diff --git a/copper/src/common.rs b/copper/src/common.rs
index eea517688..a6ca63e40 100644
--- a/copper/src/common.rs
+++ b/copper/src/common.rs
@@ -19,7 +19,7 @@ enum CopperListState {
 
 /// This structure maintains the entire memory needed by Copper for one process for the inter task communication.
 #[derive(Debug)]
-pub struct CopperListsManager<T: Sized + PartialEq, const N: usize> {
+pub struct CuListsManager<T: Sized + PartialEq, const N: usize> {
     copper_list_states: [CopperListState; N],
     data: Box<[T; N]>,
     length: usize,
@@ -38,7 +38,7 @@ pub type AscIter<'a, T> = Chain<SliceIter<'a, T>, SliceIter<'a, T>>;
 /// An mutable ascending iterator over `CircularQueue<T>`.
 pub type AscIterMut<'a, T> = Chain<SliceIterMut<'a, T>, SliceIterMut<'a, T>>;
 
-impl<T: Sized + PartialEq, const N: usize> PartialEq for CopperListsManager<T, N> {
+impl<T: Sized + PartialEq, const N: usize> PartialEq for CuListsManager<T, N> {
     fn eq(&self, other: &Self) -> bool {
         if self.len() != other.len() {
             return false;
@@ -47,7 +47,7 @@ impl<T: Sized + PartialEq, const N: usize> PartialEq for CopperListsManager<T, N
     }
 }
 
-impl<T: Sized + PartialEq, const N: usize> CopperListsManager<T, N> {
+impl<T: Sized + PartialEq, const N: usize> CuListsManager<T, N> {
     pub fn new() -> Self {
         let data = unsafe {
             let layout = std::alloc::Layout::new::<[T; N]>();
@@ -55,7 +55,7 @@ impl<T: Sized + PartialEq, const N: usize> CopperListsManager<T, N> {
             Box::from_raw(ptr)
         };
         const INITIAL_SLSTATE: CopperListState = CopperListState::Free;
-        CopperListsManager {
+        CuListsManager {
             copper_list_states: [INITIAL_SLSTATE; N],
             data,
             length: 0,
@@ -165,7 +165,7 @@ mod tests {
 
     #[test]
     fn empty_queue() {
-        let q = CopperListsManager::<i32, 5>::new();
+        let q = CuListsManager::<i32, 5>::new();
 
         assert!(q.is_empty());
         assert_eq!(q.iter().next(), None);
@@ -173,7 +173,7 @@ mod tests {
 
     #[test]
     fn partially_full_queue() {
-        let mut q = CopperListsManager::<i32, 5>::new();
+        let mut q = CuListsManager::<i32, 5>::new();
         *q.create().unwrap() = 1;
         *q.create().unwrap() = 2;
         *q.create().unwrap() = 3;
@@ -187,7 +187,7 @@ mod tests {
 
     #[test]
     fn full_queue() {
-        let mut q = CopperListsManager::<_, 5>::new();
+        let mut q = CuListsManager::<_, 5>::new();
         *q.create().unwrap() = 1;
         *q.create().unwrap() = 2;
         *q.create().unwrap() = 3;
@@ -201,7 +201,7 @@ mod tests {
 
     #[test]
     fn over_full_queue() {
-        let mut q = CopperListsManager::<_, 5>::new();
+        let mut q = CuListsManager::<_, 5>::new();
         *q.create().unwrap() = 1;
         *q.create().unwrap() = 2;
         *q.create().unwrap() = 3;
@@ -216,7 +216,7 @@ mod tests {
 
     #[test]
     fn clear() {
-        let mut q = CopperListsManager::<_, 5>::new();
+        let mut q = CuListsManager::<_, 5>::new();
         *q.create().unwrap() = 1;
         *q.create().unwrap() = 2;
         *q.create().unwrap() = 3;
@@ -242,7 +242,7 @@ mod tests {
 
     #[test]
     fn mutable_iterator() {
-        let mut q = CopperListsManager::<_, 5>::new();
+        let mut q = CuListsManager::<_, 5>::new();
         *q.create().unwrap() = 1;
         *q.create().unwrap() = 2;
         *q.create().unwrap() = 3;
@@ -259,7 +259,7 @@ mod tests {
 
     #[test]
     fn zero_sized() {
-        let mut q = CopperListsManager::<_, 5>::new();
+        let mut q = CuListsManager::<_, 5>::new();
         *q.create().unwrap() = ();
         *q.create().unwrap() = ();
         *q.create().unwrap() = ();
@@ -275,19 +275,19 @@ mod tests {
 
     #[test]
     fn empty_queue_eq() {
-        let q1 = CopperListsManager::<i32, 5>::new();
-        let q2 = CopperListsManager::<i32, 5>::new();
+        let q1 = CuListsManager::<i32, 5>::new();
+        let q2 = CuListsManager::<i32, 5>::new();
         assert_eq!(q1, q2);
     }
 
     #[test]
     fn partially_full_queue_eq() {
-        let mut q1 = CopperListsManager::<i32, 5>::new();
+        let mut q1 = CuListsManager::<i32, 5>::new();
         *q1.create().unwrap() = 1;
         *q1.create().unwrap() = 2;
         *q1.create().unwrap() = 3;
 
-        let mut q2 = CopperListsManager::<i32, 5>::new();
+        let mut q2 = CuListsManager::<i32, 5>::new();
         *q2.create().unwrap() = 1;
         *q2.create().unwrap() = 2;
         assert_ne!(q1, q2);
@@ -301,14 +301,14 @@ mod tests {
 
     #[test]
     fn full_queue_eq() {
-        let mut q1 = CopperListsManager::<i32, 5>::new();
+        let mut q1 = CuListsManager::<i32, 5>::new();
         *q1.create().unwrap() = 1;
         *q1.create().unwrap() = 2;
         *q1.create().unwrap() = 3;
         *q1.create().unwrap() = 4;
         *q1.create().unwrap() = 5;
 
-        let mut q2 = CopperListsManager::<i32, 5>::new();
+        let mut q2 = CuListsManager::<i32, 5>::new();
         *q2.create().unwrap() = 1;
         *q2.create().unwrap() = 2;
         *q2.create().unwrap() = 3;
@@ -320,7 +320,7 @@ mod tests {
 
     #[test]
     fn clear_eq() {
-        let mut q1 = CopperListsManager::<i32, 5>::new();
+        let mut q1 = CuListsManager::<i32, 5>::new();
         *q1.create().unwrap() = 1;
         *q1.create().unwrap() = 2;
         *q1.create().unwrap() = 3;
@@ -328,7 +328,7 @@ mod tests {
         *q1.create().unwrap() = 5;
         q1.clear();
 
-        let mut q2 = CopperListsManager::<i32, 5>::new();
+        let mut q2 = CuListsManager::<i32, 5>::new();
         assert_eq!(q1, q2);
 
         *q2.create().unwrap() = 1;
@@ -338,12 +338,12 @@ mod tests {
 
     #[test]
     fn zero_sized_eq() {
-        let mut q1 = CopperListsManager::<_, 3>::new();
+        let mut q1 = CuListsManager::<_, 3>::new();
         *q1.create().unwrap() = ();
         *q1.create().unwrap() = ();
         *q1.create().unwrap() = ();
 
-        let mut q2 = CopperListsManager::<_, 3>::new();
+        let mut q2 = CuListsManager::<_, 3>::new();
         *q2.create().unwrap() = ();
         *q2.create().unwrap() = ();
         assert_ne!(q1, q2);
@@ -360,6 +360,6 @@ mod tests {
 
     #[test]
     fn be_sure_we_wont_stackoverflow_at_init() {
-        let _ = CopperListsManager::<[u8; 10_000_000], 3>::new();
+        let _ = CuListsManager::<[u8; 10_000_000], 3>::new();
     }
 }
diff --git a/copper/src/config.rs b/copper/src/config.rs
index 272cfbf83..363c71f79 100644
--- a/copper/src/config.rs
+++ b/copper/src/config.rs
@@ -4,8 +4,8 @@ use petgraph::dot::Config as PetConfig;
 use petgraph::dot::Dot;
 use petgraph::stable_graph::StableDiGraph;
 use ron::extensions::Extensions;
-use ron::Options;
 use ron::value::Value as RonValue;
+use ron::Options;
 use serde::{Deserialize, Serialize};
 use uom::si::rational::Time;
 use uom::si::time::nanosecond;
@@ -138,19 +138,19 @@ impl Node {
 }
 
 #[derive(Serialize, Deserialize, Debug)]
-pub struct CopperConfig {
+pub struct CuConfig {
     pub graph: StableDiGraph<Node, String, NodeId>,
 }
 
-impl Default for CopperConfig {
+impl Default for CuConfig {
     fn default() -> Self {
-        CopperConfig {
+        CuConfig {
             graph: StableDiGraph::new(),
         }
     }
 }
 
-impl CopperConfig {
+impl CuConfig {
     pub fn add_node(&mut self, node: Node) -> NodeId {
         self.graph.add_node(node).index() as NodeId
     }
@@ -239,26 +239,26 @@ mod tests {
 
     #[test]
     fn test_plain_serialize() {
-        let mut config = CopperConfig::default();
+        let mut config = CuConfig::default();
         let n1 = config.add_node(Node::new("test1", "package::Plugin1"));
         let n2 = config.add_node(Node::new("test2", "package::Plugin2"));
         config.connect(n1, n2, "msgpkg::MsgType");
         let serialized = config.serialize();
-        let deserialized = CopperConfig::deserialize(&serialized);
+        let deserialized = CuConfig::deserialize(&serialized);
         assert_eq!(config.graph.node_count(), deserialized.graph.node_count());
         assert_eq!(config.graph.edge_count(), deserialized.graph.edge_count());
     }
 
     #[test]
     fn test_serialize_with_params() {
-        let mut config = CopperConfig::default();
+        let mut config = CuConfig::default();
         let mut camera = Node::new("copper-camera", "camerapkg::Camera")
             .set_base_period(Time::new::<second>(60.into()));
         camera.set_param::<Value>("resolution-height", 1080.into());
         config.add_node(camera);
         let serialized = config.serialize();
         println!("{}", serialized);
-        let deserialized = CopperConfig::deserialize(&serialized);
+        let deserialized = CuConfig::deserialize(&serialized);
         assert_eq!(
             deserialized
                 .get_node(0)
diff --git a/copper_derive/src/lib.rs b/copper_derive/src/lib.rs
index 8c7370c46..4169744cc 100644
--- a/copper_derive/src/lib.rs
+++ b/copper_derive/src/lib.rs
@@ -10,7 +10,7 @@ use syn::meta::parser;
 use syn::Fields::{Named, Unit, Unnamed};
 use syn::{parse_macro_input, parse_quote, parse_str, Field, ItemStruct, LitStr, Type, TypeTuple};
 
-use copper::config::CopperConfig;
+use copper::config::CuConfig;
 use format::{highlight_rust_code, rustfmt_generated_code};
 
 mod format;
@@ -40,7 +40,7 @@ pub fn copper_runtime(args: TokenStream, input: TokenStream) -> TokenStream {
     let config_content = std::fs::read_to_string(&config_full_path)
         .unwrap_or_else(|_| panic!("Failed to read configuration file: {:?}", &config_full_path));
 
-    let copper_config = CopperConfig::deserialize(&config_content);
+    let copper_config = CuConfig::deserialize(&config_content);
 
     let (all_tasks_types_names, all_tasks_types) = extract_tasks_types(&copper_config);
 
@@ -52,7 +52,7 @@ pub fn copper_runtime(args: TokenStream, input: TokenStream) -> TokenStream {
 
     // add that to a new field
     let task_instances_field: Field = parse_quote! {
-        task_instances: CopperTasks
+        task_instances: CuTasks
     };
 
     let (all_msgs_types_names, all_msgs_types) = extract_msgs_types(&copper_config);
@@ -60,7 +60,7 @@ pub fn copper_runtime(args: TokenStream, input: TokenStream) -> TokenStream {
     let msgs_types_tuple: TypeTuple = parse_quote! { (#(#all_msgs_types),*,)};
 
     let copper_lists_field: Field = parse_quote! {
-        copper_lists: CircularQueue<CopperList, 10>
+        copper_lists: CuListsManager<CuList, 10>
     };
 
     let name = &item_struct.ident;
@@ -109,17 +109,17 @@ pub fn copper_runtime(args: TokenStream, input: TokenStream) -> TokenStream {
     // Convert the modified struct back into a TokenStream
     let result = quote! {
         use std::fs::read_to_string;
-        use copper::common::CircularQueue;
+        use copper::config::CuConfig;
         use copper::config::Node;
-        use copper::config::CopperConfig;
         use copper::config::NodeInstanceConfig;
+        use copper::common::CuListsManager;
+        use copper::cutask::CuSinkTask; // Needed for the instantiation of tasks
         use copper::cutask::CuSrcTask; // Needed for the instantiation of tasks
         use copper::cutask::CuTask; // Needed for the instantiation of tasks
-        use copper::cutask::CuSinkTask; // Needed for the instantiation of tasks
         use copper::CuResult;
 
-        pub type CopperList = #msgs_types_tuple;
-        pub type CopperTasks = #task_types_tuple;
+        pub type CuList = #msgs_types_tuple;
+        pub type CuTasks = #task_types_tuple;
 
         pub #item_struct
 
@@ -130,7 +130,7 @@ pub fn copper_runtime(args: TokenStream, input: TokenStream) -> TokenStream {
 
                 let config_content = read_to_string(config_filename)
                     .unwrap_or_else(|_| panic!("Failed to read configuration file: {:?}", &config_filename));
-                let copper_config = CopperConfig::deserialize(&config_content);
+                let copper_config = CuConfig::deserialize(&config_content);
                 let all_instances_configs: Vec<Option<&NodeInstanceConfig>>  = copper_config.get_all_nodes().iter().map(|node_config| node_config.get_instance_config()).collect();
 
                 let task_instances = (
@@ -138,7 +138,7 @@ pub fn copper_runtime(args: TokenStream, input: TokenStream) -> TokenStream {
                 );
                 Ok(#name {
                     task_instances,
-                    copper_lists: CircularQueue::new(),
+                    copper_lists: CuListsManager::new(),
                 })
             }
 
@@ -161,7 +161,7 @@ pub fn copper_runtime(args: TokenStream, input: TokenStream) -> TokenStream {
 }
 
 /// Extract all the tasks types in their index order
-fn extract_tasks_types(copper_config: &CopperConfig) -> (Vec<String>, Vec<Type>) {
+fn extract_tasks_types(copper_config: &CuConfig) -> (Vec<String>, Vec<Type>) {
     let all_nodes = copper_config.get_all_nodes();
 
     // Collect all the type names used by our configs.
@@ -179,7 +179,7 @@ fn extract_tasks_types(copper_config: &CopperConfig) -> (Vec<String>, Vec<Type>)
 }
 
 /// Extract all the messages types in their index order
-fn extract_msgs_types(copper_config: &CopperConfig) -> (Vec<String>, Vec<Type>) {
+fn extract_msgs_types(copper_config: &CuConfig) -> (Vec<String>, Vec<Type>) {
     let all_edges = copper_config.get_all_edges();
 
     let all_types_names: Vec<String> = all_edges
diff --git a/examples/config-gen/src/main.rs b/examples/config-gen/src/main.rs
index 78acaaec5..ad9525b89 100644
--- a/examples/config-gen/src/main.rs
+++ b/examples/config-gen/src/main.rs
@@ -1,7 +1,7 @@
 use uom::si::time::second;
 use uom::si::time::Time;
 
-use copper::config::CopperConfig;
+use copper::config::CuConfig;
 use copper::config::Node;
 use copper::config::Value;
 
@@ -9,7 +9,7 @@ use copper::config::Value;
 /// This is useful for making variations of your robot more easily.
 fn main() {
     // Generate a config
-    let mut copperconfig = CopperConfig::default();
+    let mut copperconfig = CuConfig::default();
     let mut camera =
         Node::new("camera", "camerapkg::Camera").set_base_period(Time::new::<second>(60.into()));
     camera.set_param::<Value>("resolution-height", 1080.into());
diff --git a/examples/pluginload/src/main.rs b/examples/pluginload/src/main.rs
index eab0e6d6a..edd3cd6ad 100644
--- a/examples/pluginload/src/main.rs
+++ b/examples/pluginload/src/main.rs
@@ -1,11 +1,11 @@
 use uom::si::rational::Time;
 use uom::si::time::second;
 
-use copper::config::CopperConfig;
+use copper::config::CuConfig;
 use copper::config::Node;
 
 fn main() {
-    let mut copperconfig = CopperConfig::default();
+    let mut copperconfig = CuConfig::default();
     let mut camera =
         Node::new("copper-camera", "camerapkg::Camera")
             .set_base_period(Time::new::<second>(60.into()));