diff --git a/.vscode/settings.json b/.vscode/settings.json
index bbfa7ebf..8dc586dd 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,7 +1,66 @@
 {
     "ros.distro": "humble",
     "files.associations": {
-        "chrono": "cpp"
+        "chrono": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "csignal": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "functional": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "memory": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "ostream": "cpp",
+        "ratio": "cpp",
+        "semaphore": "cpp",
+        "shared_mutex": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "thread": "cpp",
+        "type_traits": "cpp",
+        "tuple": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "utility": "cpp",
+        "variant": "cpp"
     },
     "python.autoComplete.extraPaths": [
         "/home/ubuntu/ros2_ws/install/px4_msgs/lib/python3.8/site-packages",
diff --git a/src/object_detection/src/lidar_reader.cpp b/src/object_detection/src/lidar_reader.cpp
index 6b33d620..919ab874 100644
--- a/src/object_detection/src/lidar_reader.cpp
+++ b/src/object_detection/src/lidar_reader.cpp
@@ -85,8 +85,8 @@ private:
   rclcpp::TimerBase::SharedPtr timer_;
 
   // terabee tower evo variables
-  terabee::ITerarangerTowerEvo tower;
-  terabee::ITerarangerFactory factory;
+  std::unique_ptr<terabee::ITerarangerTowerEvo> tower;
+  std::unique_ptr<terabee::ITerarangerFactory> factory;
 };
 
 int main(int argc, char *argv[])