diff --git a/realsense_ros_camera/include/realsense_ros_camera/constants.h b/realsense_ros_camera/include/realsense_ros_camera/constants.h
index 35ab1472ad..66331fc1bc 100644
--- a/realsense_ros_camera/include/realsense_ros_camera/constants.h
+++ b/realsense_ros_camera/include/realsense_ros_camera/constants.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include <iostream>
 #include <string>
diff --git a/realsense_ros_camera/src/camera_node.cpp b/realsense_ros_camera/src/camera_node.cpp
index 10353b8465..c6869fbcef 100644
--- a/realsense_ros_camera/src/camera_node.cpp
+++ b/realsense_ros_camera/src/camera_node.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include <iostream>
 #include <functional>
diff --git a/realsense_ros_camera/test/camera_core.cpp b/realsense_ros_camera/test/camera_core.cpp
index e038af592e..e6e0fa6dab 100644
--- a/realsense_ros_camera/test/camera_core.cpp
+++ b/realsense_ros_camera/test/camera_core.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include <gtest/gtest.h>
 #include "camera_core.h"  // NOLINT(build/include)
diff --git a/realsense_ros_camera/test/camera_core.h b/realsense_ros_camera/test/camera_core.h
index 652c75eca2..7db593f155 100644
--- a/realsense_ros_camera/test/camera_core.h
+++ b/realsense_ros_camera/test/camera_core.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 #ifndef CAMERA_CORE_H  // NOLINT(build/header_guard)
diff --git a/realsense_ros_object/src/realsense_localization_nodelet.cpp b/realsense_ros_object/src/realsense_localization_nodelet.cpp
index 434ad58388..95d5f1b9bd 100644
--- a/realsense_ros_object/src/realsense_localization_nodelet.cpp
+++ b/realsense_ros_object/src/realsense_localization_nodelet.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #include "ros/ros.h"
 
diff --git a/realsense_ros_object/src/realsense_localization_nodelet.h b/realsense_ros_object/src/realsense_localization_nodelet.h
index 31e145fad1..3f2e18c822 100644
--- a/realsense_ros_object/src/realsense_localization_nodelet.h
+++ b/realsense_ros_object/src/realsense_localization_nodelet.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #pragma once
 # ifndef RS_LOCALIZATION_NODELET
diff --git a/realsense_ros_object/src/realsense_recognition_nodelet.cpp b/realsense_ros_object/src/realsense_recognition_nodelet.cpp
index 19e49227b5..290431307d 100644
--- a/realsense_ros_object/src/realsense_recognition_nodelet.cpp
+++ b/realsense_ros_object/src/realsense_recognition_nodelet.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #include <sys/types.h>
 #include <sys/syscall.h>
diff --git a/realsense_ros_object/src/realsense_recognition_nodelet.h b/realsense_ros_object/src/realsense_recognition_nodelet.h
index da20aaf46d..941ec896b3 100644
--- a/realsense_ros_object/src/realsense_recognition_nodelet.h
+++ b/realsense_ros_object/src/realsense_recognition_nodelet.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #pragma once
 # ifndef RS_RECOGNITION_NODELET
diff --git a/realsense_ros_object/src/realsense_tracking_nodelet.cpp b/realsense_ros_object/src/realsense_tracking_nodelet.cpp
index cc27c069f8..b732d54f0d 100644
--- a/realsense_ros_object/src/realsense_tracking_nodelet.cpp
+++ b/realsense_ros_object/src/realsense_tracking_nodelet.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #include <ros/ros.h>
 
diff --git a/realsense_ros_object/src/realsense_tracking_nodelet.h b/realsense_ros_object/src/realsense_tracking_nodelet.h
index 9c011dc436..3a3c21cbe0 100644
--- a/realsense_ros_object/src/realsense_tracking_nodelet.h
+++ b/realsense_ros_object/src/realsense_tracking_nodelet.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #pragma once
 # ifndef RS_TRACKING_NODELET
diff --git a/realsense_ros_object/src/sample-localize-track/realsense_ormgr_nodelet.cpp b/realsense_ros_object/src/sample-localize-track/realsense_ormgr_nodelet.cpp
index c893871d33..2cbc9ae4a1 100644
--- a/realsense_ros_object/src/sample-localize-track/realsense_ormgr_nodelet.cpp
+++ b/realsense_ros_object/src/sample-localize-track/realsense_ormgr_nodelet.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #include "ros/ros.h"
 
diff --git a/realsense_ros_object/src/sample-localize-track/realsense_ormgr_nodelet.h b/realsense_ros_object/src/sample-localize-track/realsense_ormgr_nodelet.h
index 4c283facbc..cc7e22c30b 100644
--- a/realsense_ros_object/src/sample-localize-track/realsense_ormgr_nodelet.h
+++ b/realsense_ros_object/src/sample-localize-track/realsense_ormgr_nodelet.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #pragma once
 # ifndef RS_ORMGR_NODELET
diff --git a/realsense_ros_object/src/utils.cpp b/realsense_ros_object/src/utils.cpp
index 036f28c623..0d8438bfc7 100644
--- a/realsense_ros_object/src/utils.cpp
+++ b/realsense_ros_object/src/utils.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #include "utils.h"
 #include <rs_sdk.h>
diff --git a/realsense_ros_object/src/utils.h b/realsense_ros_object/src/utils.h
index 94449fbdc2..dac2b7585e 100644
--- a/realsense_ros_object/src/utils.h
+++ b/realsense_ros_object/src/utils.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #pragma once
 #include <librealsense/rs.hpp>
diff --git a/realsense_ros_object/src/viewer/GUI_utils.cpp b/realsense_ros_object/src/viewer/GUI_utils.cpp
index bd6a72c7b1..6cdea7892a 100644
--- a/realsense_ros_object/src/viewer/GUI_utils.cpp
+++ b/realsense_ros_object/src/viewer/GUI_utils.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #include "GUI_utils.h"
 #include <iomanip>
diff --git a/realsense_ros_object/src/viewer/GUI_utils.h b/realsense_ros_object/src/viewer/GUI_utils.h
index 7631237b31..954eee5d64 100644
--- a/realsense_ros_object/src/viewer/GUI_utils.h
+++ b/realsense_ros_object/src/viewer/GUI_utils.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #pragma once
 
diff --git a/realsense_ros_object/src/viewer/realsense_orview_nodelet.cpp b/realsense_ros_object/src/viewer/realsense_orview_nodelet.cpp
index 45e870604e..65dacbd390 100644
--- a/realsense_ros_object/src/viewer/realsense_orview_nodelet.cpp
+++ b/realsense_ros_object/src/viewer/realsense_orview_nodelet.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #include "ros/ros.h"
 #include "realsense_ros_object/UI.h"
diff --git a/realsense_ros_object/src/viewer/realsense_orview_nodelet.h b/realsense_ros_object/src/viewer/realsense_orview_nodelet.h
index bd2dcff8c3..bdd6f3ad7f 100644
--- a/realsense_ros_object/src/viewer/realsense_orview_nodelet.h
+++ b/realsense_ros_object/src/viewer/realsense_orview_nodelet.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved.
 
 #pragma once
 # ifndef RS_ORVIEW_NODELET
diff --git a/realsense_ros_person/Release_Note.txt b/realsense_ros_person/Release_Note.txt
deleted file mode 100644
index c56e8b4175..0000000000
--- a/realsense_ros_person/Release_Note.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-Date of version 2017.2.06
-
-libraries of intel used(version beta4):
-  Linux SDK
-  librealsense_persontracking
-  Link: https://securewiki.ith.intel.com/pages/viewpage.action?pageId=510951805
-
-Supported features:
-    Person Detection
-    Person Tracking
-    Person Recognition (basic API)
-    Body Tracking (skeleton) - preview quality
-    Body Gestures (pointing)
-    Face landmarks
-    Face bounding box
-    Head pose
-
-Quick start:
-  roslaunch realsense_ros_person realsense_person_tracking_test.launched
-
diff --git a/realsense_ros_person/src/apiwrapper/helpers/PersonTracking2RosHelper.h b/realsense_ros_person/src/apiwrapper/helpers/PersonTracking2RosHelper.h
index f01c2cb076..98279aa97e 100644
--- a/realsense_ros_person/src/apiwrapper/helpers/PersonTracking2RosHelper.h
+++ b/realsense_ros_person/src/apiwrapper/helpers/PersonTracking2RosHelper.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 
diff --git a/realsense_ros_person/src/apiwrapper/helpers/PersonTrackingHelper.cpp b/realsense_ros_person/src/apiwrapper/helpers/PersonTrackingHelper.cpp
index 2ca64ac8d4..d0d7640c04 100644
--- a/realsense_ros_person/src/apiwrapper/helpers/PersonTrackingHelper.cpp
+++ b/realsense_ros_person/src/apiwrapper/helpers/PersonTrackingHelper.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include "PersonTrackingHelper.h"
 
diff --git a/realsense_ros_person/src/apiwrapper/helpers/PersonTrackingHelper.h b/realsense_ros_person/src/apiwrapper/helpers/PersonTrackingHelper.h
index 03c86887f3..9038cccf5d 100644
--- a/realsense_ros_person/src/apiwrapper/helpers/PersonTrackingHelper.h
+++ b/realsense_ros_person/src/apiwrapper/helpers/PersonTrackingHelper.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 
diff --git a/realsense_ros_person/src/apiwrapper/helpers/Ros2RealsenseSdkConverter.cpp b/realsense_ros_person/src/apiwrapper/helpers/Ros2RealsenseSdkConverter.cpp
index a3ace03e23..ceb390b3a5 100644
--- a/realsense_ros_person/src/apiwrapper/helpers/Ros2RealsenseSdkConverter.cpp
+++ b/realsense_ros_person/src/apiwrapper/helpers/Ros2RealsenseSdkConverter.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include <ros/ros.h>
 #include <rs/core/projection_interface.h>
diff --git a/realsense_ros_person/src/apiwrapper/helpers/Ros2RealsenseSdkConverter.h b/realsense_ros_person/src/apiwrapper/helpers/Ros2RealsenseSdkConverter.h
index 1242d615b7..ca074959b3 100644
--- a/realsense_ros_person/src/apiwrapper/helpers/Ros2RealsenseSdkConverter.h
+++ b/realsense_ros_person/src/apiwrapper/helpers/Ros2RealsenseSdkConverter.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 
diff --git a/realsense_ros_person/src/apiwrapper/publisher/AbsPersonTrackingPublisher.h b/realsense_ros_person/src/apiwrapper/publisher/AbsPersonTrackingPublisher.h
index 434deebaa3..907e23fab5 100644
--- a/realsense_ros_person/src/apiwrapper/publisher/AbsPersonTrackingPublisher.h
+++ b/realsense_ros_person/src/apiwrapper/publisher/AbsPersonTrackingPublisher.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 #include "ros/ros.h"
diff --git a/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingDefaultPublisher.cpp b/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingDefaultPublisher.cpp
index ce74e56d44..26a5de9ea9 100644
--- a/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingDefaultPublisher.cpp
+++ b/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingDefaultPublisher.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include "PersonTrackingDefaultPublisher.h"
 
diff --git a/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingDefaultPublisher.h b/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingDefaultPublisher.h
index 58a4f4b8ae..515e9ff8f2 100644
--- a/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingDefaultPublisher.h
+++ b/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingDefaultPublisher.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 
diff --git a/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingPublisherHelper.cpp b/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingPublisherHelper.cpp
index 2c1936d0ea..c0c5de4edc 100644
--- a/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingPublisherHelper.cpp
+++ b/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingPublisherHelper.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include <ros/console.h>
 
diff --git a/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingPublisherHelper.h b/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingPublisherHelper.h
index 56d4012b08..bfb73bea28 100644
--- a/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingPublisherHelper.h
+++ b/realsense_ros_person/src/apiwrapper/publisher/PersonTrackingPublisherHelper.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 
diff --git a/realsense_ros_person/src/apiwrapper/realsense_ros_person_nodelet.cpp b/realsense_ros_person/src/apiwrapper/realsense_ros_person_nodelet.cpp
index 099417f9f4..e598cb88a6 100644
--- a/realsense_ros_person/src/apiwrapper/realsense_ros_person_nodelet.cpp
+++ b/realsense_ros_person/src/apiwrapper/realsense_ros_person_nodelet.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include "realsense_ros_person_nodelet.h"
 
diff --git a/realsense_ros_person/src/apiwrapper/realsense_ros_person_nodelet.h b/realsense_ros_person/src/apiwrapper/realsense_ros_person_nodelet.h
index 11f422783e..2257e2ec6c 100644
--- a/realsense_ros_person/src/apiwrapper/realsense_ros_person_nodelet.h
+++ b/realsense_ros_person/src/apiwrapper/realsense_ros_person_nodelet.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include <vector>
 #include <cstring>
diff --git a/realsense_ros_person/src/apiwrapper/server/PersonTrackingServer.cpp b/realsense_ros_person/src/apiwrapper/server/PersonTrackingServer.cpp
index 10d73f5f3e..b6b26e8b76 100644
--- a/realsense_ros_person/src/apiwrapper/server/PersonTrackingServer.cpp
+++ b/realsense_ros_person/src/apiwrapper/server/PersonTrackingServer.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include "PersonTrackingServer.h"
 
diff --git a/realsense_ros_person/src/apiwrapper/server/PersonTrackingServer.h b/realsense_ros_person/src/apiwrapper/server/PersonTrackingServer.h
index c2a5e648c1..0982a3cc52 100644
--- a/realsense_ros_person/src/apiwrapper/server/PersonTrackingServer.h
+++ b/realsense_ros_person/src/apiwrapper/server/PersonTrackingServer.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 #include <ros/ros.h>
diff --git a/realsense_ros_person/src/sample/PersonTrackingSample.cpp b/realsense_ros_person/src/sample/PersonTrackingSample.cpp
index 076368d361..1a4101a4d5 100644
--- a/realsense_ros_person/src/sample/PersonTrackingSample.cpp
+++ b/realsense_ros_person/src/sample/PersonTrackingSample.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include "PersonTrackingSample.h"
 
diff --git a/realsense_ros_person/src/sample/PersonTrackingSample.h b/realsense_ros_person/src/sample/PersonTrackingSample.h
index ad06788acc..bc883a7515 100644
--- a/realsense_ros_person/src/sample/PersonTrackingSample.h
+++ b/realsense_ros_person/src/sample/PersonTrackingSample.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 #include "ros/ros.h"
diff --git a/realsense_ros_person/src/sample/PersonTrackingSampleRunner.cpp b/realsense_ros_person/src/sample/PersonTrackingSampleRunner.cpp
index 7374ee3a57..3e0e01fd6e 100644
--- a/realsense_ros_person/src/sample/PersonTrackingSampleRunner.cpp
+++ b/realsense_ros_person/src/sample/PersonTrackingSampleRunner.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include "PersonTrackingSample.h"
 
diff --git a/realsense_ros_person/src/sample/TrackingRenderer/Colors.h b/realsense_ros_person/src/sample/TrackingRenderer/Colors.h
index 00399a3659..3a7b62b532 100644
--- a/realsense_ros_person/src/sample/TrackingRenderer/Colors.h
+++ b/realsense_ros_person/src/sample/TrackingRenderer/Colors.h
@@ -1,6 +1,6 @@
 
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved#pragma once
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved#pragma once
 
 #include <opencv2/core/core.hpp>
 
diff --git a/realsense_ros_person/src/sample/TrackingRenderer/OpencvUtils.h b/realsense_ros_person/src/sample/TrackingRenderer/OpencvUtils.h
index 4b59f94f08..2f2aeeccf1 100644
--- a/realsense_ros_person/src/sample/TrackingRenderer/OpencvUtils.h
+++ b/realsense_ros_person/src/sample/TrackingRenderer/OpencvUtils.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 
diff --git a/realsense_ros_person/src/sample/TrackingRenderer/PersonDataStorage.h b/realsense_ros_person/src/sample/TrackingRenderer/PersonDataStorage.h
index b1a4065aad..c0cd8c0d47 100644
--- a/realsense_ros_person/src/sample/TrackingRenderer/PersonDataStorage.h
+++ b/realsense_ros_person/src/sample/TrackingRenderer/PersonDataStorage.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 #include <opencv2/core/core.hpp>
diff --git a/realsense_ros_person/src/sample/TrackingRenderer/TrackingRenderer.cpp b/realsense_ros_person/src/sample/TrackingRenderer/TrackingRenderer.cpp
index 167e6ad804..0583939802 100644
--- a/realsense_ros_person/src/sample/TrackingRenderer/TrackingRenderer.cpp
+++ b/realsense_ros_person/src/sample/TrackingRenderer/TrackingRenderer.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include <iomanip>
 #include <opencv2/opencv.hpp>
diff --git a/realsense_ros_person/src/sample/TrackingRenderer/TrackingRenderer.h b/realsense_ros_person/src/sample/TrackingRenderer/TrackingRenderer.h
index 2181f3a3df..d42cde3571 100644
--- a/realsense_ros_person/src/sample/TrackingRenderer/TrackingRenderer.h
+++ b/realsense_ros_person/src/sample/TrackingRenderer/TrackingRenderer.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 #include "Viewer.h"
diff --git a/realsense_ros_person/src/sample/TrackingRenderer/Viewer.cpp b/realsense_ros_person/src/sample/TrackingRenderer/Viewer.cpp
index 071f24eff1..147054f86f 100644
--- a/realsense_ros_person/src/sample/TrackingRenderer/Viewer.cpp
+++ b/realsense_ros_person/src/sample/TrackingRenderer/Viewer.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include "Viewer.h"
 #include <opencv2/highgui/highgui.hpp>
diff --git a/realsense_ros_person/src/sample/TrackingRenderer/Viewer.h b/realsense_ros_person/src/sample/TrackingRenderer/Viewer.h
index 643bfc060c..516054889b 100644
--- a/realsense_ros_person/src/sample/TrackingRenderer/Viewer.h
+++ b/realsense_ros_person/src/sample/TrackingRenderer/Viewer.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 #include <opencv2/core/core.hpp>
diff --git a/realsense_ros_slam/CMakeLists.txt b/realsense_ros_slam/CMakeLists.txt
index 29bd26966f..afbc0c9507 100644
--- a/realsense_ros_slam/CMakeLists.txt
+++ b/realsense_ros_slam/CMakeLists.txt
@@ -78,7 +78,7 @@ if (CATKIN_ENABLE_TESTING)
     ${catkin_LIBRARIES}
     ${GTEST_LIBRARIES}
     )
-  add_dependencies(tests_slam ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg)
+  add_dependencies(tests_slam ${PROJECT_NAME}_generate_messages_cpp)
   add_dependencies(tests_slam ${catkin_EXPORTED_TARGETS})
 endif()
 
diff --git a/realsense_ros_slam/include/.ParamTypes.h.swp b/realsense_ros_slam/include/.ParamTypes.h.swp
deleted file mode 100644
index 3f21472c4a..0000000000
Binary files a/realsense_ros_slam/include/.ParamTypes.h.swp and /dev/null differ
diff --git a/realsense_ros_slam/include/2DMapCommon.h b/realsense_ros_slam/include/2DMapCommon.h
index 363a7b7ca0..e222bf52dd 100644
--- a/realsense_ros_slam/include/2DMapCommon.h
+++ b/realsense_ros_slam/include/2DMapCommon.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 
diff --git a/realsense_ros_slam/include/ParamTypes.h b/realsense_ros_slam/include/ParamTypes.h
index 1197e7c87d..9886bfb396 100644
--- a/realsense_ros_slam/include/ParamTypes.h
+++ b/realsense_ros_slam/include/ParamTypes.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 #include "stdio.h"
diff --git a/realsense_ros_slam/include/realsense_ros_slam/slam_nodelet.h b/realsense_ros_slam/include/realsense_ros_slam/slam_nodelet.h
index cd2d56efea..a50e6011b4 100644
--- a/realsense_ros_slam/include/realsense_ros_slam/slam_nodelet.h
+++ b/realsense_ros_slam/include/realsense_ros_slam/slam_nodelet.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #pragma once
 #include <iostream>
diff --git a/realsense_ros_slam/src/slam_nodelet.cpp b/realsense_ros_slam/src/slam_nodelet.cpp
index 78e34f07ac..e764b6872f 100644
--- a/realsense_ros_slam/src/slam_nodelet.cpp
+++ b/realsense_ros_slam/src/slam_nodelet.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include "realsense_ros_slam/slam_nodelet.h"
 #include <tf2/convert.h>
diff --git a/realsense_ros_slam/test/slam_test.cpp b/realsense_ros_slam/test/slam_test.cpp
index 33709b5bc0..c77dee481d 100644
--- a/realsense_ros_slam/test/slam_test.cpp
+++ b/realsense_ros_slam/test/slam_test.cpp
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2016 Intel Corporation. All Rights Reserved
+// Copyright(c) 2017 Intel Corporation. All Rights Reserved
 
 #include <gtest/gtest.h>
 #include <string>  // Added to satisfy roslint