diff --git a/ros2rag.starter/src/main/resources/config.yaml b/common/config.yaml
similarity index 100%
rename from ros2rag.starter/src/main/resources/config.yaml
rename to common/config.yaml
diff --git a/ros2rag.starter/src/main/proto/dataconfig.proto b/common/proto/dataconfig.proto
similarity index 100%
rename from ros2rag.starter/src/main/proto/dataconfig.proto
rename to common/proto/dataconfig.proto
diff --git a/ros2rag.starter/src/main/proto/linkstate.proto b/common/proto/linkstate.proto
similarity index 100%
rename from ros2rag.starter/src/main/proto/linkstate.proto
rename to common/proto/linkstate.proto
diff --git a/ros2rag.starter/src/main/proto/robotconfig.proto b/common/proto/robotconfig.proto
similarity index 100%
rename from ros2rag.starter/src/main/proto/robotconfig.proto
rename to common/proto/robotconfig.proto
diff --git a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
index fe0fcdeea117eb6a2093fc4dd9438a12638fc8ec..2f5b4dbd4c0a8e6f1b04250846ffa1b02ed59e16 100644
--- a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
+++ b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
@@ -28,7 +28,7 @@ public class StarterMain {
   private Model model;
 
   public void run(String[] args) throws IOException, InterruptedException {
-    File configFile = new File(args.length == 0 ? "./src/main/resources/config.yaml" : args[0]);
+    File configFile = new File(args.length == 0 ? "common/config.yaml" : args[0]);
 
     // --- No configuration below this line ---
 
diff --git a/ros2rag.starter/src/main/proto b/ros2rag.starter/src/main/proto
new file mode 120000
index 0000000000000000000000000000000000000000..b779e42177c5848d7afb8d64fd9cfd5c94a267fc
--- /dev/null
+++ b/ros2rag.starter/src/main/proto
@@ -0,0 +1 @@
+../../../common/proto/
\ No newline at end of file
diff --git a/ros2rag.starter/src/main/resources/config.json b/ros2rag.starter/src/main/resources/config.json
deleted file mode 100644
index ad12193a6c0da29e9e8ac097e615038933b1c92f..0000000000000000000000000000000000000000
--- a/ros2rag.starter/src/main/resources/config.json
+++ /dev/null
@@ -1,16 +0,0 @@
-{
-  "joints": [
-    {"name": "Joint0", "topic": "panda::panda_link0"},
-    {"name": "Joint1", "topic": "panda::panda_link1"},
-    {"name": "Joint2", "topic": "panda::panda_link2"},
-    {"name": "Joint3", "topic": "panda::panda_link3"},
-    {"name": "Joint4", "topic": "panda::panda_link4"},
-    {"name": "Joint5", "topic": "panda::panda_link5"},
-    {"name": "Joint6", "topic": "panda::panda_link6"},
-    {"name": "EndEffector", "topic": "panda::panda_link7", "isEndEffector": true},
-    {"name": "LeftFinger", "topic": "panda::panda_leftfinger"},
-    {"name": "RightFinger", "topic": "panda::panda_rightfinger"}
-  ],
-  "robotConfigTopic": "robotconfig",
-  "dataConfigTopic": "dataconfig"
-}
diff --git a/ros2rag.tests/src/test/proto b/ros2rag.tests/src/test/proto
new file mode 120000
index 0000000000000000000000000000000000000000..b779e42177c5848d7afb8d64fd9cfd5c94a267fc
--- /dev/null
+++ b/ros2rag.tests/src/test/proto
@@ -0,0 +1 @@
+../../../common/proto/
\ No newline at end of file
diff --git a/ros2rag.tests/src/test/proto/linkstate.proto b/ros2rag.tests/src/test/proto/linkstate.proto
deleted file mode 100644
index dc95138ba49f35497f4bdf061496145168292c9d..0000000000000000000000000000000000000000
--- a/ros2rag.tests/src/test/proto/linkstate.proto
+++ /dev/null
@@ -1,38 +0,0 @@
-syntax = "proto3";
-
-package panda;
-
-message PandaLinkState {
-
-  string name = 1;
-
-  message Position {
-    float positionX = 1;
-    float positionY = 2;
-    float positionZ = 3;
-  }
-
-  message Orientation {
-    float orientationX = 1;
-    float orientationY = 2;
-    float orientationZ = 3;
-    float orientationW = 4;
-  }
-
-  message TwistLinear {
-    float twistLinearX = 1;
-    float twistLinearY = 2;
-    float twistLinearZ = 3;
-  }
-
-  message TwistAngular {
-    float twistAngularX = 1;
-    float twistAngularY = 2;
-    float twistAngularZ = 3;
-  }
-
-  Position pos = 2;
-  Orientation orient = 3;
-  TwistLinear tl = 4;
-  TwistAngular ta = 5;
-}
diff --git a/ros2rag.tests/src/test/proto/robotconfig.proto b/ros2rag.tests/src/test/proto/robotconfig.proto
deleted file mode 100644
index c3e0862e0216e5ea00f79966dff8d5ce434f3dac..0000000000000000000000000000000000000000
--- a/ros2rag.tests/src/test/proto/robotconfig.proto
+++ /dev/null
@@ -1,16 +0,0 @@
-syntax = "proto3";
-
-package config;
-
-message RobotConfig {
-
-  double speed = 1;
-  bool loopTrajectory = 2;
-
-  enum PlanningMode {
-    FLUID = 0;
-    CARTESIAN = 1;
-  }
-
-  PlanningMode planningMode = 3;
-}