diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7e516ba5..06cbfade 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,10 +1,52 @@
-cmake_minimum_required(VERSION 3.5.1)
-project(arbitration_graphs)
+cmake_minimum_required(VERSION 3.22)
 
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+######################
+## Project settings ##
+######################
+
+# Read the project/package version from ./version file
+file(READ "${CMAKE_CURRENT_SOURCE_DIR}/version" ver)
+string(REGEX MATCH "VERSION=v([0-9\.]*)" _ ${ver})
+set(PACKAGE_VERSION ${CMAKE_MATCH_1})
+
+# Setup project
+project(arbitration_graphs
+  VERSION ${PACKAGE_VERSION}
+  DESCRIPTION "Hierarchical behavior models for complex decision-making and behavior generation in robotics"
+  LANGUAGES CXX
+)
+
+# Select project features
+set(BUILD_TESTS "FALSE" CACHE STRING "Compile the project with all unit tests")
+
+
+###############
+## C++ setup ##
+###############
+
+# Only do these if this is the main project, and not if it is included through add_subdirectory
+if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
+  # Require C++17
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+  # Let's ensure -std=c++xx instead of -std=g++xx
+  set(CMAKE_CXX_EXTENSIONS OFF)
+
+  # Let's nicely support folders in IDEs
+  set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+
+  # Allow clangd and others to properly understand this C++ project
+  set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+  # Testing only available if this is the main project
+  # Note this needs to be done in the main CMakeLists
+  # since it calls enable_testing, which must be in the
+  # main CMakeLists.
+  include(CTest)
+endif()
+
 
 ###################
 ## Find packages ##
@@ -12,22 +54,15 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
 
-find_package(Glog)
-
+find_package(Glog REQUIRED)
 find_package(util_caching REQUIRED)
-
 find_package(Yaml-cpp REQUIRED)
 
 
-############################
-## Read source code files ##
-############################
-file(GLOB_RECURSE PROJECT_HEADER_FILES_INC "include/${PROJECT_NAME}/*.h" "include/${PROJECT_NAME}/*.hpp")
-
-
 ###########
 ## Build ##
 ###########
+
 # Declare a cpp library
 add_library(${PROJECT_NAME} INTERFACE)
 target_include_directories(${PROJECT_NAME} INTERFACE
@@ -39,15 +74,17 @@ target_link_libraries(${PROJECT_NAME} INTERFACE
   util_caching
   ${YAML_CPP_LIBRARIES}
 )
+set(INSTALL_TARGETS ${PROJECT_NAME})
 
 
 ###################
 ## Cmake Package ##
 ###################
+
 include(CMakePackageConfigHelpers)
 write_basic_package_version_file(
     "${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
-    VERSION 0.1
+    VERSION ${PACKAGE_VERSION}
     COMPATIBILITY AnyNewerVersion
 )
 include(CMakePackageConfigHelpers)
@@ -59,11 +96,22 @@ configure_package_config_file(
 
 
 #############
-## Install ##
+## Testing ##
 #############
 
+# Testing only available if this is the main project
+# Emergency override ARBITRATION_GRAPHS_CMAKE_BUILD_TESTING provided as well
+if((CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME OR ARBITRATION_GRAPHS_CMAKE_BUILD_TESTING)
+   AND BUILD_TESTS)
+  add_subdirectory(test)
+endif()
+
+
+#############
+## Install ##
+#############
 
-install(TARGETS ${PROJECT_NAME}
+install(TARGETS ${INSTALL_TARGETS}
     EXPORT ${PROJECT_NAME}Targets
     LIBRARY DESTINATION lib COMPONENT Runtime
     ARCHIVE DESTINATION lib COMPONENT Development
@@ -75,34 +123,4 @@ install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/cmake/${PROJECT_NAME})
 install(FILES "${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
               "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
         DESTINATION lib/cmake/${PROJECT_NAME})
-install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/ DESTINATION include)
-
-
-#############
-## Testing ##
-#############
-find_package(GTest)
-
-if(GTEST_FOUND)
-  if(BUILD_TESTS)
-    file(GLOB_RECURSE _tests "test/*.cpp" "test/*.cc")
-
-    foreach(_test ${_tests})
-      get_filename_component(_test_name ${_test} NAME_WE)
-      # make sure we add only one -test to the target
-      string(REGEX REPLACE "-test" "" TEST_TARGET_NAME ${_test_name})
-      set(TEST_TARGET_NAME ${PROJECT_NAME}-gtest-${TEST_TARGET_NAME})
-
-      message(STATUS
-        "Adding gtest unittest \"${TEST_TARGET_NAME}\" with working dir ${PROJECT_SOURCE_DIR}/${TEST_FOLDER} \n _test: ${_test}"
-      )
-
-      add_executable(${TEST_TARGET_NAME} ${_test})
-
-      target_link_libraries(${TEST_TARGET_NAME} PUBLIC
-          ${GTEST_BOTH_LIBRARIES} pthread
-          ${PROJECT_NAME}
-      )
-    endforeach()
-  endif()
-endif()
+install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/ DESTINATION include)
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index f3bf2b32..72bee28d 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-FROM ubuntu:22.04
+FROM ubuntu:22.04 AS base
 
 ARG DEBIAN_FRONTEND=noninteractive
 
@@ -23,21 +23,28 @@ RUN git clone https://github.com/KIT-MRT/util_caching.git /tmp/util_caching && \
     rm -rf /tmp/util_caching
 
 
+
+FROM base AS devel
+
+RUN useradd --create-home --uid 1000 blinky
+USER blinky
+
+WORKDIR /home/blinky/
+
+
+
+FROM base AS install
+
 # Install arbitration_graphs
 COPY CMakeLists.txt /tmp/arbitration_graphs/
 COPY cmake /tmp/arbitration_graphs/cmake
 COPY include /tmp/arbitration_graphs/include
 COPY test /tmp/arbitration_graphs/test
+COPY version /tmp/arbitration_graphs/version
 
 RUN mkdir /tmp/arbitration_graphs/build && \
     cd /tmp/arbitration_graphs/build && \
     cmake .. && \
     cmake --build . && \
     cmake --install . && \
-    rm -rf /tmp/arbitration_graphs
-
-RUN useradd --create-home --uid 1000 blinky
-USER blinky
-
-WORKDIR /home/blinky/
-
+    rm -rf /tmp/arbitration_graphs
\ No newline at end of file
diff --git a/README.md b/README.md
index bc5f871a..dd0e96d5 100644
--- a/README.md
+++ b/README.md
@@ -138,12 +138,12 @@ In order to compile with tests define `BUILD_TESTS=true`
 mkdir -p arbitration_graphs/build
 cd arbitration_graphs/build
 cmake -DBUILD_TESTS=true ..
-cmake --build .
+cmake --build . -j9
 ```
 
-Run all unit tests:
+Run all unit tests with CTest:
 
 ```bash
-find -executable -type f -name '*-gtest-*' -exec {} \;
+cmake --build . --target test
 ```
 
diff --git a/demo/.env b/demo/.env
index 4a82335f..ca291e96 120000
--- a/demo/.env
+++ b/demo/.env
@@ -1 +1 @@
-../.env
\ No newline at end of file
+version
\ No newline at end of file
diff --git a/demo/CMakeLists.txt b/demo/CMakeLists.txt
index ef22ec3f..016eabaa 100644
--- a/demo/CMakeLists.txt
+++ b/demo/CMakeLists.txt
@@ -1,10 +1,45 @@
-cmake_minimum_required(VERSION 3.5.1)
-project(arbitration_graphs_pacman_demo)
+cmake_minimum_required(VERSION 3.22)
 
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+######################
+## Project settings ##
+######################
+
+# Setup project
+project(arbitration_graphs_pacman_demo
+  DESCRIPTION "Demo and tutorial project for teaching arbitration_graphs"
+  LANGUAGES CXX
+)
+
+# Select project features
+set(BUILD_TESTS "FALSE" CACHE STRING "Compile the project with all unit tests")
+
+
+###############
+## C++ setup ##
+###############
+
+# Only do these if this is the main project, and not if it is included through add_subdirectory
+if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
+  # Require C++17
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+  # Let's ensure -std=c++xx instead of -std=g++xx
+  set(CMAKE_CXX_EXTENSIONS OFF)
+
+  # Let's nicely support folders in IDEs
+  set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+
+  # Allow clangd and others to properly understand this C++ project
+  set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+  # Testing only available if this is the main project
+  # Note this needs to be done in the main CMakeLists
+  # since it calls enable_testing, which must be in the
+  # main CMakeLists.
+  include(CTest)
+endif()
 
 
 ###################
@@ -19,6 +54,7 @@ find_package(SDL2 REQUIRED)
 find_package(util_caching REQUIRED)
 find_package(Yaml-cpp REQUIRED)
 
+
 ###########
 ## Build ##
 ###########
@@ -63,39 +99,14 @@ target_link_libraries(${PROJECT_NAME}_exe PRIVATE
     ${YAML_CPP_LIBRARIES}
 )
 
+
 #############
 ## Testing ##
 #############
-find_package(GTest)
-
-if(GTEST_FOUND)
-  if(BUILD_TESTS)
-    file(GLOB_RECURSE _tests "test/*.cpp" "test/*.cc")
-
-    foreach(_test ${_tests})
-      get_filename_component(_test_name ${_test} NAME_WE)
-      # make sure we add only one -test to the target
-      string(REGEX REPLACE "-test" "" TEST_TARGET_NAME ${_test_name})
-      set(TEST_TARGET_NAME ${PROJECT_NAME}-gtest-${TEST_TARGET_NAME})
-
-      message(STATUS
-        "Adding gtest unittest \"${TEST_TARGET_NAME}\" with working dir ${PROJECT_SOURCE_DIR}/${TEST_FOLDER} \n _test: ${_test}"
-      )
-
-      add_executable(${TEST_TARGET_NAME} ${_test})
-
-      target_include_directories(${TEST_TARGET_NAME}
-          PRIVATE
-          include
-          ${SDL2_INCLUDE_DIR}
-      )
-      target_link_libraries(${TEST_TARGET_NAME}
-          PRIVATE
-          ${GTEST_BOTH_LIBRARIES} pthread
-          ${PROJECT_NAME}
-          EnTT_Pacman
-      )
-    endforeach()
-  endif()
-endif()
 
+# Testing only available if this is the main project
+# Emergency override ARBITRATION_GRAPHS_DEMO_CMAKE_BUILD_TESTING provided as well
+if((CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME OR ARBITRATION_GRAPHS_DEMO_CMAKE_BUILD_TESTING)
+   AND BUILD_TESTS)
+  add_subdirectory(test)
+endif()
diff --git a/demo/Dockerfile b/demo/Dockerfile
index 3f56f24c..d587b6b2 100644
--- a/demo/Dockerfile
+++ b/demo/Dockerfile
@@ -18,6 +18,7 @@ RUN git clone https://github.com/KIT-MRT/EnTT-Pacman.git --branch arbitration_gr
     cmake --install . && \
     rm -rf /tmp/EnTT-Pacman
 
+RUN useradd --create-home --uid 1000 blinky
 USER blinky
 COPY --chown=blinky:blinky .motd /home/blinky/.motd
 RUN echo "\n\nsource /home/blinky/.motd" >> /home/blinky/.bashrc
@@ -26,6 +27,7 @@ WORKDIR /home/blinky/demo
 
 CMD [ "/bin/bash" ]
 
+
 FROM tutorial AS demo
 
 COPY --chown=blinky:blinky cmake /home/blinky/demo/cmake
diff --git a/demo/test/CMakeLists.txt b/demo/test/CMakeLists.txt
new file mode 100644
index 00000000..ed4e4abb
--- /dev/null
+++ b/demo/test/CMakeLists.txt
@@ -0,0 +1,39 @@
+###################
+## Find packages ##
+###################
+
+find_package(GTest)
+
+
+###########
+## Build ##
+###########
+
+if(GTEST_FOUND)
+  file(GLOB_RECURSE _tests CONFIGURE_DEPENDS "*.cpp" "*.cc")
+
+  foreach(_test ${_tests})
+    get_filename_component(_test_name ${_test} NAME_WE)
+    # make sure we add only one -test to the target
+    string(REGEX REPLACE "-test" "" TEST_TARGET_NAME ${_test_name})
+    set(TEST_TARGET_NAME ${PROJECT_NAME}-gtest-${TEST_TARGET_NAME})
+
+    message(STATUS
+      "Adding gtest unittest \"${TEST_TARGET_NAME}\" with working dir ${PROJECT_SOURCE_DIR}/${TEST_FOLDER} \n _test: ${_test}"
+    )
+
+    add_executable(${TEST_TARGET_NAME} ${_test})
+
+    target_link_libraries(${TEST_TARGET_NAME} PUBLIC
+      ${GTEST_BOTH_LIBRARIES} pthread
+      ${PROJECT_NAME}
+    )
+
+    add_test(NAME ${TEST_TARGET_NAME}
+      COMMAND ${TEST_TARGET_NAME}
+      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    )
+  endforeach()
+else()
+  message(WARNING "GTest not found. Cannot compile tests!")
+endif()
diff --git a/demo/version b/demo/version
new file mode 120000
index 00000000..1748d5b2
--- /dev/null
+++ b/demo/version
@@ -0,0 +1 @@
+../version
\ No newline at end of file
diff --git a/docker-compose.yaml b/docker-compose.yaml
index 32e507e7..26bfbcf3 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -4,6 +4,9 @@ services:
     build: .
     env_file: .env
   arbitration_graphs_devel:
+    build:
+      context: .
+      target: devel
     extends:
       service: arbitration_graphs
     image: arbitration_graphs_devel
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
new file mode 100644
index 00000000..ed4e4abb
--- /dev/null
+++ b/test/CMakeLists.txt
@@ -0,0 +1,39 @@
+###################
+## Find packages ##
+###################
+
+find_package(GTest)
+
+
+###########
+## Build ##
+###########
+
+if(GTEST_FOUND)
+  file(GLOB_RECURSE _tests CONFIGURE_DEPENDS "*.cpp" "*.cc")
+
+  foreach(_test ${_tests})
+    get_filename_component(_test_name ${_test} NAME_WE)
+    # make sure we add only one -test to the target
+    string(REGEX REPLACE "-test" "" TEST_TARGET_NAME ${_test_name})
+    set(TEST_TARGET_NAME ${PROJECT_NAME}-gtest-${TEST_TARGET_NAME})
+
+    message(STATUS
+      "Adding gtest unittest \"${TEST_TARGET_NAME}\" with working dir ${PROJECT_SOURCE_DIR}/${TEST_FOLDER} \n _test: ${_test}"
+    )
+
+    add_executable(${TEST_TARGET_NAME} ${_test})
+
+    target_link_libraries(${TEST_TARGET_NAME} PUBLIC
+      ${GTEST_BOTH_LIBRARIES} pthread
+      ${PROJECT_NAME}
+    )
+
+    add_test(NAME ${TEST_TARGET_NAME}
+      COMMAND ${TEST_TARGET_NAME}
+      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    )
+  endforeach()
+else()
+  message(WARNING "GTest not found. Cannot compile tests!")
+endif()
diff --git a/version b/version
index 9939df2c..b8651586 100644
--- a/version
+++ b/version
@@ -1 +1 @@
-VERSION=v0.0.1
\ No newline at end of file
+VERSION=v0.0.2
\ No newline at end of file