diff --git a/source/RobotAPI/libraries/core/CMakeLists.txt b/source/RobotAPI/libraries/core/CMakeLists.txt
index b20f27a66edbfab6975c49e5cc9a1e436f963daf..f91df6946f04b42ee7bb6386a023b149a77bd42b 100644
--- a/source/RobotAPI/libraries/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/core/CMakeLists.txt
@@ -38,7 +38,8 @@ set(LIB_FILES
     CartesianVelocityRamp.cpp
     JointVelocityRamp.cpp
     CartesianVelocityControllerWithRamp.cpp
-    DebugDrawerTopic.cpp
+    
+    visualization/DebugDrawerTopic.cpp
 )
 
 set(LIB_HEADERS
@@ -84,7 +85,8 @@ set(LIB_HEADERS
     JointVelocityRamp.h
     CartesianVelocityControllerWithRamp.h
     EigenHelpers.h
-    DebugDrawerTopic.h
+    
+    visualization/DebugDrawerTopic.h
 )
 add_subdirectory(test)
 
diff --git a/source/RobotAPI/libraries/core/DebugDrawerTopic.cpp b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp
similarity index 99%
rename from source/RobotAPI/libraries/core/DebugDrawerTopic.cpp
rename to source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp
index 7de001fe7761913961e9e899fc78dbe956389e48..ee18edb60a35ddddbb70722a48be45900d588bbb 100644
--- a/source/RobotAPI/libraries/core/DebugDrawerTopic.cpp
+++ b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.cpp
@@ -4,7 +4,7 @@
 
 #include <ArmarXCore/core/ManagedIceObject.h>
 
-#include "Pose.h"
+#include "../Pose.h"
 
 
 namespace armarx
diff --git a/source/RobotAPI/libraries/core/DebugDrawerTopic.h b/source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h
similarity index 100%
rename from source/RobotAPI/libraries/core/DebugDrawerTopic.h
rename to source/RobotAPI/libraries/core/visualization/DebugDrawerTopic.h