diff --git a/.gitmodules b/.gitmodules
index d37defb..25afe2d 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "libs/SimCore"]
 	path = libs/SimCore
 	url = ssh://git@dev-gitea.ftewa.ti.unibw-hamburg.de:12000/hwinkel/SimCore.git
+[submodule "libs/json"]
+	path = libs/json
+	url = https://github.com/nlohmann/json.git
diff --git a/include/Entities/Sensor.hpp b/include/Entities/Sensor.hpp
index 05dbb1a..c5c5287 100644
--- a/include/Entities/Sensor.hpp
+++ b/include/Entities/Sensor.hpp
@@ -15,7 +15,7 @@
 #include <memory>
 #include <thread>
 
-namespace SimCore {
+namespace Entities {
 
     class Sensor {
         public: 
@@ -25,7 +25,7 @@ namespace SimCore {
             void stop();
 
         protected:
-            std::shared_ptr<WHISPER::threadSafeQueue<SimCore::GroundTruthTrack>> incommingTrackMessages = nullptr;
+            std::shared_ptr<WHISPER::threadSafeQueue<std::shared_ptr<SimCore::GroundTruthTrack>>> incommingTrackMessages = nullptr;
 
 
             std::shared_ptr<WHISPER::threadSafeQueue<WHISPER::Message>> incommingGroundThruthMessages = nullptr;
@@ -37,7 +37,7 @@ namespace SimCore {
             virtual void specificSensorCalculations() = 0;
             virtual void specificReloadCharacteristicts() = 0;
 
-            std::shared_ptr<Position> ownShipPosition_ = nullptr;
+            std::shared_ptr<SimCore::Position> ownShipPosition_ = nullptr;
 
         private:
 
diff --git a/libs/json b/libs/json
new file mode 160000
index 0000000..b230614
--- /dev/null
+++ b/libs/json
@@ -0,0 +1 @@
+Subproject commit b2306145e1789368e6f261680e8dc007e91cc986
diff --git a/src/Entities/Sensor.cpp b/src/Entities/Sensor.cpp
index ddf06b1..b8495f1 100644
--- a/src/Entities/Sensor.cpp
+++ b/src/Entities/Sensor.cpp
@@ -4,10 +4,11 @@
 #include "SimCore/SimCore.hpp"
 #include "SimCore/UtilFunctions.hpp"
 #include "WHISPER/Messages/Message.hpp"
-#include <SimCore/Templates/Sensor.hpp>
+#include <Entities/Sensor.hpp>
 #include <memory>
+#include <utility>
 
-namespace SimCore {
+namespace Entities {
       
    Sensor::Sensor(SimCore::Identifier OwnID, SimCore::Identifier ParentID, SimCore::SensorKinds SensorKind,std::uint32_t GroundTruthPort, std::uint32_t ParentPort,std::string ParentIPAddress):
     OwnID_(OwnID),ParentID_(ParentID),SensorKind_(SensorKind),GroundTruthPort_(GroundTruthPort),ParentPort_(ParentPort),ParentIPAddress_(ParentIPAddress)
@@ -23,7 +24,7 @@ namespace SimCore {
         incommingParentMessages = std::make_shared<WHISPER::threadSafeQueue<WHISPER::Message>>();
         outgoingParentMessages = std::make_shared<WHISPER::threadSafeQueue<WHISPER::Message>>();
 
-        incommingTrackMessages =  std::make_shared<WHISPER::threadSafeQueue<SimCore::GroundTruthTrack>>();
+        incommingTrackMessages =  std::make_shared<WHISPER::threadSafeQueue<std::shared_ptr<SimCore::GroundTruthTrack>>>();
     
 
         GroundTruthUDPService_ =  std::make_shared<WHISPER::InternalUDPService>(OwnID.getParentNumber(),OwnID.getNumber(),WHISPER::SENSOR,GroundTruthPort_,SimCore::UtilFunctions::implode(ip,'.'),ownIP);    
@@ -121,9 +122,8 @@ namespace SimCore {
                 WHISPER::Message msg; 
                 incommingGroundThruthMessages->get(msg);
                 if (msg.msgType_ == WHISPER::MsgType::GROUND_TRUTH_TRACK) {
-                    auto elem = GroundTruthTrack::unpack(msg);
-                //   auto Track = SimCore::Track(msg.serialize());
-                  incommingTrackMessages->addElement(elem);
+                    auto GTrack = std::make_shared<SimCore::GroundTruthTrack>(std::move(SimCore::GroundTruthTrack::unpack(msg)));
+                  incommingTrackMessages->addElement(GTrack);
                 }
             }   
 
@@ -152,8 +152,10 @@ namespace SimCore {
                  incommingParentMessages->get(msg);
                 LOG_S(INFO)<< "Message received from Parent is" << msg.msgType_;
                 std::uint32_t type = 0;
-                    
-                    if (msg.msgType_ == WHISPER::MsgType::OWN_TRACK) {
+
+                    switch (msg.msgType_) {
+                    case WHISPER::MsgType::OWN_TRACK :{
+
                         auto OwnTrack = SimCore::GroundTruthTrack::unpack(msg);
                         // SimCore::Track OwnTrack(msg.serialize());
                         auto tmpPos = OwnTrack.getPostion().getGeocentricPos();
@@ -169,8 +171,22 @@ namespace SimCore {
                             tmpPos[SimCore::GeocentricPosition::Y], 
                             tmpPos[SimCore::GeocentricPosition::Z]);
                         }
+
+                        break;
                     }
-                    
+                    case WHISPER::MsgType::COMMAND: {
+
+                            break;
+                    }
+                    default: {
+
+                        break;
+                    }
+                    }
+
+
+
+                                   
                 }