diff --git a/cob_bringup/CMakeLists.txt b/cob_bringup/CMakeLists.txt
index 3348bc795..093a6699e 100644
--- a/cob_bringup/CMakeLists.txt
+++ b/cob_bringup/CMakeLists.txt
@@ -16,7 +16,7 @@ if(CATKIN_ENABLE_TESTING)
 endif()
 
 ### INSTALL ###
-install(DIRECTORY components controllers drivers robots tools
+install(DIRECTORY components controllers drivers modules robots tools
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
diff --git a/cob_bringup/drivers/laser_scan_filter.launch b/cob_bringup/drivers/laser_scan_filter.launch
index 1acbae89a..5b4c0cd4e 100644
--- a/cob_bringup/drivers/laser_scan_filter.launch
+++ b/cob_bringup/drivers/laser_scan_filter.launch
@@ -1,12 +1,11 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot"/>
-	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="name"/>
+	<arg name="scan_intervals"/>
 
 	<!-- scan filters-->
-	<rosparam ns="$(arg name)" command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg name).yaml"/>
+	<rosparam ns="$(arg name)" param="scan_intervals" subst_value="True">$(arg scan_intervals)</rosparam>
 	<node ns="$(arg name)" pkg="cob_sick_s300" type="cob_scan_filter" name="scan_filter" respawn="false" output="screen">
 		<remap from="scan_in" to="scan_raw"/>
 		<remap from="scan_out" to="scan"/>
diff --git a/cob_bringup/drivers/sick_lms1xx.launch b/cob_bringup/drivers/sick_lms1xx.launch
index 5ce20df91..fcde7d284 100644
--- a/cob_bringup/drivers/sick_lms1xx.launch
+++ b/cob_bringup/drivers/sick_lms1xx.launch
@@ -1,24 +1,31 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="name"/>
+	<arg name="host"/>
+	<arg name="inverted"/>
+	<arg name="frame_id" default="$(arg name)_link"/>
+	<arg name="scan_intervals"/>
 	<arg name="sim" default="false"/>
 
 	<!-- load parameter -->
-	<rosparam ns="$(arg name)" command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg name).yaml"/>
+	<group ns="$(arg name)">
+		<rosparam command="load" file="$(arg pkg_hardware_config)/components/sick_lms1xx/sick_lms1xx.yaml"/>
+		<rosparam param="host" subst_value="True">$(arg host)</rosparam>
+		<rosparam param="inverted" subst_value="True">$(arg inverted)</rosparam>
+		<rosparam param="frame_id" subst_value="True">$(arg frame_id)</rosparam>
 
-	<!-- start laser driver -->
-	<node unless="$(arg sim)" ns="$(arg name)" pkg="cob_sick_lms1xx" type="lms100" name="driver" respawn="false" output="screen">
-		<remap from="scan" to="scan_raw"/>
-	</node>
+		<!-- start laser driver -->
+		<node unless="$(arg sim)" pkg="cob_sick_lms1xx" type="lms100" name="driver" respawn="false" output="screen">
+			<remap from="scan" to="scan_raw"/>
+		</node>
+	</group>
 
 	<!-- laser filter -->
 	<include file="$(find cob_bringup)/drivers/laser_scan_filter.launch">
-		<arg name="robot" value="$(arg robot)"/>
-		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="name" value="$(arg name)"/>
+		<arg name="scan_intervals" value="$(arg scan_intervals)"/>
 	</include>
 
 </launch>
diff --git a/cob_bringup/drivers/sick_s300.launch b/cob_bringup/drivers/sick_s300.launch
index 7ca1d1135..946020dda 100644
--- a/cob_bringup/drivers/sick_s300.launch
+++ b/cob_bringup/drivers/sick_s300.launch
@@ -1,24 +1,33 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="name"/>
+	<arg name="port"/>
+	<arg name="inverted"/>
+	<arg name="scan_id"/>
+	<arg name="frame_id" default="$(arg name)_link"/>
+	<arg name="scan_intervals"/>
 	<arg name="sim" default="false"/>
 
 	<!-- load parameter -->
-	<rosparam ns="$(arg name)" command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg name).yaml"/>
+	<group ns="$(arg name)">
+		<rosparam command="load" file="$(arg pkg_hardware_config)/components/sick_s300/sick_s300.yaml"/>
+		<rosparam param="port" subst_value="True">$(arg port)</rosparam>
+		<rosparam param="inverted" subst_value="True">$(arg inverted)</rosparam>
+		<rosparam param="scan_id" subst_value="True">$(arg scan_id)</rosparam>
+		<rosparam param="frame_id" subst_value="True">$(arg frame_id)</rosparam>
 
-	<!-- start laser driver -->
-	<node unless="$(arg sim)" ns="$(arg name)" pkg="cob_sick_s300" type="cob_sick_s300" name="driver" respawn="false" output="screen">
-		<remap from="scan" to="scan_raw"/>
-	</node>
+		<!-- start laser driver -->
+		<node unless="$(arg sim)" pkg="cob_sick_s300" type="cob_sick_s300" name="driver" respawn="false" output="screen">
+			<remap from="scan" to="scan_raw"/>
+		</node>
+	</group>
 
 	<!-- laser filter -->
 	<include file="$(find cob_bringup)/drivers/laser_scan_filter.launch">
-		<arg name="robot" value="$(arg robot)"/>
-		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="name" value="$(arg name)"/>
+		<arg name="scan_intervals" value="$(arg scan_intervals)"/>
 	</include>
 
 </launch>
diff --git a/cob_bringup/modules/cob4-b3.launch b/cob_bringup/modules/cob4-b3.launch
new file mode 100644
index 000000000..25f25a46a
--- /dev/null
+++ b/cob_bringup/modules/cob4-b3.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+</launch>
diff --git a/cob_bringup/modules/cob4-b4.launch b/cob_bringup/modules/cob4-b4.launch
new file mode 100644
index 000000000..25f25a46a
--- /dev/null
+++ b/cob_bringup/modules/cob4-b4.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+</launch>
diff --git a/cob_bringup/modules/cob4-b5.launch b/cob_bringup/modules/cob4-b5.launch
new file mode 100644
index 000000000..2e14db3a7
--- /dev/null
+++ b/cob_bringup/modules/cob4-b5.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScanFront"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_left"/>
+		<arg name="port" value="/dev/ttyScanLeft"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_right"/>
+		<arg name="port" value="/dev/ttyScanRight"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="8"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/cob4-b6.launch b/cob_bringup/modules/cob4-b6.launch
new file mode 100644
index 000000000..25f25a46a
--- /dev/null
+++ b/cob_bringup/modules/cob4-b6.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+</launch>
diff --git a/cob_bringup/modules/cob4-b7.launch b/cob_bringup/modules/cob4-b7.launch
new file mode 100644
index 000000000..2e14db3a7
--- /dev/null
+++ b/cob_bringup/modules/cob4-b7.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScanFront"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_left"/>
+		<arg name="port" value="/dev/ttyScanLeft"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_right"/>
+		<arg name="port" value="/dev/ttyScanRight"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="8"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/cob4-b8.launch b/cob_bringup/modules/cob4-b8.launch
new file mode 100644
index 000000000..2e14db3a7
--- /dev/null
+++ b/cob_bringup/modules/cob4-b8.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScanFront"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_left"/>
+		<arg name="port" value="/dev/ttyScanLeft"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_right"/>
+		<arg name="port" value="/dev/ttyScanRight"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="8"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/raw3-b1.launch b/cob_bringup/modules/raw3-b1.launch
new file mode 100644
index 000000000..6304ba6da
--- /dev/null
+++ b/cob_bringup/modules/raw3-b1.launch
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScan0"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value=" [[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_rear"/>
+		<arg name="port" value="/dev/ttyScan1"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/raw3-b3.launch b/cob_bringup/modules/raw3-b3.launch
new file mode 100644
index 000000000..6304ba6da
--- /dev/null
+++ b/cob_bringup/modules/raw3-b3.launch
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScan0"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value=" [[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_rear"/>
+		<arg name="port" value="/dev/ttyScan1"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/raw3-b5.launch b/cob_bringup/modules/raw3-b5.launch
new file mode 100644
index 000000000..de20fd2dc
--- /dev/null
+++ b/cob_bringup/modules/raw3-b5.launch
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
+		<arg name="name" value="base_laser_left"/>
+		<arg name="host" value="141.3.80.116"/>
+		<arg name="inverted" value="true"/>
+		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
+		<arg name="name" value="base_laser_rear"/>
+		<arg name="host" value="141.3.80.115"/>
+		<arg name="inverted" value="true"/>
+		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml
index 91f616c0c..50821c6d5 100644
--- a/cob_bringup/robots/cob4-2.xml
+++ b/cob_bringup/robots/cob4-2.xml
@@ -12,6 +12,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b7"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -38,27 +40,16 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+
+		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_right"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<include file="$(find cob_bringup)/drivers/bms.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_left"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-3.xml b/cob_bringup/robots/cob4-3.xml
index 0827845d9..1a0f88903 100644
--- a/cob_bringup/robots/cob4-3.xml
+++ b/cob_bringup/robots/cob4-3.xml
@@ -6,6 +6,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b3"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -26,6 +28,10 @@
 			</include>
 		</group>
 
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+			<arg name="sim" value="$(arg sim)"/>
+		</include>
+
 		<include file="$(find cob_bringup)/drivers/bms.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_bringup/robots/cob4-4.xml b/cob_bringup/robots/cob4-4.xml
index 77db2c397..cbb8af510 100644
--- a/cob_bringup/robots/cob4-4.xml
+++ b/cob_bringup/robots/cob4-4.xml
@@ -7,6 +7,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b4"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -27,6 +29,10 @@
 			</include>
 		</group>
 
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+			<arg name="sim" value="$(arg sim)"/>
+		</include>
+
 		<include file="$(find cob_bringup)/drivers/bms.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_bringup/robots/cob4-5.xml b/cob_bringup/robots/cob4-5.xml
index 0098b54cb..0307cb860 100644
--- a/cob_bringup/robots/cob4-5.xml
+++ b/cob_bringup/robots/cob4-5.xml
@@ -12,6 +12,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b5"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -38,27 +40,16 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+
+		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_right"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<include file="$(find cob_bringup)/drivers/bms.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_left"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-6.xml b/cob_bringup/robots/cob4-6.xml
index 6c720949d..32e294c5b 100644
--- a/cob_bringup/robots/cob4-6.xml
+++ b/cob_bringup/robots/cob4-6.xml
@@ -7,6 +7,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b6"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -27,6 +29,10 @@
 			</include>
 		</group>
 
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+			<arg name="sim" value="$(arg sim)"/>
+		</include>
+
 		<include file="$(find cob_bringup)/drivers/bms.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_bringup/robots/cob4-7.xml b/cob_bringup/robots/cob4-7.xml
index 6633c8fef..7ac8617ec 100644
--- a/cob_bringup/robots/cob4-7.xml
+++ b/cob_bringup/robots/cob4-7.xml
@@ -12,6 +12,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b8"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -38,6 +40,10 @@
 			</include>
 		</group>
 
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+			<arg name="sim" value="$(arg sim)"/>
+		</include>
+
 		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
@@ -46,21 +52,6 @@
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="true"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_right"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_left"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 
 		<include file="$(find cob_bringup)/components/cob4_base.launch">
 			<arg name="robot" value="$(arg robot)"/>
diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml
index ba274a96c..187045d7b 100644
--- a/cob_bringup/robots/raw3-1.xml
+++ b/cob_bringup/robots/raw3-1.xml
@@ -10,6 +10,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="raw3-b1"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -45,16 +47,10 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_rear"/>
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
+
 		<include file="$(find cob_bringup)/components/legacy_base.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml
index be3cd37cd..280fc7f8c 100644
--- a/cob_bringup/robots/raw3-3.xml
+++ b/cob_bringup/robots/raw3-3.xml
@@ -10,6 +10,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="raw3-b3"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -36,16 +38,10 @@
 			<include if="$(arg use_rplidar)" file="$(find rplidar_ros)/launch/rplidar.launch"/>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_rear"/>
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
+
 		<include file="$(find cob_bringup)/components/legacy_base.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_bringup/robots/raw3-5.xml b/cob_bringup/robots/raw3-5.xml
index 6c0ad9e54..927ed1efe 100644
--- a/cob_bringup/robots/raw3-5.xml
+++ b/cob_bringup/robots/raw3-5.xml
@@ -7,6 +7,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="raw3-b5"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -30,14 +32,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_rear"/>
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
@@ -64,7 +59,6 @@
 		<!-- start additional packages -->
 		<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch" >
 			<arg name="robot" value="$(arg robot)" />
-
 		</include>
 		<include file="$(find cob_bringup)/tools/teleop.launch">
 			<arg name="robot" value="$(arg robot)"/>
diff --git a/cob_hardware_config/CMakeLists.txt b/cob_hardware_config/CMakeLists.txt
index eeb1bbba2..12f392624 100644
--- a/cob_hardware_config/CMakeLists.txt
+++ b/cob_hardware_config/CMakeLists.txt
@@ -18,7 +18,7 @@ if(CATKIN_ENABLE_TESTING)
 endif()
 
 ### INSTALL ###
-install(DIRECTORY robots test
+install(DIRECTORY components robots test
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
diff --git a/cob_hardware_config/components/sick_lms1xx/sick_lms1xx.yaml b/cob_hardware_config/components/sick_lms1xx/sick_lms1xx.yaml
new file mode 100644
index 000000000..4aa8df13a
--- /dev/null
+++ b/cob_hardware_config/components/sick_lms1xx/sick_lms1xx.yaml
@@ -0,0 +1,3 @@
+angle_resolution: 0.25 #deg
+scan_frequency: 25 #hz
+set_config: false
diff --git a/cob_hardware_config/robots/raw3-3/config/base_laser_rear.yaml b/cob_hardware_config/components/sick_s300/sick_s300.yaml
similarity index 56%
rename from cob_hardware_config/robots/raw3-3/config/base_laser_rear.yaml
rename to cob_hardware_config/components/sick_s300/sick_s300.yaml
index 4adc524b0..808357da4 100644
--- a/cob_hardware_config/robots/raw3-3/config/base_laser_rear.yaml
+++ b/cob_hardware_config/components/sick_s300/sick_s300.yaml
@@ -1,9 +1,4 @@
-port: /dev/ttyUSB0
 baud: 500000
 scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
 scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: base_laser_rear_link
 publish_frequency: 12
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-2/config/base_laser_front.yaml
deleted file mode 100644
index 2b6a53b70..000000000
--- a/cob_hardware_config/robots/cob4-2/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanFront
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-2/config/base_laser_left.yaml
deleted file mode 100644
index 93039c115..000000000
--- a/cob_hardware_config/robots/cob4-2/config/base_laser_left.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanLeft
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_left_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-2/config/base_laser_right.yaml
deleted file mode 100644
index 39770bd4e..000000000
--- a/cob_hardware_config/robots/cob4-2/config/base_laser_right.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanRight
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 8
-frame_id: /base_laser_right_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-5/config/base_laser_front.yaml
deleted file mode 100644
index 2b6a53b70..000000000
--- a/cob_hardware_config/robots/cob4-5/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanFront
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-5/config/base_laser_left.yaml
deleted file mode 100644
index 93039c115..000000000
--- a/cob_hardware_config/robots/cob4-5/config/base_laser_left.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanLeft
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_left_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-5/config/base_laser_right.yaml
deleted file mode 100644
index 39770bd4e..000000000
--- a/cob_hardware_config/robots/cob4-5/config/base_laser_right.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanRight
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 8
-frame_id: /base_laser_right_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-7/config/base_laser_front.yaml
deleted file mode 100644
index 2b6a53b70..000000000
--- a/cob_hardware_config/robots/cob4-7/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanFront
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-7/config/base_laser_left.yaml
deleted file mode 100644
index 93039c115..000000000
--- a/cob_hardware_config/robots/cob4-7/config/base_laser_left.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanLeft
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_left_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-7/config/base_laser_right.yaml
deleted file mode 100644
index 39770bd4e..000000000
--- a/cob_hardware_config/robots/cob4-7/config/base_laser_right.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanRight
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 8
-frame_id: /base_laser_right_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/raw3-1/config/base_laser_front.yaml b/cob_hardware_config/robots/raw3-1/config/base_laser_front.yaml
deleted file mode 100644
index c69a181c3..000000000
--- a/cob_hardware_config/robots/raw3-1/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScan0
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/raw3-1/config/base_laser_rear.yaml b/cob_hardware_config/robots/raw3-1/config/base_laser_rear.yaml
deleted file mode 100644
index 64c170eba..000000000
--- a/cob_hardware_config/robots/raw3-1/config/base_laser_rear.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScan1
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: base_laser_rear_link
-publish_frequency: 12
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/raw3-3/config/base_laser_front.yaml b/cob_hardware_config/robots/raw3-3/config/base_laser_front.yaml
deleted file mode 100644
index 1f1b855b0..000000000
--- a/cob_hardware_config/robots/raw3-3/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyUSB1
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/raw3-5/config/base_laser_front.yaml b/cob_hardware_config/robots/raw3-5/config/base_laser_front.yaml
deleted file mode 100644
index 27075848f..000000000
--- a/cob_hardware_config/robots/raw3-5/config/base_laser_front.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-host: 141.3.80.116
-angle_resolution: 0.25 #deg
-scan_frequency: 25 #hz
-inverted: true
-frame_id: base_laser_front_link
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
-set_config: false
diff --git a/cob_hardware_config/robots/raw3-5/config/base_laser_rear.yaml b/cob_hardware_config/robots/raw3-5/config/base_laser_rear.yaml
deleted file mode 100644
index 187a2efda..000000000
--- a/cob_hardware_config/robots/raw3-5/config/base_laser_rear.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-host: 141.3.80.115
-angle_resolution: 0.25 #deg
-scan_frequency: 25 #hz
-inverted: true
-frame_id: base_laser_rear_link
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
-set_config: false