diff --git a/mola_kernel/include/mola_kernel/interfaces/FrontEndBase.h b/mola_kernel/include/mola_kernel/interfaces/FrontEndBase.h
index b420a854..6a2e8117 100644
--- a/mola_kernel/include/mola_kernel/interfaces/FrontEndBase.h
+++ b/mola_kernel/include/mola_kernel/interfaces/FrontEndBase.h
@@ -31,7 +31,7 @@ namespace mola
  * - Use your own logic to enqueue a task into a worker thread pool (preferred).
  *
  * \ingroup mola_kernel_grp */
-class FrontEndBase : public ExecutableBase, RawDataConsumer
+class FrontEndBase : public ExecutableBase, public RawDataConsumer
 {
     DEFINE_VIRTUAL_MRPT_OBJECT(FrontEndBase)
 
diff --git a/mola_kernel/include/mola_kernel/interfaces/LocalizationSourceBase.h b/mola_kernel/include/mola_kernel/interfaces/LocalizationSourceBase.h
new file mode 100644
index 00000000..e2eccf8e
--- /dev/null
+++ b/mola_kernel/include/mola_kernel/interfaces/LocalizationSourceBase.h
@@ -0,0 +1,92 @@
+/* -------------------------------------------------------------------------
+ *   A Modular Optimization framework for Localization and mApping  (MOLA)
+ * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
+ * See LICENSE for license information.
+ * ------------------------------------------------------------------------- */
+/**
+ * @file   LocalizationSourceBase.h
+ * @brief  Virtual interface for SLAM/odometry methods publishing poses
+ * @author Jose Luis Blanco Claraco
+ * @date   Mar 13, 2024
+ */
+#pragma once
+
+#include <mrpt/core/Clock.h>
+#include <mrpt/core/lock_helper.h>
+#include <mrpt/math/CMatrixFixed.h>
+#include <mrpt/math/TPose3D.h>
+
+#include <functional>
+#include <iostream>
+#include <mutex>
+#include <optional>
+#include <string>
+#include <vector>
+
+namespace mola
+{
+/** Virtual interface for SLAM/odometry methods publishing poses.
+ *
+ * Publishers must call advertiseUpdatedLocalization(), subscribers
+ * must call subscribeToLocalizationUpdates() providing a callback that returns
+ * as fast as possible.
+ *
+ * \ingroup mola_kernel_grp */
+class LocalizationSourceBase
+{
+   public:
+    LocalizationSourceBase()          = default;
+    virtual ~LocalizationSourceBase() = default;
+
+    struct LocalizationUpdate
+    {
+        LocalizationUpdate() = default;
+
+        /** The timestamp associated to the new KeyFrame localization. */
+        mrpt::Clock::time_point timestamp;
+
+        /** Vehicle/robot pose is given wrt this frame of reference */
+        std::string reference_frame = "map";
+
+        /** The source of the localization (e.g. "slam", "lidar_odometry",
+         * "wheel_odometry", etc.) */
+        std::string method = "slam";
+
+        mrpt::math::TPose3D                        pose;
+        std::optional<mrpt::math::CMatrixDouble66> cov;
+    };
+
+    using localization_updates_callback_t =
+        std::function<void(const LocalizationUpdate&)>;
+
+    void subscribeToLocalizationUpdates(
+        const localization_updates_callback_t& callback)
+    {
+        auto lck = mrpt::lockHelper(locUpdSubsMtx_);
+        locUpdSubs_.push_back(callback);
+    }
+
+   protected:
+    void advertiseUpdatedLocalization(const LocalizationUpdate& l)
+    {
+        auto lck = mrpt::lockHelper(locUpdSubsMtx_);
+        for (const auto& callback : locUpdSubs_)
+        {
+            try
+            {
+                callback(l);
+            }
+            catch (const std::exception& e)
+            {
+                std::cerr << "[LocalizationSourceBase] Exception in callback: "
+                          << e.what();
+            }
+        }
+    }
+
+   private:
+    std::vector<localization_updates_callback_t> locUpdSubs_;
+    std::mutex                                   locUpdSubsMtx_;
+};
+
+}  // namespace mola
diff --git a/mola_kernel/include/mola_kernel/interfaces/MapSourceBase.h b/mola_kernel/include/mola_kernel/interfaces/MapSourceBase.h
new file mode 100644
index 00000000..7d883378
--- /dev/null
+++ b/mola_kernel/include/mola_kernel/interfaces/MapSourceBase.h
@@ -0,0 +1,84 @@
+/* -------------------------------------------------------------------------
+ *   A Modular Optimization framework for Localization and mApping  (MOLA)
+ * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
+ * See LICENSE for license information.
+ * ------------------------------------------------------------------------- */
+/**
+ * @file   MapSourceBase.h
+ * @brief  Virtual interface for SLAM/odometry methods publishing a map
+ * @author Jose Luis Blanco Claraco
+ * @date   Mar 13, 2024
+ */
+#pragma once
+
+#include <mrpt/maps/CMetricMap.h>
+
+#include <functional>
+#include <iostream>
+#include <mutex>
+#include <string>
+#include <vector>
+
+namespace mola
+{
+/** Virtual interface for SLAM/odometry methods publishing a map
+ *
+ * \ingroup mola_kernel_grp */
+class MapSourceBase
+{
+   public:
+    MapSourceBase()          = default;
+    virtual ~MapSourceBase() = default;
+
+    struct MapUpdate
+    {
+        MapUpdate() = default;
+
+        /** The timestamp associated to the new map information. */
+        mrpt::Clock::time_point timestamp;
+
+        /** Frame of reference for this map. */
+        std::string reference_frame = "map";
+
+        /** The source of the localization (e.g. "slam", "lidar_odometry",
+         * "wheel_odometry", etc.) */
+        std::string method = "slam";
+
+        /** Map layer/submap name */
+        std::string map_name = "local_map";
+
+        mrpt::maps::CMetricMap::Ptr map;
+    };
+
+    using map_updates_callback_t = std::function<void(const MapUpdate&)>;
+
+    void subscribeToMapUpdates(const map_updates_callback_t& callback)
+    {
+        auto lck = mrpt::lockHelper(mapUpdSubsMtx_);
+        mapUpdSubs_.push_back(callback);
+    }
+
+   protected:
+    void advertiseUpdatedMap(const MapUpdate& l)
+    {
+        auto lck = mrpt::lockHelper(mapUpdSubsMtx_);
+        for (const auto& callback : mapUpdSubs_)
+        {
+            try
+            {
+                callback(l);
+            }
+            catch (const std::exception& e)
+            {
+                std::cerr << "[MapSourceBase] Exception in callback: "
+                          << e.what();
+            }
+        }
+    }
+
+   private:
+    std::vector<map_updates_callback_t> mapUpdSubs_;
+    std::mutex                          mapUpdSubsMtx_;
+};
+
+}  // namespace mola