diff --git a/.gitmodules b/.gitmodules
index 25afe2d..e20bbe9 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,3 +4,6 @@
 [submodule "libs/json"]
 	path = libs/json
 	url = https://github.com/nlohmann/json.git
+[submodule "libs/whisper-com"]
+	path = libs/SimCore/libs/whisper-com
+	url = ssh://git@dev-gitea.ftewa.ti.unibw-hamburg.de:12000/hwinkel/whisper-com.git
diff --git a/include/Entities/Entity.hpp b/include/Entities/Entity.hpp
index 6f9c0aa..7dcfc4b 100644
--- a/include/Entities/Entity.hpp
+++ b/include/Entities/Entity.hpp
@@ -4,6 +4,7 @@
 
 #include "SimCore/Messages/GroundThruthTrack.hpp"
 #include "SimCore/Messages/Track.hpp"
+#include "SimCore/Orientation.hpp"
 #include "SimCore/SafeMap.hpp"
 #include "SimCore/SimCore.hpp"
 
@@ -53,7 +54,8 @@ namespace Entities {
                     std::uint32_t GroundTruthPort, 
                     std::uint32_t CommandPort,
                     std::string CommandIPAddress);
-            // ~Entity();
+             ~Entity();
+
             void start();
             void stop();
         
@@ -67,6 +69,8 @@ namespace Entities {
             virtual void specificReloadCharacteristicts() = 0;
 
             std::shared_ptr<SimCore::Position> ownShipPosition_ = nullptr;
+            std::shared_ptr<SimCore::Orientation> ownShipOrientation_ = nullptr;
+
 
         private:
 
diff --git a/libs/SimCore b/libs/SimCore
index 086f5d1..e83e291 160000
--- a/libs/SimCore
+++ b/libs/SimCore
@@ -1 +1 @@
-Subproject commit 086f5d109e6272813cb5b18f2a8c143f71707a6a
+Subproject commit e83e29190d69f35ecdb50786e8583511fb774fb3
diff --git a/libs/json b/libs/json
index b230614..546370c 160000
--- a/libs/json
+++ b/libs/json
@@ -1 +1 @@
-Subproject commit b2306145e1789368e6f261680e8dc007e91cc986
+Subproject commit 546370c9e778d99e7176641123e5cc1d0b62acab
diff --git a/src/Entities/Entity.cpp b/src/Entities/Entity.cpp
index 8844cfe..26625ee 100644
--- a/src/Entities/Entity.cpp
+++ b/src/Entities/Entity.cpp
@@ -25,7 +25,8 @@ namespace Entities
                    SimCore::EntityKind EntityKind,
                    std::uint32_t GroundTruthPort, 
                    std::uint32_t CommandPort,
-                   std::string CommandIPAddress):EntityName_(EnttityName),
+                   std::string CommandIPAddress):
+                   EntityName_(EnttityName),
                    ownTrack_(OwnType, OwnID, SimCore::TrackKind::GROUND_TRUTH_TRACK),
                    ParentID_(ParentID),
                    EntityKind_(EntityKind),
@@ -37,6 +38,12 @@ namespace Entities
     
     }
 
+
+    Entity::~Entity()
+    {
+        stop();
+    }
+
     void Entity::start()
     {   
 
@@ -68,21 +75,19 @@ namespace Entities
         //     }
 
 
-    for (std::vector<std::thread>::iterator it = threads.begin(); it != threads.end();)
-    {
-        if (it->joinable()) 
+        for (std::vector<std::thread>::iterator it = threads.begin(); it != threads.end();)
         {
-            it->join();
-            it = threads.erase(it);
+            if (it->joinable()) 
+            {
+                it->join();
+                it = threads.erase(it);
+            }
+        
         }
-       
-    }
 
         LOG_S(ERROR)<< threads.size();
 
     
-
-
     }
 
     void Entity::physicsWorker()
diff --git a/tests/test_EntityClass.cpp b/tests/test_EntityClass.cpp
index a7be914..2469ab8 100644
--- a/tests/test_EntityClass.cpp
+++ b/tests/test_EntityClass.cpp
@@ -1,5 +1,7 @@
 
 #include "SimCore/Identifier.hpp"
+#include "SimCore/Orientation.hpp"
+#include "SimCore/Position.hpp"
 #include "WHISPER/Messages/Message.hpp"
 #include <SimCore/SimCore.hpp>
 #include <memory>
@@ -23,13 +25,16 @@ class Ship : public Entities::Entity
         std::string CommandIPAddress):
     Entity( OwnID,EntityName,ownType,  ParentID,  EntityKind, GroundTruthPort,  CommandPort, CommandIPAddress)
           {
-
+            this->ownShipPosition_ = std::make_shared<SimCore::Position>();
+            this->ownShipOrientation_ = std::make_shared<SimCore::Orientation>();
           }
   
   private:
 
     void specificPhysicsCalculations(std::chrono::milliseconds::rep duration) override
     {
+
+    
         LOG_S(INFO)<<"calculating every " << duration << "milliseconds";
     };