diff --git a/extra_visitors/protobuf3/CMakeLists.txt b/extra_visitors/protobuf3/CMakeLists.txt
index 227bbc32..49be9079 100644
--- a/extra_visitors/protobuf3/CMakeLists.txt
+++ b/extra_visitors/protobuf3/CMakeLists.txt
@@ -1,10 +1,17 @@
 set (TGT_ARILES_VISITOR_LIB      "${PROJECT_NAME}_visitor_${ARILES_VISITOR}")
 
 if(NOT ARILES_DEB_TARGETS)
-    find_package(Protobuf REQUIRED)
+    set(protobuf_MODULE_COMPATIBLE ON CACHE STRING "")
+    find_package(Protobuf CONFIG)
 
-    set(ARILES_VISITOR_${ARILES_VISITOR}_INCLUDES "${Protobuf_INCLUDE_DIRS}")
-    set(ARILES_VISITOR_${ARILES_VISITOR}_LIBS "${Protobuf_LIBRARIES}")
+    if(Protobuf_FOUND)
+        set(ARILES_VISITOR_${ARILES_VISITOR}_LIBS "protobuf::libprotobuf")
+    else()
+        find_package(Protobuf REQUIRED)
+
+        set(ARILES_VISITOR_${ARILES_VISITOR}_INCLUDES "${Protobuf_INCLUDE_DIRS}")
+        set(ARILES_VISITOR_${ARILES_VISITOR}_LIBS "${Protobuf_LIBRARIES}")
+    endif()
 endif()
 
 add_library(${TGT_ARILES_VISITOR_LIB} INTERFACE)
diff --git a/extra_visitors/protobuf3/ariles2/visitors/protobuf3/reader.h b/extra_visitors/protobuf3/ariles2/visitors/protobuf3/reader.h
index ef48a68a..2cf96b55 100644
--- a/extra_visitors/protobuf3/ariles2/visitors/protobuf3/reader.h
+++ b/extra_visitors/protobuf3/ariles2/visitors/protobuf3/reader.h
@@ -14,15 +14,13 @@ namespace ariles2
 {
     namespace ns_protobuf3
     {
-        class ARILES2_VISIBILITY_ATTRIBUTE Reader : public visitor::Base<visitor::Visitor, visitor::Parameters>
+        class ARILES2_VISIBILITY_ATTRIBUTE Reader : public visitor::Base<Reader, visitor::Parameters>
         {
         public:
             using Parameters = visitor::Parameters;
 
 
         public:
-            using visitor::Base<visitor::Visitor, Parameters>::getDefaultParameters;
-
             template <class t_Ariles>
             const Parameters &getParameters(const t_Ariles &ariles_class) const
             {
diff --git a/extra_visitors/protobuf3/ariles2/visitors/protobuf3/writer.h b/extra_visitors/protobuf3/ariles2/visitors/protobuf3/writer.h
index 1bd59994..9e6ebeaa 100644
--- a/extra_visitors/protobuf3/ariles2/visitors/protobuf3/writer.h
+++ b/extra_visitors/protobuf3/ariles2/visitors/protobuf3/writer.h
@@ -14,15 +14,13 @@ namespace ariles2
 {
     namespace ns_protobuf3
     {
-        class ARILES2_VISIBILITY_ATTRIBUTE Writer : public visitor::Base<visitor::Visitor, visitor::Parameters>
+        class ARILES2_VISIBILITY_ATTRIBUTE Writer : public visitor::Base<Writer, visitor::Parameters>
         {
         public:
             using Parameters = visitor::Parameters;
 
 
         public:
-            using visitor::Base<visitor::Visitor, Parameters>::getDefaultParameters;
-
             template <class t_Ariles>
             const Parameters &getParameters(const t_Ariles &ariles_class) const
             {
diff --git a/include/ariles2/adapters/basic.h b/include/ariles2/adapters/basic.h
index c40b9227..15e9c2f1 100644
--- a/include/ariles2/adapters/basic.h
+++ b/include/ariles2/adapters/basic.h
@@ -148,7 +148,7 @@ namespace ariles2
                 const t_Left &left,
                 const t_Right &right,
                 const typename t_Visitor::Parameters &param,
-                ARILES2_IS_BASE_ENABLER(ariles2::Ariles, t_Left))
+                ARILES2_IS_ARILES_ENABLER(t_Left))
         {
             ARILES2_TRACE_FUNCTION;
             if (param.compare_number_of_entries_)
@@ -294,7 +294,7 @@ namespace ariles2
                 const t_Visitor &visitor,
                 t_Entry &entry,
                 const typename t_Visitor::Parameters &param,
-                ARILES2_IS_BASE_ENABLER(ariles2::Ariles, t_Entry))
+                ARILES2_IS_ARILES_ENABLER(t_Entry))
         {
             ARILES2_TRACE_FUNCTION;
             entry.arilesVirtualVisit(visitor, param);
@@ -306,7 +306,7 @@ namespace ariles2
                 const t_Visitor &,
                 t_Entry &,
                 const typename t_Visitor::Parameters &,
-                ARILES2_IS_BASE_DISABLER(ariles2::Ariles, t_Entry))
+                ARILES2_IS_ARILES_DISABLER(t_Entry))
         {
             ARILES2_TRACE_FUNCTION;
         }
@@ -325,7 +325,7 @@ namespace ariles2
                 t_Left &left,
                 const t_Right &right,
                 const typename t_Visitor::Parameters &param,
-                ARILES2_IS_BASE_ENABLER(ariles2::Ariles, t_Left))
+                ARILES2_IS_ARILES_ENABLER(t_Left))
         {
             ARILES2_TRACE_FUNCTION;
             ARILES2_TRACE_TYPE(left);
@@ -371,7 +371,7 @@ namespace ariles2
                 const t_Left &left,
                 t_Right &right,
                 const typename t_Visitor::Parameters &param,
-                ARILES2_IS_BASE_ENABLER(ariles2::Ariles, t_Left))
+                ARILES2_IS_ARILES_ENABLER(t_Left))
         {
             ARILES2_TRACE_FUNCTION;
             ARILES2_TRACE_TYPE(left);
diff --git a/include/ariles2/internal/helpers.h b/include/ariles2/internal/helpers.h
index 9b3088a2..71157982 100644
--- a/include/ariles2/internal/helpers.h
+++ b/include/ariles2/internal/helpers.h
@@ -26,18 +26,24 @@
 
 #define ARILES2_IS_FLOATING_POINT_ENABLER_TYPE(Real) std::enable_if<(std::is_floating_point<Real>::value)>::type *
 
-#define ARILES2_IS_BASE_OF(Base, Derived) std::is_base_of<Base, Derived>::value
-
 #define ARILES2_IS_BASE_ENABLER(Base, Derived)                                                                         \
-    const typename std::enable_if<(ARILES2_IS_BASE_OF(Base, Derived))>::type * = nullptr
+    const typename std::enable_if<std::is_base_of<Base, Derived>::value>::type * = nullptr
 
 #define ARILES2_IS_BASE_DISABLER(Base, Derived)                                                                        \
-    const typename std::enable_if<not(ARILES2_IS_BASE_OF(Base, Derived))>::type * = nullptr
+    const typename std::enable_if<not std::is_base_of<Base, Derived>::value>::type * = nullptr
 
 #define ARILES2_IS_ANY_OF(Type, Type1, Type2)                                                                          \
     const typename std::enable_if<std::is_base_of<Type1, Type>::value or std::is_base_of<Type2, Type>::value>::type    \
             * = nullptr
 
+#define ARILES2_IS_VISITOR_ENABLER(Derived)                                                                            \
+    const typename std::enable_if<std::is_base_of<ariles2::visitor::Visitor, Derived>::value>::type * = nullptr
+
+#define ARILES2_IS_ARILES_ENABLER(Derived)                                                                             \
+    const typename std::enable_if<std::is_base_of<ariles2::Ariles, Derived>::value>::type * = nullptr
+
+#define ARILES2_IS_ARILES_DISABLER(Derived)                                                                            \
+    const typename std::enable_if<not std::is_base_of<ariles2::Ariles, Derived>::value>::type * = nullptr
 
 
 #include "build_config.h"
diff --git a/include/ariles2/members/visit_generic_parent.h b/include/ariles2/members/visit_generic_parent.h
index eb0c2acf..594ca118 100644
--- a/include/ariles2/members/visit_generic_parent.h
+++ b/include/ariles2/members/visit_generic_parent.h
@@ -14,7 +14,7 @@
     void arilesVisitParents(                                                                                           \
             t_Visitor &visitor,                                                                                        \
             const typename t_Visitor::Parameters &parameters,                                                          \
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::GenericVisitor, t_Visitor))                                      \
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor))                                      \
     {                                                                                                                  \
         ARILES2_UNUSED_ARG(visitor);                                                                                   \
         ARILES2_UNUSED_ARG(parameters);                                                                                \
@@ -25,7 +25,7 @@
     void arilesVisitParents(                                                                                           \
             t_Visitor &visitor,                                                                                        \
             const typename t_Visitor::Parameters &parameters,                                                          \
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::GenericVisitor, t_Visitor)) const                                \
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor)) const                                \
     {                                                                                                                  \
         ARILES2_UNUSED_ARG(visitor);                                                                                   \
         ARILES2_UNUSED_ARG(parameters);                                                                                \
diff --git a/include/ariles2/visitors/aggregate.h b/include/ariles2/visitors/aggregate.h
new file mode 100644
index 00000000..2fa7afd7
--- /dev/null
+++ b/include/ariles2/visitors/aggregate.h
@@ -0,0 +1,158 @@
+/**
+    @file
+    @author  Alexander Sherikov
+
+    @copyright 2017-2024 Alexander Sherikov, Licensed under the Apache License, Version 2.0.
+    (see @ref LICENSE or http://www.apache.org/licenses/LICENSE-2.0)
+
+    @brief
+*/
+
+#pragma once
+
+#include "common.h"
+
+
+namespace ariles2
+{
+    /// @ingroup aggregate
+    namespace aggregate
+    {
+        template <class t_Visitor>
+        class ARILES2_VISIBILITY_ATTRIBUTE ParametersWrapper
+        {
+        public:
+            typename t_Visitor::Parameters parameters_;
+
+        public:
+            ParametersWrapper(const bool override_parameters = true) : parameters_(override_parameters)
+            {
+            }
+
+            ParametersWrapper(const typename t_Visitor::Parameters &parameters) : parameters_(parameters)
+            {
+            }
+
+            template <
+                    class t_IdType,
+                    typename = std::enable_if_t<
+                            std::is_same<t_IdType, t_Visitor>::value
+                            or std::is_base_of<t_IdType, typename t_Visitor::Parameters>::value>>
+            typename t_Visitor::Parameters &get()
+            {
+                return (parameters_);
+            }
+
+            template <
+                    class t_IdType,
+                    typename = std::enable_if_t<
+                            std::is_same<t_IdType, t_Visitor>::value
+                            or std::is_base_of<t_IdType, typename t_Visitor::Parameters>::value>>
+            const typename t_Visitor::Parameters &get() const
+            {
+                return (parameters_);
+            }
+        };
+
+        template <class... t_Visitors>
+        class ARILES2_VISIBILITY_ATTRIBUTE Parameters;
+
+        template <>
+        class ARILES2_VISIBILITY_ATTRIBUTE Parameters<>
+        {
+        public:
+            Parameters(const bool){};
+            Parameters(){};
+
+            void get(){};
+        };
+
+        template <class t_Visitor, class... t_Visitors>
+        class ARILES2_VISIBILITY_ATTRIBUTE Parameters<t_Visitor, t_Visitors...> : public ParametersWrapper<t_Visitor>,
+                                                                                  public Parameters<t_Visitors...>
+        {
+        public:
+            Parameters(const bool override_parameters = true)
+              : ParametersWrapper<t_Visitor>(override_parameters), Parameters<t_Visitors...>(override_parameters)
+            {
+            }
+
+            template <class... t_Parameters>
+            Parameters(const typename t_Visitor::Parameters &parameters, t_Parameters &&...other_parameters)
+              : ParametersWrapper<t_Visitor>(parameters)
+              , Parameters<t_Visitors...>(std::forward<t_Parameters>(other_parameters)...)
+            {
+            }
+
+            template <class t_Parameters>
+            Parameters(const t_Parameters &parameters, const bool override_parameters = true)
+              : ParametersWrapper<t_Visitor>(override_parameters)
+              , Parameters<t_Visitors...>(parameters, override_parameters)
+            {
+            }
+
+            Parameters(const typename t_Visitor::Parameters &parameters, const bool override_parameters = true)
+              : ParametersWrapper<t_Visitor>(parameters), Parameters<t_Visitors...>(override_parameters)
+            {
+            }
+
+            using ParametersWrapper<t_Visitor>::get;
+            using Parameters<t_Visitors...>::get;
+        };
+
+
+
+        /*
+        template <class t_Visitor>
+        class ARILES2_VISIBILITY_ATTRIBUTE BaseVisitorWrapper
+        {
+        public:
+            t_Visitor visitor_;
+
+        public:
+            BaseVisitorWrapper() {};
+
+            template<class... t_Args>
+            BaseVisitorWrapper(t_Args &&... args) : visitor_(std::forward<t_Args>(args)...)
+            {
+            }
+
+            template <class t_GetVisitor, typename = std::enable_if_t<std::is_same<t_GetVisitor, t_Visitor>::value>>
+            t_Visitor &get()
+            {
+                return (visitor_);
+            }
+
+            template <class t_GetVisitor, typename = std::enable_if_t<std::is_same<t_GetVisitor, t_Visitor>::value>>
+            const t_Visitor &get() const
+            {
+                return (visitor_);
+            }
+        };
+        */
+
+        template <class... t_Visitors>
+        class ARILES2_VISIBILITY_ATTRIBUTE BaseVisitor;
+
+        template <>
+        class ARILES2_VISIBILITY_ATTRIBUTE BaseVisitor<>
+        {
+        };
+
+        template <class t_Visitor, class... t_Visitors>
+        class ARILES2_VISIBILITY_ATTRIBUTE BaseVisitor<t_Visitor, t_Visitors...> : // public BaseVisitorWrapper<t_Visitor>,
+                                                                                   public BaseVisitor<t_Visitors...>
+        {
+        };
+
+
+        template <class t_Derived, class... t_Visitors>
+        class ARILES2_VISIBILITY_ATTRIBUTE Visitor
+          : public BaseVisitor<t_Visitors...>,
+            public visitor::Base<t_Derived, Parameters<t_Visitors...>>
+        {
+        public:
+            using Parameters = aggregate::Parameters<t_Visitors...>;
+        };
+    }  // namespace aggregate
+}  // namespace ariles2
diff --git a/include/ariles2/visitors/common.h b/include/ariles2/visitors/common.h
index 25ffc8a4..3b26146d 100644
--- a/include/ariles2/visitors/common.h
+++ b/include/ariles2/visitors/common.h
@@ -31,7 +31,7 @@ namespace ariles2
         };
 
 
-        class ARILES2_VISIBILITY_ATTRIBUTE Visitor
+        class Visitor
         {
         protected:
             Visitor(){};
@@ -39,29 +39,25 @@ namespace ariles2
         };
 
 
-        class ARILES2_VISIBILITY_ATTRIBUTE GenericVisitor : public Visitor
-        {
-        protected:
-            GenericVisitor(){};
-            ~GenericVisitor(){};
-        };
-
-
-        template <class t_Visitor, class t_Parameters, class t_ReturnType = void>
-        class ARILES2_VISIBILITY_ATTRIBUTE Base : public t_Visitor
+        template <class t_Derived, class t_Parameters, class t_ReturnType = void>
+        class ARILES2_VISIBILITY_ATTRIBUTE Base : public Visitor
         {
         public:
             using ReturnType = t_ReturnType;
+            using Parameters = t_Parameters;
 
-        protected:
-            Base(){};
-            ~Base(){};
-
+        public:
             const t_Parameters &getDefaultParameters() const
             {
                 const static t_Parameters parameters(false);
                 return parameters;
             }
+
+            template <class t_Ariles>
+            const t_Parameters &getParameters(const t_Ariles &ariles_class) const
+            {
+                return (ariles_class.arilesGetParameters(*static_cast<const t_Derived *>(this)));
+            }
         };
     }  // namespace visitor
 
@@ -130,7 +126,7 @@ namespace ariles2
             const t_Subtree &subtree,
             const typename t_Visitor::Parameters &param,
             ARILES2_IS_ANY_OF(t_Subtree, std::string, std::vector<std::string>),
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::Visitor, t_Visitor))
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor))
     {
         ARILES2_TRACE_FUNCTION;
         return (visitor.visit(ariles_class, subtree, param));
@@ -143,7 +139,7 @@ namespace ariles2
             t_Ariles &ariles_class,
             const char *name,
             const typename t_Visitor::Parameters &param,
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::Visitor, t_Visitor))
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor))
     {
         ARILES2_TRACE_FUNCTION;
         return (visitor.visit(ariles_class, name, param));
@@ -155,7 +151,7 @@ namespace ariles2
             t_Visitor &visitor,
             t_Ariles &ariles_class,
             const typename t_Visitor::Parameters &param,
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::Visitor, t_Visitor))
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor))
     {
         ARILES2_TRACE_FUNCTION;
         return (ariles2::apply(visitor, ariles_class, ariles_class.arilesDefaultID(), param));
@@ -168,7 +164,7 @@ namespace ariles2
             t_Ariles &ariles_class,
             const t_Subtree &subtree,
             ARILES2_IS_ANY_OF(t_Subtree, std::string, std::vector<std::string>),
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::Visitor, t_Visitor))
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor))
     {
         ARILES2_TRACE_FUNCTION;
         return (visitor.visit(ariles_class, subtree, visitor.getParameters(ariles_class)));
@@ -180,7 +176,7 @@ namespace ariles2
             t_Visitor &visitor,
             t_Ariles &ariles_class,
             const char *name,
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::Visitor, t_Visitor))
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor))
     {
         ARILES2_TRACE_FUNCTION;
         return (visitor.visit(ariles_class, name, visitor.getParameters(ariles_class)));
@@ -191,7 +187,7 @@ namespace ariles2
     typename t_Visitor::ReturnType apply(
             t_Visitor &visitor,
             t_Ariles &ariles_class,
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::Visitor, t_Visitor))
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor))
     {
         ARILES2_TRACE_FUNCTION;
         return (ariles2::apply(visitor, ariles_class, ariles_class.arilesDefaultID()));
@@ -201,8 +197,8 @@ namespace ariles2
     template <class t_Visitor, class t_Ariles>
     typename t_Visitor::ReturnType apply(
             t_Ariles &ariles_class,
-            ARILES2_IS_BASE_ENABLER(ariles2::Ariles, t_Ariles),
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::Visitor, t_Visitor))
+            ARILES2_IS_ARILES_ENABLER(t_Ariles),
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor))
     {
         ARILES2_TRACE_FUNCTION;
         t_Visitor visitor;
@@ -257,8 +253,8 @@ namespace ariles2
     typename t_Visitor::ReturnType apply(
             t_Left &left,
             t_Right &right,
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::Visitor, t_Visitor),
-            ARILES2_IS_BASE_ENABLER(ariles2::Ariles, t_Left))
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor),
+            ARILES2_IS_ARILES_ENABLER(t_Left))
     {
         ARILES2_TRACE_FUNCTION;
         t_Visitor visitor;
@@ -273,7 +269,7 @@ namespace ariles2
             t_Right &right,
             const std::string &name,
             const typename t_Visitor::Parameters &param,
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::Visitor, t_Visitor))
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor))
     {
         ARILES2_TRACE_FUNCTION;
         return (visitor.visit(left, right, name, param));
@@ -287,7 +283,7 @@ namespace ariles2
             t_Right &right,
             ARILES2_IS_BASE_DISABLER(typename t_Visitor::Parameters, t_Right),
             ARILES2_IS_BASE_DISABLER(std::string, t_Right),
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::Visitor, t_Visitor))
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor))
     {
         ARILES2_TRACE_FUNCTION;
         return (visitor.visit(left, right, left.arilesDefaultID(), visitor.getParameters(left)));
@@ -300,7 +296,7 @@ namespace ariles2
             t_Left &left,
             t_Right &right,
             const typename t_Visitor::Parameters &param,
-            ARILES2_IS_BASE_ENABLER(ariles2::visitor::Visitor, t_Visitor))
+            ARILES2_IS_VISITOR_ENABLER(t_Visitor))
     {
         ARILES2_TRACE_FUNCTION;
         return (ariles2::apply(visitor, left, right, left.arilesDefaultID(), param));
diff --git a/include/ariles2/visitors/compare.h b/include/ariles2/visitors/compare.h
index ede2c8e6..49efe1f0 100644
--- a/include/ariles2/visitors/compare.h
+++ b/include/ariles2/visitors/compare.h
@@ -64,7 +64,7 @@ namespace ariles2
         };
 
 
-        class ARILES2_VISIBILITY_ATTRIBUTE Visitor : public visitor::Base<visitor::Visitor, compare::Parameters, bool>
+        class ARILES2_VISIBILITY_ATTRIBUTE Visitor : public visitor::Base<Visitor, compare::Parameters, bool>
         {
         public:
             using Parameters = compare::Parameters;
@@ -76,15 +76,6 @@ namespace ariles2
 
 
         public:
-            using visitor::Base<visitor::Visitor, Parameters, bool>::getDefaultParameters;
-
-            template <class t_Ariles>
-            const Parameters &getParameters(const t_Ariles &ariles_class) const
-            {
-                return (ariles_class.arilesGetParameters(*this));
-            }
-
-
             template <class t_Left, class t_Right>
             bool visit(const t_Left &left, const t_Right &right, const std::string &name, const Parameters &param)
             {
diff --git a/include/ariles2/visitors/config.h b/include/ariles2/visitors/config.h
index 1733536c..36dca91d 100644
--- a/include/ariles2/visitors/config.h
+++ b/include/ariles2/visitors/config.h
@@ -6,7 +6,6 @@
     (see @ref LICENSE or http://www.apache.org/licenses/LICENSE-2.0)
 
     @brief
-    @todo compound visitor
 */
 
 #pragma once
@@ -16,6 +15,7 @@
 #include "prewrite.h"
 #include "read.h"
 #include "write.h"
+#include "aggregate.h"
 
 /**
 @defgroup config Configuration
@@ -30,74 +30,29 @@ namespace ariles2
     namespace cfgread
     {
         template <class t_Reader>
-        class ARILES2_VISIBILITY_ATTRIBUTE Parameters
+        class ARILES2_VISIBILITY_ATTRIBUTE Visitor
+          : public aggregate::Visitor<cfgread::Visitor<t_Reader>, preread::Visitor, t_Reader, postread::Visitor>
         {
         public:
-            ariles2::preread::Visitor::Parameters preread_;
-            typename t_Reader::Parameters read_;
-            ariles2::postread::Visitor::Parameters postread_;
+            using AggregateBase =
+                    aggregate::Visitor<cfgread::Visitor<t_Reader>, preread::Visitor, t_Reader, postread::Visitor>;
+            using typename AggregateBase::Parameters;
 
 
         public:
-            Parameters(const bool override_parameters = true)
-              : preread_(override_parameters), read_(override_parameters), postread_(override_parameters)
-            {
-            }
-
-            Parameters(const typename t_Reader::Parameters &param, const bool override_parameters = true)
-              : preread_(override_parameters), postread_(override_parameters)
-            {
-                this->read_ = param;
-            }
-
-            Parameters(
-                    const ariles2::preread::Visitor::Parameters &preread,
-                    const typename t_Reader::Parameters &reader,
-                    const ariles2::postread::Visitor::Parameters &postread)
-            {
-                this->preread_ = preread;
-                this->read_ = reader;
-                this->postread_ = postread;
-            }
-        };
-
-
-        template <class t_Reader>
-        class ARILES2_VISIBILITY_ATTRIBUTE Visitor : public visitor::Base<visitor::GenericVisitor, Parameters<t_Reader>>
-        {
-        public:
-            using Parameters = cfgread::Parameters<t_Reader>;
-
-
-        public:
-            ariles2::preread::Visitor preread_;
+            preread::Visitor preread_;
             t_Reader read_;
-            ariles2::postread::Visitor postread_;
+            postread::Visitor postread_;
 
 
         public:
-            template <class t_Initializer>
-            Visitor(t_Initializer &initializer) : read_(initializer)
-            {
-                ARILES2_TRACE_FUNCTION;
-            }
-
-            template <class t_Initializer>
-            Visitor(const t_Initializer &initializer) : read_(initializer)
-            {
-                ARILES2_TRACE_FUNCTION;
-            }
-
-            template <class t_Initializer0, class t_Initializer1>
-            Visitor(t_Initializer0 &initializer0, const t_Initializer1 &initializer1)
-              : read_(initializer0, initializer1)
+            template <class... t_Initializers>
+            Visitor(t_Initializers &&...initializers) : read_(std::forward<t_Initializers>(initializers)...)
             {
                 ARILES2_TRACE_FUNCTION;
             }
 
 
-            using visitor::Base<visitor::GenericVisitor, Parameters>::getDefaultParameters;
-
             template <class t_Ariles>
             const Parameters getParameters(const t_Ariles &ariles_class) const
             {
@@ -109,26 +64,15 @@ namespace ariles2
             }
 
 
-            template <class t_Entry>
-            void visit(t_Entry &entry, const std::string &name, const Parameters &param)
+            template <class t_Entry, class t_Path>
+            void visit(t_Entry &entry, const t_Path &path, const Parameters &param)
             {
                 ARILES2_TRACE_FUNCTION;
                 ARILES2_TRACE_VALUE(name);
                 ARILES2_TRACE_TYPE(entry);
-                ariles2::apply(preread_, entry, name, param.preread_);
-                ariles2::apply(read_, entry, name, param.read_);
-                ariles2::apply(postread_, entry, name, param.postread_);
-            }
-
-
-            template <class t_Entry>
-            void visit(t_Entry &entry, const std::vector<std::string> &subtree, const Parameters &param)
-            {
-                ARILES2_TRACE_FUNCTION;
-                ARILES2_TRACE_TYPE(entry);
-                ariles2::apply(preread_, entry, subtree.empty() ? "" : subtree.back(), param.preread_);
-                ariles2::apply(read_, entry, subtree, param.read_);
-                ariles2::apply(postread_, entry, subtree.empty() ? "" : subtree.back(), param.postread_);
+                ariles2::apply(preread_, entry, path, param.template get<preread::Visitor>());
+                ariles2::apply(read_, entry, path, param.template get<t_Reader>());
+                ariles2::apply(postread_, entry, path, param.template get<postread::Visitor>());
             }
 
 
@@ -147,77 +91,27 @@ namespace ariles2
     namespace cfgwrite
     {
         template <class t_Writer>
-        class ARILES2_VISIBILITY_ATTRIBUTE Parameters
-        {
-        public:
-            ariles2::prewrite::Visitor::Parameters prewrite_;
-            typename t_Writer::Parameters write_;
-
-
-        public:
-            Parameters(const bool override_parameters = true)
-              : prewrite_(override_parameters), write_(override_parameters)
-            {
-            }
-
-            Parameters(const typename t_Writer::Parameters &param, const bool override_parameters = true)
-              : prewrite_(override_parameters)
-            {
-                this->write_ = param;
-            }
-
-            Parameters(
-                    const ariles2::prewrite::Visitor::Parameters &prewrite,
-                    const typename t_Writer::Parameters &writer)
-            {
-                this->prewrite_ = prewrite;
-                this->write_ = writer;
-            }
-        };
-
-
-        template <class t_Writer>
-        class ARILES2_VISIBILITY_ATTRIBUTE Visitor : public visitor::Base<visitor::GenericVisitor, Parameters<t_Writer>>
+        class ARILES2_VISIBILITY_ATTRIBUTE Visitor
+          : public aggregate::Visitor<cfgwrite::Visitor<t_Writer>, prewrite::Visitor, t_Writer>
         {
         public:
-            using Parameters = cfgwrite::Parameters<t_Writer>;
+            using AggregateBase = aggregate::Visitor<cfgwrite::Visitor<t_Writer>, prewrite::Visitor, t_Writer>;
+            using typename AggregateBase::Parameters;
 
 
         public:
-            ariles2::prewrite::Visitor prewrite_;
+            prewrite::Visitor prewrite_;
             t_Writer write_;
 
 
         public:
-            template <class t_Initializer>
-            Visitor(t_Initializer &initializer) : write_(initializer)
-            {
-                ARILES2_TRACE_FUNCTION;
-            }
-
-            template <class t_Initializer>
-            Visitor(const t_Initializer &initializer) : write_(initializer)
-            {
-                ARILES2_TRACE_FUNCTION;
-            }
-
-            template <class t_Initializer0, class t_Initializer1>
-            Visitor(t_Initializer0 *initializer0, const t_Initializer1 &initializer1)
-              : write_(initializer0, initializer1)
-            {
-                ARILES2_TRACE_FUNCTION;
-            }
-
-            template <class t_Initializer0, class t_Initializer1>
-            Visitor(t_Initializer0 &initializer0, const t_Initializer1 &initializer1)
-              : write_(initializer0, initializer1)
+            template <class... t_Initializers>
+            Visitor(t_Initializers &&...initializers) : write_(std::forward<t_Initializers>(initializers)...)
             {
                 ARILES2_TRACE_FUNCTION;
             }
 
 
-            using visitor::Base<visitor::GenericVisitor, Parameters>::getDefaultParameters;
-
             template <class t_Ariles>
             const Parameters getParameters(const t_Ariles &ariles_class) const
             {
@@ -233,8 +127,8 @@ namespace ariles2
                 ARILES2_TRACE_FUNCTION;
                 ARILES2_TRACE_VALUE(name);
                 ARILES2_TRACE_TYPE(entry);
-                ariles2::apply(prewrite_, entry, name, param.prewrite_);
-                ariles2::apply(write_, entry, name, param.write_);
+                ariles2::apply(prewrite_, entry, name, param.template get<prewrite::Visitor>());
+                ariles2::apply(write_, entry, name, param.template get<t_Writer>());
             }
 
 
diff --git a/include/ariles2/visitors/copyfrom.h b/include/ariles2/visitors/copyfrom.h
index f04fbad8..76f5b1c3 100644
--- a/include/ariles2/visitors/copyfrom.h
+++ b/include/ariles2/visitors/copyfrom.h
@@ -36,22 +36,13 @@ namespace ariles2
         };
 
 
-        class ARILES2_VISIBILITY_ATTRIBUTE Visitor : public visitor::Base<visitor::Visitor, copyfrom::Parameters>
+        class ARILES2_VISIBILITY_ATTRIBUTE Visitor : public visitor::Base<Visitor, copyfrom::Parameters>
         {
         public:
             using Parameters = copyfrom::Parameters;
 
 
         public:
-            using visitor::Base<visitor::Visitor, Parameters>::getDefaultParameters;
-
-            template <class t_Ariles>
-            const Parameters &getParameters(const t_Ariles &ariles_class) const
-            {
-                return (ariles_class.arilesGetParameters(*this));
-            }
-
-
             template <class t_Left, class t_Right>
             void visit(t_Left &left, const t_Right &right, const std::string &name, const Parameters &param)
             {
diff --git a/include/ariles2/visitors/copyto.h b/include/ariles2/visitors/copyto.h
index 047460ac..e2cfd7b2 100644
--- a/include/ariles2/visitors/copyto.h
+++ b/include/ariles2/visitors/copyto.h
@@ -36,22 +36,13 @@ namespace ariles2
         };
 
 
-        class ARILES2_VISIBILITY_ATTRIBUTE Visitor : public visitor::Base<visitor::Visitor, copyto::Parameters>
+        class ARILES2_VISIBILITY_ATTRIBUTE Visitor : public visitor::Base<Visitor, copyto::Parameters>
         {
         public:
             using Parameters = copyto::Parameters;
 
 
         public:
-            using visitor::Base<visitor::Visitor, Parameters>::getDefaultParameters;
-
-            template <class t_Ariles>
-            const Parameters &getParameters(const t_Ariles &ariles_class) const
-            {
-                return (ariles_class.arilesGetParameters(*this));
-            }
-
-
             template <class t_Left, class t_Right>
             void visit(const t_Left &left, t_Right &right, const std::string &name, const Parameters &param)
             {
diff --git a/include/ariles2/visitors/count.h b/include/ariles2/visitors/count.h
index 24c9555b..a3cdbe3d 100644
--- a/include/ariles2/visitors/count.h
+++ b/include/ariles2/visitors/count.h
@@ -33,22 +33,13 @@ namespace ariles2
 
 
         class ARILES2_VISIBILITY_ATTRIBUTE Visitor
-          : public ariles2::visitor::Base<visitor::Visitor, count::Parameters, std::size_t>
+          : public ariles2::visitor::Base<Visitor, count::Parameters, std::size_t>
         {
         public:
             using Parameters = count::Parameters;
 
 
         public:
-            using visitor::Base<visitor::Visitor, Parameters, std::size_t>::getDefaultParameters;
-
-            template <class t_Ariles>
-            const Parameters &getParameters(const t_Ariles &ariles_class) const
-            {
-                return (ariles_class.arilesGetParameters(*this));
-            }
-
-
             template <class t_Entry>
             std::size_t visit(const t_Entry &entry, const std::string &, const Parameters &param) const
             {
diff --git a/include/ariles2/visitors/count_missing.h b/include/ariles2/visitors/count_missing.h
index 9d0673c6..62ef0338 100644
--- a/include/ariles2/visitors/count_missing.h
+++ b/include/ariles2/visitors/count_missing.h
@@ -33,22 +33,13 @@ namespace ariles2
 
 
         class ARILES2_VISIBILITY_ATTRIBUTE Visitor
-          : public ariles2::visitor::Base<visitor::Visitor, count::Parameters, std::size_t>
+          : public ariles2::visitor::Base<Visitor, count::Parameters, std::size_t>
         {
         public:
             using Parameters = count::Parameters;
 
 
         public:
-            using visitor::Base<visitor::Visitor, Parameters, std::size_t>::getDefaultParameters;
-
-            template <class t_Ariles>
-            const Parameters &getParameters(const t_Ariles &ariles_class) const
-            {
-                return (ariles_class.arilesGetParameters(*this));
-            }
-
-
             template <class t_Entry>
             std::size_t visit(const t_Entry &entry, const std::string &, const Parameters &param) const
             {
diff --git a/include/ariles2/visitors/defaults.h b/include/ariles2/visitors/defaults.h
index 7a61dc5b..d4814229 100644
--- a/include/ariles2/visitors/defaults.h
+++ b/include/ariles2/visitors/defaults.h
@@ -55,21 +55,13 @@ namespace ariles2
 
 
         class ARILES2_VISIBILITY_ATTRIBUTE Visitor
-          : public ariles2::visitor::Base<visitor::GenericVisitor, defaults::Parameters>
+          : public ariles2::visitor::Base<Visitor, defaults::Parameters>
         {
         public:
             using Parameters = defaults::Parameters;
 
 
         public:
-            using visitor::Base<visitor::GenericVisitor, Parameters>::getDefaultParameters;
-
-            template <class t_Ariles>
-            const Parameters &getParameters(const t_Ariles &ariles_class) const
-            {
-                return (ariles_class.arilesGetParameters(*this));
-            }
-
             template <class t_Entry>
             void visit(t_Entry &entry, const std::string &name, const Parameters &param) const
             {
@@ -77,6 +69,12 @@ namespace ariles2
                 this->visitMapEntry(entry, name, param);
             }
 
+            template <class t_Entry>
+            void visit(t_Entry &entry, const std::vector<std::string> &subtree, const Parameters &param) const
+            {
+                visit(entry, subtree.empty() ? "" : subtree.back(), param);
+            }
+
 
             template <class t_Entry>
             void visitMapEntry(t_Entry &entry, const std::string &name, const Parameters &param) const
diff --git a/include/ariles2/visitors/finalize.h b/include/ariles2/visitors/finalize.h
index 50415515..3f971cf2 100644
--- a/include/ariles2/visitors/finalize.h
+++ b/include/ariles2/visitors/finalize.h
@@ -37,6 +37,14 @@ namespace ariles2
         class ARILES2_VISIBILITY_ATTRIBUTE Visitor
           : public ariles2::process::Visitor<const finalize::Visitor, finalize::Parameters>
         {
+        public:
+            using ariles2::process::Visitor<const finalize::Visitor, finalize::Parameters>::visit;
+
+            template <class t_Entry>
+            void visit(t_Entry &entry, const std::vector<std::string> &subtree, const Parameters &param) const
+            {
+                visit(entry, subtree.empty() ? "" : subtree.back(), param);
+            }
         };
 
 
diff --git a/include/ariles2/visitors/process.h b/include/ariles2/visitors/process.h
index eec60270..b23a923c 100644
--- a/include/ariles2/visitors/process.h
+++ b/include/ariles2/visitors/process.h
@@ -24,22 +24,13 @@ namespace ariles2
     {
         template <class t_Derived, class t_Parameters>
         class ARILES2_VISIBILITY_ATTRIBUTE Visitor
-          : public ariles2::visitor::Base<visitor::GenericVisitor, t_Parameters>
+          : public ariles2::visitor::Base<t_Derived, t_Parameters>
         {
         public:
             using Parameters = t_Parameters;
 
 
         public:
-            using visitor::Base<visitor::GenericVisitor, t_Parameters>::getDefaultParameters;
-
-            template <class t_Ariles>
-            const t_Parameters &getParameters(const t_Ariles &ariles_class) const
-            {
-                return (ariles_class.arilesGetParameters(*(static_cast<t_Derived *>(this))));
-            }
-
-
             template <class t_Entry>
             void visit(t_Entry &entry, const std::string &name, const Parameters &param) const
             {
diff --git a/include/ariles2/visitors/read.h b/include/ariles2/visitors/read.h
index 0a8d7753..a197f8ce 100644
--- a/include/ariles2/visitors/read.h
+++ b/include/ariles2/visitors/read.h
@@ -44,10 +44,6 @@ namespace ariles2
 
 
         protected:
-            Visitor(){};
-            ~Visitor(){};
-
-
             void checkSize(
                     const SizeLimitEnforcementType limit_type,
                     const std::size_t size = 0,
diff --git a/include/ariles2/visitors/serialization.h b/include/ariles2/visitors/serialization.h
index 32584b98..e7333906 100644
--- a/include/ariles2/visitors/serialization.h
+++ b/include/ariles2/visitors/serialization.h
@@ -145,21 +145,7 @@ namespace ariles2
         };
 
 
-        template <class t_Derived, class t_Parameters>
-        class ARILES2_VISIBILITY_ATTRIBUTE Base : public visitor::Base<visitor::GenericVisitor, t_Parameters>
-        {
-        public:
-            using Parameters = t_Parameters;
-
-
-        public:
-            using visitor::Base<visitor::GenericVisitor, t_Parameters>::getDefaultParameters;
-
-            template <class t_Ariles>
-            const t_Parameters &getParameters(const t_Ariles &ariles_class) const
-            {
-                return (ariles_class.arilesGetParameters(*static_cast<const t_Derived *>(this)));
-            }
-        };
+        template<class t_Derived, class t_Parameters>
+        using Base = visitor::Base<t_Derived, t_Parameters>;
     }  // namespace serialization
 }  // namespace ariles2
diff --git a/include/ariles2/visitors/write.h b/include/ariles2/visitors/write.h
index 756f8e37..c0b28bbb 100644
--- a/include/ariles2/visitors/write.h
+++ b/include/ariles2/visitors/write.h
@@ -44,11 +44,6 @@ namespace ariles2
         template <class t_Derived, class t_Parameters>
         class ARILES2_VISIBILITY_ATTRIBUTE VisitorBase : public serialization::Base<t_Derived, t_Parameters>
         {
-        protected:
-            VisitorBase(){};
-            ~VisitorBase(){};
-
-
         public:
             /**
              * @brief open configuration file
diff --git a/tests/api_v2/demo_api_v2.cpp b/tests/api_v2/demo_api_v2.cpp
index 7ac03a46..49f78696 100644
--- a/tests/api_v2/demo_api_v2.cpp
+++ b/tests/api_v2/demo_api_v2.cpp
@@ -158,7 +158,7 @@ int main()
 
             // Adjust visitor parameters
             ariles2::yaml_cpp::Writer::Parameters parameters;
-            parameters.write_.allow_missing_entries_ = true;
+            parameters.get<ariles2::write::Parameters>().allow_missing_entries_ = true;
             ariles2::apply<ariles2::yaml_cpp::Writer>(std::cout, my_container_class, parameters);
 
             // In some situations it is more convenient to instantiate Reader and
diff --git a/tests/api_v2/fixtures/000_basic_interface.h b/tests/api_v2/fixtures/000_basic_interface.h
index a9456231..502a84da 100644
--- a/tests/api_v2/fixtures/000_basic_interface.h
+++ b/tests/api_v2/fixtures/000_basic_interface.h
@@ -73,8 +73,8 @@ namespace ariles_tests
                 t_Configurable configurable;
 
                 typename t_Visitor::Reader::Parameters parameters;
-                parameters.read_.override_parameters_ = false;
-                parameters.read_.allow_missing_entries_ = true;
+                parameters.template get<ariles2::read::Parameters>().override_parameters_ = false;
+                parameters.template get<ariles2::read::Parameters>().allow_missing_entries_ = true;
                 typename t_Visitor::Reader reader(getReaderInitializer("configurable.cfg"));
                 ariles2::apply(reader, configurable, parameters);
             }
diff --git a/tests/api_v2/fixtures/012_basic_interface_add_filename.h b/tests/api_v2/fixtures/012_basic_interface_add_filename.h
index 781044a1..f9fde680 100644
--- a/tests/api_v2/fixtures/012_basic_interface_add_filename.h
+++ b/tests/api_v2/fixtures/012_basic_interface_add_filename.h
@@ -67,7 +67,7 @@ namespace ariles_tests
                 configurable.randomize();
 
                 typename t_Visitor::Writer::Parameters parameters;
-                parameters.write_.allow_missing_entries_ = true;
+                parameters.template get<ariles2::write::Parameters>().allow_missing_entries_ = true;
 
                 typename t_Visitor::Writer writer(std::string("configurable3") + ".cfg");
                 ariles2::apply(writer, configurable, parameters);
@@ -77,8 +77,8 @@ namespace ariles_tests
                 t_Configurable configurable;
 
                 typename t_Visitor::Reader::Parameters parameters;
-                parameters.read_.override_parameters_ = true;
-                parameters.read_.allow_missing_entries_ = true;
+                parameters.template get<ariles2::read::Parameters>().override_parameters_ = true;
+                parameters.template get<ariles2::read::Parameters>().allow_missing_entries_ = true;
                 typename t_Visitor::Reader reader(std::string("configurable3") + ".cfg");
                 ariles2::apply(reader, configurable, parameters);
             }
@@ -92,7 +92,7 @@ namespace ariles_tests
                 configurable.randomize();
 
                 typename t_Visitor::Writer::Parameters parameters;
-                parameters.write_.allow_missing_entries_ = true;
+                parameters.template get<ariles2::write::Parameters>().allow_missing_entries_ = true;
 
                 ariles2::apply<typename t_Visitor::Writer>(
                         std::string("configurable4") + ".cfg", configurable, parameters);
@@ -101,8 +101,8 @@ namespace ariles_tests
             {
                 t_Configurable configurable;
                 typename t_Visitor::Reader::Parameters parameters;
-                parameters.read_.override_parameters_ = true;
-                parameters.read_.allow_missing_entries_ = true;
+                parameters.template get<ariles2::read::Parameters>().override_parameters_ = true;
+                parameters.template get<ariles2::read::Parameters>().allow_missing_entries_ = true;
                 ariles2::apply<typename t_Visitor::Reader>(
                         std::string("configurable4") + ".cfg", configurable, parameters);
             }
diff --git a/tests/api_v2/fixtures/019_defaults.h b/tests/api_v2/fixtures/019_defaults.h
index 72bb1d8b..ff59219e 100644
--- a/tests/api_v2/fixtures/019_defaults.h
+++ b/tests/api_v2/fixtures/019_defaults.h
@@ -68,7 +68,7 @@ namespace ariles_tests
 
                 typename t_Visitor::Writer writer(getWriterInitializer("configurable.cfg"));
                 typename t_Visitor::Writer::Parameters parameters;
-                parameters.write_.allow_missing_entries_ = true;
+                parameters.template get<ariles2::write::Parameters>().allow_missing_entries_ = true;
 
                 ariles2::apply(writer, configurable, parameters);
             }
@@ -78,8 +78,8 @@ namespace ariles_tests
 
                 configurable.defaults_check_flag_ = false;
                 typename t_Visitor::Reader::Parameters parameters;
-                parameters.read_.override_parameters_ = false;
-                parameters.read_.allow_missing_entries_ = true;
+                parameters.template get<ariles2::read::Parameters>().override_parameters_ = false;
+                parameters.template get<ariles2::read::Parameters>().allow_missing_entries_ = true;
                 typename t_Visitor::Reader reader(getReaderInitializer("configurable.cfg"));
                 ariles2::apply(reader, configurable, parameters);
                 BOOST_CHECK(configurable.defaults_check_flag_);
@@ -92,7 +92,7 @@ namespace ariles_tests
             {
                 t_Configurable configurable;
                 typename t_Visitor::Writer::Parameters parameters;
-                parameters.write_.allow_missing_entries_ = true;
+                parameters.template get<ariles2::write::Parameters>().allow_missing_entries_ = true;
 
                 ariles2::apply<typename t_Visitor::Writer>(
                         getWriterInitializer("configurable2.cfg"), configurable, parameters);
diff --git a/tests/api_v2/fixtures/021_optional_comparison.h b/tests/api_v2/fixtures/021_optional_comparison.h
index db432ac7..32dba923 100644
--- a/tests/api_v2/fixtures/021_optional_comparison.h
+++ b/tests/api_v2/fixtures/021_optional_comparison.h
@@ -37,10 +37,10 @@ namespace ariles_tests
         void test()
         {
             typename t_Visitor::Writer::Parameters writer_parameters;
-            writer_parameters.write_.allow_missing_entries_ = true;
+            writer_parameters.template get<ariles2::write::Parameters>().allow_missing_entries_ = true;
 
             typename t_Visitor::Reader::Parameters reader_parameters;
-            reader_parameters.read_.allow_missing_entries_ = true;
+            reader_parameters.template get<ariles2::read::Parameters>().allow_missing_entries_ = true;
 
             {
                 t_Configurable configurable_out;
diff --git a/tests/api_v2/regression_test_223.cpp b/tests/api_v2/regression_test_223.cpp
index 7a71117c..9a0c9a58 100644
--- a/tests/api_v2/regression_test_223.cpp
+++ b/tests/api_v2/regression_test_223.cpp
@@ -79,7 +79,7 @@ namespace ariles_tests
 
             BOOST_CHECK_NO_THROW({
                 typename t_Visitor::Writer::Parameters parameters;
-                parameters.write_.fallback_to_string_floats_ = false;
+                parameters.template get<ariles2::write::Parameters>().fallback_to_string_floats_ = false;
                 typename t_Visitor::Writer writer("configurable.cfg");
                 ariles2::apply(writer, configurable, parameters);
             });
diff --git a/tests/api_v2/types/copy/Header.h b/tests/api_v2/types/copy/Header.h
index 750a5388..e08038ea 100644
--- a/tests/api_v2/types/copy/Header.h
+++ b/tests/api_v2/types/copy/Header.h
@@ -30,7 +30,7 @@ namespace std_msgs
         _stamp_type stamp;
 
         typedef std::
-                basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other>
+                basic_string<char, std::char_traits<char>>
                         _frame_id_type;
         _frame_id_type frame_id;
     };  // struct Header_
diff --git a/tests/api_v2/types/copy/MultiDOFJointTrajectory.h b/tests/api_v2/types/copy/MultiDOFJointTrajectory.h
index 00cdc69f..7b1b2635 100644
--- a/tests/api_v2/types/copy/MultiDOFJointTrajectory.h
+++ b/tests/api_v2/types/copy/MultiDOFJointTrajectory.h
@@ -31,19 +31,12 @@ namespace trajectory_msgs
         typedef std::vector<
                 std::basic_string<
                         char,
-                        std::char_traits<char>,
-                        typename ContainerAllocator::template rebind<char>::other>,
-                typename ContainerAllocator::template rebind<std::basic_string<
-                        char,
-                        std::char_traits<char>,
-                        typename ContainerAllocator::template rebind<char>::other>>::other>
+                        std::char_traits<char>>>
                 _joint_names_type;
         _joint_names_type joint_names;
 
         typedef std::vector<
-                ::trajectory_msgs::MultiDOFJointTrajectoryPoint_<ContainerAllocator>,
-                typename ContainerAllocator::template rebind<
-                        ::trajectory_msgs::MultiDOFJointTrajectoryPoint_<ContainerAllocator>>::other>
+                ::trajectory_msgs::MultiDOFJointTrajectoryPoint_<ContainerAllocator>>
                 _points_type;
         _points_type points;
     };  // struct MultiDOFJointTrajectory_
diff --git a/tests/api_v2/types/copy/MultiDOFJointTrajectoryPoint.h b/tests/api_v2/types/copy/MultiDOFJointTrajectoryPoint.h
index 533919d5..b91df0f4 100644
--- a/tests/api_v2/types/copy/MultiDOFJointTrajectoryPoint.h
+++ b/tests/api_v2/types/copy/MultiDOFJointTrajectoryPoint.h
@@ -27,20 +27,17 @@ namespace trajectory_msgs
 
 
         typedef std::vector<
-                ::geometry_msgs::Transform_<ContainerAllocator>,
-                typename ContainerAllocator::template rebind<::geometry_msgs::Transform_<ContainerAllocator>>::other>
+                ::geometry_msgs::Transform_<ContainerAllocator>>
                 _transforms_type;
         _transforms_type transforms;
 
         typedef std::vector<
-                ::geometry_msgs::Twist_<ContainerAllocator>,
-                typename ContainerAllocator::template rebind<::geometry_msgs::Twist_<ContainerAllocator>>::other>
+                ::geometry_msgs::Twist_<ContainerAllocator>>
                 _velocities_type;
         _velocities_type velocities;
 
         typedef std::vector<
-                ::geometry_msgs::Twist_<ContainerAllocator>,
-                typename ContainerAllocator::template rebind<::geometry_msgs::Twist_<ContainerAllocator>>::other>
+                ::geometry_msgs::Twist_<ContainerAllocator>>
                 _accelerations_type;
         _accelerations_type accelerations;