diff --git a/CMakeLists.txt b/CMakeLists.txt
index e702718..a3a5244 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -101,13 +101,15 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 # Set optimization flags
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2")
 
-set(TARGET_PREDICTION_DEPLOY_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../../TargetPrediction/deploy")
+set(TARGET_PREDICTION_ROOT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../../..")
+set(TARGET_PREDICTION_DEPLOY_DIR "${TARGET_PREDICTION_ROOT_DIR}/deploy")
+set(TARGET_PREDICTION_THIRDPARTY_DIR "${TARGET_PREDICTION_ROOT_DIR}/thirdparty")
 set(ODIN_TARGET_OBSERVATION_AVAILABLE OFF)
 set(ODIN_TARGET_OBSERVATION_READY OFF)
 
 if(ODIN_DRIVER_ENABLE_TARGET_OBSERVATION AND
-   EXISTS "${TARGET_PREDICTION_DEPLOY_DIR}/YOLOs-CPP-TensorRT/include/yolos/tasks/pose.hpp" AND
-   EXISTS "${TARGET_PREDICTION_DEPLOY_DIR}/motcpp/CMakeLists.txt")
+   EXISTS "${TARGET_PREDICTION_THIRDPARTY_DIR}/YOLOs-CPP-TensorRT/include/yolos/tasks/pose.hpp" AND
+   EXISTS "${TARGET_PREDICTION_THIRDPARTY_DIR}/motcpp/CMakeLists.txt")
     enable_language(CUDA)
     find_package(CUDAToolkit REQUIRED)
 
@@ -143,7 +145,7 @@ if(ODIN_DRIVER_ENABLE_TARGET_OBSERVATION AND
         set(MOTCPP_INSTALL OFF CACHE BOOL "" FORCE)
         set(CMAKE_POSITION_INDEPENDENT_CODE ON)
         add_subdirectory(
-            ${TARGET_PREDICTION_DEPLOY_DIR}/motcpp
+            ${TARGET_PREDICTION_THIRDPARTY_DIR}/motcpp
             ${CMAKE_CURRENT_BINARY_DIR}/motcpp
             EXCLUDE_FROM_ALL
         )
@@ -152,7 +154,7 @@ if(ODIN_DRIVER_ENABLE_TARGET_OBSERVATION AND
         message(WARNING "TensorRT not found. Target observation support disabled.")
     endif()
 elseif(ODIN_DRIVER_ENABLE_TARGET_OBSERVATION)
-    message(WARNING "TargetPrediction deploy dependencies not found. Target observation support disabled.")
+    message(WARNING "TargetPrediction thirdparty target-observation dependencies not found. Target observation support disabled.")
 endif()
 
 # Find common dependencies
@@ -191,11 +193,11 @@ set(COMMON_LIBS
 if(ODIN_TARGET_OBSERVATION_READY)
     add_library(target_observation_processing STATIC
         src/target_observation_processing.cpp
-        ${TARGET_PREDICTION_DEPLOY_DIR}/YOLOs-CPP-TensorRT/include/yolos/core/cuda_preprocessing.cu
+        ${TARGET_PREDICTION_THIRDPARTY_DIR}/YOLOs-CPP-TensorRT/include/yolos/core/cuda_preprocessing.cu
     )
     target_include_directories(target_observation_processing PUBLIC
         include
-        ${TARGET_PREDICTION_DEPLOY_DIR}/YOLOs-CPP-TensorRT/include
+        ${TARGET_PREDICTION_THIRDPARTY_DIR}/YOLOs-CPP-TensorRT/include
         ${TENSORRT_INCLUDE_DIR}
     )
     target_link_libraries(target_observation_processing
diff --git a/launch_ROS2/odin1_ros2.launch.py b/launch_ROS2/odin1_ros2.launch.py
index 7f0b645..b582556 100644
--- a/launch_ROS2/odin1_ros2.launch.py
+++ b/launch_ROS2/odin1_ros2.launch.py
@@ -4,7 +4,7 @@ import os
 import yaml 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
@@ -78,6 +78,7 @@ def generate_launch_description():
     
     # Create launch description
     ld = LaunchDescription()
+    ld.add_action(SetEnvironmentVariable('RCUTILS_COLORIZED_OUTPUT', '1'))
     ld.add_action(config_file_arg)
     ld.add_action(rviz_config_arg)  # Add RViz configuration argument
     ld.add_action(host_sdk_node)
diff --git a/src/cloud_reprojection_ros.cpp b/src/cloud_reprojection_ros.cpp
index 0832729..bc87468 100644
--- a/src/cloud_reprojection_ros.cpp
+++ b/src/cloud_reprojection_ros.cpp
@@ -40,6 +40,11 @@ std::filesystem::path get_package_source_directory_from_file()
     return std::filesystem::path(__FILE__).parent_path().parent_path();
 }
 
+std::filesystem::path get_target_prediction_root_directory()
+{
+    return get_package_source_directory_from_file().parent_path().parent_path().parent_path().parent_path();
+}
+
 std::string format_vector3f(const Eigen::Vector3f& value)
 {
     std::ostringstream oss;
@@ -184,11 +189,11 @@ CloudReprojectionRosNode::CloudReprojectionRosNode(const rclcpp::NodeOptions& op
 void CloudReprojectionRosNode::loadParameters()
 {
     const auto package_path = get_package_source_directory_from_file();
-    const auto workspace_src_path = package_path.parent_path().parent_path().parent_path();
+    const auto target_prediction_root = get_target_prediction_root_directory();
     const auto default_yolo_engine =
-        (workspace_src_path / "TargetPrediction" / "deploy" / "model" / "yolo26s-pose.trt").string();
+        (target_prediction_root / "deploy" / "model" / "yolo26s-pose.trt").string();
     const auto default_yolo_labels =
-        (workspace_src_path / "TargetPrediction" / "deploy" / "YOLOs-CPP-TensorRT" / "models" / "coco.names").string();
+        (target_prediction_root / "thirdparty" / "YOLOs-CPP-TensorRT" / "models" / "coco.names").string();
 
     // Declare and get parameters
     this->declare_parameter<std::string>("cloud_slam_topic", "/odin1/cloud_slam");