diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
index e9fe167f3f82770e62da29bfa6d870528c9520cc..cc9d4c8f00a7a53b7cffcc26524ef54fb7af4f6c 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataReader.cpp
@@ -128,7 +128,7 @@ namespace armarx::armem
             ARMARX_WARNING << "No entities!";
         }
 
-        const auto convert = [](const aron::LaserScanStamped & aronLaserScanStamped, const EntityInstance & ei) -> LaserScanStamped
+        const auto convert = [](const arondto::LaserScanStamped & aronLaserScanStamped, const EntityInstance & ei) -> LaserScanStamped
         {
             LaserScanStamped laserScanStamped;
             fromAron(aronLaserScanStamped, laserScanStamped);
@@ -159,7 +159,7 @@ namespace armarx::armem
             {
                 for (const auto& entityInstance : entitySnapshot.instances)
                 {
-                    const auto o = tryCast<aron::LaserScanStamped>(entityInstance);
+                    const auto o = tryCast<arondto::LaserScanStamped>(entityInstance);
 
                     if (o)
                     {
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp
index 86e203cceedddbafdbb7fec7bfef0d44aa3fe590..a91fa36c263e8f93fc0603b99805c70ee174f595 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_mapping/MappingDataWriter.cpp
@@ -73,7 +73,7 @@ namespace armarx::armem
         update.entityID = entityID;
         update.timeCreated = armem::Time::now();
 
-        aron::LaserScanStamped aronSensorData;
+        arondto::LaserScanStamped aronSensorData;
         // currently only sets the header
         toAron(laserScan, timestamp, frame, agentName, aronSensorData);
 
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.cpp b/source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.cpp
index 57cb0873c18dd6ebc8e4db8b079e63e8dd082805..83925942422d78c25e3d733011b870a7a72005bf 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.cpp
@@ -16,21 +16,21 @@ namespace armarx
 
     /************ fromAron ************/
 
-    SensorHeader fromAron(const aron::SensorHeader& aronSensorHeader)
+    SensorHeader fromAron(const arondto::SensorHeader& aronSensorHeader)
     {
         return {.agent = aronSensorHeader.agent,
                 .frame = aronSensorHeader.frame,
                 .timestamp = aronSensorHeader.timestamp};
     }
 
-    void fromAron(const aron::LaserScanStamped& aronLaserScan,
+    void fromAron(const arondto::LaserScanStamped& aronLaserScan,
                   LaserScanStamped& laserScan)
     {
         laserScan.header = fromAron(aronLaserScan.header);
         // laserScan.data = fromAron(aronLaserScan.data);
     }
 
-    void fromAron(const aron::LaserScanStamped& aronLaserScan, LaserScan& laserScan,
+    void fromAron(const arondto::LaserScanStamped& aronLaserScan, LaserScan& laserScan,
                   std::int64_t& timestamp, std::string& frame,
                   std::string& agentName)
     {
@@ -52,9 +52,9 @@ namespace armarx
     //     aronLaserScan.scan = toAron(laserScan);
     // }
 
-    aron::SensorHeader toAron(const SensorHeader& sensorHeader)
+    arondto::SensorHeader toAron(const SensorHeader& sensorHeader)
     {
-        aron::SensorHeader aronSensorHeader;
+        arondto::SensorHeader aronSensorHeader;
 
         aronSensorHeader.agent = sensorHeader.agent;
         aronSensorHeader.frame = sensorHeader.frame;
@@ -64,7 +64,7 @@ namespace armarx
     }
 
     void toAron(const LaserScanStamped& laserScanStamped,
-                aron::LaserScanStamped& aronLaserScanStamped)
+                arondto::LaserScanStamped& aronLaserScanStamped)
     {
         aronLaserScanStamped.header = toAron(laserScanStamped.header);
         // toAron(laserScanStamped.data, aronLaserScanStamped.data);
@@ -74,7 +74,7 @@ namespace armarx
                 const std::int64_t& timestamp,
                 const std::string& frame,
                 const std::string& agentName,
-                aron::LaserScanStamped& aronLaserScanStamped)
+                arondto::LaserScanStamped& aronLaserScanStamped)
     {
         const SensorHeader header
         {
diff --git a/source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.h b/source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.h
index a7b686fdba5e203d5ab2b197baac5c2cfe6164d7..c7840f48f30a4ee6da6984f6b216dd41a686e9be 100644
--- a/source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_robot_mapping/aron_conversions.h
@@ -29,7 +29,7 @@
 namespace armarx
 {
 
-    namespace aron
+    namespace arondto
     {
         struct LaserScanStamped;
     } // namespace aron
@@ -38,7 +38,7 @@ namespace armarx
     struct LaserScanStamped;
 
     void fromAron(
-        const aron::LaserScanStamped& aronLaserScan,
+        const arondto::LaserScanStamped& aronLaserScan,
         LaserScan& laserScan,
         std::int64_t& timestamp,
         std::string& frame,
@@ -51,14 +51,14 @@ namespace armarx
         return aron::converter::AronVectorConverter::ConvertToVector<T>(navigator);
     }
 
-    void fromAron(const aron::LaserScanStamped& aronLaserScan, LaserScanStamped& laserScan);
+    void fromAron(const arondto::LaserScanStamped& aronLaserScan, LaserScanStamped& laserScan);
 
     void toAron(
         const LaserScan& laserScan,
         const std::int64_t& timestamp,
         const std::string& frame,
         const std::string& agentName,
-        aron::LaserScanStamped& aronLaserScan);
+        arondto::LaserScanStamped& aronLaserScan);
 
     inline aron::datanavigator::NDArrayNavigatorPtr toAron(const LaserScan& laserScan)
     {