diff --git a/doc/installation/installation.md b/doc/installation/installation.md
index 71c1864..9c498b9 100644
--- a/doc/installation/installation.md
+++ b/doc/installation/installation.md
@@ -40,16 +40,7 @@ You can configure specific database settings in the `docker-compose.yaml` in the
 ```bash
 ros2 launch g2_2025_imu_reader_pkg imu_reader.launch.xml
 ```
-<<<<<<< HEAD
-<<<<<<< HEAD
 To change parameters when using the launch file it will need to be edited in the `src/g2_2025_imu_reader_pkg/launch` folder. All parameters are already added to this document and thus only the values will need to be changed
-=======
-To change parameters when using the launch file it will need to be edited in the `src/g2_2025_grade_calculator_pkg/launch` folder. All parameters are already added to this document and thus only the values will need to be changed
-
-=======
-To change parameters when using the launch file it will need to be edited in the `src/g2_2025_imu_reader_pkg/launch` folder. All parameters are already added to this document and thus only the values will need to be changed
->>>>>>> 484209c (feat(lifecycle & interface): added docs for arch and testing.)
-
 
 ### installation and setup for mqtt
 
@@ -82,11 +73,8 @@ in other terminal:
 mosquitto
 ```
 
-and in other terminal to inialize the subsecriber:
+and in other terminal to inialize the subscriber:
 ```bash
-
-
-ros2 lifecycle list /lifecycle_manager ## for status checking
 ros2 lifecycle set /lifecycle_manager configure
 ros2 lifecycle set /lifecycle_manager activate
 ros2 lifecycle set /lifecycle_manager deactivate
@@ -95,13 +83,13 @@ ros2 lifecycle set /lifecycle_manager shutdown
 
 ```
 
-an finally publish a mesg to the sub in other terminal:
+And finally publish a message to the sub in other terminal:
 
 ```bash
 mosquitto_pub -h localhost -p 1883 -t "esp32/imu" -m "test"
 ```
-close conn via:
+
+close connection via:
 ```bash
 ros2 lifecycle set /lifecycle_manager deactivate
 ```
->>>>>>> 8b04168 (feat(lifecycle & hw): added mqtt connection and installation setup)
diff --git a/src/g2_2025_imu_reader_pkg/CMakeLists.txt b/src/g2_2025_imu_reader_pkg/CMakeLists.txt
index 9ed23b7..c87f446 100644
--- a/src/g2_2025_imu_reader_pkg/CMakeLists.txt
+++ b/src/g2_2025_imu_reader_pkg/CMakeLists.txt
@@ -24,10 +24,6 @@ find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(nlohmann_json REQUIRED)
-<<<<<<< HEAD
-find_package(rclcpp_lifecycle REQUIRED)
-=======
->>>>>>> 98322ec (feat(lifecycle & hw): data parsing and publishing on both serial and mqtt.)
 
 add_executable(g2_2025_imu_database_writer_node
     src/g2_2025_imu_database_writer_node/Main.cpp
@@ -62,20 +58,11 @@ ament_target_dependencies(g2_2025_lifecycle_node rclcpp rclcpp_lifecycle std_msg
 target_link_libraries(g2_2025_lifecycle_node
   paho-mqttpp3
   paho-mqtt3a
-<<<<<<< HEAD
-<<<<<<< HEAD
   nlohmann_json::nlohmann_json
 )
 
-=======
-=======
-  nlohmann_json::nlohmann_json
->>>>>>> 98322ec (feat(lifecycle & hw): data parsing and publishing on both serial and mqtt.)
-)
 
 
-
->>>>>>> 8b04168 (feat(lifecycle & hw): added mqtt connection and installation setup)
 install(
     TARGETS
         g2_2025_imu_database_writer_node
@@ -103,7 +90,6 @@ if(BUILD_TESTING)
     tomlplusplus::tomlplusplus
   )
 
-<<<<<<< HEAD
   # Add gtest for IMUDatabaseWriter node
   ament_add_gtest(${PROJECT_NAME}_test_imu_database_writer
     test/IMUDatabaseWriter.test.cpp
@@ -122,30 +108,6 @@ if(BUILD_TESTING)
   target_link_libraries(${PROJECT_NAME}_test_imu_database_writer
     pqxx pq tomlplusplus::tomlplusplus
   )
-=======
-  ament_add_gtest(${PROJECT_NAME}_test_lifecycle_manager
-    test/LifecycleManager.test.cpp
-    src/g2_2025_lifecycle_node/nodes/lifecycle_manager.cpp
-    src/g2_2025_lifecycle_node/nodes/hardware_interface.cpp
-    src/config/serialib.cpp
-  )
-  target_include_directories(${PROJECT_NAME}_test_lifecycle_manager PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}/src
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_lifecycle_node
-  )
-  ament_target_dependencies(${PROJECT_NAME}_test_lifecycle_manager
-    rclcpp
-    rclcpp_lifecycle
-    std_msgs
-    sensor_msgs
-  )
-  target_link_libraries(${PROJECT_NAME}_test_lifecycle_manager
-    paho-mqttpp3
-    paho-mqtt3a
-    nlohmann_json::nlohmann_json
-  )
-  set_target_properties(${PROJECT_NAME}_test_lifecycle_manager PROPERTIES INSTALL_RPATH "/usr/local/lib")
->>>>>>> 484209c (feat(lifecycle & interface): added docs for arch and testing.)
 
   # Add gtest for DatabaseManager
   ament_add_gtest(${PROJECT_NAME}_test_database_manager
@@ -186,7 +148,6 @@ if(BUILD_TESTING)
   )
   set_target_properties(${PROJECT_NAME}_test_lifecycle_manager PROPERTIES INSTALL_RPATH "/usr/local/lib")
 
-
   # Add Python integration tests
   #   find_package(ament_cmake_pytest REQUIRED)
   #   ament_add_pytest_test(${PROJECT_NAME}_integration_test test/test_integration_system.py