diff --git a/ros2_ws/src/iiwa_bringup/CMakeLists.txt b/ros2_ws/src/iiwa/iiwa_bringup/CMakeLists.txt
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diff --git a/ros2_ws/src/iiwa_bringup/config/test_trajectory_config_IRS_Lab.yaml b/ros2_ws/src/iiwa/iiwa_bringup/config/test_trajectory_config_IRS_Lab.yaml
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diff --git a/ros2_ws/src/iiwa_bringup/launch/Impedance_Controller/__pycache__/iiwa.launch.cpython-310.pyc b/ros2_ws/src/iiwa/iiwa_bringup/launch/Impedance_Controller/__pycache__/iiwa.launch.cpython-310.pyc
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diff --git a/ros2_ws/src/iiwa_bringup/launch/Impedance_Controller/__pycache__/iiwa_cm.launch.cpython-310.pyc b/ros2_ws/src/iiwa/iiwa_bringup/launch/Impedance_Controller/__pycache__/iiwa_cm.launch.cpython-310.pyc
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diff --git a/ros2_ws/src/iiwa_bringup/launch/Impedance_Controller/iiwa.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/Impedance_Controller/iiwa.launch.py
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diff --git a/ros2_ws/src/iiwa_bringup/launch/Impedance_Controller/iiwa_cm.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/Impedance_Controller/iiwa_cm.launch.py
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diff --git a/ros2_ws/src/iiwa_bringup/launch/Impedance_Controller/iiwa_ctrl.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/Impedance_Controller/iiwa_ctrl.launch.py
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diff --git a/ros2_ws/src/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_controller_manager.launch.cpython-310.pyc b/ros2_ws/src/iiwa/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_controller_manager.launch.cpython-310.pyc
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diff --git a/ros2_ws/src/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_controllers.launch.cpython-310.pyc b/ros2_ws/src/iiwa/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_controllers.launch.cpython-310.pyc
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diff --git a/ros2_ws/src/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_rviz.launch.cpython-310.pyc b/ros2_ws/src/iiwa/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_rviz.launch.cpython-310.pyc
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diff --git a/ros2_ws/src/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_controller_manager.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_controller_manager.launch.py
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diff --git a/ros2_ws/src/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_controllers.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_controllers.launch.py
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diff --git a/ros2_ws/src/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_rviz.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_rviz.launch.py
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diff --git a/ros2_ws/src/iiwa_bringup/launch/__pycache__/iiwa_test_joint_trajectory_controller.launch.cpython-310.pyc b/ros2_ws/src/iiwa/iiwa_bringup/launch/__pycache__/iiwa_test_joint_trajectory_controller.launch.cpython-310.pyc
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diff --git a/ros2_ws/src/iiwa_bringup/launch/__pycache__/iiwa_test_trajectory_impedance_controller.launch.cpython-310.pyc b/ros2_ws/src/iiwa/iiwa_bringup/launch/__pycache__/iiwa_test_trajectory_impedance_controller.launch.cpython-310.pyc
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diff --git a/ros2_ws/src/iiwa_bringup/launch/iiwa_test_joint_trajectory_controller.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa_test_joint_trajectory_controller.launch.py
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diff --git a/ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/CMakeLists.txt b/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/CMakeLists.txt
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diff --git a/ros2_ws/src/iiwa_controllers/impedance_controller/include/impedance_controller/visibility_control.h b/ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/include/impedance_controller/visibility_control.h
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rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/obj/pb_frimessages_callbacks.o
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/obj/pb_frimessages_callbacks.o
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/pb_frimessages_callbacks.c b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/pb_frimessages_callbacks.c
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/pb_frimessages_callbacks.c
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/pb_frimessages_callbacks.c
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/pb_frimessages_callbacks.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/pb_frimessages_callbacks.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/pb_frimessages_callbacks.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/pb_frimessages_callbacks.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf_gen/FRIMessages.pb.c b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf_gen/FRIMessages.pb.c
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf_gen/FRIMessages.pb.c
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf_gen/FRIMessages.pb.c
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf_gen/FRIMessages.pb.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf_gen/FRIMessages.pb.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf_gen/FRIMessages.pb.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf_gen/FRIMessages.pb.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf_gen/Makefile b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf_gen/Makefile
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf_gen/Makefile
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf_gen/Makefile
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf_gen/obj/FRIMessages.pb.d b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf_gen/obj/FRIMessages.pb.d
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf_gen/obj/FRIMessages.pb.d
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf_gen/obj/FRIMessages.pb.d
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf_gen/obj/FRIMessages.pb.o b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf_gen/obj/FRIMessages.pb.o
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf_gen/obj/FRIMessages.pb.o
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf_gen/obj/FRIMessages.pb.o
diff --git a/ros2_ws/src/iiwa_hardware/iiwa_hardware_interface_plugin.xml b/ros2_ws/src/iiwa/iiwa_hardware/iiwa_hardware_interface_plugin.xml
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/iiwa_hardware_interface_plugin.xml
rename to ros2_ws/src/iiwa/iiwa_hardware/iiwa_hardware_interface_plugin.xml
diff --git a/ros2_ws/src/iiwa_hardware/include/iiwa_hardware/IRDFClient.h b/ros2_ws/src/iiwa/iiwa_hardware/include/iiwa_hardware/IRDFClient.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/include/iiwa_hardware/IRDFClient.h
rename to ros2_ws/src/iiwa/iiwa_hardware/include/iiwa_hardware/IRDFClient.h
diff --git a/ros2_ws/src/iiwa_hardware/include/iiwa_hardware/IiwaFRIHardwareInterface.hpp b/ros2_ws/src/iiwa/iiwa_hardware/include/iiwa_hardware/IiwaFRIHardwareInterface.hpp
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/include/iiwa_hardware/IiwaFRIHardwareInterface.hpp
rename to ros2_ws/src/iiwa/iiwa_hardware/include/iiwa_hardware/IiwaFRIHardwareInterface.hpp
diff --git a/ros2_ws/src/iiwa_hardware/include/iiwa_hardware/low_pass_filter.h b/ros2_ws/src/iiwa/iiwa_hardware/include/iiwa_hardware/low_pass_filter.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/include/iiwa_hardware/low_pass_filter.h
rename to ros2_ws/src/iiwa/iiwa_hardware/include/iiwa_hardware/low_pass_filter.h
diff --git a/ros2_ws/src/iiwa_hardware/include/iiwa_hardware/visibility_control.h b/ros2_ws/src/iiwa/iiwa_hardware/include/iiwa_hardware/visibility_control.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/include/iiwa_hardware/visibility_control.h
rename to ros2_ws/src/iiwa/iiwa_hardware/include/iiwa_hardware/visibility_control.h
diff --git a/ros2_ws/src/iiwa_hardware/package.xml b/ros2_ws/src/iiwa/iiwa_hardware/package.xml
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/package.xml
rename to ros2_ws/src/iiwa/iiwa_hardware/package.xml
diff --git a/ros2_ws/src/iiwa_hardware/src/IRDFClient.cpp b/ros2_ws/src/iiwa/iiwa_hardware/src/IRDFClient.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/src/IRDFClient.cpp
rename to ros2_ws/src/iiwa/iiwa_hardware/src/IRDFClient.cpp
diff --git a/ros2_ws/src/iiwa_hardware/src/IiwaFRIHardwareInterface.cpp b/ros2_ws/src/iiwa/iiwa_hardware/src/IiwaFRIHardwareInterface.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/src/IiwaFRIHardwareInterface.cpp
rename to ros2_ws/src/iiwa/iiwa_hardware/src/IiwaFRIHardwareInterface.cpp
diff --git a/ros2_ws/src/iiwa_inverse_kinematics/iiwa_inverse_kinematics/__init__.py b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/__init__.py
similarity index 100%
rename from ros2_ws/src/iiwa_inverse_kinematics/iiwa_inverse_kinematics/__init__.py
rename to ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/__init__.py
diff --git a/ros2_ws/src/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py
similarity index 100%
rename from ros2_ws/src/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py
rename to ros2_ws/src/iiwa/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py
diff --git a/ros2_ws/src/iiwa_inverse_kinematics/package.xml b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/package.xml
similarity index 100%
rename from ros2_ws/src/iiwa_inverse_kinematics/package.xml
rename to ros2_ws/src/iiwa/iiwa_inverse_kinematics/package.xml
diff --git a/ros2_ws/src/iiwa_inverse_kinematics/resource/iiwa_inverse_kinematics b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/resource/iiwa_inverse_kinematics
similarity index 100%
rename from ros2_ws/src/iiwa_inverse_kinematics/resource/iiwa_inverse_kinematics
rename to ros2_ws/src/iiwa/iiwa_inverse_kinematics/resource/iiwa_inverse_kinematics
diff --git a/ros2_ws/src/iiwa_inverse_kinematics/setup.cfg b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/setup.cfg
similarity index 100%
rename from ros2_ws/src/iiwa_inverse_kinematics/setup.cfg
rename to ros2_ws/src/iiwa/iiwa_inverse_kinematics/setup.cfg
diff --git a/ros2_ws/src/iiwa_inverse_kinematics/setup.py b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/setup.py
similarity index 100%
rename from ros2_ws/src/iiwa_inverse_kinematics/setup.py
rename to ros2_ws/src/iiwa/iiwa_inverse_kinematics/setup.py
diff --git a/ros2_ws/src/iiwa_inverse_kinematics/test/test_copyright.py b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/test/test_copyright.py
similarity index 100%
rename from ros2_ws/src/iiwa_inverse_kinematics/test/test_copyright.py
rename to ros2_ws/src/iiwa/iiwa_inverse_kinematics/test/test_copyright.py
diff --git a/ros2_ws/src/iiwa_inverse_kinematics/test/test_flake8.py b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/test/test_flake8.py
similarity index 100%
rename from ros2_ws/src/iiwa_inverse_kinematics/test/test_flake8.py
rename to ros2_ws/src/iiwa/iiwa_inverse_kinematics/test/test_flake8.py
diff --git a/ros2_ws/src/iiwa_inverse_kinematics/test/test_pep257.py b/ros2_ws/src/iiwa/iiwa_inverse_kinematics/test/test_pep257.py
similarity index 100%
rename from ros2_ws/src/iiwa_inverse_kinematics/test/test_pep257.py
rename to ros2_ws/src/iiwa/iiwa_inverse_kinematics/test/test_pep257.py
diff --git a/ros2_ws/src/iiwa_moveit2/CMakeLists.txt b/ros2_ws/src/iiwa/iiwa_moveit2/CMakeLists.txt
similarity index 100%
rename from ros2_ws/src/iiwa_moveit2/CMakeLists.txt
rename to ros2_ws/src/iiwa/iiwa_moveit2/CMakeLists.txt
diff --git a/ros2_ws/src/iiwa_moveit2/package.xml b/ros2_ws/src/iiwa/iiwa_moveit2/package.xml
similarity index 100%
rename from ros2_ws/src/iiwa_moveit2/package.xml
rename to ros2_ws/src/iiwa/iiwa_moveit2/package.xml
diff --git a/ros2_ws/src/iiwa_moveit2/src/joystick_servo.cpp b/ros2_ws/src/iiwa/iiwa_moveit2/src/joystick_servo.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_moveit2/src/joystick_servo.cpp
rename to ros2_ws/src/iiwa/iiwa_moveit2/src/joystick_servo.cpp
diff --git a/ros2_ws/src/iiwa_moveit2/src/pose_tracking_servo.cpp b/ros2_ws/src/iiwa/iiwa_moveit2/src/pose_tracking_servo.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_moveit2/src/pose_tracking_servo.cpp
rename to ros2_ws/src/iiwa/iiwa_moveit2/src/pose_tracking_servo.cpp
diff --git a/ros2_ws/src/iiwa_moveit2/src/servo_node.cpp b/ros2_ws/src/iiwa/iiwa_moveit2/src/servo_node.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_moveit2/src/servo_node.cpp
rename to ros2_ws/src/iiwa/iiwa_moveit2/src/servo_node.cpp
diff --git a/ros2_ws/src/iiwa_sunrise/AMENT_IGNORE b/ros2_ws/src/iiwa/iiwa_sunrise/AMENT_IGNORE
similarity index 100%
rename from ros2_ws/src/iiwa_sunrise/AMENT_IGNORE
rename to ros2_ws/src/iiwa/iiwa_sunrise/AMENT_IGNORE
diff --git a/ros2_ws/src/iiwa_sunrise/src/iiwa_ros2.java b/ros2_ws/src/iiwa/iiwa_sunrise/src/iiwa_ros2.java
similarity index 100%
rename from ros2_ws/src/iiwa_sunrise/src/iiwa_ros2.java
rename to ros2_ws/src/iiwa/iiwa_sunrise/src/iiwa_ros2.java
diff --git a/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py b/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
index 6c760539ef459b5f233f4d4665230368f73a5a3c..3a623a9249686be7e46b92787ae1d135a05ca909 100644
--- a/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
+++ b/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
@@ -31,7 +31,7 @@ def generate_launch_description():
     velocity_constant_launch_arg = DeclareLaunchArgument('velocity_constant', default_value = '0.015')
     velocity_constant = LaunchConfiguration('velocity_constant')
 
-    constant_speed_launch_arg = DeclareLaunchArgument('constant_speed', default_value = 'True') # change
+    constant_speed_launch_arg = DeclareLaunchArgument('constant_speed', default_value = 'False') # change
     constant_speed = LaunchConfiguration('constant_speed')
 
 
diff --git a/ros2_ws/src/simple_robot_2dof/launch/kuka_rviz_simulation_2dof_sequential_launch.py b/ros2_ws/src/simple_robot_2dof/launch/kuka_rviz_simulation_2dof_sequential_launch.py
index 1327740c587bc816102b8910745845663155e28a..b4a2686ab9cf9d7a85e9b60e9c689730181a028a 100644
--- a/ros2_ws/src/simple_robot_2dof/launch/kuka_rviz_simulation_2dof_sequential_launch.py
+++ b/ros2_ws/src/simple_robot_2dof/launch/kuka_rviz_simulation_2dof_sequential_launch.py
@@ -33,7 +33,7 @@ def generate_launch_description():
     sequential_launch_arg = DeclareLaunchArgument('sequential', default_value = 'True') # do not change
     sequential = LaunchConfiguration('sequential')
 
-    constant_speed_launch_arg = DeclareLaunchArgument('constant_speed', default_value = 'True')
+    constant_speed_launch_arg = DeclareLaunchArgument('constant_speed', default_value = 'False')
     constant_speed = LaunchConfiguration('constant_speed')
 
     return LaunchDescription([
diff --git a/ros2_ws/src/simple_robot_3dof/launch/kuka_rviz_simulation_3dof_sequential_launch.py b/ros2_ws/src/simple_robot_3dof/launch/kuka_rviz_simulation_3dof_sequential_launch.py
index 0aab324de86879741eb1d0348a39cf7de13994b7..1254fd9fe646d8d5019b1304c66921be0884e800 100644
--- a/ros2_ws/src/simple_robot_3dof/launch/kuka_rviz_simulation_3dof_sequential_launch.py
+++ b/ros2_ws/src/simple_robot_3dof/launch/kuka_rviz_simulation_3dof_sequential_launch.py
@@ -33,7 +33,7 @@ def generate_launch_description():
     sequential_launch_arg = DeclareLaunchArgument('sequential', default_value = 'True') # do not change
     sequential = LaunchConfiguration('sequential')
 
-    constant_speed_launch_arg = DeclareLaunchArgument('constant_speed', default_value = 'True') # change
+    constant_speed_launch_arg = DeclareLaunchArgument('constant_speed', default_value = 'False') # change
     constant_speed = LaunchConfiguration('constant_speed')
 
     return LaunchDescription([
diff --git a/ros2_ws/src/simple_robot_3dof/launch/kuka_rviz_simulation_3dof_simultaneous_launch.py b/ros2_ws/src/simple_robot_3dof/launch/kuka_rviz_simulation_3dof_simultaneous_launch.py
index 8ce0d772f70b3411c0f20f4168c22cfb1738907b..281f6a8462db46793101970c4d4bf51ae3933a57 100644
--- a/ros2_ws/src/simple_robot_3dof/launch/kuka_rviz_simulation_3dof_simultaneous_launch.py
+++ b/ros2_ws/src/simple_robot_3dof/launch/kuka_rviz_simulation_3dof_simultaneous_launch.py
@@ -33,7 +33,7 @@ def generate_launch_description():
     sequential_launch_arg = DeclareLaunchArgument('sequential', default_value = 'False') # do not change
     sequential = LaunchConfiguration('sequential')
 
-    constant_speed_launch_arg = DeclareLaunchArgument('constant_speed', default_value = 'True') # change
+    constant_speed_launch_arg = DeclareLaunchArgument('constant_speed', default_value = 'False') # change
     constant_speed = LaunchConfiguration('constant_speed')
 
     return LaunchDescription([