diff --git a/doc/05_acting/02_acc.md b/doc/05_acting/02_acc.md
index fd4c193d..a4cc6b12 100644
--- a/doc/05_acting/02_acc.md
+++ b/doc/05_acting/02_acc.md
@@ -73,5 +73,5 @@ To do so, enable the `AccDistancePublisherDummy` in the acting launch file.
 
 ## Also see
 
-* [Dev round 4](../dev_rounds/sprint_4.md)
+* [Dev round 4](../07_dev_talks/sprint_4.md)
 * [research](../03_research/01_acting/Readme.md)
diff --git a/doc/dev_rounds/sprint_4.md b/doc/07_dev_talks/sprint_4.md
similarity index 99%
rename from doc/dev_rounds/sprint_4.md
rename to doc/07_dev_talks/sprint_4.md
index b4de94fc..ad2a29f5 100644
--- a/doc/dev_rounds/sprint_4.md
+++ b/doc/07_dev_talks/sprint_4.md
@@ -7,7 +7,9 @@
 ## Author
 
 Josef Kircher
+
 Julian Graf
+
 Marco Riedenauer
 
 ## Date
diff --git a/doc/07_dev_talks/sprint_5.md b/doc/07_dev_talks/sprint_5.md
new file mode 100644
index 00000000..aab35610
--- /dev/null
+++ b/doc/07_dev_talks/sprint_5.md
@@ -0,0 +1,117 @@
+# Dev talk - Sprint 5
+
+**Summary:** For better communication a developer round is held in this sprint to improve communication and clarify responsibilities.
+
+---
+
+## Author
+
+Josef Kircher
+
+Gabriel Schwald
+
+Marco Riedenauer
+
+Korbinian Stein
+
+## Date
+
+01.02.2023
+
+## Prerequisite
+
+---
+<!-- TOC -->
+* [Dev talk - Sprint 5](#dev-talk---sprint-5)
+  * [Author](#author)
+  * [Date](#date)
+  * [Prerequisite](#prerequisite)
+  * [Planning](#planning)
+    * [Suggestions](#suggestions)
+    * [Things that need to handled](#things-that-need-to-handled)
+    * [Results](#results)
+  * [Acting](#acting)
+  * [Perception](#perception)
+    * [Sources](#sources)
+<!-- TOC -->
+
+## Planning
+
+### Suggestions
+
+How should be the naming convention for topics?
+
+traffic light message:
+
+    string color
+    float32 distance
+
+traffic sign message:
+
+    bool isStop
+    float distance
+
+speed limit message:
+
+    float speedlimit
+    float distance
+
+acc message:
+
+    bool activate/deactivate
+
+### Things that need to handled
+
+* Information from perception
+  * Are there speed limits on the road? Can you handle these?
+  * traffic signs are firstly limited to stop signs, I guess? Is the design modular enough to add different signs?
+  * should there be a state as in the traffic light suggestion? Would keep the message short
+  * is it alright to handle speed limits differently?
+  * We might need to track crossing traffic for unsignalized intersections.
+
+* Information from acting
+  * is it simple enough to have a bool message?
+  * Speed is published in m/s or km/h?
+  * this message would only be used to de-active in case of overturn and put back on afterwards and otherwise the ACC could turn on automatically when the distance to the car in front is below a threshold?
+
+### Results
+
+Topic naming: /paf/hero/*
+
+traffic light message:
+
+    string color
+    float32 distance
+
+acc message:
+
+    bool activate/deactivate
+
+Open:
+
+traffic sign message:
+
+    bool isStop
+    float distance
+
+speed limit message:
+
+    float speedlimit in m/s
+    float distance
+
+* Perception
+  * crossing traffic dependent on segmentation/lidar model accuracy
+  * speed limits are part of opendrive file/ could also have redundent street signs/
+
+* Acting
+  * Speed in m/s
+
+## Acting
+
+* Unpark routine/ other scenarios handled by acting/ hard coded behavior
+
+## Perception
+
+no questions so far
+
+### Sources