diff --git a/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h b/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h
index bc9f779..9bdcdb3 100644
--- a/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h
+++ b/include/mrs_uav_state_estimators/estimators/agl/garmin_agl.h
@@ -30,12 +30,16 @@ const char name[]         = "garmin_agl";
 const char frame_id[]     = "garmin_agl_origin";
 const char package_name[] = "mrs_uav_state_estimators";
 
+const bool is_core_plugin = true;
+
 class GarminAgl : public mrs_uav_managers::AglEstimator {
 
 private:
   std::unique_ptr<AltGeneric> est_agl_garmin_;
   const std::string           est_agl_name_ = "garmin_agl";
 
+  const bool is_core_plugin_;
+
   ros::Timer timer_update_;
   int        _update_timer_rate_;
   void       timerUpdate(const ros::TimerEvent &event);
@@ -49,7 +53,7 @@ class GarminAgl : public mrs_uav_managers::AglEstimator {
   void waitForEstimationInitialization();
 
 public:
-  GarminAgl() : AglEstimator(garmin_agl::name, garmin_agl::frame_id, garmin_agl::package_name) {
+  GarminAgl() : AglEstimator(garmin_agl::name, garmin_agl::frame_id, garmin_agl::package_name), is_core_plugin_(is_core_plugin) {
   }
 
   ~GarminAgl(void) {
@@ -60,9 +64,8 @@ class GarminAgl : public mrs_uav_managers::AglEstimator {
   bool pause(void) override;
   bool reset(void) override;
 
-  mrs_msgs::Float64Stamped  getUavAglHeight() const override;
-  std::vector<double> getHeightCovariance() const override;
-
+  mrs_msgs::Float64Stamped getUavAglHeight() const override;
+  std::vector<double>      getHeightCovariance() const override;
 };
 
 }  // namespace garmin_agl
diff --git a/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h b/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h
index 577e07e..aeb7c1b 100644
--- a/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h
+++ b/include/mrs_uav_state_estimators/estimators/altitude/alt_generic.h
@@ -82,6 +82,8 @@ class AltGeneric : public AltitudeEstimator<alt_generic::n_states> {
   bool is_repredictor_enabled_;
   int  rep_buffer_size_ = 200;
 
+  const bool is_core_plugin_;
+
   std::vector<std::string>                                              correction_names_;
   std::vector<std::shared_ptr<Correction<alt_generic::n_measurements>>> corrections_;
 
@@ -104,8 +106,8 @@ class AltGeneric : public AltitudeEstimator<alt_generic::n_states> {
   mutable std::mutex mtx_Q_;
 
 public:
-  AltGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name)
-      : AltitudeEstimator<alt_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name) {
+  AltGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+      : AltitudeEstimator<alt_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
   }
 
   ~AltGeneric(void) {
diff --git a/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h b/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h
index 3c3dd1f..7b94bec 100644
--- a/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h
+++ b/include/mrs_uav_state_estimators/estimators/heading/hdg_generic.h
@@ -81,6 +81,8 @@ class HdgGeneric : public HeadingEstimator<hdg_generic::n_states> {
   bool is_repredictor_enabled_;
   int  rep_buffer_size_ = 200;
 
+  const bool is_core_plugin_;
+
   std::vector<std::string>                                              correction_names_;
   std::vector<std::shared_ptr<Correction<hdg_generic::n_measurements>>> corrections_;
 
@@ -106,8 +108,8 @@ class HdgGeneric : public HeadingEstimator<hdg_generic::n_states> {
   double             last_valid_hdg_;
 
 public:
-  HdgGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name)
-      : HeadingEstimator<hdg_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name) {
+  HdgGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+      : HeadingEstimator<hdg_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
   }
 
   ~HdgGeneric(void) {
diff --git a/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h b/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h
index 7b91898..cb91fd5 100644
--- a/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h
+++ b/include/mrs_uav_state_estimators/estimators/heading/hdg_passthrough.h
@@ -47,6 +47,8 @@ class HdgPassthrough : public HeadingEstimator<hdg_passthrough::n_states> {
   states_t           innovation_;
   mutable std::mutex mtx_innovation_;
 
+  const bool is_core_plugin_;
+
   std::string                                                 orient_topic_;
   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_orientation_;
   void                                                        callbackOrientation(const geometry_msgs::QuaternionStamped::ConstPtr msg);
@@ -64,8 +66,8 @@ class HdgPassthrough : public HeadingEstimator<hdg_passthrough::n_states> {
   void       timerCheckHealth(const ros::TimerEvent &event);
 
 public:
-  HdgPassthrough(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name)
-      : HeadingEstimator<hdg_passthrough::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name) {
+  HdgPassthrough(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin)
+      : HeadingEstimator<hdg_passthrough::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin) {
   }
 
   ~HdgPassthrough(void) {
diff --git a/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h b/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h
index e688dd7..323929d 100644
--- a/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h
+++ b/include/mrs_uav_state_estimators/estimators/lateral/lat_generic.h
@@ -79,6 +79,8 @@ class LatGeneric : public LateralEstimator<lat_generic::n_states> {
   bool is_repredictor_enabled_;
   int  rep_buffer_size_ = 200;
 
+  const bool is_core_plugin_;
+
   std::vector<std::string>                                              correction_names_;
   std::vector<std::shared_ptr<Correction<lat_generic::n_measurements>>> corrections_;
 
@@ -108,9 +110,9 @@ class LatGeneric : public LateralEstimator<lat_generic::n_states> {
   mutable std::mutex mtx_Q_;
 
 public:
-  LatGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name,
+  LatGeneric(const std::string &name, const std::string &ns_frame_id, const std::string &parent_state_est_name, const bool is_core_plugin,
              std::function<std::optional<double>()> fun_get_hdg)
-      : LateralEstimator<lat_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), fun_get_hdg_(fun_get_hdg) {
+      : LateralEstimator<lat_generic::n_states>(name, ns_frame_id), parent_state_est_name_(parent_state_est_name), is_core_plugin_(is_core_plugin), fun_get_hdg_(fun_get_hdg) {
   }
 
   ~LatGeneric(void) {
diff --git a/include/mrs_uav_state_estimators/estimators/state/passthrough.h b/include/mrs_uav_state_estimators/estimators/state/passthrough.h
index 32ef1e0..ae293da 100644
--- a/include/mrs_uav_state_estimators/estimators/state/passthrough.h
+++ b/include/mrs_uav_state_estimators/estimators/state/passthrough.h
@@ -28,6 +28,8 @@ const char name[]         = "passthrough";
 const char frame_id[]     = "passthrough_origin";
 const char package_name[] = "mrs_uav_state_estimators";
 
+const bool is_core_plugin = true;
+
 using namespace mrs_uav_managers::estimation_manager;
 
 class Passthrough : public mrs_uav_managers::StateEstimator {
@@ -43,6 +45,8 @@ class Passthrough : public mrs_uav_managers::StateEstimator {
 
   const std::string est_hdg_name_ = "hdg_passthrough";
 
+  const bool is_core_plugin_;
+
   mrs_lib::SubscribeHandler<nav_msgs::Odometry> sh_passthrough_odom_;
   double                                        _critical_timeout_passthrough_odom_;
   std::string                                   msg_topic_;
@@ -51,16 +55,15 @@ class Passthrough : public mrs_uav_managers::StateEstimator {
   void                       timerUpdate(const ros::TimerEvent &event);
   nav_msgs::OdometryConstPtr prev_msg_;
   bool                       first_iter_ = true;
-
-  ros::Timer timer_check_health_;
-  void       timerCheckHealth(const ros::TimerEvent &event);
+  ros::Timer                 timer_check_health_;
+  void                       timerCheckHealth(const ros::TimerEvent &event);
 
   bool isConverged();
 
   void waitForEstimationInitialization();
 
 public:
-  Passthrough() : StateEstimator(passthrough::name, passthrough::frame_id, passthrough::package_name) {
+  Passthrough() : StateEstimator(passthrough::name, passthrough::frame_id, passthrough::package_name), is_core_plugin_(is_core_plugin) {
   }
 
   ~Passthrough(void) {
diff --git a/include/mrs_uav_state_estimators/estimators/state/state_generic.h b/include/mrs_uav_state_estimators/estimators/state/state_generic.h
index f12a32a..f7ca807 100644
--- a/include/mrs_uav_state_estimators/estimators/state/state_generic.h
+++ b/include/mrs_uav_state_estimators/estimators/state/state_generic.h
@@ -53,6 +53,8 @@ class StateGeneric : public mrs_uav_managers::StateEstimator {
 
   bool is_override_frame_id_;
 
+  const bool is_core_plugin_;
+
   std::string                                                 topic_orientation_;
   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_hw_api_orient_;
 
@@ -73,7 +75,8 @@ class StateGeneric : public mrs_uav_managers::StateEstimator {
   void waitForEstimationInitialization();
 
 public:
-  StateGeneric(const std::string &name) : StateEstimator(name, name + "_origin", state_generic::package_name) {
+  StateGeneric(const std::string &name, const bool is_core_plugin)
+      : StateEstimator(name, name + "_origin", state_generic::package_name), is_core_plugin_(is_core_plugin) {
   }
 
   ~StateGeneric(void) {
diff --git a/src/estimators/agl/garmin_agl.cpp b/src/estimators/agl/garmin_agl.cpp
index af7a241..05e9341 100644
--- a/src/estimators/agl/garmin_agl.cpp
+++ b/src/estimators/agl/garmin_agl.cpp
@@ -22,14 +22,16 @@ void GarminAgl::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHand
   // | --------------------- load parameters -------------------- |
   /* mrs_lib::ParamLoader param_loader(nh, getName()); */
 
-  bool success = true;
+  if (is_core_plugin_) {
+    bool success = true;
 
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
 
-  if (!success) {
-    ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
-    ros::shutdown();
+    if (!success) {
+      ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
+      ros::shutdown();
+    }
   }
 
   /* param_loader.setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/"); */
@@ -66,7 +68,7 @@ void GarminAgl::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHand
 
   // | ---------------- estimators initialization --------------- |
 
-  est_agl_garmin_ = std::make_unique<AltGeneric>(est_agl_name_, frame_id_, getName());
+  est_agl_garmin_ = std::make_unique<AltGeneric>(est_agl_name_, frame_id_, getName(), is_core_plugin_);
   est_agl_garmin_->initialize(nh, ch_, ph_);
 
   max_flight_z_ = est_agl_garmin_->getMaxFlightZ();
diff --git a/src/estimators/altitude/alt_generic.cpp b/src/estimators/altitude/alt_generic.cpp
index 46857b5..4736560 100644
--- a/src/estimators/altitude/alt_generic.cpp
+++ b/src/estimators/altitude/alt_generic.cpp
@@ -33,14 +33,17 @@ void AltGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHan
 
   // | --------------- initialize parameter loader -------------- |
   /* Support::loadParamFile(ros::package::getPath(package_name_) + "/config/estimators/" + getNamespacedName() + ".yaml", nh.getNamespace()); */
-  bool success = true;
 
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getNamespacedName() + ".yaml");
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getNamespacedName() + ".yaml");
+  if (is_core_plugin_) {
+    bool success = true;
 
-  if (!success) {
-    ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
-    ros::shutdown();
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getNamespacedName() + ".yaml");
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getNamespacedName() + ".yaml");
+
+    if (!success) {
+      ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
+      ros::shutdown();
+    }
   }
 
   mrs_lib::ParamLoader param_loader(nh, getPrintName());
diff --git a/src/estimators/heading/hdg_generic.cpp b/src/estimators/heading/hdg_generic.cpp
index 8641c70..dfc7403 100644
--- a/src/estimators/heading/hdg_generic.cpp
+++ b/src/estimators/heading/hdg_generic.cpp
@@ -32,14 +32,16 @@ void HdgGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHan
   // clang-format on
 
   // | --------------- initialize parameter loader -------------- |
-  bool success = true;
+  if (is_core_plugin_) {
+    bool success = true;
 
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getNamespacedName() + ".yaml");
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getNamespacedName() + ".yaml");
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getNamespacedName() + ".yaml");
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getNamespacedName() + ".yaml");
 
-  if (!success) {
-    ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
-    ros::shutdown();
+    if (!success) {
+      ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
+      ros::shutdown();
+    }
   }
 
   mrs_lib::ParamLoader param_loader(nh, getPrintName());
@@ -108,7 +110,7 @@ void HdgGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHan
   }
 
   // | ------------------ timers initialization ----------------- |
-  timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgGeneric::timerUpdate, this);  // not running after init
+  timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgGeneric::timerUpdate, this);  // not running after init
   /* timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &HdgGeneric::timerCheckHealth, this); */
 
   // | --------------- subscribers initialization --------------- |
@@ -232,7 +234,8 @@ void HdgGeneric::timerUpdate(const ros::TimerEvent &event) {
           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X));
         } else {
-          ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getNamespacedName().c_str());
+          ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+                            correction->getNamespacedName().c_str());
           return;
         }
       }
@@ -307,7 +310,7 @@ void HdgGeneric::timerUpdate(const ros::TimerEvent &event) {
     return;
   }
 
-  if (!is_repredictor_enabled_) { // repredictor requires constant dt
+  if (!is_repredictor_enabled_) {  // repredictor requires constant dt
     setDt(dt);
   }
 
@@ -391,7 +394,8 @@ void HdgGeneric::timerCheckHealth(const ros::TimerEvent &event) {
           setState(measurement_stamped.value(AXIS_X), correction->getStateId(), AXIS_X);
           ROS_INFO_THROTTLE(1.0, "[%s]: Setting initial state to: %.2f", getPrintName().c_str(), measurement_stamped.value(AXIS_X));
         } else {
-          ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), correction->getNamespacedName().c_str());
+          ROS_INFO_THROTTLE(1.0, "[%s]: %s correction %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+                            correction->getNamespacedName().c_str());
           return;
         }
       }
@@ -466,10 +470,10 @@ void HdgGeneric::doCorrection(const z_t &z, const double R, const StateId_t &H_i
   if (!isInitialized()) {
     return;
   }
-  
+
   // we do not want to perform corrections until the estimator is initialized
   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
-    return; 
+    return;
   }
 
   // for position state check the innovation
diff --git a/src/estimators/heading/hdg_passthrough.cpp b/src/estimators/heading/hdg_passthrough.cpp
index 3651fe8..2959e78 100644
--- a/src/estimators/heading/hdg_passthrough.cpp
+++ b/src/estimators/heading/hdg_passthrough.cpp
@@ -22,14 +22,16 @@ void HdgPassthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<Commo
   hdg_covariance_ = covariance_t::Zero();
 
   // | --------------- param loader initialization --------------- |
-  bool success = true;
+  if (is_core_plugin_) {
+    bool success = true;
 
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getNamespacedName() + ".yaml");
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getNamespacedName() + ".yaml");
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getNamespacedName() + ".yaml");
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getNamespacedName() + ".yaml");
 
-  if (!success) {
-    ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
-    ros::shutdown();
+    if (!success) {
+      ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
+      ros::shutdown();
+    }
   }
 
   mrs_lib::ParamLoader param_loader(nh, getPrintName());
diff --git a/src/estimators/lateral/lat_generic.cpp b/src/estimators/lateral/lat_generic.cpp
index 06f7ffd..5f13f77 100644
--- a/src/estimators/lateral/lat_generic.cpp
+++ b/src/estimators/lateral/lat_generic.cpp
@@ -33,14 +33,16 @@ void LatGeneric::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHan
 
   // | --------------- initialize parameter loader -------------- |
   /* Support::loadParamFile(ros::package::getPath(package_name_) + "/config/estimators/" + getNamespacedName() + ".yaml", nh.getNamespace()); */
-  bool success = true;
+  if (is_core_plugin_) {
+    bool success = true;
 
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getNamespacedName() + ".yaml");
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getNamespacedName() + ".yaml");
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getNamespacedName() + ".yaml");
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getNamespacedName() + ".yaml");
 
-  if (!success) {
-    ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
-    ros::shutdown();
+    if (!success) {
+      ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
+      ros::shutdown();
+    }
   }
 
   mrs_lib::ParamLoader param_loader(nh, getPrintName());
@@ -327,7 +329,7 @@ void LatGeneric::timerUpdate(const ros::TimerEvent &event) {
     return;
   }
 
-  if (!is_repredictor_enabled_) { // repredictor requires constant dt TODO: how to handle repredictor + variable rate?
+  if (!is_repredictor_enabled_) {  // repredictor requires constant dt TODO: how to handle repredictor + variable rate?
     setDt(dt);
   }
 
@@ -505,7 +507,7 @@ void LatGeneric::doCorrection(const z_t &z, const double R, const StateId_t &sta
 
   // we do not want to perform corrections until the estimator is initialized
   if (!(isInState(SMStates_t::READY_STATE) || isInState(SMStates_t::RUNNING_STATE) || isInState(SMStates_t::STARTED_STATE))) {
-    return; 
+    return;
   }
 
   // for position state check the innovation
diff --git a/src/estimators/state/aloam.cpp b/src/estimators/state/aloam.cpp
index 677ed81..8f52750 100644
--- a/src/estimators/state/aloam.cpp
+++ b/src/estimators/state/aloam.cpp
@@ -8,10 +8,11 @@ namespace aloam
 {
 
 const char estimator_name[] = "aloam";
+const bool is_core_plugin = true;
 
 class Aloam : public StateGeneric {
 public:
-  Aloam() : StateGeneric(estimator_name) {
+  Aloam() : StateGeneric(estimator_name, is_core_plugin) {
   }
 
   ~Aloam(void) {
diff --git a/src/estimators/state/gps_baro.cpp b/src/estimators/state/gps_baro.cpp
index 488988d..bf55a64 100644
--- a/src/estimators/state/gps_baro.cpp
+++ b/src/estimators/state/gps_baro.cpp
@@ -7,10 +7,11 @@ namespace gps_baro
 {
 
 const char estimator_name[] = "gps_baro";
+const bool is_core_plugin = true;
 
 class GpsBaro : public StateGeneric {
 public:
-  GpsBaro() : StateGeneric(estimator_name) {
+  GpsBaro() : StateGeneric(estimator_name, is_core_plugin) {
   }
 
   ~GpsBaro(void) {
diff --git a/src/estimators/state/gps_garmin.cpp b/src/estimators/state/gps_garmin.cpp
index 7d5b187..298c5f2 100644
--- a/src/estimators/state/gps_garmin.cpp
+++ b/src/estimators/state/gps_garmin.cpp
@@ -7,10 +7,11 @@ namespace gps_garmin
 {
 
 const char estimator_name[] = "gps_garmin";
+const bool is_core_plugin = true;
 
 class GpsGarmin : public StateGeneric {
 public:
-  GpsGarmin() : StateGeneric(estimator_name) {
+  GpsGarmin() : StateGeneric(estimator_name, is_core_plugin) {
   }
 
   ~GpsGarmin(void) {
diff --git a/src/estimators/state/hector_garmin.cpp b/src/estimators/state/hector_garmin.cpp
index 1e2a040..58a5f90 100644
--- a/src/estimators/state/hector_garmin.cpp
+++ b/src/estimators/state/hector_garmin.cpp
@@ -7,10 +7,11 @@ namespace hector_garmin
 {
 
 const char estimator_name[] = "hector_garmin";
+const bool is_core_plugin = true;
 
 class HectorGarmin : public StateGeneric {
 public:
-  HectorGarmin() : StateGeneric(estimator_name) {
+  HectorGarmin() : StateGeneric(estimator_name, is_core_plugin) {
   }
 
   ~HectorGarmin(void) {
diff --git a/src/estimators/state/passthrough.cpp b/src/estimators/state/passthrough.cpp
index ec043e8..ff92a01 100644
--- a/src/estimators/state/passthrough.cpp
+++ b/src/estimators/state/passthrough.cpp
@@ -21,14 +21,16 @@ void Passthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHa
   // | --------------- param loader initialization -------------- |
   mrs_lib::ParamLoader param_loader(nh, getPrintName());
 
-  bool success = true;
+  if (is_core_plugin_) {
+    bool success = true;
 
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
 
-  if (!success) {
-    ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
-    ros::shutdown();
+    if (!success) {
+      ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
+      ros::shutdown();
+    }
   }
 
   param_loader.setPrefix(ch_->package_name + "/" + Support::toSnakeCase(ch_->nodelet_name) + "/" + getName() + "/");
@@ -55,7 +57,7 @@ void Passthrough::initialize(ros::NodeHandle &nh, const std::shared_ptr<CommonHa
   sh_passthrough_odom_ = mrs_lib::SubscribeHandler<nav_msgs::Odometry>(shopts, msg_topic_);
 
   // | ---------------- publishers initialization --------------- |
-  ph_odom_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10); // needed for tf
+  ph_odom_ = mrs_lib::PublisherHandler<nav_msgs::Odometry>(nh, Support::toSnakeCase(getName()) + "/odom", 10);  // needed for tf
   if (ch_->debug_topics.state) {
     ph_uav_state_ = mrs_lib::PublisherHandler<mrs_msgs::UavState>(nh, Support::toSnakeCase(getName()) + "/uav_state", 10);
   }
diff --git a/src/estimators/state/rtk.cpp b/src/estimators/state/rtk.cpp
index 4ea0013..e91cc20 100644
--- a/src/estimators/state/rtk.cpp
+++ b/src/estimators/state/rtk.cpp
@@ -7,10 +7,11 @@ namespace rtk
 {
 
 const char estimator_name[] = "rtk";
+const bool is_core_plugin = true;
 
 class Rtk : public StateGeneric {
 public:
-  Rtk() : StateGeneric(estimator_name) {
+  Rtk() : StateGeneric(estimator_name, is_core_plugin) {
   }
 
   ~Rtk(void) {
diff --git a/src/estimators/state/state_generic.cpp b/src/estimators/state/state_generic.cpp
index cc9a5b9..1e791e2 100644
--- a/src/estimators/state/state_generic.cpp
+++ b/src/estimators/state/state_generic.cpp
@@ -15,14 +15,14 @@ void StateGeneric::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<
 
   ros::NodeHandle nh(parent_nh);
 
-  bool success = true;
-
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
-  success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
-
-  if (!success) {
-    ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
-    ros::shutdown();
+  if (is_core_plugin_) {
+    bool success = true;
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/private/" + getName() + "/" + getName() + ".yaml");
+    success *= ph_->loadConfigFile(ros::package::getPath(package_name_) + "/config/public/" + getName() + "/" + getName() + ".yaml");
+    if (!success) {
+      ROS_ERROR("[%s]: could not load config file", getPrintName().c_str());
+      ros::shutdown();
+    }
   }
 
   mrs_lib::ParamLoader param_loader(nh, getPrintName());
@@ -54,7 +54,7 @@ void StateGeneric::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<
   ns_frame_id_ = ch_->uav_name + "/" + frame_id_;
 
   // | ------------------ timers initialization ----------------- |
-  timer_update_       = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerUpdate, this);  // not running after init
+  timer_update_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerUpdate, this);  // not running after init
   /* timer_check_health_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerCheckHealth, this); */
   timer_pub_attitude_ = nh.createTimer(ros::Rate(ch_->desired_uav_state_rate), &StateGeneric::timerPubAttitude, this);
 
@@ -93,18 +93,18 @@ void StateGeneric::initialize(ros::NodeHandle &parent_nh, const std::shared_ptr<
   std::vector<double> max_altitudes;
 
   if (is_hdg_passthrough_) {
-    est_hdg_ = std::make_unique<HdgPassthrough>(est_hdg_name_, frame_id_, getName());
+    est_hdg_ = std::make_unique<HdgPassthrough>(est_hdg_name_, frame_id_, getName(), is_core_plugin_);
   } else {
-    est_hdg_ = std::make_unique<HdgGeneric>(est_hdg_name_, frame_id_, getName());
+    est_hdg_ = std::make_unique<HdgGeneric>(est_hdg_name_, frame_id_, getName(), is_core_plugin_);
   }
   est_hdg_->initialize(nh, ch_, ph_);
   max_altitudes.push_back(est_hdg_->getMaxFlightZ());
 
-  est_lat_ = std::make_unique<LatGeneric>(est_lat_name_, frame_id_, getName(), [this](void) { return this->getHeading(); });
+  est_lat_ = std::make_unique<LatGeneric>(est_lat_name_, frame_id_, getName(), is_core_plugin_, [this](void) { return this->getHeading(); });
   est_lat_->initialize(nh, ch_, ph_);
   max_altitudes.push_back(est_lat_->getMaxFlightZ());
 
-  est_alt_ = std::make_unique<AltGeneric>(est_alt_name_, frame_id_, getName());
+  est_alt_ = std::make_unique<AltGeneric>(est_alt_name_, frame_id_, getName(), is_core_plugin_);
   est_alt_->initialize(nh, ch_, ph_);
   max_altitudes.push_back(est_alt_->getMaxFlightZ());
 
@@ -217,7 +217,7 @@ void StateGeneric::timerUpdate(const ros::TimerEvent &event) {
   if (!isInitialized()) {
     return;
   }
-  
+
   mrs_lib::ScopeTimer scope_timer = mrs_lib::ScopeTimer("StateGeneric::timerUpdate", ch_->scope_timer.logger, ch_->scope_timer.enabled);
 
   switch (getCurrentSmState()) {
diff --git a/src/estimators/state/vio.cpp b/src/estimators/state/vio.cpp
index 0cc3cc0..c2ea9c5 100644
--- a/src/estimators/state/vio.cpp
+++ b/src/estimators/state/vio.cpp
@@ -7,10 +7,11 @@ namespace vio
 {
 
 const char estimator_name[] = "vio";
+const bool is_core_plugin = true;
 
 class Vio : public StateGeneric {
 public:
-  Vio() : StateGeneric(estimator_name) {
+  Vio() : StateGeneric(estimator_name, is_core_plugin) {
   }
 
   ~Vio(void) {