diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index ec50e74..c86f0bc 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -100,6 +100,9 @@ jobs:
           github:
             - path: jrl-umi3218/mc_rtc_data
         github: |
+          - path: gabime/spdlog
+            ref: v1.6.1
+            options: -DSPDLOG_BUILD_EXAMPLE:BOOL=OFF -DSPDLOG_BUILD_SHARED:BOOL=ON
           - path: humanoid-path-planner/hpp-spline
             ref: v4.7.0
             options: -DBUILD_PYTHON_INTERFACE:BOOL=OFF
diff --git a/.github/workflows/package.yml b/.github/workflows/package.yml
index 2203e42..54d7c38 100644
--- a/.github/workflows/package.yml
+++ b/.github/workflows/package.yml
@@ -1,38 +1,28 @@
+---
 name: Package mc-rtc-ros
-
-# This workflow only runs when pushing to master or pushing a tag
-#
-# On master, it will:
-# - Build packages for selected Debian/Ubuntu distro
-# - Upload the packages to https://dl.bintray.com/gergondet/multi-contact-head
-#
-# On tagged versions it will:
-# - Create a GitHub release draft
-# - Attach the sources to the release
-# - Build packages for selected Debian/Ubuntu distro
-# - Upload the packages to https://dl.bintray.com/gergondet/multi-contact
-# - Finalize the release
-
 on:
   repository_dispatch:
-    types: [package-master, package-release]
+    types:
+    - package-master
+    - package-release
+  pull_request:
+    branches:
+    - "**"
   push:
+    paths-ignore:
+    - ".gitlab-ci.yml"
+    - ".jrl-ci"
+    - README.md
+    - ".github/workflows/build.yml"
     branches:
-      - master
+    - "**"
     tags:
-      - v*
-
+    - v*
 jobs:
-  # For a given tag vX.Y.Z, this checks:
-  # - set(PROJECT_VERSION X.Y.Z) in CMakeLists.txt
-  # - version X.Y.Z in debian/changelog
-  # If these checks fail, the tag is automatically deleted
-  #
-  # This job does not run on the master branch
   check-tag:
     runs-on: ubuntu-18.04
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v2
       with:
         submodules: recursive
       if: startsWith(github.ref, 'refs/tags/')
@@ -56,57 +46,81 @@ jobs:
     - name: Notify tag deletion
       uses: archive/github-actions-slack@master
       with:
-        slack-bot-user-oauth-access-token: ${{ secrets.SLACK_BOT_TOKEN }}
-        slack-channel: '#ci'
-        slack-text: >
+        slack-bot-user-oauth-access-token: "${{ secrets.SLACK_BOT_TOKEN }}"
+        slack-channel: "#ci"
+        slack-text: |
           Tag *${{ github.ref }}* in *${{ github.repository }}* was deleted:
             ${{ env.REJECTION}}
       if: failure()
     - name: Create release
       uses: jrl-umi3218/github-actions/create-release@master
       with:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        tag: ${{ env.RELEASE_TAG }}
+        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
+        tag: "${{ env.RELEASE_TAG }}"
       if: startsWith(github.ref, 'refs/tags/')
-  # This job build binary packages for Ubuntu
   build-packages:
     needs: check-tag
     strategy:
       fail-fast: false
       matrix:
-        dist: [xenial, bionic]
-        arch: [i386, amd64]
+        dist:
+        - xenial
+        - bionic
+        - focal
+        arch:
+        - i386
+        - amd64
         exclude:
-          - dist: bionic
-            arch: i386
+        - dist: focal
+          arch: i386
     runs-on: ubuntu-18.04
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v2
       with:
         submodules: recursive
-    - name: Setup environment
+    - name: Choose extra mirror
       run: |
-        set -e
-        set -x
-        if [ "${{ github.event.action }}" == "package-master" ]
+        # We upload in all conditions except when building on PR or branch other than master
+        export PACKAGE_UPLOAD=true
+        if ${{ startsWith(github.ref, 'refs/tags/') }}
+        then
+          export USE_HEAD=false
+        elif [ "${{ github.event.action }}" == "package-master" ]
         then
-          export REF=master
+          export USE_HEAD=true
         elif [ "${{ github.event.action }}" == "package-release" ]
         then
+          export USE_HEAD=false
           export REF=`git tag --sort=committerdate --list 'v[0-9]*'|tail -1`
           git checkout $REF
           git submodule sync && git submodule update
         else
           export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
+          export USE_HEAD=true
+          if [ $REF != "master" ]
+          then
+            export PACKAGE_UPLOAD=false
+          fi
         fi
-        if [ $REF == "master" ]
+        if $USE_HEAD
         then
+          echo "::set-env name=BINTRAY_REPO::multi-contact-head"
+          echo "::set-env name=BINTRAY_VERSION::HEAD"
           echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-head"
+          echo "::set-env name=PACKAGE_JOB::package-master"
         else
+          echo "::set-env name=BINTRAY_REPO::multi-contact-release"
+          echo "::set-env name=BINTRAY_VERSION::${REF}"
           echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-release"
+          echo "::set-env name=PACKAGE_JOB::package-release"
         fi
+        echo "::set-env name=PACKAGE_UPLOAD::${PACKAGE_UPLOAD}"
+    - name: Setup ROS packages
+      run: |
+        set -x
         export PACKAGES_OUT=/tmp/packages-${{ matrix.dist }}-${{ matrix.arch }}
         export ROS_DISTRO=""
+        export PYTHON_EXECUTABLE=/usr/bin/python
         if [ "${{ matrix.dist }}" = "xenial" ]
         then
           export ROS_DISTRO="kinetic"
@@ -117,6 +131,13 @@ jobs:
           export ROS_DISTRO="melodic"
           export PACKAGES_OUT=${PACKAGES_OUT}-${ROS_DISTRO}
         fi
+        if [ "${{ matrix.dist }}" = "focal" ]
+        then
+          export PYTHON_EXECUTABLE=/usr/bin/python3
+          export ROS_DISTRO="noetic"
+          sed -i -e"s/python2.7/python3/" debian/rules.ros
+          export PACKAGES_OUT=${PACKAGES_OUT}-${ROS_DISTRO}
+        fi
         echo "::set-env name=ROS_DISTRO::${ROS_DISTRO}"
         echo "::set-env name=PACKAGES_OUT::${PACKAGES_OUT}"
         if [ "${ROS_DISTRO}" != "" ]
@@ -127,6 +148,7 @@ jobs:
           cat debian/control
           mv debian/rules.ros debian/rules
           sed -i -e"s/@ROS_DISTRO@/${ROS_DISTRO}/" debian/rules
+          sed -i -e"s#@PYTHON_EXECUTABLE@#${PYTHON_EXECUTABLE}#" debian/rules
           cat debian/rules
           sed -e"s/@ROS_DISTRO@/${ROS_DISTRO}/" debian/ros-ROS_DISTRO-mc-convex-visualization.install | tee -a debian/ros-${ROS_DISTRO}-mc-convex-visualization.install
           sed -e"s/@ROS_DISTRO@/${ROS_DISTRO}/" debian/ros-ROS_DISTRO-mc-log-visualization.install | tee -a debian/ros-${ROS_DISTRO}-mc-log-visualization.install
@@ -138,96 +160,142 @@ jobs:
     - name: Build package
       uses: jrl-umi3218/github-actions/build-package-native@master
       with:
-        dist: ${{ matrix.dist }}
-        arch: ${{ matrix.arch }}
-        ros-distro: ${{ env.ROS_DISTRO }}
-        other-mirrors: ${{ env.EXTRA_MIRROR }}
-        other-gpg-keys: "0x892EA6EE273707C6495A6FB6220D644C64666806"
+        dist: "${{ matrix.dist }}"
+        arch: "${{ matrix.arch }}"
+        ros-distro: "${{ env.ROS_DISTRO }}"
+        other-mirrors: "${{ env.EXTRA_MIRROR }}"
+        other-gpg-keys: '0x892EA6EE273707C6495A6FB6220D644C64666806'
     - uses: actions/upload-artifact@v1
       with:
         name: packages-${{ matrix.dist }}-${{ matrix.arch }}
-        path: ${{ env.PACKAGES_OUT }}
-  # This job upload binary packages for Ubuntu
+        path: "${{ env.PACKAGES_OUT }}"
+      if: env.PACKAGE_UPLOAD == 'true'
   upload-packages:
     needs: build-packages
     strategy:
       max-parallel: 1
       fail-fast: false
       matrix:
-        dist: [xenial, bionic]
-        arch: [i386, amd64]
+        dist:
+        - xenial
+        - bionic
+        - focal
+        arch:
+        - i386
+        - amd64
         exclude:
-          - dist: bionic
-            arch: i386
+        - dist: focal
+          arch: i386
     runs-on: ubuntu-18.04
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v2
       with:
         submodules: recursive
-    - name: Set upload parameters
+    - name: Choose extra mirror
       run: |
-        if [ "${{ github.event.action }}" == "package-master" ]
+        # We upload in all conditions except when building on PR or branch other than master
+        export PACKAGE_UPLOAD=true
+        if ${{ startsWith(github.ref, 'refs/tags/') }}
         then
-          export REF=master
+          export USE_HEAD=false
+        elif [ "${{ github.event.action }}" == "package-master" ]
+        then
+          export USE_HEAD=true
         elif [ "${{ github.event.action }}" == "package-release" ]
         then
+          export USE_HEAD=false
           export REF=`git tag --sort=committerdate --list 'v[0-9]*'|tail -1`
+          git checkout $REF
+          git submodule sync && git submodule update
         else
           export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
+          export USE_HEAD=true
+          if [ $REF != "master" ]
+          then
+            export PACKAGE_UPLOAD=false
+          fi
         fi
-        if [ $REF == "master" ]
+        if $USE_HEAD
         then
           echo "::set-env name=BINTRAY_REPO::multi-contact-head"
           echo "::set-env name=BINTRAY_VERSION::HEAD"
+          echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-head"
+          echo "::set-env name=PACKAGE_JOB::package-master"
         else
           echo "::set-env name=BINTRAY_REPO::multi-contact-release"
           echo "::set-env name=BINTRAY_VERSION::${REF}"
+          echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-release"
+          echo "::set-env name=PACKAGE_JOB::package-release"
         fi
+        echo "::set-env name=PACKAGE_UPLOAD::${PACKAGE_UPLOAD}"
     - name: Download packages
       uses: actions/download-artifact@v1
       with:
         name: packages-${{ matrix.dist }}-${{ matrix.arch }}
+      if: env.PACKAGE_UPLOAD == 'true'
     - name: Upload
       uses: jrl-umi3218/github-actions/upload-package@master
       with:
-        dist: ${{ matrix.dist }}
-        arch: ${{ matrix.arch }}
+        dist: "${{ matrix.dist }}"
+        arch: "${{ matrix.arch }}"
         subject: gergondet
-        repo: ${{ env.BINTRAY_REPO }}
+        repo: "${{ env.BINTRAY_REPO }}"
         package: |
           name: mc-rtc-ros
           desc: "mc_rtc tools based on the ROS framework"
           licenses: [BSD 2-Clause]
           vcs_url: https://github.com/jrl-umi3218/mc_rtc_ros
-        version: ${{ env.BINTRAY_VERSION }}
+        version: "${{ env.BINTRAY_VERSION }}"
         path: packages-${{ matrix.dist }}-${{ matrix.arch }}
-        BINTRAY_API_KEY: ${{ secrets.BINTRAY_API_KEY }}
-        GPG_PASSPHRASE: ${{ secrets.GPG_PASSPHRASE }}
-  # This job forces a mirror sync
+        BINTRAY_API_KEY: "${{ secrets.BINTRAY_API_KEY }}"
+        GPG_PASSPHRASE: "${{ secrets.GPG_PASSPHRASE }}"
+      if: env.PACKAGE_UPLOAD == 'true'
   mirror-sync:
     needs: upload-packages
     runs-on: ubuntu-18.04
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v2
       with:
         submodules: recursive
-    - name: Set repository parameters
+    - name: Choose extra mirror
       run: |
-        if [ "${{ github.event.action }}" == "package-master" ]
+        # We upload in all conditions except when building on PR or branch other than master
+        export PACKAGE_UPLOAD=true
+        if ${{ startsWith(github.ref, 'refs/tags/') }}
+        then
+          export USE_HEAD=false
+        elif [ "${{ github.event.action }}" == "package-master" ]
         then
-          export REF=master
+          export USE_HEAD=true
         elif [ "${{ github.event.action }}" == "package-release" ]
         then
+          export USE_HEAD=false
           export REF=`git tag --sort=committerdate --list 'v[0-9]*'|tail -1`
+          git checkout $REF
+          git submodule sync && git submodule update
         else
           export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
+          export USE_HEAD=true
+          if [ $REF != "master" ]
+          then
+            export PACKAGE_UPLOAD=false
+          fi
         fi
-        if [ $REF == "master" ]
+        if $USE_HEAD
         then
           echo "::set-env name=BINTRAY_REPO::multi-contact-head"
+          echo "::set-env name=BINTRAY_VERSION::HEAD"
+          echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-head"
+          echo "::set-env name=PACKAGE_JOB::package-master"
         else
           echo "::set-env name=BINTRAY_REPO::multi-contact-release"
+          echo "::set-env name=BINTRAY_VERSION::${REF}"
+          echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-release"
+          echo "::set-env name=PACKAGE_JOB::package-release"
         fi
+        echo "::set-env name=PACKAGE_UPLOAD::${PACKAGE_UPLOAD}"
     - name: Request mirror sync
-      run: |
-        curl -ugergondet:${{ secrets.BINTRAY_API_KEY }} --header "X-GPG-PASSPHRASE: ${{ secrets.GPG_PASSPHRASE }}" -X POST https://api.bintray.com/calc_metadata/gergondet/${{ env.BINTRAY_REPO }}
+      run: 'curl -ugergondet:${{ secrets.BINTRAY_API_KEY }} --header "X-GPG-PASSPHRASE: ${{ secrets.GPG_PASSPHRASE }}" -X POST https://api.bintray.com/calc_metadata/gergondet/${{ env.BINTRAY_REPO }}
+
+'
+      if: env.PACKAGE_UPLOAD == 'true'
diff --git a/.github/workflows/sources/package.yml b/.github/workflows/sources/package.yml
new file mode 100644
index 0000000..6b34bb9
--- /dev/null
+++ b/.github/workflows/sources/package.yml
@@ -0,0 +1,242 @@
+name: Package mc-rtc-ros
+
+# On any branch/pull request it will:
+# - Build packages for selected Debian/Ubuntu distros
+#
+# On master, it will additionally:
+# - Build packages for selected Debian/Ubuntu distro
+# - Upload the packages to https://dl.bintray.com/gergondet/multi-contact-head
+#
+# On tagged versions it will:
+# - Create a GitHub release draft
+# - Attach the sources to the release
+# - Build packages for selected Debian/Ubuntu distro
+# - Upload the packages to https://dl.bintray.com/gergondet/multi-contact
+#
+# On package-master trigger, it will rebuild and upload the latest master package
+#
+# On package-release trigger, it will rebuild and upload the latest release package
+
+on:
+  repository_dispatch:
+    types: [package-master, package-release]
+  pull_request:
+    branches:
+    - "**"
+  push:
+    paths-ignore:
+      # Changes to those files don't mandate rebuilding a package
+      - ".gitlab-ci.yml"
+      - ".jrl-ci"
+      - "README.md"
+      - ".github/workflows/build.yml"
+    branches:
+      - '**'
+    tags:
+      - v*
+
+jobs:
+  # For a given tag vX.Y.Z, this checks:
+  # - set(PROJECT_VERSION X.Y.Z) in CMakeLists.txt
+  # - version X.Y.Z in debian/changelog
+  # If these checks fail, the tag is automatically deleted
+  #
+  # This job does not run on the master branch
+  check-tag:
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: recursive
+      if: startsWith(github.ref, 'refs/tags/')
+    - name: Check version coherency
+      run: |
+        set -x
+        export VERSION=`echo ${{ github.ref }} | sed -e 's@refs/tags/v@@'`
+        echo "::set-env name=REJECTION::PROJECT_VERSION in CMakeLists.txt does not match tag"
+        grep -q "project(mc_rtc_ros VERSION ${VERSION})" CMakeLists.txt
+        echo "::set-env name=REJECTION::Upstream version in debian/changelog does not match tag"
+        head -n 1 debian/changelog | grep -q "mc-rtc-ros (${VERSION}"
+        echo "::set-env name=REJECTION::"
+        export TAG=`echo ${{ github.ref }} | sed -e 's@refs/tags/@@'`
+        echo "::set-env name=RELEASE_TAG::${TAG}"
+      if: startsWith(github.ref, 'refs/tags/')
+    - name: Delete tag
+      run: |
+        set -x
+        curl --header 'authorization: Bearer ${{ secrets.GITHUB_TOKEN }}' -X DELETE https://api.github.com/repos/${{ github.repository }}/git/${{ github.ref }}
+      if: failure()
+    - name: Notify tag deletion
+      uses: archive/github-actions-slack@master
+      with:
+        slack-bot-user-oauth-access-token: ${{ secrets.SLACK_BOT_TOKEN }}
+        slack-channel: '#ci'
+        slack-text: >
+          Tag *${{ github.ref }}* in *${{ github.repository }}* was deleted:
+            ${{ env.REJECTION}}
+      if: failure()
+    - name: Create release
+      uses: jrl-umi3218/github-actions/create-release@master
+      with:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        tag: ${{ env.RELEASE_TAG }}
+      if: startsWith(github.ref, 'refs/tags/')
+  # This job build binary packages for Ubuntu
+  build-packages:
+    needs: check-tag
+    strategy:
+      fail-fast: false
+      matrix: &package-matrix
+        dist: [xenial, bionic, focal]
+        arch: [i386, amd64]
+        exclude:
+          - dist: focal
+            arch: i386
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: recursive
+    - &choose-extra-mirror
+      name: Choose extra mirror
+      run: |
+        # We upload in all conditions except when building on PR or branch other than master
+        export PACKAGE_UPLOAD=true
+        if ${{ startsWith(github.ref, 'refs/tags/') }}
+        then
+          export USE_HEAD=false
+        elif [ "${{ github.event.action }}" == "package-master" ]
+        then
+          export USE_HEAD=true
+        elif [ "${{ github.event.action }}" == "package-release" ]
+        then
+          export USE_HEAD=false
+          export REF=`git tag --sort=committerdate --list 'v[0-9]*'|tail -1`
+          git checkout $REF
+          git submodule sync && git submodule update
+        else
+          export REF=`echo ${{ github.ref }} | sed -e 's@refs/[a-z]*/@@'`
+          export USE_HEAD=true
+          if [ $REF != "master" ]
+          then
+            export PACKAGE_UPLOAD=false
+          fi
+        fi
+        if $USE_HEAD
+        then
+          echo "::set-env name=BINTRAY_REPO::multi-contact-head"
+          echo "::set-env name=BINTRAY_VERSION::HEAD"
+          echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-head"
+          echo "::set-env name=PACKAGE_JOB::package-master"
+        else
+          echo "::set-env name=BINTRAY_REPO::multi-contact-release"
+          echo "::set-env name=BINTRAY_VERSION::${REF}"
+          echo "::set-env name=EXTRA_MIRROR::https://dl.bintray.com/gergondet/multi-contact-release"
+          echo "::set-env name=PACKAGE_JOB::package-release"
+        fi
+        echo "::set-env name=PACKAGE_UPLOAD::${PACKAGE_UPLOAD}"
+    - name: Setup ROS packages
+      run: |
+        set -x
+        export PACKAGES_OUT=/tmp/packages-${{ matrix.dist }}-${{ matrix.arch }}
+        export ROS_DISTRO=""
+        export PYTHON_EXECUTABLE=/usr/bin/python
+        if [ "${{ matrix.dist }}" = "xenial" ]
+        then
+          export ROS_DISTRO="kinetic"
+          export PACKAGES_OUT=${PACKAGES_OUT}-${ROS_DISTRO}
+        fi
+        if [ "${{ matrix.dist }}" = "bionic" -a "${{ matrix.arch }}" = "amd64" ]
+        then
+          export ROS_DISTRO="melodic"
+          export PACKAGES_OUT=${PACKAGES_OUT}-${ROS_DISTRO}
+        fi
+        if [ "${{ matrix.dist }}" = "focal" ]
+        then
+          export PYTHON_EXECUTABLE=/usr/bin/python3
+          export ROS_DISTRO="noetic"
+          sed -i -e"s/python2.7/python3/" debian/rules.ros
+          export PACKAGES_OUT=${PACKAGES_OUT}-${ROS_DISTRO}
+        fi
+        echo "::set-env name=ROS_DISTRO::${ROS_DISTRO}"
+        echo "::set-env name=PACKAGES_OUT::${PACKAGES_OUT}"
+        if [ "${ROS_DISTRO}" != "" ]
+        then
+          sed -i -e"s/# ros-@ROS_DISTRO@/ ros-${ROS_DISTRO}/" debian/control
+          sed -i -e"s/@ROS_DISTRO@/${ROS_DISTRO}/" debian/control.ros
+          cat debian/control.ros >> debian/control
+          cat debian/control
+          mv debian/rules.ros debian/rules
+          sed -i -e"s/@ROS_DISTRO@/${ROS_DISTRO}/" debian/rules
+          sed -i -e"s#@PYTHON_EXECUTABLE@#${PYTHON_EXECUTABLE}#" debian/rules
+          cat debian/rules
+          sed -e"s/@ROS_DISTRO@/${ROS_DISTRO}/" debian/ros-ROS_DISTRO-mc-convex-visualization.install | tee -a debian/ros-${ROS_DISTRO}-mc-convex-visualization.install
+          sed -e"s/@ROS_DISTRO@/${ROS_DISTRO}/" debian/ros-ROS_DISTRO-mc-log-visualization.install | tee -a debian/ros-${ROS_DISTRO}-mc-log-visualization.install
+          sed -e"s/@ROS_DISTRO@/${ROS_DISTRO}/" debian/ros-ROS_DISTRO-mc-rtc-ticker.install | tee -a debian/ros-${ROS_DISTRO}-mc-rtc-ticker.install
+          sed -e"s/@ROS_DISTRO@/${ROS_DISTRO}/" debian/ros-ROS_DISTRO-mc-rtc-rviz-panel.install | tee -a debian/ros-${ROS_DISTRO}-mc-rtc-rviz-panel.install
+          sed -e"s/@ROS_DISTRO@/${ROS_DISTRO}/" debian/ros-ROS_DISTRO-mc-surfaces-visualization.install | tee -a debian/ros-${ROS_DISTRO}-mc-surfaces-visualization.install
+          ls debian
+        fi
+    - name: Build package
+      uses: jrl-umi3218/github-actions/build-package-native@master
+      with:
+        dist: ${{ matrix.dist }}
+        arch: ${{ matrix.arch }}
+        ros-distro: ${{ env.ROS_DISTRO }}
+        other-mirrors: ${{ env.EXTRA_MIRROR }}
+        other-gpg-keys: "0x892EA6EE273707C6495A6FB6220D644C64666806"
+    - uses: actions/upload-artifact@v1
+      with:
+        name: packages-${{ matrix.dist }}-${{ matrix.arch }}
+        path: ${{ env.PACKAGES_OUT }}
+      if: env.PACKAGE_UPLOAD == 'true'
+  # This job upload binary packages for Ubuntu
+  upload-packages:
+    needs: build-packages
+    strategy:
+      max-parallel: 1
+      fail-fast: false
+      matrix: *package-matrix
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: recursive
+    - name: Set upload parameters
+      <<: *choose-extra-mirror
+    - name: Download packages
+      uses: actions/download-artifact@v1
+      with:
+        name: packages-${{ matrix.dist }}-${{ matrix.arch }}
+      if: env.PACKAGE_UPLOAD == 'true'
+    - name: Upload
+      uses: jrl-umi3218/github-actions/upload-package@master
+      with:
+        dist: ${{ matrix.dist }}
+        arch: ${{ matrix.arch }}
+        subject: gergondet
+        repo: ${{ env.BINTRAY_REPO }}
+        package: |
+          name: mc-rtc-ros
+          desc: "mc_rtc tools based on the ROS framework"
+          licenses: [BSD 2-Clause]
+          vcs_url: https://github.com/jrl-umi3218/mc_rtc_ros
+        version: ${{ env.BINTRAY_VERSION }}
+        path: packages-${{ matrix.dist }}-${{ matrix.arch }}
+        BINTRAY_API_KEY: ${{ secrets.BINTRAY_API_KEY }}
+        GPG_PASSPHRASE: ${{ secrets.GPG_PASSPHRASE }}
+      if: env.PACKAGE_UPLOAD == 'true'
+  # This job triggers a mirror sync and dependent rebuilds
+  mirror-sync:
+    needs: upload-packages
+    runs-on: ubuntu-18.04
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: recursive
+    - name: Set repository parameters
+      <<: *choose-extra-mirror
+    - name: Request mirror sync
+      run: |
+        curl -ugergondet:${{ secrets.BINTRAY_API_KEY }} --header "X-GPG-PASSPHRASE: ${{ secrets.GPG_PASSPHRASE }}" -X POST https://api.bintray.com/calc_metadata/gergondet/${{ env.BINTRAY_REPO }}
+      if: env.PACKAGE_UPLOAD == 'true'
diff --git a/.github/workflows/sources/setup.rb b/.github/workflows/sources/setup.rb
new file mode 100755
index 0000000..2113ae7
--- /dev/null
+++ b/.github/workflows/sources/setup.rb
@@ -0,0 +1,10 @@
+#!/usr/bin/env ruby
+
+require "yaml"
+require "json"
+
+data = File.open(File.expand_path("package.yml", __dir__)).read().gsub(/^on:$/, "\"on\":");
+yaml = YAML.load(data)
+
+out = YAML.load(yaml.to_json).to_yaml(line_width: 1024).gsub(/^'on':$/, "on:");
+File.write(File.expand_path("../package.yml", __dir__), out)
diff --git a/debian/rules.ros b/debian/rules.ros
index 9a5397b..6666c2b 100644
--- a/debian/rules.ros
+++ b/debian/rules.ros
@@ -13,7 +13,7 @@ TMP = $(CURDIR)/debian/tmp
 	dh $@
 
 override_dh_auto_configure:
-	dh_auto_configure -- -DCMAKE_INSTALL_PREFIX=/opt/ros/@ROS_DISTRO@ -DBUILD_ROS_FREE_GUI:BOOL=ON
+	dh_auto_configure -- -DCMAKE_INSTALL_PREFIX=/opt/ros/@ROS_DISTRO@ -DBUILD_ROS_FREE_GUI:BOOL=ON -DPYTHON_EXECUTABLE=@PYTHON_EXECUTABLE@
 
 override_dh_auto_install:
 	dh_auto_install --destdir=$(TMP)
diff --git a/mc_log_visualization/src/mc_log_visualization.cpp b/mc_log_visualization/src/mc_log_visualization.cpp
index fe9635e..8453828 100644
--- a/mc_log_visualization/src/mc_log_visualization.cpp
+++ b/mc_log_visualization/src/mc_log_visualization.cpp
@@ -49,7 +49,7 @@ int main(int argc, char * argv[])
   auto nh = mc_rtc::ROSBridge::get_node_handle();
   if(!nh)
   {
-    LOG_ERROR_AND_THROW(std::runtime_error, "Failed to initialized node handle")
+    mc_rtc::log::error_and_throw<std::runtime_error>("Failed to initialized node handle");
   }
 
   ros::NodeHandle nh_private("~");
@@ -74,13 +74,13 @@ int main(int argc, char * argv[])
     }
     else
     {
-      LOG_ERROR_AND_THROW(std::runtime_error, "log_visualization cannot handle the robot_params it was given")
+      mc_rtc::log::error_and_throw<std::runtime_error>("log_visualization cannot handle the robot_params it was given");
     }
   }
   double dt = 0.005;
   getParam(nh_private, "dt", dt);
 
-  LOG_INFO("Replaying log: " << log)
+  mc_rtc::log::info("Replaying log: {}", log);
   LogPublisher appli(*nh, log, mod, dt);
   appli.run();
 
diff --git a/mc_rtc_rviz_panel/src/ArrowInteractiveMarkerWidget.cpp b/mc_rtc_rviz_panel/src/ArrowInteractiveMarkerWidget.cpp
index bad75c8..7fee902 100644
--- a/mc_rtc_rviz_panel/src/ArrowInteractiveMarkerWidget.cpp
+++ b/mc_rtc_rviz_panel/src/ArrowInteractiveMarkerWidget.cpp
@@ -71,14 +71,14 @@ void ArrowInteractiveMarkerWidget::update(const Eigen::Vector3d & start,
 {
   if(!is_in_range(start))
   {
-    LOG_ERROR("Could not display arrow " << id2name(id()) << ": invalid value in start coordinates ("
-                                         << start.transpose() << ")");
+    mc_rtc::log::error("Could not display arrow {}: invalid value in start coordinates ({})", id2name(id()),
+                       start.transpose());
     return;
   }
   if(!is_in_range(end))
   {
-    LOG_ERROR("Could not display arrow " << id2name(id()) << ": invalid value in end coordinates (" << end.transpose()
-                                         << ")");
+    mc_rtc::log::error("Could not display arrow {}: invalid value in end coordinates ({})", id2name(id()),
+                       end.transpose());
     return;
   }
 
diff --git a/mc_rtc_rviz_panel/src/DisplayTrajectoryWidget.cpp b/mc_rtc_rviz_panel/src/DisplayTrajectoryWidget.cpp
index 8050e67..a611e6d 100644
--- a/mc_rtc_rviz_panel/src/DisplayTrajectoryWidget.cpp
+++ b/mc_rtc_rviz_panel/src/DisplayTrajectoryWidget.cpp
@@ -41,8 +41,8 @@ void DisplayTrajectoryWidget::update(const std::vector<Eigen::Vector3d> & points
   {
     if(!is_in_range(p))
     {
-      LOG_ERROR("Could not display trajectory " << id2name(id()) << ": invalid value in coordinates (" << p.transpose()
-                                                << ")");
+      mc_rtc::log::error("Could not display trajectory {}: invalid value in coordinates ({})", id2name(id()),
+                         p.transpose());
       return;
     }
     geometry_msgs::Point pose;
@@ -64,8 +64,8 @@ void DisplayTrajectoryWidget::update(const std::vector<sva::PTransformd> & point
     const auto & p = point.translation();
     if(!is_in_range(p))
     {
-      LOG_ERROR("Could not display trajectory " << id2name(id()) << ": invalid value in coordinates (" << p.transpose()
-                                                << ")");
+      mc_rtc::log::error("Could not display trajectory {}: invalid value in coordinates ({})", id2name(id()),
+                         p.transpose());
       return;
     }
     geometry_msgs::Point pose;
@@ -82,8 +82,8 @@ void DisplayTrajectoryWidget::update(const Eigen::Vector3d & point, const mc_rtc
 {
   if(!is_in_range(point))
   {
-    LOG_ERROR("Could not display trajectory " << id2name(id()) << ": invalid value in coordinates ("
-                                              << point.transpose() << ")");
+    mc_rtc::log::error("Could not display trajectory {}: invalid value in coordinates ({})", id2name(id()),
+                       point.transpose());
     return;
   }
   geometry_msgs::Point pose;
@@ -100,8 +100,8 @@ void DisplayTrajectoryWidget::update(const sva::PTransformd & point, const mc_rt
   const auto & p = point.translation();
   if(!is_in_range(p))
   {
-    LOG_ERROR("Could not display trajectory " << id2name(id()) << ": invalid value in coordinates (" << p.transpose()
-                                              << ")");
+    mc_rtc::log::error("Could not display trajectory {}: invalid value in coordinates ({})", id2name(id()),
+                       p.transpose());
     return;
   }
   configure(config);
diff --git a/mc_rtc_rviz_panel/src/Panel.cpp b/mc_rtc_rviz_panel/src/Panel.cpp
index 43362cd..2900930 100644
--- a/mc_rtc_rviz_panel/src/Panel.cpp
+++ b/mc_rtc_rviz_panel/src/Panel.cpp
@@ -85,13 +85,13 @@ void savePanelConfiguration(const mc_rtc::Configuration & config)
   }
   if(!bfs::is_directory(config_directory))
   {
-    LOG_ERROR("Cannot save configuration to " << config_directory << ", " << config_directory << " is not a directory")
+    mc_rtc::log::error("Cannot save configuration to {}, {} is not a directory", config_directory, config_directory);
     return;
   }
   auto config_path = getConfigPath();
   if(bfs::exists(config_path) && !bfs::is_regular(config_path))
   {
-    LOG_ERROR("Cannot save configuration to " << config_path << ", " << config_path << " is not a regular file")
+    mc_rtc::log::error("Cannot save configuration to {}, {} is not a regular file", config_path, config_path);
     return;
   }
   config.save(config_path.string());
@@ -991,7 +991,7 @@ void Panel::contextMenu_editConnection()
     }
     catch(std::runtime_error & exc)
     {
-      LOG_ERROR("Reconnection failed with provided URIs")
+      mc_rtc::log::error("Reconnection failed with provided URIs");
       exc.what();
       return;
     }
diff --git a/mc_rtc_rviz_panel/src/PolygonMarkerWidget.cpp b/mc_rtc_rviz_panel/src/PolygonMarkerWidget.cpp
index df0c5ed..2ffdf7e 100644
--- a/mc_rtc_rviz_panel/src/PolygonMarkerWidget.cpp
+++ b/mc_rtc_rviz_panel/src/PolygonMarkerWidget.cpp
@@ -66,7 +66,7 @@ void PolygonMarkerWidget::update(const std::string & ns,
   {
     if(!is_in_range(point))
     {
-      LOG_ERROR("Could not display polygon " << ns << ": invalid value in coordinates (" << point.transpose() << ")");
+      mc_rtc::log::error("Could not display polygon {}: invalid value in coordinates ({})", ns, point.transpose());
       return;
     }
     geometry_msgs::Point p;
diff --git a/mc_rtc_rviz_panel/src/Schema.cpp b/mc_rtc_rviz_panel/src/Schema.cpp
index 9992403..0b206ee 100644
--- a/mc_rtc_rviz_panel/src/Schema.cpp
+++ b/mc_rtc_rviz_panel/src/Schema.cpp
@@ -157,8 +157,8 @@ void Schema::init(const mc_rtc::Configuration & s,
     {
       if(type != "string")
       {
-        LOG_WARNING("Property " << k << " in " << source << " has unknown or missing type (value: " << type
-                                << "), treating as string")
+        mc_rtc::log::warning("Property {} in {} has unknown or missing type (value: {}), treating as string", k, source,
+                             type);
       }
       static const std::unordered_map<std::string, std::string> surface_keys = {
           {"surface", "$robot"}, {"r1Surface", "$r1"}, {"r2Surface", "$r2"}};
@@ -225,8 +225,9 @@ void Schema::init(const mc_rtc::Configuration & s,
     {
       if(type != "string")
       {
-        LOG_WARNING("Property " << k << " in " << source << " has unknonw or missing array items' type (value: " << type
-                                << "), treating as string")
+        mc_rtc::log::warning(
+            "Property {} in {} has unknown or missing array items' type (value: {}), treating as string", k, source,
+            type);
       }
       create_form = [cf, k, required, min, max](QWidget * parent, const mc_rtc::Configuration & data) {
         auto v = cf(parent, data);
@@ -249,7 +250,7 @@ void Schema::init(const mc_rtc::Configuration & s,
                           const char * desc, const std::string & k, bool required, const mc_rtc::Configuration & c) {
     if(!c.has("items"))
     {
-      LOG_WARNING(desc << k << " in " << source << " is an array but items are not specified")
+      mc_rtc::log::warning("{}{} in {} is an array but items are not specified", desc, k, source);
     }
     auto items = c("items");
     int minItems = c("minItems", 0);
@@ -281,13 +282,13 @@ void Schema::init(const mc_rtc::Configuration & s,
     }
     else
     {
-      LOG_WARNING(desc << k << " in " << source << " is an array but items' type is not specified")
+      mc_rtc::log::warning("{}{} in {} is an array but items' type is not specified", desc, k, source);
     }
   };
   auto handle_object = [&](const std::string & title, const mc_rtc::Configuration & schema) {
     if(!schema.has("properties"))
     {
-      LOG_WARNING(title << " in " << source << " is an object without properties")
+      mc_rtc::log::warning("{} in {} is an object without properties", title, source);
       return;
     }
     auto properties = schema("properties");
@@ -332,7 +333,7 @@ void Schema::init(const mc_rtc::Configuration & s,
       }
       else
       {
-        LOG_ERROR("Cannot handle property " << k << " in " << source << ": " << prop.dump())
+        mc_rtc::log::error("Cannot handle property {} in {}: {}", k, source, prop.dump());
       }
     }
   };
@@ -343,7 +344,7 @@ void Schema::init(const mc_rtc::Configuration & s,
   }
   if(!s.has("type"))
   {
-    LOG_ERROR("No type entry for " << title_ << " in " << source)
+    mc_rtc::log::error("No type entry for {} in {}", title, source);
   }
   std::string type = s("type");
   if(type == "object")
diff --git a/mc_rtc_rviz_panel/src/SchemaWidget.cpp b/mc_rtc_rviz_panel/src/SchemaWidget.cpp
index c078e9b..1900042 100644
--- a/mc_rtc_rviz_panel/src/SchemaWidget.cpp
+++ b/mc_rtc_rviz_panel/src/SchemaWidget.cpp
@@ -26,7 +26,7 @@ SchemaWidget::SchemaWidget(const ClientWidgetParam & params,
   schema_path /= schema;
   if(!bfs::exists(schema_path))
   {
-    LOG_ERROR("Schema path: " << schema_path.string() << " does not exist in this machine")
+    mc_rtc::log::error("Schema path: {} does not exist in this machine", schema_path.string());
     return;
   }
   bfs::directory_iterator dit(schema_path), endit;
diff --git a/mc_rtc_ticker/src/mc_rtc_ticker.cpp b/mc_rtc_ticker/src/mc_rtc_ticker.cpp
index 02673be..20a615a 100644
--- a/mc_rtc_ticker/src/mc_rtc_ticker.cpp
+++ b/mc_rtc_ticker/src/mc_rtc_ticker.cpp
@@ -51,14 +51,14 @@ int main()
   if(nh.hasParam("mc_rtc_ticker/conf"))
   {
     conf = getParam<std::string>(nh, "mc_rtc_ticker/conf");
-    LOG_INFO("Configuring mc_rtc with " << conf)
+    mc_rtc::log::info("Configuring mc_rtc with {}", conf);
   }
 
   if(mc_rtc::MC_RTC_VERSION != mc_rtc::version())
   {
-    LOG_ERROR("mc_rtc_ticker was compiled with "
-              << mc_rtc::MC_RTC_VERSION << " but mc_rtc is at version " << mc_rtc::version()
-              << ", you might face subtle issues or unexpected crashes, please recompile mc_rtc_ticker")
+    mc_rtc::log::error("mc_rtc_ticker was compiled with {} but mc_rtc is at version {}, you might face subtle issues "
+                       "or unexpected crashes, please recompile mc_rtc_ticker",
+                       mc_rtc::MC_RTC_VERSION, mc_rtc::version());
   }
 
   mc_control::MCGlobalController controller(conf);
@@ -93,7 +93,7 @@ int main()
   controller.setEncoderValues(q);
   if(nh.hasParam("mc_rtc_ticker/init_pos"))
   {
-    LOG_INFO("Using initial pos from ROS param")
+    mc_rtc::log::info("Using initial pos from ROS param");
     std::vector<double> pos = getParam<std::vector<double>>(nh, "mc_rtc_ticker/init_pos");
     for(const auto & pi : pos)
     {
@@ -110,6 +110,37 @@ int main()
   }
   controller.running = true;
 
+  bool stepByStep = getParam(nh, "mc_rtc_ticker/stepByStep", false);
+  size_t nextStep = 0;
+  auto gui = controller.controller().gui();
+  auto toogleStepByStep = [&]() {
+    if(stepByStep)
+    {
+      stepByStep = false;
+    }
+    else
+    {
+      nextStep = 0;
+      stepByStep = true;
+    }
+  };
+  if(gui)
+  {
+    gui->addElement({"mc_rtc_ticker"},
+                    mc_rtc::gui::Checkbox("Step by step", [&]() { return stepByStep; }, [&]() { toogleStepByStep(); }));
+    auto dt = controller.timestep();
+    auto buttonText = [&](size_t n) {
+      size_t n_ms = std::ceil(n * 1000 * dt);
+      return "+" + std::to_string(n_ms) + "ms";
+    };
+    gui->addElement({"mc_rtc_ticker"}, mc_rtc::gui::ElementsStacking::Horizontal,
+                    mc_rtc::gui::Button(buttonText(1), [&]() { nextStep = 1; }),
+                    mc_rtc::gui::Button(buttonText(5), [&]() { nextStep = 5; }),
+                    mc_rtc::gui::Button(buttonText(10), [&]() { nextStep = 10; }),
+                    mc_rtc::gui::Button(buttonText(50), [&]() { nextStep = 20; }),
+                    mc_rtc::gui::Button(buttonText(100), [&]() { nextStep = 100; }));
+  }
+
   const bool bench = getParam(nh, "mc_rtc_ticker/bench", false);
   std::chrono::time_point<std::chrono::system_clock> begin, end;
   std::vector<std::chrono::duration<double>> solve_dt(0);
@@ -170,6 +201,21 @@ int main()
       }
     });
   }
+
+  auto runController = [&]() {
+    controller.setEncoderValues(q);
+    if(controller.run() && cfp_ptr)
+    {
+      cfp_ptr->update();
+    }
+  };
+
+  auto updateGUI = [&]() {
+    controller.running = false;
+    controller.run();
+    controller.running = true;
+  };
+
   while(ros::ok())
   {
     if(bench)
@@ -191,10 +237,21 @@ int main()
         }
       }
     }
-    controller.setEncoderValues(q);
-    if(controller.run() && cfp_ptr)
+    if(stepByStep)
     {
-      cfp_ptr->update();
+      if(nextStep > 0)
+      {
+        nextStep--;
+        runController();
+      }
+      else
+      {
+        updateGUI();
+      }
+    }
+    else
+    {
+      runController();
     }
     if(bench)
     {