diff --git a/CMakeLists.txt b/CMakeLists.txt
index 08735c288..e250eb98b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,6 +8,9 @@ option(BUILD_TOOLS "Build tools including lvr2_reconstruct" ON)
 option(BUILD_TOOLS_EXPERIMENTAL "Build experimental tools" OFF)
 option(WITH_DRACO "Build libraries with draco enabled" OFF)
 
+## Compile as C++17
+add_compile_options(-std=c++17)
+set(CMAKE_CXX_STANDARD 17)
 
 # DEFAULT RELEASE
 if (NOT EXISTS ${CMAKE_BINARY_DIR}/CMakeCache.txt)
@@ -613,7 +616,7 @@ add_subdirectory(src/liblvr2)
 if(BUILD_TOOLS)
   add_subdirectory(src/tools/lvr2_reconstruct)
   add_subdirectory(src/tools/lvr2_mesh_reducer)
-  add_subdirectory(src/tools/lvr2_hdf5_mesh_builder)
+  add_subdirectory(src/tools/lvr2_hdf5_mesh_tool)
 endif(BUILD_TOOLS)
 
 if(BUILD_TOOLS_EXPERIMENTAL)
diff --git a/include/lvr2/geometry/BaseVector.tcc b/include/lvr2/geometry/BaseVector.tcc
index 18151ae32..5e53cd156 100644
--- a/include/lvr2/geometry/BaseVector.tcc
+++ b/include/lvr2/geometry/BaseVector.tcc
@@ -35,6 +35,7 @@
 #include <cmath>
 #include "Normal.hpp"
 #include "lvr2/util/Panic.hpp"
+#include "lvr2/util/TypeTraits.hpp"
 
 namespace lvr2
 {
@@ -258,7 +259,7 @@ BaseVector<CoordT> BaseVector<CoordT>::average(const CollectionT& vecs)
     for (auto v: vecs)
     {
         static_assert(
-            std::is_same<decltype(v), BaseVector<CoordT>>::value,
+            arg_has_type<BaseVector<CoordT> >(v),
             "Collection has to contain Vectors"
         );
         acc += v;
@@ -276,7 +277,7 @@ BaseVector<CoordT> BaseVector<CoordT>::centroid(const CollectionT& points)
     for (auto p: points)
     {
         static_assert(
-            std::is_same<decltype(p), BaseVector<CoordT>>::value,
+            arg_has_type<BaseVector<CoordT> >(p),
             "Type mismatch in centroid calculation."
         );
         acc += p;
diff --git a/include/lvr2/geometry/Normal.tcc b/include/lvr2/geometry/Normal.tcc
index f91c8df47..3e8696c66 100644
--- a/include/lvr2/geometry/Normal.tcc
+++ b/include/lvr2/geometry/Normal.tcc
@@ -34,6 +34,7 @@
 
 
 #include "lvr2/util/Panic.hpp"
+#include "lvr2/util/TypeTraits.hpp"
 
 
 namespace lvr2
@@ -66,7 +67,7 @@ Normal<CoordType>& Normal<CoordType>::average(const CollectionT& normals)
     for (auto n: normals)
     {
         static_assert(
-            std::is_same<decltype(n), Normal<CoordType>>::value,
+            arg_has_type<Normal<CoordType> >(n),
             "Collection has to contain Vectors"
         );
         acc += n.asVector();
diff --git a/include/lvr2/util/TypeTraits.hpp b/include/lvr2/util/TypeTraits.hpp
new file mode 100644
index 000000000..43d1f8c5c
--- /dev/null
+++ b/include/lvr2/util/TypeTraits.hpp
@@ -0,0 +1,48 @@
+#ifndef LVR2_UTIL_TYPE_TRAITS_HPP
+#define LVR2_UTIL_TYPE_TRAITS_HPP
+
+#include <type_traits>
+
+namespace lvr2 {
+
+/**
+ * @brief This type trait was necessary to 
+ * 
+ * Usage:
+ * 
+ * @code
+ * auto v = vector[0];
+ * 
+ * static_assert(
+ *      arg_has_type<Vector<float> >(v),
+ *      "Error: Type mismatch"
+ * );
+ * 
+ * @endcode
+ * 
+ * Why?
+ * The following code snipped was compiling in .cpp files but not in .cu
+ * - Ubuntu 20, GCC 9.4.0, NVCC 12.4
+ * 
+ * @code
+ * auto v = vector[0];
+ * 
+ * static_assert(
+ *      std::is_same<decltype(v), BaseVector<float> >::value,
+ *      "Error: Type mismatch"
+ * );
+ * @endcode
+ * 
+ * Since cuda code sometimes includes BaseVector.hpp all cuda libraries wont compile.
+ * Problem was that `decltype` in .cu file is not working as expected
+ * 
+*/
+template<typename T, typename AutoType>
+static constexpr bool arg_has_type(const AutoType& t1)
+{
+    return std::is_same<T, AutoType>::value;
+}
+
+} // namespace lvr2
+
+#endif // LVR2_UTIL_TYPE_TRAITS_HPP
\ No newline at end of file
diff --git a/src/liblvr2/CMakeLists.txt b/src/liblvr2/CMakeLists.txt
index 9f667f4d8..92d32f8bb 100644
--- a/src/liblvr2/CMakeLists.txt
+++ b/src/liblvr2/CMakeLists.txt
@@ -191,7 +191,8 @@ endif( NOT MSVC)
 #####################################################################################
 
 if(CUDA_FOUND)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+    set(CUDA_SEPARABLE_COMPILATION ON)
 
     # List of CUDA kernel code sources
     set(LVR2_CUDA_SRC
@@ -214,6 +215,8 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
     endif(VTK_FOUND)
 
     message(STATUS "Building static LVR CUDA library")
+
+    
     cuda_add_library(lvr2cuda_static STATIC ${LVR2_CUDA_SRC})
     target_link_libraries(lvr2cuda_static lvr2_static)
 
@@ -225,6 +228,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
     cuda_add_library(lvr2cuda SHARED ${LVR2_CUDA_CPP_SRC} ${LVR2_CUDA_SRC})
 
     target_link_libraries(lvr2cuda lvr2)
+    add_dependencies(lvr2cuda lvr2)
 
     install(
         TARGETS lvr2cuda_static lvr2cuda
@@ -233,5 +237,5 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
         ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
     )
 
-endif()
+endif(CUDA_FOUND)
 
diff --git a/src/tools/lvr2_hdf5_mesh_builder/CMakeLists.txt b/src/tools/lvr2_hdf5_mesh_tool/CMakeLists.txt
similarity index 100%
rename from src/tools/lvr2_hdf5_mesh_builder/CMakeLists.txt
rename to src/tools/lvr2_hdf5_mesh_tool/CMakeLists.txt
diff --git a/src/tools/lvr2_hdf5_mesh_builder/HDF5MeshTool.cpp b/src/tools/lvr2_hdf5_mesh_tool/HDF5MeshTool.cpp
similarity index 100%
rename from src/tools/lvr2_hdf5_mesh_builder/HDF5MeshTool.cpp
rename to src/tools/lvr2_hdf5_mesh_tool/HDF5MeshTool.cpp
diff --git a/src/tools/lvr2_hdf5_mesh_builder/Options.cpp b/src/tools/lvr2_hdf5_mesh_tool/Options.cpp
similarity index 100%
rename from src/tools/lvr2_hdf5_mesh_builder/Options.cpp
rename to src/tools/lvr2_hdf5_mesh_tool/Options.cpp
diff --git a/src/tools/lvr2_hdf5_mesh_builder/Options.hpp b/src/tools/lvr2_hdf5_mesh_tool/Options.hpp
similarity index 100%
rename from src/tools/lvr2_hdf5_mesh_builder/Options.hpp
rename to src/tools/lvr2_hdf5_mesh_tool/Options.hpp