diff --git a/include/Entities/Entity.hpp b/include/Entities/Entity.hpp
index 5d787e5..07c5bfe 100644
--- a/include/Entities/Entity.hpp
+++ b/include/Entities/Entity.hpp
@@ -32,7 +32,7 @@ namespace Entities {
         std::string SensorName;
         bool isActive;
         SimCore::Identifier SensorID;
-        std::shared_ptr<WHISPER::InternalUDPSender> SensorSender;
+        // std::shared_ptr<WHISPER::InternalUDPSender> SensorSender;
     };
 
     struct EffectorClientData
diff --git a/include/Entities/Tracklist/Tracklist.hpp b/include/Entities/Tracklist/Tracklist.hpp
index 1ce43b7..8daacf1 100644
--- a/include/Entities/Tracklist/Tracklist.hpp
+++ b/include/Entities/Tracklist/Tracklist.hpp
@@ -28,6 +28,8 @@ namespace TrackList
 
             SimCore::Identifier getTrackID(SimCore::ObjectSource source);
 
+            void addTrack(std::shared_ptr<SimCore::Track> track);
+
             void addTrack(std::shared_ptr<SimCore::Track> track,SensorData sensorData);
 
             std::shared_ptr<TracklistItem> getTrack(SimCore::Identifier TrackID);
@@ -45,7 +47,8 @@ namespace TrackList
             void tracklistSanitizer();
 
             void addNewTrack(std::shared_ptr<SimCore::Track> track,SensorData sensorData);
-          
+            void addNewTrack(std::shared_ptr<SimCore::Track> track);
+
             std::map<std::string, std::shared_ptr<TracklistItem>> TrackList_;
 
             mutable std::mutex mutex_;
diff --git a/include/Entities/Tracklist/TracklistItem.hpp b/include/Entities/Tracklist/TracklistItem.hpp
index eacfde6..442342d 100644
--- a/include/Entities/Tracklist/TracklistItem.hpp
+++ b/include/Entities/Tracklist/TracklistItem.hpp
@@ -32,6 +32,7 @@ namespace TrackList {
     {
         public: 
             TracklistItem(std::shared_ptr<SimCore::Track> track,SensorData sensorData);
+            TracklistItem(std::shared_ptr<SimCore::Track> track);
 
              SimCore::Identifier getID();
 
@@ -56,10 +57,13 @@ namespace TrackList {
 
             void updateTrack(std::shared_ptr<SimCore::Track> track,SensorData sensorData);
 
+            void updateTrack(std::shared_ptr<SimCore::Track> track);
+
             bool checkIfSensorIDIsIn(SimCore::Identifier SensorTrackID);
 
             bool isSensorIDKnown(SimCore::Identifier);
 
+            void addSensorDataToSensorList(SensorData sensorData);
 
 
         private:
@@ -90,7 +94,6 @@ namespace TrackList {
 
             bool isSensorinSensorlist(SensorData sensorData);
 
-            void addSensorDataToSensorList(SensorData sensorData);
 
 
 
diff --git a/libs/SimCore b/libs/SimCore
index f83fabd..d4c12f3 160000
--- a/libs/SimCore
+++ b/libs/SimCore
@@ -1 +1 @@
-Subproject commit f83fabd343e690a62a794f3cb6db5cf46f72068b
+Subproject commit d4c12f3b092f30d6218f0c0a4c2eec2f619aaf96
diff --git a/src/Entities/Tracklist/TrackListItem.cpp b/src/Entities/Tracklist/TrackListItem.cpp
index c5bf7d9..fc32138 100644
--- a/src/Entities/Tracklist/TrackListItem.cpp
+++ b/src/Entities/Tracklist/TrackListItem.cpp
@@ -15,6 +15,13 @@ namespace TrackList {
         updateTrack(track,sensorData);
         addSensorDataToSensorList(sensorData);
         
+    }
+
+      TracklistItem::TracklistItem(std::shared_ptr<SimCore::Track> track):trackID_(track->getIdentifier())
+    {
+
+        updateTrack(track);
+        
     }
 
       SimCore::Identifier TracklistItem::getID()
@@ -86,7 +93,7 @@ namespace TrackList {
     {   
         
         auto trackKind = track->getTrackkind();
-        if (trackKind == SimCore::TrackKind::RADAR_TRACK) {
+        if (trackKind == SimCore::TrackKind::RADAR_TRACK | trackKind == SimCore::TrackKind::GROUND_TRUTH_TRACK) {
             std::shared_ptr<SimCore::RadarTrack> radarTrack = std::dynamic_pointer_cast<SimCore::RadarTrack>(track);
 
             position_ = radarTrack->getPostion();
@@ -103,6 +110,27 @@ namespace TrackList {
             addSensorDataToSensorList(sensorData);
         }
 
+    }
+
+    void TracklistItem::updateTrack(std::shared_ptr<SimCore::Track> track )
+    {   
+        
+        auto trackKind = track->getTrackkind();
+        if (trackKind == SimCore::TrackKind::RADAR_TRACK | trackKind == SimCore::TrackKind::GROUND_TRUTH_TRACK) {
+            std::shared_ptr<SimCore::RadarTrack> radarTrack = std::dynamic_pointer_cast<SimCore::RadarTrack>(track);
+
+            position_ = radarTrack->getPostion();
+            range_ = radarTrack->getRange();
+            bearing_ = radarTrack->getBearing();
+            course_ = radarTrack->getCourse();
+            speed_ = radarTrack->getSpeed();
+            lastUpdateTimestamp_ =  std::chrono::steady_clock::now();
+
+
+        }
+
+       
+
     }
 
 
diff --git a/src/Entities/Tracklist/Tracklist.cpp b/src/Entities/Tracklist/Tracklist.cpp
index 7b700d6..77fa140 100644
--- a/src/Entities/Tracklist/Tracklist.cpp
+++ b/src/Entities/Tracklist/Tracklist.cpp
@@ -67,6 +67,44 @@ namespace TrackList
           addNewTrack( track,  sensorData);
             
 
+          }
+
+        }  
+      
+      }
+    }
+
+      /// @brief 
+      /// @param track 
+      void TrackList::addTrack(std::shared_ptr<SimCore::Track> track)
+    {
+
+      auto AllIDs = getAllIDs();    
+      // std::unique_lock<std::mutex> lock(mutex_);
+      // lock.unlock();
+
+      if (AllIDs.size() == 0) {
+        addNewTrack( track);
+      }
+      else 
+      {
+        for (auto ID:AllIDs) {
+        // std::lock_guard<std::mutex> lock(mutex_);
+
+          auto TracklistItem = TrackList_.find(ID.serialize());
+
+          if (TracklistItem != TrackList_.end()) {
+            
+              TracklistItem->second->updateTrack(track);
+
+          }        
+          else 
+          {
+          // lock.unlock();
+
+          addNewTrack( track);
+            
+
           }
 
         }  
@@ -87,6 +125,15 @@ namespace TrackList
       std::string id = track->getIdentifier().serialize();
       TrackList_.emplace(id,item);
     }
+    
+    void TrackList::addNewTrack(std::shared_ptr<SimCore::Track> track)
+    {
+      std::lock_guard<std::mutex> lock(mutex_);
+      
+      auto item = std::make_shared<TracklistItem>( track);
+      std::string id = track->getIdentifier().serialize();
+      TrackList_.emplace(id,item);
+    }
 
 
     std::shared_ptr<TracklistItem> TrackList::getTrack(SimCore::Identifier TrackID)