diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 4f1d87d..75aab99 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -43,4 +43,4 @@ jobs:
           flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
 
       - name: Lint with mypy
-        run: mypy webserver robot models tests utils --check-untyped-defs --ignore-missing-imports
+        run: mypy $(git ls-files '*.py') --check-untyped-defs --ignore-missing-imports
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index af55f4e..e7edeb3 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -34,5 +34,6 @@ jobs:
           python -m pip install -e "git+https://github.com/simondlevy/BreezyLidar.git#egg=BreezyLidar&subdirectory=python" # lidar library
           if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
           if [ -f requirements_dev.txt ]; then pip install -r requirements_dev.txt; fi
+          cp config/config.yml.dev config/config.yml
       - name: Test with pytest
         run: python3 main.py & (sleep 3; pytest .)
diff --git a/README.md b/README.md
index 73c6842..3550cc2 100644
--- a/README.md
+++ b/README.md
@@ -7,7 +7,6 @@ A python real-time controller API for robotic systems via CAN
 Possibly, use python3.10
 
 ```bash
-pip install -e "git+https://github.com/simondlevy/BreezyLidar.git#egg=BreezyLidar&subdirectory=python" # lidar library
 pip install -r requirements.txt
 pip install -r requirements_dev.txt # only for testing
 ```
@@ -17,3 +16,9 @@ pip install -r requirements_dev.txt # only for testing
 ```bash
 python3 main.py
 ```
+
+### enable LiDAR (optional)
+
+```bash
+pip install -e "git+https://github.com/simondlevy/BreezyLidar.git#egg=BreezyLidar&subdirectory=python" # lidar library
+```
diff --git a/config/config.py b/config/config.py
index 49c34a1..26b0338 100644
--- a/config/config.py
+++ b/config/config.py
@@ -1,12 +1,19 @@
 import os
+from pprint import pprint
 
 import yaml
 
+from utils.colors import bcolors, colorit
+
 conf: dict = {}
 
 override = "config.yml"
 default = "config.yml.default"
-conf_path = override if os.path.exists(override) else default
+conf_path = override if os.path.exists(f"config/{override}") else default
 
-with open(conf_path, "r", encoding="utf-8") as conf_file:
+with open(f"config/{conf_path}", "r", encoding="utf-8") as conf_file:
     conf = yaml.load(conf_file, Loader=yaml.SafeLoader)
+
+print(f"{bcolors.OKGREEN.value}ℹ️  CONFIG")
+pprint(conf)
+print(colorit("ℹ️  END CONFIG", bcolors.OKGREEN))
diff --git a/config/config.yml.default b/config/config.yml.default
index f6bc3fd..6d26203 100644
--- a/config/config.yml.default
+++ b/config/config.yml.default
@@ -1,5 +1,5 @@
 # development
-DEBUG_MESSAGES: False # add more prints
+DEBUG_MESSAGES: True # add more prints
 DEBUG_POSITION: False
 DEBUG_CYCLE: False
 
diff --git a/config/config.yml.dev b/config/config.yml.dev
new file mode 100644
index 0000000..e9ea53e
--- /dev/null
+++ b/config/config.yml.dev
@@ -0,0 +1,17 @@
+# development
+DEBUG_MESSAGES: True # add more prints
+DEBUG_POSITION: False
+DEBUG_CYCLE: True
+
+# CAN
+CHANNEL: "can0"
+VCHANNEL: "vcan0" # only for development or (future) pipeline
+CAN_BAUD: 403847
+DEBUG_CAN: True
+DEBUG_VIRTUAL: True
+DEBUG_VCAN: False # only for (future) pipeline
+
+# LIDAR
+DEBUG_LIDAR: True
+ENABLE_LIDAR: False
+LIDAR_DEVICE: "/dev/ttyACM0"
diff --git a/main.py b/main.py
index 9aa24d8..6635f6f 100644
--- a/main.py
+++ b/main.py
@@ -48,7 +48,10 @@
 finally:
     bus.shutdown()
 
-    if conf["DEBUG_VIRTUAL"]:
+    if (
+        conf["DEBUG_VIRTUAL"]
+        and v_bus is not None  # pylint: disable=used-before-assignment
+    ):
         v_bus.shutdown()  # pylint: disable=used-before-assignment
 
     proper_exit()
diff --git a/models/debug_messages.py b/models/debug_messages.py
index 257a76c..3c21672 100644
--- a/models/debug_messages.py
+++ b/models/debug_messages.py
@@ -55,26 +55,19 @@
         "format": CAN_FORMATS["ROBOT_WHEELS_VELOCITY"],
         "data": CAN_robot_wheels_velocty,
     },
-    {
-        "packet_id": CAN_IDS["ROBOT_WHEELS_VELOCITY"],
-        "format": CAN_FORMATS["ROBOT_WHEELS_VELOCITY"],
-        "data": {
-            "wheel": 2,
-            "current_speed": 2,
-            "target_speed": 2,
-            "pwm": 2,
-        },
-    },
-    {
-        "packet_id": CAN_IDS["ROBOT_WHEELS_VELOCITY"],
-        "format": CAN_FORMATS["ROBOT_WHEELS_VELOCITY"],
-        "data": {
-            "wheel": 3,
-            "current_speed": 3,
-            "target_speed": 3,
-            "pwm": 3,
-        },
-    },
+    *[
+        {
+            "packet_id": CAN_IDS["ROBOT_WHEELS_VELOCITY"],
+            "format": CAN_FORMATS["ROBOT_WHEELS_VELOCITY"],
+            "data": {
+                "wheel": 10 + i,
+                "current_speed": 20 + i,
+                "target_speed": 30 + i,
+                "pwm": 40 + i,
+            },
+        }
+        for i in range(20)
+    ],  # type: ignore
     {
         "packet_id": 0x333,
         "format": "<hhhBB",
diff --git a/requirements.txt b/requirements.txt
index 571733c..dad1c76 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,19 +1,19 @@
-PyYAML
+PyYAML==6.0.1
 
 # CAN
-python-can
+python-can==4.3.1
 
 # LiDAR
-git+https://github.com/simondlevy/BreezyLidar.git#egg=BreezyLidar&subdirectory=python
-BreezyLidar
+# git+https://github.com/simondlevy/BreezyLidar.git#egg=BreezyLidar&subdirectory=python
+# BreezyLidar
 
 # web services
-flask
-flask_cors
-flask_socketio
-socketio
-python-engineio
-python-socketio
-websocket-client
-eventlet
-pymitter
+Flask==3.0.2
+Flask-Cors==4.0.0
+Flask-SocketIO==5.3.6
+python-engineio==4.9.0
+python-socketio==5.11.2
+socketio==0.2.1
+websocket-client==1.7.0
+eventlet==0.36.0
+pymitter==0.5.0
\ No newline at end of file
diff --git a/requirements_dev.txt b/requirements_dev.txt
index f797a31..6e0264b 100644
--- a/requirements_dev.txt
+++ b/requirements_dev.txt
@@ -6,3 +6,4 @@ flake8
 requests
 mypy
 types-requests
+types-PyYAML
\ No newline at end of file
diff --git a/robot/robot.py b/robot/robot.py
index a2ad423..31437f0 100644
--- a/robot/robot.py
+++ b/robot/robot.py
@@ -3,7 +3,6 @@
 from time import sleep
 from typing import Any, List, Union
 
-from breezylidar import URG04LX
 from can import BusABC, Message
 from pymitter import EventEmitter
 
@@ -16,6 +15,9 @@
 from robot.motion_command import MotionCommand
 from utils.colors import bcolors, colorit
 
+if conf["ENABLE_LIDAR"]:
+    from breezylidar import URG04LX
+
 
 # pylint: disable=too-many-instance-attributes
 class Robot:
@@ -246,6 +248,7 @@ def get_lidar_data(self) -> None:
 
     def on_send_align(self, data) -> None:
         data = struct.pack(CAN_FORMATS["ALIGN"], *(CAN_align.values()))
+
         msg = Message(
             arbitration_id=CAN_IDS["STRATEGY_COMMAND"],
             data=data,