diff --git a/CMakeLists.txt b/CMakeLists.txt
index 21a285f..3725fae 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -53,19 +53,37 @@ set(DEPENDENCIES
   "nav_msgs"
 )
 ament_target_dependencies(${EXECUTABLE_NAME} ${DEPENDENCIES})
-
 ## Declare a cpp library
-add_library(${PROJECT_NAME} src/CLaserOdometry2D.cpp)
+add_library(${PROJECT_NAME} SHARED src/CLaserOdometry2D.cpp)
 
 ## Declare a cpp executable
 ament_target_dependencies(${PROJECT_NAME} ${DEPENDENCIES})
 
-install(TARGETS ${EXECUTABLE_NAME}
-  DESTINATION lib/${PROJECT_NAME})
+install(TARGETS ${EXECUTABLE_NAME} ${PROJECT_NAME}
+  DESTINATION lib)
+
+install(TARGETS ${PROJECT_NAME}
+  DESTINATION ../sha32_driver/lib)
 
 install(
   DIRECTORY launch  
   DESTINATION share/${PROJECT_NAME})
 
-ament_package()
+install(DIRECTORY 
+  include
+  DESTINATION .
+)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+ament_export_include_directories(include)
 
+ament_export_targets(export_${PROJECT_NAME})
+
+ament_package()
diff --git a/src/CLaserOdometry2D.cpp b/src/CLaserOdometry2D.cpp
index f6f70a5..83330bd 100644
--- a/src/CLaserOdometry2D.cpp
+++ b/src/CLaserOdometry2D.cpp
@@ -251,8 +251,8 @@ bool CLaserOdometry2D::odometryCalculation(const sensor_msgs::msg::LaserScan& sc
 
   auto m_runtime = get_clock()->now() - start;
 
-  RCLCPP_INFO(get_logger(), "[rf2o] execution time (ms): %f",
-                m_runtime.seconds()*double(1000));
+  // RCLCPP_INFO(get_logger(), "[rf2o] execution time (ms): %f",
+  //               m_runtime.seconds()*double(1000));
 
   //Update poses
   PoseUpdate();
@@ -812,7 +812,7 @@ bool CLaserOdometry2D::filterLevelSolution()
   Eigen::SelfAdjointEigenSolver<Eigen::MatrixXf> eigensolver(cov_odo);
   if (eigensolver.info() != Eigen::Success)
   {
-    RCLCPP_WARN(get_logger(), "[rf2o] ERROR: Eigensolver couldn't find a solution. Pose is not updated");
+    // RCLCPP_WARN(get_logger(), "[rf2o] ERROR: Eigensolver couldn't find a solution. Pose is not updated");
     return false;
   }
 
@@ -935,18 +935,18 @@ void CLaserOdometry2D::PoseUpdate()
   kai_loc_old_(1) = -kai_abs_(0)*std::sin(phi) + kai_abs_(1)*std::cos(phi);
   kai_loc_old_(2) =  kai_abs_(2);
 
-  RCLCPP_INFO(get_logger(), "[rf2o] LASERodom = [%f %f %f]",
-                laser_pose_.translation()(0),
-                laser_pose_.translation()(1),
-                rf2o::getYaw(laser_pose_.rotation()));
+  // RCLCPP_INFO(get_logger(), "[rf2o] LASERodom = [%f %f %f]",
+  //               laser_pose_.translation()(0),
+  //               laser_pose_.translation()(1),
+  //               rf2o::getYaw(laser_pose_.rotation()));
 
   //Compose Transformations
   robot_pose_ = laser_pose_ * laser_pose_on_robot_inv_;
 
-  RCLCPP_INFO(get_logger(), "BASEodom = [%f %f %f]",
-                robot_pose_.translation()(0),
-                robot_pose_.translation()(1),
-                rf2o::getYaw(robot_pose_.rotation()));
+  // RCLCPP_INFO(get_logger(), "BASEodom = [%f %f %f]",
+  //               robot_pose_.translation()(0),
+  //               robot_pose_.translation()(1),
+  //               rf2o::getYaw(robot_pose_.rotation()));
 
   // Estimate linear/angular speeds (mandatory for base_local_planner)
   // last_scan -> the last scan received