diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index e68e10a..a387aab 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,41 +1,35 @@
 INCLUDE_DIRECTORIES(BEFORE SYSTEM ${CMAKE_CURRENT_BINARY_DIR})
 INCLUDE_DIRECTORIES(BEFORE SYSTEM ${CMAKE_CURRENT_SOURCE_DIR})
 INCLUDE_DIRECTORIES(BEFORE ${CMAKE_CURRENT_SOURCE_DIR}/..)
 
 # Configure config header
 CONFIGURE_FILE("config.h.in" "${PROJECTNAME}Config.h")
                       
 SET(ONCILLAHEADERS
             OncillaTrunk.h
             OncillaHip.h
             OncillaKnee.h
             OncillaAnkle.h
             OncillaFoot.h)
             
 SET(ONCILLASOURCES
             OncillaTrunk.cpp
             OncillaHip.cpp
             OncillaKnee.cpp
             OncillaAnkle.cpp
             OncillaFoot.cpp)
 
-ADD_LIBRARY(${RCIONCILLA_NAME} SHARED ${ONCILLASOURCES})
-TARGET_LINK_LIBRARIES(${RCIONCILLA_NAME}
+ADD_LIBRARY(${LIBONCILLA_NAME} SHARED ${ONCILLASOURCES})
+TARGET_LINK_LIBRARIES(${LIBONCILLA_NAME}
                       ${RSC_LIBRARIES}
-                      ${RSB_LIBRARIES}
-                      ${RST_LIBRARIES}
-                      ${SPREAD_LIBRARIES}
-                      ${CCA_LIBRARIES}
                       ${RCI_LIBRARIES}
-                      ${PROTOBUF_LIBRARY}
-                      ${PROTOLIB}
                       ${LIBRARIES_LIBRARIES})
-SET_TARGET_PROPERTIES(${RCIONCILLA_NAME}
+SET_TARGET_PROPERTIES(${LIBONCILLA_NAME}
                       PROPERTIES
-                      VERSION ${RCIONCILLA_VERSION})
+                      VERSION ${LIBONCILLA_VERSION})
 
-INSTALL(TARGETS ${RCIONCILLA_NAME}
+INSTALL(TARGETS ${LIBONCILLA_NAME}
         RUNTIME DESTINATION bin
         LIBRARY DESTINATION lib
         ARCHIVE DESTINATION lib)
 INSTALL_FILES_RECURSIVE(include/${LIBNAME} ONCILLAHEADERS)
diff --git a/src/OncillaAnkle.cpp b/src/OncillaAnkle.cpp
index eb8fae5..1faf1e1 100644
--- a/src/OncillaAnkle.cpp
+++ b/src/OncillaAnkle.cpp
@@ -1,40 +1,30 @@
 #include "OncillaAnkle.h"
 
 using namespace std;
 
 namespace cca {
 namespace rci {
 namespace driver {
 
 OncillaAnkle::OncillaAnkle(std::string name) :
     rci::ResourceNode(name), rci::Sensing(), rci::PositionSensing() {
     this->_dimension = 1;
-
-    this->addOutputPort<JointAngles> ();
 }
 
 JointAnglesPtr OncillaAnkle::getJointPosition() const {
     throw std::runtime_error("Not yet implemented.");
 }
 
 OncillaAnkle::~OncillaAnkle() {
 }
 
-void OncillaAnkle::onProcess() {
-}
-
 std::string OncillaAnkle::print() const {
     ostringstream outstream(ostringstream::out);
     outstream.precision(3); // Precision when printing double values
     outstream << "<Oncilla Ankle>" << endl;
     return outstream.str();
 }
 
-CCANodePtr OncillaAnkle::create(string name) {
-    CCANodePtr node(new OncillaAnkle(name));
-    return node;
-}
-
 }
 }
 }
diff --git a/src/OncillaAnkle.h b/src/OncillaAnkle.h
index 29e000e..1c76cf1 100644
--- a/src/OncillaAnkle.h
+++ b/src/OncillaAnkle.h
@@ -1,62 +1,47 @@
 #pragma once
 
 #include <iostream>
 #include <boost/shared_ptr.hpp>
 
-#include <cca/dto/debug/DebugDTO.h>
-
 #include <rci/nodes/ResourceNode.h>
 #include <rci/nodes/Controlled.h>
 #include <rci/nodes/Configurable.h>
 #include <rci/nodes/Sensing.h>
 
 #include <rci/dto/JointAngles.h>
 
 namespace cca {
 namespace rci {
 namespace driver {
 
 class OncillaAnkle;
 typedef boost::shared_ptr<OncillaAnkle> OncillaAnklePtr;
 
 /**
  * Node class, representing the foot/ankle of the quadruped robot. Not actuated,
  * but force sensing.
  */
 class OncillaAnkle: public rci::ResourceNode,
         public rci::Sensing,
         public rci::PositionSensing {
 
 public:
 
     OncillaAnkle(std::string name = "Oncilla Ankle");
 
     virtual ~OncillaAnkle();
 
     /**
      * Returns contact forces
      */
     JointAnglesPtr getJointPosition() const;
 
-    /**
-     * Main data-flow process method
-     * Main data-flow process method. Every time called, when a new data-flow
-     * item arrives.
-     * @todo marshalling and calling control methods
-     */
-    void onProcess();
-
     /**
      * Print
      */
     std::string print() const;
-
-    /**
-     * Shared Pointer Factory
-     */
-    static CCANodePtr create(std::string name = "Oncilla Ankle");
 };
 
 }
 }
 }
diff --git a/src/OncillaFoot.cpp b/src/OncillaFoot.cpp
index 2198a42..14de5e2 100644
--- a/src/OncillaFoot.cpp
+++ b/src/OncillaFoot.cpp
@@ -1,40 +1,30 @@
 #include "OncillaFoot.h"
 
 using namespace std;
 
 namespace cca {
 namespace rci {
 namespace driver {
 
 OncillaFoot::OncillaFoot(std::string name) :
     rci::ResourceNode(name), rci::Sensing(), rci::ForceSensing() {
     this->_dimension = 1;
-
-    this->addOutputPort<Forces> ();
 }
 
 ForcesPtr OncillaFoot::getForces() const {
     throw std::runtime_error("Not yet implemented.");
 }
 
 OncillaFoot::~OncillaFoot() {
 }
 
-void OncillaFoot::onProcess() {
-}
-
 std::string OncillaFoot::print() const {
     ostringstream outstream(ostringstream::out);
     outstream.precision(3); // Precision when printing double values
     outstream << "<Oncilla Foot>" << endl;
     return outstream.str();
 }
 
-CCANodePtr OncillaFoot::create(string name) {
-    CCANodePtr node(new OncillaFoot(name));
-    return node;
-}
-
 }
 }
 }
diff --git a/src/OncillaFoot.h b/src/OncillaFoot.h
index 4c84b5a..41a2c11 100644
--- a/src/OncillaFoot.h
+++ b/src/OncillaFoot.h
@@ -1,62 +1,47 @@
 #pragma once
 
 #include <iostream>
 #include <boost/shared_ptr.hpp>
 
-#include <cca/dto/debug/DebugDTO.h>
-
 #include <rci/nodes/ResourceNode.h>
 #include <rci/nodes/Controlled.h>
 #include <rci/nodes/Configurable.h>
 #include <rci/nodes/Sensing.h>
 
 #include <rci/dto/JointAngles.h>
 
 namespace cca {
 namespace rci {
 namespace driver {
 
 class OncillaFoot;
 typedef boost::shared_ptr<OncillaFoot> OncillaFootPtr;
 
 /**
  * Node class, representing the foot of the quadruped robot. Not actuated,
  * but force sensing.
  */
 class OncillaFoot: public rci::ResourceNode,
         public rci::Sensing,
         public rci::ForceSensing {
 
 public:
 
     OncillaFoot(std::string name = "Oncilla Foot");
 
     virtual ~OncillaFoot();
 
     /**
      * Returns contact forces
      */
     ForcesPtr getForces() const;
 
-    /**
-     * Main data-flow process method
-     * Main data-flow process method. Every time called, when a new data-flow
-     * item arrives.
-     * @todo marshalling and calling control methods
-     */
-    void onProcess();
-
     /**
      * Print
      */
     std::string print() const;
-
-    /**
-     * Shared Pointer Factory
-     */
-    static CCANodePtr create(std::string name = "Oncilla Foot");
 };
 
 }
 }
 }
diff --git a/src/OncillaHip.cpp b/src/OncillaHip.cpp
index aae9c6c..8a09942 100644
--- a/src/OncillaHip.cpp
+++ b/src/OncillaHip.cpp
@@ -1,145 +1,97 @@
 #include "OncillaHip.h"
 
 using namespace std;
-using namespace rsb;
 
 namespace cca {
 namespace rci {
 namespace driver {
 
 OncillaHipSagittal::OncillaHipSagittal(std::string name) :
     ResourceNode(name), Controlled(), Sensing(), PositionControlled(),
             PositionSensing(), TorqueControlled(), ImpedanceControlled() {
     this->_dimension = 2; // Two encoder values - should always be the same
-
-    this->addInputPort<JointAngles> (); // PositionControlled
-    this->addInputPort<JointVelocities> (); // VelocityControlled
-    this->addInputPort<JointTorques> (); // TorqueControlled
-    this->addInputPort<JointImpedance> (); // ImpedanceControlled
-
-    this->addOutputPort<JointAngles> (); // PositionSensing
 }
 
 bool OncillaHipSagittal::isConverged() const {
     throw std::runtime_error("Not yet implemented.");
 }
 
 bool OncillaHipSagittal::setJointPosition(JointAnglesPtr position) {
     // Successfull
     this->_lastCommandedPosition = position;
     return true;
 }
 
 JointAnglesPtr OncillaHipSagittal::getJointPosition() const {
     return this->_latestJointPosition;
 }
 
 bool OncillaHipSagittal::setJointVelocity(JointVelocitiesPtr vel) {
     throw std::runtime_error("Not yet implemented.");
 }
 
 bool OncillaHipSagittal::setJointTorque(JointTorquesPtr torque) {
     throw std::runtime_error("Not yet implemented.");
 }
 
 bool OncillaHipSagittal::setJointImpedance(JointImpedancePtr imped) {
     throw std::runtime_error("Not yet implemented.");
 }
 
 JointAnglesPtr OncillaHipSagittal::getLastPositionCommand() const {
     // TODO: The second part f this condition shouldn`t be necessary
     if (this->_lastCommandedPosition && this->_lastCommandedPosition.get()) {
         //std::cout << this->_lastCommandedPosition->print();
         return this->_lastCommandedPosition;
     }
     // No command set yet. Returning current joint values instead
     return this->_latestJointPosition;
 }
 
 OncillaHipSagittal::~OncillaHipSagittal() {
 }
 
-void OncillaHipSagittal::onProcess() {
-    //    std::cout << "[Node " << this->getName() << "] Processing ..." << std::endl;
-    if (!this->inputs[0]->empty() && this->inputs[0]->newItem()) {
-        // Cache new value
-        this->setJointPosition(
-                boost::static_pointer_cast<JointAngles>(
-                        this->inputs[0]->tryGet()));
-    }
-
-    // Publish value
-    if ((this->_latestJointPosition != NULL)
-            && (this->_latestJointPosition.get() != NULL)) {
-        Informer<JointAngles>::DataPtr status(
-                new JointAngles(this->_latestJointPosition->asDouble(0)));
-        this->publish(0, status);
-    }
-}
-
 std::string OncillaHipSagittal::print() const {
     ostringstream outstream(ostringstream::out);
     outstream.precision(3); // Precision when printing double values
     outstream << "<Oncilla Hip>" << endl;
     return outstream.str();
 }
 
-CCANodePtr OncillaHipSagittal::create(string name) {
-    CCANodePtr hipnode(new OncillaHipSagittal(name));
-    return hipnode;
-}
-
 /** Oncilla Hip Transverse **/
 
 OncillaHipTransverse::OncillaHipTransverse(std::string name) :
     ResourceNode(name), Controlled(), PositionControlled() {
-
-    this->addInputPort<JointAngles> (); // PositionControlled
 }
 
 bool OncillaHipTransverse::isConverged() const {
     return false;
 }
 
 bool OncillaHipTransverse::setJointPosition(JointAnglesPtr position) {
     // Successfull
     this->_lastCommandedPosition = position;
     return true;
 }
 
 JointAnglesPtr OncillaHipTransverse::getLastPositionCommand() const {
     // TODO: The second part f this condition shouldn`t be necessary
     if (this->_lastCommandedPosition && this->_lastCommandedPosition.get()) {
         //std::cout << this->_lastCommandedPosition->print();
         return this->_lastCommandedPosition;
     }
 }
 
 OncillaHipTransverse::~OncillaHipTransverse() {
 }
 
-void OncillaHipTransverse::onProcess() {
-    //    std::cout << "[Node " << this->getName() << "] Processing ..." << std::endl;
-    if (!this->inputs[0]->empty() && this->inputs[0]->newItem()) {
-        // Cache new value
-        this->setJointPosition(
-                boost::static_pointer_cast<JointAngles>(
-                        this->inputs[0]->tryGet()));
-    }
-}
-
 std::string OncillaHipTransverse::print() const {
     ostringstream outstream(ostringstream::out);
     outstream.precision(3); // Precision when printing double values
     outstream << "<Oncilla Hip>" << endl;
     return outstream.str();
 }
 
-CCANodePtr OncillaHipTransverse::create(string name) {
-    CCANodePtr hipnode(new OncillaHipTransverse(name));
-    return hipnode;
-}
-
 }
 }
 }
diff --git a/src/OncillaHip.h b/src/OncillaHip.h
index 456b5cc..7e4ed73 100644
--- a/src/OncillaHip.h
+++ b/src/OncillaHip.h
@@ -1,174 +1,146 @@
 #pragma once
 
 #include <iostream>
 #include <boost/shared_ptr.hpp>
 
-#include <cca/dto/debug/DebugDTO.h>
-
 #include <rci/nodes/ResourceNode.h>
 #include <rci/nodes/Controlled.h>
 #include <rci/nodes/Configurable.h>
 #include <rci/nodes/Sensing.h>
 
 #include <rci/dto/JointAngles.h>
 
 namespace cca {
 namespace rci {
 namespace driver {
 
 class OncillaHipSagittal;
 typedef boost::shared_ptr<OncillaHipSagittal> OncillaHipSagittalPtr;
 
 /**
  * Node class, representing the hip node of the quadruped robot.
  *
  * @todo In case of simulation, this node can also sense the power consumption.
  */
 class OncillaHipSagittal: public rci::ResourceNode,
         public rci::Controlled,
         public rci::Sensing,
         public rci::PositionControlled,
         public rci::PositionSensing, // Two encoder values
         public rci::VelocityControlled,
         public rci::TorqueControlled,
         public rci::ImpedanceControlled {
 
 public:
 
     /**
      * Special constructor to also link to webots
      */
     OncillaHipSagittal(std::string name = "Oncilla Hip");
 
     virtual ~OncillaHipSagittal();
 
     /**
      * Returns, if controller is converged.
      * @return True, if controller is converged after last command.
      */
     bool isConverged() const;
 
     /**
      * Commanding a joint position.
      * @param position Position command
      * @return Return, if successfull. (e.g. not exceeding joint limits)
      * @todo Check for correct control mode
      */
     bool setJointPosition(JointAnglesPtr position);
 
     /**
      * Returns current joint position.
      * @return Current joint position
      */
     virtual JointAnglesPtr getJointPosition() const;
 
 
     /**
      * Commanding a joint velocity.
      * @param position Position command
      * @return Return, if successfull. (e.g. not exceeding joint limits)
      * @todo Check for correct control mode
      */
     virtual bool setJointVelocity(cca::rci::JointVelocitiesPtr vel);
 
     /**
      * Returns current joint torque.
      * @return Current joint torque
      */
     virtual bool setJointTorque(JointTorquesPtr torque);
 
     /**
      * Returns current joint torque.
      * @return Current joint torque
      */
     virtual bool setJointImpedance(JointImpedancePtr imped);
 
     /**
      * Returns latest position command. Note, that this is the latest valid
      * commanded position. If the position command exceeds limits and is
      * therefore rejected, it ..
      */
     virtual JointAnglesPtr getLastPositionCommand() const;
 
-    /**
-     * Main data-flow process method
-     * Main data-flow process method. Every time called, when a new data-flow
-     * item arrives.
-     * @todo marshalling and calling control methods
-     */
-    void onProcess();
-
     /**
      * Print
      */
     std::string print() const;
-
-    /**
-     * Shared Pointer Factory
-     */
-    static CCANodePtr create(std::string name = "Oncilla Hip");
 };
 
 class OncillaHipTransverse;
 typedef boost::shared_ptr<OncillaHipTransverse> OncillaHipTwoPtr;
 
 /**
  * Node class, representing the hip node of the quadruped robot.
  * @todo In case of simulation, this node can also sense the power consumption.
  */
 class OncillaHipTransverse: public rci::ResourceNode,
         public rci::Controlled,
         public rci::PositionControlled {
 
 public:
 
     /**
      * Special constructor to also link to webots
      */
     OncillaHipTransverse(std::string name = "Oncilla Hip");
 
     virtual ~OncillaHipTransverse();
 
     /**
      * Returns, if controller is converged.
      * @return True, if controller is converged after last command.
      */
     bool isConverged() const;
 
     /**
      * Commanding a joint position.
      * @param position Position command
      * @return Return, if successfull. (e.g. not exceeding joint limits)
      * @todo Check for correct control mode
      */
     bool setJointPosition(JointAnglesPtr position);
 
     /**
      * Returns latest position command. Note, that this is the latest valid
      * commanded position. If the position command exceeds limits and is
      * therefore rejected, it ..
      */
     virtual JointAnglesPtr getLastPositionCommand() const;
 
-    /**
-     * Main data-flow process method
-     * Main data-flow process method. Every time called, when a new data-flow
-     * item arrives.
-     * @todo marshalling and calling control methods
-     */
-    void onProcess();
-
     /**
      * Print
      */
     std::string print() const;
-
-    /**
-     * Shared Pointer Factory
-     */
-    static CCANodePtr create(std::string name = "Oncilla Hip");
 };
 
 }
 }
 }
diff --git a/src/OncillaKnee.cpp b/src/OncillaKnee.cpp
index 0f1a364..5e6ed9f 100644
--- a/src/OncillaKnee.cpp
+++ b/src/OncillaKnee.cpp
@@ -1,98 +1,68 @@
 #include "OncillaKnee.h"
 
 using namespace std;
 using namespace boost;
-using namespace rsb;
 
 namespace cca {
 namespace rci {
 namespace driver {
 
 OncillaKnee::OncillaKnee(std::string name) :
     ResourceNode(name), Controlled(), Sensing(), PositionControlled(),
             PositionSensing(), VelocityControlled(), TorqueControlled(),
             ImpedanceControlled() {
     // Two encoder values - difference is due to passive compliance
     this->_dimension = 2;
-
-    this->addInputPort<JointAngles> (); // PositionControlled
-    this->addInputPort<JointVelocities> (); // VelocityControlled
-    this->addInputPort<JointTorques> (); // TorqueControlled
-    this->addInputPort<JointImpedance> (); // ImpedanceControlled
-
-    this->addOutputPort<JointAngles> (); // PositionSensing
-}
-
-void OncillaKnee::onProcess() {
-    if (!this->inputs[0]->empty() && this->inputs[0]->newItem()) {
-        // Cache new value
-        this->setJointPosition(
-                boost::static_pointer_cast<JointAngles>(
-                        this->inputs[0]->tryGet()));
-    }
-
-    // Publish value
-    if ((this->_latestJointPosition != NULL)
-            && (this->_latestJointPosition.get() != NULL)) {
-        Informer<JointAngles>::DataPtr status(
-                new JointAngles(this->_latestJointPosition->asDouble(0)));
-        this->publish(0, status);
-    }
 }
 
 bool OncillaKnee::isConverged() const {
     return false;
 }
 
 bool OncillaKnee::setJointPosition(JointAnglesPtr position) {
     // Successfull
     //    std::cerr << "[OncillaKnee] " << position << std::endl;
     this->_lastCommandedPosition = position;
     return true;
 }
 
 JointAnglesPtr OncillaKnee::getJointPosition() const {
     return this->_latestJointPosition;
 }
 
 OncillaKnee::~OncillaKnee() {
 }
 
 std::string OncillaKnee::print() const {
     ostringstream outstream(ostringstream::out);
     outstream.precision(3); // Precision when printing double values
     outstream << "<Oncilla Knee>" << endl;
     return outstream.str();
 }
 
-CCANodePtr OncillaKnee::create(string name) {
-    CCANodePtr kneenode(new OncillaKnee(name));
-    return kneenode;
-}
-
 bool OncillaKnee::setJointTorque(JointTorquesPtr torques) {
     throw std::runtime_error("Not yet implemented.");
 }
 
 bool OncillaKnee::setJointImpedance(JointImpedancePtr imped) {
     throw std::runtime_error("Not yet implemented.");
 }
 
 bool OncillaKnee::setJointVelocity(JointVelocitiesPtr vel) {
     throw std::runtime_error("Not yet implemented.");
 }
 
 JointAnglesPtr OncillaKnee::getLastPositionCommand() const {
     // TODO: The second part f this condition shouldn`t be necessary
     if (!this->_lastCommandedPosition || !this->_lastCommandedPosition.get()) {
         // No command set yet. Returning current joint values instead
         // FIXME: Instead of return current position set command to current position
         return this->_latestJointPosition;
     }
 
     return this->_lastCommandedPosition;
 }
 
 }
 }
 }
diff --git a/src/OncillaKnee.h b/src/OncillaKnee.h
index c2aec39..136b1b8 100644
--- a/src/OncillaKnee.h
+++ b/src/OncillaKnee.h
@@ -1,114 +1,97 @@
 #pragma once
 
 #include <iostream>
 #include <boost/shared_ptr.hpp>
 
-#include <rsb/Informer.h>
-
-#include <cca/dto/debug/DebugDTO.h>
-
 #include <rci/nodes/ResourceNode.h>
 #include <rci/nodes/Controlled.h>
 #include <rci/nodes/Configurable.h>
 #include <rci/nodes/Sensing.h>
 
 #include <rci/dto/JointAngles.h>
 
 namespace cca {
 namespace rci {
 namespace driver {
 
 class OncillaKnee;
 typedef boost::shared_ptr<OncillaKnee> OncillaKneePtr;
 
 /**
  * Node class, representing the knee node of the quadruped robot.
  * @todo In case of simulation, this node can also sense the power consumption.
  */
 class OncillaKnee: public rci::ResourceNode,
         public rci::Controlled,
         public rci::Sensing,
         public rci::PositionControlled,
         public rci::PositionSensing,
         public rci::VelocityControlled,
         public rci::TorqueControlled,
         public rci::ImpedanceControlled {
 
 public:
 
     OncillaKnee(std::string name = "Oncilla Knee");
     virtual ~OncillaKnee();
 
-    /**
-     * Handle commands and send status
-     *
-     * Main processing. handles incoming commands and published current node
-     * status
-     */
-    void onProcess();
-
     /**
      * Returns, if controller is converged.
      * @return True, if controller is converged after last command.
      */
     bool isConverged() const;
 
     /**
      * Commanding a joint position.
      * @param position Position command
      * @return Return, if successfull. (e.g. not exceeding joint limits)
      * @todo Check for correct control mode
      */
     bool setJointPosition(JointAnglesPtr position);
 
     /**
      * Returns current joint position.
      * @return Current joint position
      */
     virtual JointAnglesPtr getJointPosition() const;
 
     /**
      * Commanding a joint velocity.
      * @param position Velocity command
      * @return Return, if successfull. (e.g. not exceeding joint limits)
      * @todo Check for correct control mode
      */
     bool setJointVelocity(JointVelocitiesPtr vel);
 
     /**
      * Commanding a joint velocity.
      * @param position Velocity command
      * @return Return, if successfull. (e.g. not exceeding joint limits)
      * @todo Check for correct control mode
      */
     bool setJointImpedance(JointImpedancePtr imped);
 
     /**
      * Commanding a joint torque.
      * @param position Torque command
      * @return Return, if successfull. (e.g. not exceeding joint limits)
      * @todo Check for correct control mode
      */
     virtual bool setJointTorque(cca::rci::JointTorquesPtr torques);
 
     /**
      * Returns latest position command. Note, that this is the latest valid
      * commanded position. If the position command exceeds limits and is
      * therefore rejected, it ..
      */
     virtual JointAnglesPtr getLastPositionCommand() const;
 
     /**
      * Print
      */
     std::string print() const;
-
-    /**
-     * Shared Pointer Factory
-     */
-    static CCANodePtr create(std::string name = "Oncilla Knee");
 };
 
 }
 }
 }
diff --git a/src/OncillaTrunk.cpp b/src/OncillaTrunk.cpp
index 2b9cfee..186c2e6 100644
--- a/src/OncillaTrunk.cpp
+++ b/src/OncillaTrunk.cpp
@@ -1,50 +1,38 @@
 #include "OncillaTrunk.h"
 
 using namespace std;
 
 namespace cca {
 namespace rci {
 namespace driver {
 
 OncillaTrunk::OncillaTrunk(std::string name) :
     ResourceNode(name), Sensing(), PoseSensing() {
     this->_dimension = 1;
-
-    // TODO: Don`t send pose, but acceleration
-    this->addOutputPort<Pose> (); // PoseSensing
 }
 
 PosePtr OncillaTrunk::getAbsolutePose() const {
     throw std::runtime_error("Not yet implemented.");
 }
 
 PosePtr OncillaTrunk::getDisplacement() const {
     throw std::runtime_error("Not yet implemented.");
 }
 
 PosePtr OncillaTrunk::getAcceleration() const {
     throw std::runtime_error("Not yet implemented.");
 }
 
 OncillaTrunk::~OncillaTrunk() {
 }
 
-void OncillaTrunk::onProcess() {
-    throw std::runtime_error("Not yet implemented.");
-}
-
 std::string OncillaTrunk::print() const {
     ostringstream outstream(ostringstream::out);
     outstream.precision(3); // Precision when printing double values
     outstream << "<Oncilla Trunk>" << endl;
     return outstream.str();
 }
 
-CCANodePtr OncillaTrunk::create(string name) {
-    CCANodePtr node(new OncillaTrunk(name));
-    return node;
-}
-
 }
 }
 }
diff --git a/src/OncillaTrunk.h b/src/OncillaTrunk.h
index f952205..13af210 100644
--- a/src/OncillaTrunk.h
+++ b/src/OncillaTrunk.h
@@ -1,69 +1,57 @@
 #pragma once
 
 #include <iostream>
 #include <boost/shared_ptr.hpp>
 
-#include <cca/dto/debug/DebugDTO.h>
-
 #include <rci/nodes/ResourceNode.h>
 #include <rci/nodes/Controlled.h>
 #include <rci/nodes/Configurable.h>
 #include <rci/nodes/Sensing.h>
 
 namespace cca {
 namespace rci {
 namespace driver {
 
 class OncillaTrunk;
 typedef boost::shared_ptr<OncillaTrunk> OncillaTrunkPtr;
 
 /**
  * Node class, representing the quadruped trunk, including pose sensing.
  */
 class OncillaTrunk: public rci::ResourceNode,
         public rci::Sensing,
         public rci::PoseSensing {
 
 public:
 
     OncillaTrunk(std::string name = "Oncilla Trunk");
     virtual ~OncillaTrunk();
 
     /**
      * Returns current pose.
      * @return Current pose
      */
     virtual PosePtr getAbsolutePose() const;
 
     /**
      * Returns current displacement.
      * @return Current pose
      */
     virtual PosePtr getDisplacement() const;
 
     /**
      * Returns current translational and rotational acceleration.
      * @return Current pose
      */
     virtual PosePtr getAcceleration() const;
 
-    /**
-     * Main processing method
-     */
-    void onProcess();
-
     /**
      * Print
      */
     std::string print() const;
 
-    /**
-     * Shared Pointer Factory
-     */
-    static CCANodePtr create(std::string name = "Oncilla Trunk");
-
 };
 
 }
 }
 }