diff --git a/.github/workflows/codeql-analysis.yml b/.github/workflows/codeql-analysis.yml
new file mode 100644
index 0000000..87de88c
--- /dev/null
+++ b/.github/workflows/codeql-analysis.yml
@@ -0,0 +1,71 @@
+# For most projects, this workflow file will not need changing; you simply need
+# to commit it to your repository.
+#
+# You may wish to alter this file to override the set of languages analyzed,
+# or to provide custom queries or build logic.
+#
+# ******** NOTE ********
+# We have attempted to detect the languages in your repository. Please check
+# the `language` matrix defined below to confirm you have the correct set of
+# supported CodeQL languages.
+#
+name: "CodeQL"
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    # The branches below must be a subset of the branches above
+    branches: [ main ]
+  schedule:
+    - cron: '44 2 * * 1'
+
+jobs:
+  analyze:
+    name: Analyze
+    runs-on: ubuntu-latest
+    permissions:
+      actions: read
+      contents: read
+      security-events: write
+
+    strategy:
+      fail-fast: false
+      matrix:
+        language: [ 'cpp', 'python' ]
+        # CodeQL supports [ 'cpp', 'csharp', 'go', 'java', 'javascript', 'python' ]
+        # Learn more:
+        # https://docs.github.com/en/free-pro-team@latest/github/finding-security-vulnerabilities-and-errors-in-your-code/configuring-code-scanning#changing-the-languages-that-are-analyzed
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v2
+
+    # Initializes the CodeQL tools for scanning.
+    - name: Initialize CodeQL
+      uses: github/codeql-action/init@v1
+      with:
+        languages: ${{ matrix.language }}
+        # If you wish to specify custom queries, you can do so here or in a config file.
+        # By default, queries listed here will override any specified in a config file.
+        # Prefix the list here with "+" to use these queries and those in the config file.
+        # queries: ./path/to/local/query, your-org/your-repo/queries@main
+
+    # Autobuild attempts to build any compiled languages  (C/C++, C#, or Java).
+    # If this step fails, then you should remove it and run the build manually (see below)
+    - name: Autobuild
+      uses: github/codeql-action/autobuild@v1
+
+    # ℹ️ Command-line programs to run using the OS shell.
+    # 📚 https://git.io/JvXDl
+
+    # ✏️ If the Autobuild fails above, remove it and uncomment the following three lines
+    #    and modify them (or add more) to build your code if your project
+    #    uses a compiled language
+
+    #- run: |
+    #   make bootstrap
+    #   make release
+
+    - name: Perform CodeQL Analysis
+      uses: github/codeql-action/analyze@v1
diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index a1c4515..3f6905d 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -43,21 +43,21 @@ jobs:
           echo "$GITHUB_WORKSPACE/.jfrog/bin" >> "$GITHUB_PATH"
           echo "JFROG_CLI_HOME_DIR=$GITHUB_WORKSPACE/.jfrog" >> "$GITHUB_ENV"
 
-      - name: Upload to Artifactory
-        env:
-          ARTIFACTORY_TOKEN: ${{ secrets.ARTIFACTORY_TOKEN }}
-          ARTIFACTORY_REPO: debian-public-local
-          DISTRIBUTION: focal
-          COMPONENT: fog-sw
-          ARCHITECTURE: amd64
-          CI: true
-        if: github.event_name == 'push'
-        run: |
-          set -exu
-          jfrog rt c import "$ARTIFACTORY_TOKEN"
-          jfrog rt ping
-          pkg=$(find bin -name 'ros-foxy-indoor-pos*.deb')
-          jfrog rt u --deb "$DISTRIBUTION/$COMPONENT/$ARCHITECTURE" \
-                     --target-props COMMIT="$GITHUB_SHA" \
-                     "$pkg" \
-                     "$ARTIFACTORY_REPO"
+          #      - name: Upload to Artifactory
+          #        env:
+          #          ARTIFACTORY_TOKEN: ${{ secrets.ARTIFACTORY_TOKEN }}
+          #          ARTIFACTORY_REPO: debian-public-local
+          #          DISTRIBUTION: focal
+          #          COMPONENT: fog-sw
+          #          ARCHITECTURE: amd64
+          #          CI: true
+          #        if: github.event_name == 'push'
+          #        run: |
+          #          set -exu
+          #          jfrog rt c import "$ARTIFACTORY_TOKEN"
+          #          jfrog rt ping
+          #          pkg=$(find bin -name 'ros-foxy-indoor-pos*.deb')
+          #          jfrog rt u --deb "$DISTRIBUTION/$COMPONENT/$ARCHITECTURE" \
+          #                     --target-props COMMIT="$GITHUB_SHA" \
+          #                     "$pkg" \
+          #                     "$ARTIFACTORY_REPO"
diff --git a/package.xml b/package.xml
index fef55b8..c8676c4 100644
--- a/package.xml
+++ b/package.xml
@@ -10,6 +10,12 @@
   <depend>rclcpp</depend>
   <depend>geodesy</depend>
   <depend>px4_msgs</depend>
+  <depend>survive</depend>
+
+  <depend>angles</depend>
+  <depend>geographic_msgs</depend>
+  <depend>atlas3-base</depend>
+  <depend>lapacke</depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/rosdep.yaml b/rosdep.yaml
new file mode 100644
index 0000000..63a6dea
--- /dev/null
+++ b/rosdep.yaml
@@ -0,0 +1,17 @@
+px4_msgs:
+    ubuntu: [ros-foxy-px4-msgs]
+
+survive:
+    ubuntu: [libsurvive]
+
+angles:
+    ubuntu: [ros-foxy-angles]
+
+geographic_msgs:
+    ubuntu: [ros-foxy-geographic-msgs]
+
+atlas3-base:
+    ubuntu: [libatlas3-base]
+
+lapacke:
+    ubuntu: [liblapacke]
diff --git a/src/indoor_pos.cpp b/src/indoor_pos.cpp
index 3a96ada..099bac4 100644
--- a/src/indoor_pos.cpp
+++ b/src/indoor_pos.cpp
@@ -107,11 +107,11 @@ IndoorPos::IndoorPos()
     _impl->_angles_idx = 0;
 
     _impl->_control_sub = this->create_subscription<std_msgs::msg::String>(
-        "IndoorPos_ctrl", 10, std::bind(&IndoorPos::Control, this, _1));
+        "IndoorPos_ctrl", rclcpp::SystemDefaultsQoS(), std::bind(&IndoorPos::Control, this, _1));
     _impl->_sensorMag_sub = this->create_subscription<px4_msgs::msg::SensorMag>(
-        "SensorMag_PubSubTopic", 10, std::bind(&IndoorPos::SensorMag, this, _1));
+        "SensorMag_PubSubTopic", rclcpp::SystemDefaultsQoS(), std::bind(&IndoorPos::SensorMag, this, _1));
 
-    _impl->_publisher = this->create_publisher<px4_msgs::msg::SensorGps>("SensorGps_PubSubTopic", 10);
+    _impl->_publisher = this->create_publisher<px4_msgs::msg::SensorGps>("SensorGps_PubSubTopic", rclcpp::SystemDefaultsQoS() );
 
     if (_impl->_update_freq > 0)
     {