
+-DKPSR_TEST_PERFORMANCE=false ../ 
+make -j
+sudo make install
+EOF
+
+FROM kpe-core as kpe-admin
+ENV KPE_ADMIN_TAG=v7.0.0
+RUN --mount=type=ssh git clone --branch ${KPE_ADMIN_TAG} --recurse-submodules git@github.com:klepsydra-technologies/kpe-admin
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+#apt-get -y install libbsd-dev
+cd /home/kpsruser/kpe-admin
+sed -i '26d' modules/system/src/cpu_reader_linux.cpp
+apt-get -y install glibc
+mkdir build && cd build &&
+cmake -DKPSR_WITH_SOCKET=true -DKPSR_NO_LICENSE=true -DCMAKE_BUILD_TYPE=${BUILD_MODE} ../ &&
+make -j$(nproc) &&
+sudo make install
+EOF
+
+
+FROM kpe-admin as kpe-streaming
+ENV KPE_STREAMING_VER=v11.1.0
+RUN --mount=type=ssh git clone --branch ${KPE_STREAMING_VER} --recurse-submodules git@github.com:klepsydra-technologies/kpe-streaming
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+cd  /home/kpsruser/kpe-streaming
+mkdir build && cd build &&
+cmake -DCMAKE_BUILD_TYPE=${BUILD_MODE} ../ &&
+make -j$(nproc) &&
+sudo make install
+EOF
+
+# Install colcon, rosdep and dependencies
+FROM kpe-streaming as kpe-ros2-core
+ENV KPE_ROS2_CORE_BRANCH=humble
+RUN --mount=type=ssh git clone --branch ${KPE_ROS2_CORE_BRANCH} --recurse-submodules git@github.com:klepsydra-technologies/kpe-ros2-core.git
+ENV SSL_CERT_FILE=/etc/ssl/certs/ca-certificates.crt 
+
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+pip install -U rosdep
+rosdep init && rosdep update --include-eol-distros
+
+. /opt/ros/humble/local_setup.sh
+mkdir -p /home/kpsruser/kpe-ros2-core-install/src 
+ln -s /home/kpsruser/kpe-ros2-core/ /home/kpsruser/kpe-ros2-core-install/src/kpe-ros2-core
+cd /home/kpsruser/kpe-ros2-core-install/ 
+rosdep install --from-paths src --ignore-src -r -y  && 
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_MODE}
+EOF
+
+FROM kpe-ros2-core as reference_sytem
+ENV KPE_REF_SYSTEM=update_klepsydra_executor
+RUN --mount=type=ssh git clone --branch ${KPE_REF_SYSTEM} --recurse-submodules git@github.com:klepsydra-technologies/reference-system.git
+
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+apt-get -y install ros-humble-ros-testing
+mkdir -p /home/kpsruser/colcon_reference-system/src
+ 
+ln -s /home/kpsruser/reference-system /home/kpsruser/colcon_reference-system/src/reference-system
+cd /home/kpsruser/colcon_reference-system/
+
+. /opt/ros/humble/local_setup.sh
+colcon build --cmake-args -DCMAKE_PREFIX_PATH="/home/kpsruser/kpe-ros2-core-install/install" -DCMAKE_BUILD_TYPE=${BUILD_MODE} -DRUN_BENCHMARK=ON
+EOF
+
+RUN apt-get -y install ros-humble-rmw-cyclonedds-cpp
+RUN pip install pandas==2.0.1 bokeh==2.4.1 psrecord==1.2 numpy==1.23.5 pygad==2.18.1 
+RUN chmod +x /home/kpsruser/reference-system/autoware_reference_system/scripts/benchmark.py
+# Necessary.
+ENV LD_LIBRARY_PATH=/home/kpsruser/kpe-ros2-core-install/install/kpsr_ros2_executor/lib:/usr/local/lib:/home/kpsruser/colcon_reference-system/install/reference_interfaces/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+
+RUN sed -i 's/parallised/parallelised/g' /home/kpsruser/colcon_reference-system/src/reference-system/autoware_reference_system/src/ros2/data/streaming_policy.json
+# if this doesn't work  YOU NEED TO MODIFY THE POLICY. parallised BECOMES parallelised.
+
+USER kpsruser
+
+RUN echo 'source /opt/ros/humble/setup.sh' >> /home/kpsruser/.bashrc && \
+    echo 'source /home/kpsruser/colcon_reference-system/install/setup.sh' >> /home/kpsruser/.bashrc && \
+    echo 'source /home/kpsruser/kpe-ros2-core-install/install/setup.sh' >> /home/kpsruser/.bashrc
diff --git a/DockerfileHumbleRPI b/DockerfileHumbleRPI
new file mode 100644
index 00000000..02ad7b2f
--- /dev/null
+++ b/DockerfileHumbleRPI
@@ -0,0 +1,213 @@
+ARG image_base=arm64v8/ros:humble
+ARG registry=registry.klepsydra.io/repository
+ARG board=amd64
+ARG osrelease=jammy
+
+FROM $image_base as system_dep
+
+ENV TZ 'Europe/Madrid'
+ENV LC_ALL en_US.UTF-8
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+RUN groupadd --gid 10000 kpsruser && \
+    useradd --uid 10000 --gid kpsruser --shell /bin/bash --create-home kpsruser && \
+    usermod -aG sudo kpsruser && \
+    echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+
+RUN apt update && apt-get -y install openssh-client
+RUN mkdir -p -m 0700 ~/.ssh
+RUN ssh-keyscan github.com >> ~/.ssh/known_hosts
+
+ENV BUILD_MODE=Release
+
+ARG OPENSSLVERSION="OpenSSL_1_1_1i"
+RUN git clone https://github.com/openssl/openssl.git && \
+    cd openssl && git checkout ${OPENSSLVERSION} && \
+    ./config -fPIC shared && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../ && rm -rf openssl
+
+
+
+RUN apt-get -y install libtool
+
+ARG PROTOBUFVERSION="v3.19.0"
+RUN git clone https://github.com/protocolbuffers/protobuf.git && \
+    cd protobuf && \
+    git checkout ${PROTOBUFVERSION} && \
+    git submodule update --init --recursive && \
+    ./autogen.sh && ./configure && \
+    make -j$(nproc) && \
+    sudo make install && ldconfig && \
+    cd ../../ && \
+    rm -rf protobuf
+
+ARG EIGENVERSION="3.4.0"
+RUN git clone https://gitlab.com/libeigen/eigen.git && \
+    cd eigen && \
+    git checkout ${EIGENVERSION} && \
+    mkdir build && cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release ../ && \
+    make -j$(nproc) && \
+    sudo make install && \
+    cd ../../ && \
+    rm -rf eigen
+
+ARG OPENCVVERSION="3.4.17"
+RUN git clone https://github.com/opencv/opencv.git && \
+    cd opencv && \
+    git checkout ${OPENCVVERSION} && \
+    mkdir build && cd build && \
+    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DINSTALL_TESTS=OFF -DINSTALL_PYTHON_EXAMPLES=OFF -DINSTALL_C_EXAMPLES=OFF -DBUILD_opencv_apps=OFF ../ && \
+    make -j$(nproc) && \
+    sudo make install && \
+    cd ../../ && \
+    rm -rf opencv
+
+ARG BENCHMARKVERSION="3b3de69400164013199ea448f051d94d7fc7d81f"
+RUN git clone https://github.com/google/benchmark.git && \
+    cd benchmark && \
+    git checkout ${BENCHMARKVERSION} && \
+    mkdir build && cd build && \
+    cmake -DBENCHMARK_DOWNLOAD_DEPENDENCIES=on -DCMAKE_BUILD_TYPE=Release ../ && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../../ && \
+    rm -rf benchmark
+
+ARG ZMQVERSION="v4.3.4"
+RUN git clone https://github.com/zeromq/libzmq.git && \
+    cd libzmq && \
+    git checkout ${ZMQVERSION} && \
+    mkdir build && \
+    cd build && \
+    cmake ../ && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../../ && rm -rf libzmq
+
+ARG ZMQCPPVERSION="v4.8.0"
+RUN git clone https://github.com/zeromq/cppzmq.git && \
+    cd cppzmq && \
+    git checkout ${ZMQCPPVERSION} && \
+    mkdir build && cd build && \
+    cmake ../ && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../../ && rm -rf cppzmq
+ARG YAMLCPPVERSION="yaml-cpp-0.7.0"
+RUN git clone https://github.com/jbeder/yaml-cpp && \
+    cd yaml-cpp && git checkout ${YAMLCPPVERSION} && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_POSITION_INDEPENDENT_CODE=ON -DYAML_CPP_BUILD_TESTS=Off ../ && \
+    make -j$(nproc) && \
+    make install && \
+    cd ../../ && rm -rf yaml-cpp
+
+USER root
+WORKDIR /home/kpsruser
+RUN <<EOF
+# echo "deb https://${registry}/${board}/ ${osrelease} main" >> /etc/apt/sources.list.d/klepsydra.list 
+# apt-key add /tmp/public.gpg.key 
+# rm /tmp/public.gpg.key 
+# apt update
+apt-get -y install python3-pip
+pip config set global.extra-index-url https://registry.klepsydra.io/repository/kpe-pypi/simple
+pip install kpsr-codegen
+EOF
+
+RUN mkdir -p -m 0700 ~/.ssh && ssh-keyscan github.com >> ~/.ssh/known_hosts
+
+FROM system_dep as kpe-core
+
+
+
+ENV KPE_CORE_TAG=v8.0.0
+RUN --mount=type=ssh git clone --branch ${KPE_CORE_TAG} --recurse-submodules git@github.com:klepsydra-technologies/kpe-core
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+cd /home/kpsruser/kpe-core
+# Patch to make it work. 
+sed -i 's/set(_SPDLOG_VERSION "1.5")/set(_SPDLOG_VERSION "1.9.2")/g' CMakeLists.txt
+mkdir build 
+cd build 
+cmake -DKPSR_WITH_YAML=false -DKPSR_WITH_SOCKET=true -DCMAKE_BUILD_TYPE=${BUILD_MODE} -DKPSR_WITH_ROS_HUMBLE_OR_ABOVE=true \
+-DKPSR_TEST_PERFORMANCE=false ../ 
+make -j
+sudo make install
+EOF
+
+FROM kpe-core as kpe-admin
+ENV KPE_ADMIN_TAG=v7.0.0
+RUN --mount=type=ssh git clone --branch ${KPE_ADMIN_TAG} --recurse-submodules git@github.com:klepsydra-technologies/kpe-admin
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+#apt-get -y install libbsd-dev
+cd /home/kpsruser/kpe-admin
+sed -i '26d' modules/system/src/cpu_reader_linux.cpp
+apt-get -y install glibc
+mkdir build && cd build &&
+cmake -DKPSR_WITH_SOCKET=true -DKPSR_NO_LICENSE=true -DCMAKE_BUILD_TYPE=${BUILD_MODE} ../ &&
+make -j$(nproc) &&
+sudo make install
+EOF
+
+
+FROM kpe-admin as kpe-streaming
+ENV KPE_STREAMING_VER=v11.1.0
+RUN --mount=type=ssh git clone --branch ${KPE_STREAMING_VER} --recurse-submodules git@github.com:klepsydra-technologies/kpe-streaming
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+cd  /home/kpsruser/kpe-streaming
+mkdir build && cd build &&
+cmake -DCMAKE_BUILD_TYPE=${BUILD_MODE} ../ &&
+make -j$(nproc) &&
+sudo make install
+EOF
+
+# Install colcon, rosdep and dependencies
+FROM kpe-streaming as kpe-ros2-core
+ENV KPE_ROS2_CORE_BRANCH=humble
+RUN --mount=type=ssh git clone --branch ${KPE_ROS2_CORE_BRANCH} --recurse-submodules git@github.com:klepsydra-technologies/kpe-ros2-core.git
+ENV SSL_CERT_FILE=/etc/ssl/certs/ca-certificates.crt 
+
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+pip install -U rosdep
+rosdep init && rosdep update --include-eol-distros
+
+. /opt/ros/humble/local_setup.sh
+mkdir -p /home/kpsruser/kpe-ros2-core-install/src 
+ln -s /home/kpsruser/kpe-ros2-core/ /home/kpsruser/kpe-ros2-core-install/src/kpe-ros2-core
+cd /home/kpsruser/kpe-ros2-core-install/ 
+rosdep install --from-paths src --ignore-src -r -y  && 
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=${BUILD_MODE}
+EOF
+
+FROM kpe-ros2-core as reference_sytem
+ENV KPE_REF_SYSTEM=update_klepsydra_executor
+RUN --mount=type=ssh git clone --branch ${KPE_REF_SYSTEM} --recurse-submodules git@github.com:klepsydra-technologies/reference-system.git
+
+RUN --mount=type=cache,target=/home/kpsruser/.ccache <<EOF
+apt-get -y install ros-humble-ros-testing
+mkdir -p /home/kpsruser/colcon_reference-system/src
+ 
+ln -s /home/kpsruser/reference-system /home/kpsruser/colcon_reference-system/src/reference-system
+cd /home/kpsruser/colcon_reference-system/
+
+. /opt/ros/humble/local_setup.sh
+colcon build --cmake-args -DCMAKE_PREFIX_PATH="/home/kpsruser/kpe-ros2-core-install/install" -DCMAKE_BUILD_TYPE=${BUILD_MODE} -DRUN_BENCHMARK=ON
+EOF
+
+RUN apt-get -y install ros-humble-rmw-cyclonedds-cpp
+
+# Necessary.
+ENV LD_LIBRARY_PATH=/home/kpsruser/kpe-ros2-core-install/install/kpsr_ros2_executor/lib:/usr/local/lib:/home/kpsruser/colcon_reference-system/install/reference_interfaces/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+
+RUN sed -i 's/parallised/parallelised/g' /home/kpsruser/colcon_reference-system/src/reference-system/autoware_reference_system/src/ros2/data/streaming_policy.json
+# if this doesn't work  YOU NEED TO MODIFY THE POLICY. parallised BECOMES parallelised.
+
+USER kpsruser
+
+RUN echo 'source /opt/ros/humble/setup.sh' >> /home/kpsruser/.bashrc &&
+    echo 'source /home/kpsruser/colcon_reference-system/install/setup.sh' >> /home/kpsruser/.bashrc &&
+    echo 'source /home/kpsruser/kpe-ros2-core-install/install/setup.sh' >> /home/kpsruser/.bashrc
diff --git a/autoware_reference_system/CMakeLists.txt b/autoware_reference_system/CMakeLists.txt
index af6dae6a..ceb6e1a7 100644
--- a/autoware_reference_system/CMakeLists.txt
+++ b/autoware_reference_system/CMakeLists.txt
@@ -20,6 +20,11 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+find_package(kpsr_ros2_executor REQUIRED)
+find_package(Klepsydra REQUIRED)
+find_package(KlepsydraAdmin REQUIRED)
+find_package(KlepsydraStreaming REQUIRED)
+
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
@@ -58,9 +63,23 @@ if(${FRAMEWORK} STREQUAL ros)
 endif()
 
 # Add new executors to test here
-#add_benchmark_executable(autoware_default_custom
-#  src/ros2/executor/autoware_default_custom.cpp
-#)
+add_benchmark_executable(autoware_default_custom
+  src/ros2/executor/autoware_default_klepsydrasinglethreaded.cpp
+)
+
+set(CONF_DATA ${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/data)
+#Configure modules header with variables configured
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/common/config.h.in"
+               "${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/common/config.h")
+
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/data/streaming_conf.json.in"
+               "${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/data/streaming_conf.json")
+
+target_include_directories(
+  autoware_default_custom PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/common)
+
+ament_export_include_directories(autoware_default_custom PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/ros2/common)
+ament_target_dependencies(autoware_default_custom ${dependencies})
 
 if(${BUILD_TESTING})
   find_package(ament_lint_auto REQUIRED)
@@ -75,9 +94,13 @@ if(${BUILD_TESTING})
   endif()
 
   if(${RUN_BENCHMARK})
-    # Test all executables by default.
-    # Modify this variable to test only a subset of executables
-    set(TEST_TARGETS ${BENCHMARK_EXECUTABLES})
+    # Add executables here to test
+    set(TEST_TARGETS
+      autoware_default_singlethreaded
+      autoware_default_staticsinglethreaded
+      autoware_default_multithreaded
+      #autoware_default_custom
+    )
 
     # Add more run times here (time to run traces for)
     set(RUN_TIMES
diff --git a/autoware_reference_system/package.xml b/autoware_reference_system/package.xml
index 83cd8a13..2cb48452 100644
--- a/autoware_reference_system/package.xml
+++ b/autoware_reference_system/package.xml
@@ -17,6 +17,7 @@
   <depend>rclcpp</depend>
   <depend>reference_interfaces</depend>
   <depend>rcl_interfaces</depend>
+  <depend>kpsr_ros2_executor</depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
diff --git a/autoware_reference_system/src/ros2/common/config.h.in b/autoware_reference_system/src/ros2/common/config.h.in
new file mode 100644
index 00000000..7a4ffd73
--- /dev/null
+++ b/autoware_reference_system/src/ros2/common/config.h.in
@@ -0,0 +1 @@
+#cmakedefine CONF_DATA "@CONF_DATA@"
\ No newline at end of file
diff --git a/autoware_reference_system/src/ros2/data/streaming_conf.json.in b/autoware_reference_system/src/ros2/data/streaming_conf.json.in
new file mode 100644
index 00000000..7d573c82
--- /dev/null
+++ b/autoware_reference_system/src/ros2/data/streaming_conf.json.in
@@ -0,0 +1,26 @@
+{
+    "StringProperties": {
+        "container_name": "test",
+        "log_filename": "",
+        "streaming_conf_file":"@CONF_DATA@/streaming_policy.json",
+        "processor_intensive_layers": "max"
+    },
+    "BoolProperties": {
+        "test_dnn": false,
+        "stat_socket_container_enable": false,
+        "stat_file_container_enable": false,
+        "use_default_streaming_factory": false
+    },
+    "IntProperties": {
+        "stat_log_interval_ms": 1000,
+        "pool_size": 1,
+        "stat_admin_port": 9595,
+        "stat_system_port": 9696,
+        "log_level": 6,
+        "number_of_event_loops": 8,
+        "number_of_cores": 8,
+        "critical_thread_pool_size": 32,
+        "non_critical_thread_pool_size": 32,
+        "number_of_parallel_threads": 1
+    }
+}
\ No newline at end of file
diff --git a/autoware_reference_system/src/ros2/data/streaming_policy.json b/autoware_reference_system/src/ros2/data/streaming_policy.json
new file mode 100644
index 00000000..1356ab6d
--- /dev/null
+++ b/autoware_reference_system/src/ros2/data/streaming_policy.json
@@ -0,0 +1,289 @@
+{
+    "pool_size": 1,
+    "number_of_cores": 4,
+    "number_of_event_loops": 4,
+    "number_of_parallel_threads": 1,
+    "non_critical_thread_pool_size": 32,
+    "event_loop_core_map": {
+        "0": [
+            0
+        ],
+        "1": [
+            1
+        ],
+        "2": [
+            2
+        ],
+        "3": [
+            3
+        ]
+    },
+    "layer_event_loop_map": {
+    "BehaviorPlanner$ObjectCollisionEstimator": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "BehaviorPlanner$NDTLocalizer": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "BehaviorPlanner$Lanelet2GlobalPlanner": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "BehaviorPlanner$ParkingPlanner": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "BehaviorPlanner$LanePlanner": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "BehaviorPlanner$Lanelet2MapLoader": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "BehaviorPlanner$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "EuclideanClusterDetector$RayGroundFilter": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "EuclideanClusterDetector$EuclideanClusterSettings": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "EuclideanClusterDetector$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "EuclideanClusterSettings$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "FrontLidarDriver$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "IntersectionOutput$EuclideanIntersection": {
+        "coreId": 1,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "IntersectionOutput$parameter_events": {
+        "coreId": 1,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "LanePlanner$Lanelet2MapLoader": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "LanePlanner$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2GlobalPlanner$Visualizer": {
+        "coreId": 0,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2GlobalPlanner$NDTLocalizer": {
+        "coreId": 0,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2GlobalPlanner$parameter_events": {
+        "coreId": 0,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2Map$parameter_events": {
+        "coreId": 1,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2MapLoader$Lanelet2Map": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2MapLoader$Lanelet2GlobalPlanner": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2MapLoader$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "MPCController$BehaviorPlanner": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "MPCController$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "NDTLocalizer$VoxelGridDownsampler": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "NDTLocalizer$PointCloudMapLoader": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "NDTLocalizer$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "ObjectCollisionEstimator$EuclideanClusterDetector": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "ObjectCollisionEstimator$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "ParkingPlanner$Lanelet2MapLoader": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "ParkingPlanner$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointCloudFusion$PointsTransformerFront": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointCloudFusion$PointsTransformerRear": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointCloudFusion$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointCloudMap$parameter_events": {
+        "coreId": 0,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointCloudMapLoader$PointCloudMap": {
+        "coreId": 1,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointCloudMapLoader$parameter_events": {
+        "coreId": 1,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointsTransformerFront$FrontLidarDriver": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointsTransformerFront$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointsTransformerRear$RearLidarDriver": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointsTransformerRear$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "RayGroundFilter$PointCloudFusion": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "RayGroundFilter$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "RearLidarDriver$parameter_events": {
+        "coreId": 0,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VehicleDBWSystem$VehicleInterface": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VehicleDBWSystem$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VehicleInterface$MPCController": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VehicleInterface$BehaviorPlanner": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VehicleInterface$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Visualizer$parameter_events": {
+        "coreId": 0,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VoxelGridDownsampler$PointCloudFusion": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VoxelGridDownsampler$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        }
+    },
+        "parallised_layers": []
+}
\ No newline at end of file
diff --git a/autoware_reference_system/src/ros2/data/streaming_policy_ref.json b/autoware_reference_system/src/ros2/data/streaming_policy_ref.json
new file mode 100644
index 00000000..ced1eaef
--- /dev/null
+++ b/autoware_reference_system/src/ros2/data/streaming_policy_ref.json
@@ -0,0 +1,289 @@
+{
+    "pool_size": 1,
+    "number_of_cores": 4,
+    "number_of_event_loops": 4,
+    "number_of_parallel_threads": 1,
+    "non_critical_thread_pool_size": 32,
+    "event_loop_core_map": {
+        "0": [
+            0
+        ],
+        "1": [
+            1
+        ],
+        "2": [
+            2
+        ],
+        "3": [
+            3
+        ]
+    },
+    "layer_event_loop_map": {
+    "BehaviorPlanner$ObjectCollisionEstimator": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "BehaviorPlanner$NDTLocalizer": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "BehaviorPlanner$Lanelet2GlobalPlanner": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "BehaviorPlanner$ParkingPlanner": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "BehaviorPlanner$LanePlanner": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "BehaviorPlanner$Lanelet2MapLoader": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "BehaviorPlanner$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "EuclideanClusterDetector$RayGroundFilter": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "EuclideanClusterDetector$EuclideanClusterSettings": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "EuclideanClusterDetector$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "EuclideanClusterSettings$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "FrontLidarDriver$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "IntersectionOutput$EuclideanIntersection": {
+        "coreId": 1,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "IntersectionOutput$parameter_events": {
+        "coreId": 1,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "LanePlanner$Lanelet2MapLoader": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "LanePlanner$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2GlobalPlanner$Visualizer": {
+        "coreId": 0,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2GlobalPlanner$NDTLocalizer": {
+        "coreId": 0,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2GlobalPlanner$parameter_events": {
+        "coreId": 0,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2Map$parameter_events": {
+        "coreId": 1,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2MapLoader$Lanelet2Map": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2MapLoader$Lanelet2GlobalPlanner": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Lanelet2MapLoader$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "MPCController$BehaviorPlanner": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "MPCController$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "NDTLocalizer$VoxelGridDownsampler": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "NDTLocalizer$PointCloudMapLoader": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "NDTLocalizer$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "ObjectCollisionEstimator$EuclideanClusterDetector": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "ObjectCollisionEstimator$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "ParkingPlanner$Lanelet2MapLoader": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "ParkingPlanner$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointCloudFusion$PointsTransformerFront": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointCloudFusion$PointsTransformerRear": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointCloudFusion$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointCloudMap$parameter_events": {
+        "coreId": 0,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointCloudMapLoader$PointCloudMap": {
+        "coreId": 1,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointCloudMapLoader$parameter_events": {
+        "coreId": 1,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointsTransformerFront$FrontLidarDriver": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointsTransformerFront$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointsTransformerRear$RearLidarDriver": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "PointsTransformerRear$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "RayGroundFilter$PointCloudFusion": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "RayGroundFilter$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "RearLidarDriver$parameter_events": {
+        "coreId": 0,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VehicleDBWSystem$VehicleInterface": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VehicleDBWSystem$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VehicleInterface$MPCController": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VehicleInterface$BehaviorPlanner": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VehicleInterface$parameter_events": {
+        "coreId": 3,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "Visualizer$parameter_events": {
+        "coreId": 0,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VoxelGridDownsampler$PointCloudFusion": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        },
+        "VoxelGridDownsampler$parameter_events": {
+        "coreId": 2,
+        "unescapedStepName": "",
+        "factoryType": 1
+        }
+    },
+        "parallelised_layers": []
+}
\ No newline at end of file
diff --git a/autoware_reference_system/src/ros2/executor/autoware_default_klepsydrasinglethreaded.cpp b/autoware_reference_system/src/ros2/executor/autoware_default_klepsydrasinglethreaded.cpp
new file mode 100644
index 00000000..2daad682
--- /dev/null
+++ b/autoware_reference_system/src/ros2/executor/autoware_default_klepsydrasinglethreaded.cpp
@@ -0,0 +1,48 @@
+// Copyright 2021 Apex.AI, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/rclcpp.hpp"
+#include "reference_system/system/type/rclcpp_system.hpp"
+
+#include "autoware_reference_system/autoware_system_builder.hpp"
+#include "autoware_reference_system/system/timing/benchmark.hpp"
+#include "autoware_reference_system/system/timing/default.hpp"
+
+#include <kpsr_ros2_executor/streaming_executor_factory.hpp>
+#include "config.h"
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+
+  using TimeConfig = nodes::timing::Default;
+  // uncomment for benchmarking
+  // using TimeConfig = nodes::timing::BenchmarkCPUUsage;
+  // set_benchmark_mode(true);
+
+  auto nodes = create_autoware_nodes<RclcppSystem, TimeConfig>();
+
+  const std::string jsonFileName = std::string(CONF_DATA) + std::string("/streaming_conf.json");
+  rclcpp::Executor::SharedPtr executor =  kpsr::ros2::StreamingExecutorFactory::createExecutor(jsonFileName);
+
+  for (auto & node : nodes) {
+    executor->add_node(node);
+  }
+  executor->spin();
+
+  nodes.clear();
+  rclcpp::shutdown();
+
+  return 0;
+}
diff --git a/genetic_algo/genetic_algorithm.py b/genetic_algo/genetic_algorithm.py
new file mode 100644
index 00000000..901fce23
--- /dev/null
+++ b/genetic_algo/genetic_algorithm.py
@@ -0,0 +1,164 @@
+import json
+import shutil
+import tempfile
+
+import pygad
+import pandas as pd
+import numpy as np
+from reference_system_py.benchmark import get_benchmark_directories_below, generate_trace
+from reference_system_py.std_latency import parseLogSummaryFromFiles
+
+n_number_cruncher = 4096 # from:
+# /home/kpsruser/colcon_reference-system/src/reference-system/autoware_reference_system/include/autoware_reference_system/system/timing/default.hpp
+with open('/home/kpsruser/colcon_reference-system/src/reference-system/autoware_reference_system/src/ros2/data/streaming_policy_ref.json') as f:
+    # 
+    policy_template = json.load(f)
+
+edges = [('FrontLidarDriver', 'PointsTransformerFront'),
+('RearLidarDriver', 'PointsTransformerRear'),
+('PointCloudFusion', 'VoxelGridDownsampler'),
+('PointCloudMap', 'PointCloudMapLoader'),
+('PointCloudFusion', 'RayGroundFilter'),
+('EuclideanClusterDetector', 'ObjectCollisionEstimator'),
+('BehaviorPlanner', 'MPCController'),
+('Lanelet2MapLoader', 'ParkingPlanner'),
+('Lanelet2MapLoader', 'LanePlanner'),
+('PointsTransformerFront', 'PointCloudFusion'),
+('VoxelGridDownsampler', 'NDTLocalizer'),
+('MPCController', 'VehicleInterface'),
+('Visualizer', 'Lanelet2GlobalPlanner'),
+('Lanelet2Map', 'Lanelet2MapLoader'),
+('ObjectCollisionEstimator', 'BehaviorPlanner'),
+('RayGroundFilter', 'EuclideanClusterDetector'),
+('VehicleInterface', 'VehicleDBWSystem'),
+('EuclideanIntersection', 'IntersectionOutput'),
+('PointsTransformerRear', 'PointCloudFusion'),
+('PointCloudMapLoader', 'NDTLocalizer'),
+('BehaviorPlanner', 'VehicleInterface'),
+('NDTLocalizer', 'Lanelet2GlobalPlanner'),
+('Lanelet2GlobalPlanner', 'Lanelet2MapLoader'),
+('NDTLocalizer', 'BehaviorPlanner'),
+('EuclideanClusterSettings', 'EuclideanClusterDetector'),
+('Lanelet2GlobalPlanner', 'BehaviorPlanner'),
+('ParkingPlanner', 'BehaviorPlanner'),
+('LanePlanner', 'BehaviorPlanner'),
+('Lanelet2MapLoader', 'BehaviorPlanner')]
+
+hot_path_nodes = ["FrontLidarDriver",
+                 "PointsTransformerFront",
+                 "RearLidarDriver",
+                 "PointsTransformerRear",
+                 "PointCloudFusion",
+                 "RayGroundFilter",
+                 "EuclideanClusterDetector",
+                 "ObjectCollisionEstimator"]
+
+other_nodes = ["PointCloudMap",
+    "Visualizer",
+    "Lanelet2Map",
+    "EuclideanClusterSettings",
+    "PointCloudMapLoader",
+    "MPCController",
+    "VehicleInterface",
+    "VehicleDBWSystem",
+    "NDTLocalizer",
+    "Lanelet2GlobalPlanner",
+    "Lanelet2MapLoader",
+    "ParkingPlanner",
+    "LanePlanner",
+    "IntersectionOutput",
+    "VoxelGridDownsampler"]
+
+
+def fitness_func(solution, idx_sol):
+    print(idx_sol)
+    print(solution)
+    update_policy(solution)
+    latency_hot_path = calculate_latency_policy()
+
+    return -latency_hot_path
+
+
+def update_policy(solution):
+    base_policy = policy_template.copy()
+    node_dicts = dict(zip(hot_path_nodes + other_nodes, solution))
+    for composite_node in base_policy['layer_event_loop_map'].keys():
+        node = composite_node.split('$')[0]
+        if node in node_dicts:
+            base_policy['layer_event_loop_map'][composite_node]['coreId'] = int(node_dicts[node])
+    # Execute.
+    with open('/home/kpsruser/colcon_reference-system/src/reference-system/autoware_reference_system/src/ros2/data/streaming_policy.json', 'w', encoding='utf-8') as f:
+        json.dump(base_policy, f, ensure_ascii=False, indent=4)
+
+
+def calculate_latency_policy():
+    trace_type = 'std'
+    exe = 'autoware_default_custom'
+    rmw = 'rmw_cyclonedds_cpp'
+    runtime = 30
+    try:
+        with tempfile.TemporaryDirectory() as temp_dir_name:
+            common_args = {'pkg': 'autoware_reference_system',
+                           'directory': temp_dir_name}
+
+            generate_trace(trace_type, exe, rmw=rmw, runtime_sec=runtime, **common_args)
+
+            trace_dirs = get_benchmark_directories_below(common_args['directory'], runtime_sec=runtime)
+
+            data, hot_path_name = parseLogSummaryFromFiles(
+                [directory + '/std_output.log' for directory in trace_dirs], runtime)
+        latency_hot_path = data[(exe, rmw)]['hot_path']['latency'][-1]['mean']
+        print(latency_hot_path)
+    except:
+        latency_hot_path = 100000
+    return latency_hot_path
+
+
+fitness_function = fitness_func
+num_generations = 10
+num_parents_mating = 4
+
+gene_type = np.int32
+sol_per_pop = 8
+num_genes = len(hot_path_nodes) + len(other_nodes)
+
+init_range_low = 0
+init_range_high = 4 # not included
+
+parent_selection_type = "sss"
+keep_parents = 1
+
+crossover_type = "single_point"
+
+mutation_type = "random"
+mutation_percent_genes = 15
+
+ga_instance = pygad.GA(num_generations=num_generations,
+                       num_parents_mating=num_parents_mating,
+                       fitness_func=fitness_function,
+                       sol_per_pop=sol_per_pop,
+                       num_genes=num_genes,
+                       gene_type=gene_type,
+                       init_range_low=init_range_low,
+                       init_range_high=init_range_high,
+                       parent_selection_type=parent_selection_type,
+                       keep_parents=keep_parents,
+                       crossover_type=crossover_type,
+                       mutation_type=mutation_type,
+                       mutation_percent_genes=mutation_percent_genes)
+
+#ga_instance.run()
+
+filename = f'genetic_{n_number_cruncher}'
+ga_instance.save(filename=filename)
+#pygad.load(filename=filename)
+solution, solution_fitness, solution_idx = ga_instance.best_solution()
+update_policy(solution)
+
+src = '/home/kpsruser/colcon_reference-system/src/reference-system/autoware_reference_system/src/ros2/data/streaming_policy.json'
+dst =  f'/home/kpsruser/colcon_reference-system/src/reference-system/autoware_reference_system/src/ros2/data/policy_{n_number_cruncher}.json'
+
+shutil.copyfile(src, dst)
+
+
+print(solution_fitness)
\ No newline at end of file
diff --git a/genetic_algo/requirements.txt b/genetic_algo/requirements.txt
new file mode 100644
index 00000000..0f3c1669
--- /dev/null
+++ b/genetic_algo/requirements.txt
@@ -0,0 +1,3 @@
+bokeh==2.4.1
+psrecord==1.2
+pygad
diff --git a/reference_system/include/reference_system/nodes/rclcpp/command.hpp b/reference_system/include/reference_system/nodes/rclcpp/command.hpp
index 1b8b7fe6..b9a10905 100644
--- a/reference_system/include/reference_system/nodes/rclcpp/command.hpp
+++ b/reference_system/include/reference_system/nodes/rclcpp/command.hpp
@@ -43,7 +43,9 @@ class Command : public rclcpp::Node
   {
     uint32_t missed_samples =
       get_missed_samples_and_update_seq_nr(input_message, sequence_number_);
+    uint64_t timestamp = now_as_int();
     print_sample_path(this->get_name(), missed_samples, input_message);
+    //std::cout << "[KPSR] " << get_name() << " " << timestamp << " " << now_as_int() << std::endl;
   }
 
 private:
diff --git a/reference_system/include/reference_system/nodes/rclcpp/cyclic.hpp b/reference_system/include/reference_system/nodes/rclcpp/cyclic.hpp
index 8b17a53d..d21f5397 100644
--- a/reference_system/include/reference_system/nodes/rclcpp/cyclic.hpp
+++ b/reference_system/include/reference_system/nodes/rclcpp/cyclic.hpp
@@ -88,6 +88,8 @@ class Cyclic : public rclcpp::Node
 
     output_message.get().data[0] = number_cruncher_result;
     publisher_->publish(std::move(output_message));
+
+    //std::cout << "[KPSR] " << get_name() << " " << timestamp << " " << now_as_int() << std::endl;
   }
 
 private:
diff --git a/reference_system/include/reference_system/nodes/rclcpp/fusion.hpp b/reference_system/include/reference_system/nodes/rclcpp/fusion.hpp
index ee6e8008..91a05452 100644
--- a/reference_system/include/reference_system/nodes/rclcpp/fusion.hpp
+++ b/reference_system/include/reference_system/nodes/rclcpp/fusion.hpp
@@ -82,6 +82,8 @@ class Fusion : public rclcpp::Node
 
     subscriptions_[0].cache.reset();
     subscriptions_[1].cache.reset();
+    
+    //std::cout << "[KPSR] " << get_name() << " " << timestamp << " " << now_as_int() << std::endl;
   }
 
 private:
diff --git a/reference_system/include/reference_system/nodes/rclcpp/intersection.hpp b/reference_system/include/reference_system/nodes/rclcpp/intersection.hpp
index ddf3380f..2806a066 100644
--- a/reference_system/include/reference_system/nodes/rclcpp/intersection.hpp
+++ b/reference_system/include/reference_system/nodes/rclcpp/intersection.hpp
@@ -88,6 +88,7 @@ class Intersection : public rclcpp::Node
     // use result so that it is not optimizied away by some clever compiler
     output_message.get().data[0] = number_cruncher_result;
     connections_[id].publisher->publish(std::move(output_message));
+    //std::cout << "[KPSR] " << get_name() << " " << timestamp << " " << now_as_int() << std::endl;
   }
 
 private:
diff --git a/reference_system/include/reference_system/nodes/rclcpp/sensor.hpp b/reference_system/include/reference_system/nodes/rclcpp/sensor.hpp
index d7c7b6e4..6553e687 100644
--- a/reference_system/include/reference_system/nodes/rclcpp/sensor.hpp
+++ b/reference_system/include/reference_system/nodes/rclcpp/sensor.hpp
@@ -51,6 +51,7 @@ class Sensor : public rclcpp::Node
       message.get());
 
     publisher_->publish(std::move(message));
+    //std::cout << "[KPSR] " << get_name() << " " << timestamp << " " << now_as_int() << std::endl;
   }
 
 private:
diff --git a/reference_system/include/reference_system/nodes/rclcpp/transform.hpp b/reference_system/include/reference_system/nodes/rclcpp/transform.hpp
index 5758f61e..6c8e7c72 100644
--- a/reference_system/include/reference_system/nodes/rclcpp/transform.hpp
+++ b/reference_system/include/reference_system/nodes/rclcpp/transform.hpp
@@ -61,6 +61,7 @@ class Transform : public rclcpp::Node
     // use result so that it is not optimizied away by some clever compiler
     output_message.get().data[0] = number_cruncher_result;
     publisher_->publish(std::move(output_message));
+    //std::cout << "[KPSR] " << get_name() << " " << timestamp << " " << now_as_int() << std::endl;
   }
 
 private:
diff --git a/requirements.txt b/requirements.txt
index be29a158..6279ea00 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,2 +1,4 @@
 bokeh==2.4.1
 psrecord==1.2
+pygad
+numpy==1.24.3
\ No newline at end of file