From ee3e36c175c43787ee16544f8ea72766a034af7f Mon Sep 17 00:00:00 2001
From: Ventsi <uquzq@student.kit.edu>
Date: Mon, 22 Jul 2024 17:14:04 +0200
Subject: [PATCH] Create a separate directory for the iiwa packages
---
ros2_ws/src/{ => iiwa}/iiwa_bringup/CMakeLists.txt | 0
.../iiwa_bringup/config/test_trajectory_config.yaml | 0
.../config/test_trajectory_config_IRS_Lab.yaml | 0
.../__pycache__/iiwa.launch.cpython-310.pyc | Bin
.../__pycache__/iiwa_cm.launch.cpython-310.pyc | Bin
.../launch/Impedance_Controller/iiwa.launch.py | 0
.../launch/Impedance_Controller/iiwa_cm.launch.py | 0
.../launch/Impedance_Controller/iiwa_ctrl.launch.py | 0
.../iiwa_controller_manager.launch.cpython-310.pyc | Bin
.../iiwa_controllers.launch.cpython-310.pyc | Bin
.../__pycache__/iiwa_rviz.launch.cpython-310.pyc | Bin
.../iiwa_controller_manager.launch.py | 0
.../iiwa_controllers.launch.py | 0
.../ROS2_debug_FRI_connection/iiwa_rviz.launch.py | 0
.../launch/__pycache__/iiwa.launch.cpython-310.pyc | Bin
...int_trajectory_controller.launch.cpython-310.pyc | Bin
...tory_impedance_controller.launch.cpython-310.pyc | Bin
.../{ => iiwa}/iiwa_bringup/launch/iiwa.launch.py | 0
.../iiwa_bringup/launch/iiwa_planning.launch.py | 0
.../launch/iiwa_pose_tracking.launch.py | 0
.../iiwa_bringup/launch/iiwa_servoing.launch.py | 0
.../iiwa_test_joint_trajectory_controller.launch.py | 0
...a_test_trajectory_impedance_controller.launch.py | 0
.../iiwa_bringup/launch/joy_servo_teleop.launch.py | 0
ros2_ws/src/{ => iiwa}/iiwa_bringup/package.xml | 0
.../admittance_controller/AMENT_IGNORE | 0
.../admittance_controller/CMakeLists.txt | 0
.../admittance_controller/README.md | 0
.../admittance_controller/admittance_plugin.xml | 0
.../admittance_controller/admittance_controller.hpp | 0
.../admittance_controller/visibility_control.h | 0
.../admittance_controller/package.xml | 0
.../src/admittance_controller.cpp | 0
.../CMakeLists.txt | 0
.../external_torque_sensor_broadcaster/README.md | 0
.../external_torque_sensor_broadcaster.xml | 0
.../external_torque_sensor.hpp | 0
.../external_torque_sensor_broadcaster.hpp | 0
.../visibility_control.h | 0
.../external_torque_sensor_broadcaster/package.xml | 0
.../src/external_torque_sensor_broadcaster.cpp | 0
.../impedance_controller/CMakeLists.txt | 0
.../impedance_controller/impedance_plugin.xml | 0
.../impedance_controller/impedance_controller.hpp | 0
.../impedance_controller/visibility_control.h | 0
.../impedance_controller/package.xml | 0
.../src/impedance_controller.cpp | 0
.../src/{ => iiwa}/iiwa_description/CMakeLists.txt | 0
.../iiwa_description/config/base_frame.yaml | 0
.../iiwa_description/config/iiwa.config.xacro | 0
.../config/iiwa.config_impedance_ctrl.xacro | 0
.../iiwa_description/config/iiwa_controllers.yaml | 0
.../iiwa_description/config/initial_positions.yaml | 0
.../config/initial_positions_IRS_Lab.yaml | 0
.../iiwa_description/gazebo/iiwa.gazebo.xacro | 0
.../iiwa_description/gazebo/worlds/empty.world | 0
.../meshes/flex_fellow_h800/flex_fellow_h800.dae | 0
.../meshes/flex_fellow_h800/flex_fellow_h800.stl | Bin
.../meshes/lbr_iiwa_14_r820/collision/base_link.stl | Bin
.../meshes/lbr_iiwa_14_r820/collision/link_1.stl | Bin
.../meshes/lbr_iiwa_14_r820/collision/link_2.stl | Bin
.../meshes/lbr_iiwa_14_r820/collision/link_3.stl | Bin
.../meshes/lbr_iiwa_14_r820/collision/link_4.stl | Bin
.../meshes/lbr_iiwa_14_r820/collision/link_5.stl | Bin
.../meshes/lbr_iiwa_14_r820/collision/link_6.stl | Bin
.../meshes/lbr_iiwa_14_r820/collision/link_7.stl | Bin
.../meshes/lbr_iiwa_14_r820/collision/link_7_2.stl | Bin
.../meshes/lbr_iiwa_14_r820/link_7_2.stl | Bin
.../meshes/lbr_iiwa_14_r820/visual/base_link.dae | 0
.../meshes/lbr_iiwa_14_r820/visual/link_1.dae | 0
.../meshes/lbr_iiwa_14_r820/visual/link_2.dae | 0
.../meshes/lbr_iiwa_14_r820/visual/link_3.dae | 0
.../meshes/lbr_iiwa_14_r820/visual/link_4.dae | 0
.../meshes/lbr_iiwa_14_r820/visual/link_5.dae | 0
.../meshes/lbr_iiwa_14_r820/visual/link_6.dae | 0
.../meshes/lbr_iiwa_14_r820/visual/link_7.dae | 0
.../meshes/lbr_iiwa_14_r820/visual/link_7_2.stl | Bin
.../moveit2/iiwa_cartesian_limits.yaml | 0
.../iiwa_description/moveit2/iiwa_joint_limits.yaml | 0
.../moveit2/iiwa_moveit2_pose_tracking_config.yaml | 0
.../iiwa_moveit2_pose_tracking_settings.yaml | 0
.../moveit2/iiwa_moveit2_servo_config.yaml | 0
.../moveit2/iiwa_moveit_controller_config.yaml | 0
.../iiwa_description/moveit2/kinematics.yaml | 0
.../iiwa_description/moveit2/ompl_planning.yaml | 0
.../moveit2/planning_pipelines_config.yaml | 0
ros2_ws/src/{ => iiwa}/iiwa_description/package.xml | 0
.../ros2_control/iiwa.r2c_hardware.xacro | 0
.../iiwa.r2c_hardware_impedance_ctrl.xacro | 0
.../ros2_control/iiwa.r2c_hw_ds.xacro | 0
.../src/{ => iiwa}/iiwa_description/rviz/iiwa.rviz | 0
.../{ => iiwa}/iiwa_description/rviz/moveit.rviz | 0
.../iiwa_description/rviz/servo_rviz_config.rviz | 0
.../iiwa_description/srdf/iiwa.srdf.xacro | 0
.../iiwa_description/srdf/iiwa_macro.srdf.xacro | 0
.../iiwa_description/urdf/iiwa.urdf.xacro | 0
.../{ => iiwa}/iiwa_description/urdf/iiwa14.urdf | 0
ros2_ws/src/{ => iiwa}/iiwa_hardware/CMakeLists.txt | 0
.../external/libFRI/include/friClientApplication.h | 0
.../external/libFRI/include/friClientIf.h | 0
.../external/libFRI/include/friConnectionIf.h | 0
.../external/libFRI/include/friException.h | 0
.../external/libFRI/include/friLBRClient.h | 0
.../external/libFRI/include/friLBRCommand.h | 0
.../external/libFRI/include/friLBRState.h | 0
.../libFRI/include/friTransformationClient.h | 0
.../external/libFRI/include/friUdpConnection.h | 0
.../iiwa_hardware/external/libFRI/src/base/Makefile | 0
.../libFRI/src/base/friClientApplication.cpp | 0
.../external/libFRI/src/base/friClientData.h | 0
.../libFRI/src/base/obj/friClientApplication.d | 0
.../libFRI/src/base/obj/friClientApplication.o | Bin
.../external/libFRI/src/client_lbr/Makefile | 0
.../external/libFRI/src/client_lbr/friLBRClient.cpp | 0
.../libFRI/src/client_lbr/friLBRCommand.cpp | 0
.../external/libFRI/src/client_lbr/friLBRState.cpp | 0
.../libFRI/src/client_lbr/obj/friLBRClient.d | 0
.../libFRI/src/client_lbr/obj/friLBRClient.o | Bin
.../libFRI/src/client_lbr/obj/friLBRCommand.d | 0
.../libFRI/src/client_lbr/obj/friLBRCommand.o | Bin
.../libFRI/src/client_lbr/obj/friLBRState.d | 0
.../libFRI/src/client_lbr/obj/friLBRState.o | Bin
.../external/libFRI/src/client_trafo/Makefile | 0
.../src/client_trafo/friTransformationClient.cpp | 0
.../src/client_trafo/obj/friTransformationClient.d | 0
.../src/client_trafo/obj/friTransformationClient.o | Bin
.../external/libFRI/src/connection/Makefile | 0
.../libFRI/src/connection/friUdpConnection.cpp | 0
.../libFRI/src/connection/obj/friUdpConnection.d | 0
.../libFRI/src/connection/obj/friUdpConnection.o | Bin
.../external/libFRI/src/nanopb-0.2.8/CHANGELOG.txt | 0
.../external/libFRI/src/nanopb-0.2.8/LICENSE.txt | 0
.../external/libFRI/src/nanopb-0.2.8/Makefile | 0
.../external/libFRI/src/nanopb-0.2.8/README.txt | 0
.../libFRI/src/nanopb-0.2.8/obj/pb_decode.d | 0
.../libFRI/src/nanopb-0.2.8/obj/pb_decode.o | Bin
.../libFRI/src/nanopb-0.2.8/obj/pb_encode.d | 0
.../libFRI/src/nanopb-0.2.8/obj/pb_encode.o | Bin
.../external/libFRI/src/nanopb-0.2.8/pb.h | 0
.../external/libFRI/src/nanopb-0.2.8/pb_decode.c | 0
.../external/libFRI/src/nanopb-0.2.8/pb_decode.h | 0
.../external/libFRI/src/nanopb-0.2.8/pb_encode.c | 0
.../external/libFRI/src/nanopb-0.2.8/pb_encode.h | 0
.../external/libFRI/src/nanopb-0.2.8/pb_syshdr.h | 0
.../libFRI/src/nanopb-0.2.8/pb_syshdr_win.h | 0
.../external/libFRI/src/protobuf/Makefile | 0
.../src/protobuf/friCommandMessageEncoder.cpp | 0
.../libFRI/src/protobuf/friCommandMessageEncoder.h | 0
.../src/protobuf/friMonitoringMessageDecoder.cpp | 0
.../src/protobuf/friMonitoringMessageDecoder.h | 0
.../src/protobuf/obj/friCommandMessageEncoder.d | 0
.../src/protobuf/obj/friCommandMessageEncoder.o | Bin
.../src/protobuf/obj/friMonitoringMessageDecoder.d | 0
.../src/protobuf/obj/friMonitoringMessageDecoder.o | Bin
.../src/protobuf/obj/pb_frimessages_callbacks.d | 0
.../src/protobuf/obj/pb_frimessages_callbacks.o | Bin
.../libFRI/src/protobuf/pb_frimessages_callbacks.c | 0
.../libFRI/src/protobuf/pb_frimessages_callbacks.h | 0
.../libFRI/src/protobuf_gen/FRIMessages.pb.c | 0
.../libFRI/src/protobuf_gen/FRIMessages.pb.h | 0
.../external/libFRI/src/protobuf_gen/Makefile | 0
.../libFRI/src/protobuf_gen/obj/FRIMessages.pb.d | 0
.../libFRI/src/protobuf_gen/obj/FRIMessages.pb.o | Bin
.../iiwa_hardware_interface_plugin.xml | 0
.../include/iiwa_hardware/IRDFClient.h | 0
.../iiwa_hardware/IiwaFRIHardwareInterface.hpp | 0
.../include/iiwa_hardware/low_pass_filter.h | 0
.../include/iiwa_hardware/visibility_control.h | 0
ros2_ws/src/{ => iiwa}/iiwa_hardware/package.xml | 0
.../src/{ => iiwa}/iiwa_hardware/src/IRDFClient.cpp | 0
.../iiwa_hardware/src/IiwaFRIHardwareInterface.cpp | 0
.../iiwa_inverse_kinematics/__init__.py | 0
.../inverse_kinematics_node.py | 0
.../{ => iiwa}/iiwa_inverse_kinematics/package.xml | 0
.../resource/iiwa_inverse_kinematics | 0
.../{ => iiwa}/iiwa_inverse_kinematics/setup.cfg | 0
.../src/{ => iiwa}/iiwa_inverse_kinematics/setup.py | 0
.../iiwa_inverse_kinematics/test/test_copyright.py | 0
.../iiwa_inverse_kinematics/test/test_flake8.py | 0
.../iiwa_inverse_kinematics/test/test_pep257.py | 0
ros2_ws/src/{ => iiwa}/iiwa_moveit2/CMakeLists.txt | 0
ros2_ws/src/{ => iiwa}/iiwa_moveit2/package.xml | 0
.../{ => iiwa}/iiwa_moveit2/src/joystick_servo.cpp | 0
.../iiwa_moveit2/src/pose_tracking_servo.cpp | 0
.../src/{ => iiwa}/iiwa_moveit2/src/servo_node.cpp | 0
ros2_ws/src/{ => iiwa}/iiwa_sunrise/AMENT_IGNORE | 0
.../src/{ => iiwa}/iiwa_sunrise/src/iiwa_ros2.java | 0
.../launch/kuka_rviz_simulation_1dof_launch.py | 2 +-
.../kuka_rviz_simulation_2dof_sequential_launch.py | 2 +-
.../kuka_rviz_simulation_3dof_sequential_launch.py | 2 +-
...kuka_rviz_simulation_3dof_simultaneous_launch.py | 2 +-
191 files changed, 4 insertions(+), 4 deletions(-)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/CMakeLists.txt (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/config/test_trajectory_config.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/config/test_trajectory_config_IRS_Lab.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/Impedance_Controller/__pycache__/iiwa.launch.cpython-310.pyc (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/Impedance_Controller/__pycache__/iiwa_cm.launch.cpython-310.pyc (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/Impedance_Controller/iiwa.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/Impedance_Controller/iiwa_cm.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/Impedance_Controller/iiwa_ctrl.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_controller_manager.launch.cpython-310.pyc (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_controllers.launch.cpython-310.pyc (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_rviz.launch.cpython-310.pyc (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_controller_manager.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_controllers.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_rviz.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/__pycache__/iiwa.launch.cpython-310.pyc (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/__pycache__/iiwa_test_joint_trajectory_controller.launch.cpython-310.pyc (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/__pycache__/iiwa_test_trajectory_impedance_controller.launch.cpython-310.pyc (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/iiwa.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/iiwa_planning.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/iiwa_pose_tracking.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/iiwa_servoing.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/iiwa_test_joint_trajectory_controller.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/iiwa_test_trajectory_impedance_controller.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/launch/joy_servo_teleop.launch.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_bringup/package.xml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/admittance_controller/AMENT_IGNORE (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/admittance_controller/CMakeLists.txt (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/admittance_controller/README.md (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/admittance_controller/admittance_plugin.xml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/admittance_controller/include/admittance_controller/admittance_controller.hpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/admittance_controller/include/admittance_controller/visibility_control.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/admittance_controller/package.xml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/admittance_controller/src/admittance_controller.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/external_torque_sensor_broadcaster/CMakeLists.txt (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/external_torque_sensor_broadcaster/README.md (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/external_torque_sensor_broadcaster/external_torque_sensor_broadcaster.xml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/external_torque_sensor.hpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/external_torque_sensor_broadcaster.hpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/visibility_control.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/external_torque_sensor_broadcaster/package.xml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/external_torque_sensor_broadcaster/src/external_torque_sensor_broadcaster.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/impedance_controller/CMakeLists.txt (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/impedance_controller/impedance_plugin.xml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/impedance_controller/include/impedance_controller/impedance_controller.hpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/impedance_controller/include/impedance_controller/visibility_control.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/impedance_controller/package.xml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_controllers/impedance_controller/src/impedance_controller.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/CMakeLists.txt (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/config/base_frame.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/config/iiwa.config.xacro (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/config/iiwa.config_impedance_ctrl.xacro (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/config/iiwa_controllers.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/config/initial_positions.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/config/initial_positions_IRS_Lab.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/gazebo/iiwa.gazebo.xacro (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/gazebo/worlds/empty.world (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/flex_fellow_h800/flex_fellow_h800.dae (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/flex_fellow_h800/flex_fellow_h800.stl (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/collision/base_link.stl (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_1.stl (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_2.stl (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_3.stl (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_4.stl (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_5.stl (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_6.stl (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7.stl (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7_2.stl (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/link_7_2.stl (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/visual/base_link.dae (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_1.dae (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_2.dae (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_3.dae (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_4.dae (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_5.dae (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_6.dae (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7.dae (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7_2.stl (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/moveit2/iiwa_cartesian_limits.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/moveit2/iiwa_joint_limits.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/moveit2/iiwa_moveit2_pose_tracking_config.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/moveit2/iiwa_moveit2_pose_tracking_settings.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/moveit2/iiwa_moveit2_servo_config.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/moveit2/iiwa_moveit_controller_config.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/moveit2/kinematics.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/moveit2/ompl_planning.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/moveit2/planning_pipelines_config.yaml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/package.xml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/ros2_control/iiwa.r2c_hardware.xacro (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/ros2_control/iiwa.r2c_hardware_impedance_ctrl.xacro (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/ros2_control/iiwa.r2c_hw_ds.xacro (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/rviz/iiwa.rviz (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/rviz/moveit.rviz (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/rviz/servo_rviz_config.rviz (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/srdf/iiwa.srdf.xacro (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/srdf/iiwa_macro.srdf.xacro (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/urdf/iiwa.urdf.xacro (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_description/urdf/iiwa14.urdf (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/CMakeLists.txt (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/include/friClientApplication.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/include/friClientIf.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/include/friConnectionIf.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/include/friException.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/include/friLBRClient.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/include/friLBRCommand.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/include/friLBRState.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/include/friTransformationClient.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/include/friUdpConnection.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/base/Makefile (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/base/friClientApplication.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/base/friClientData.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/base/obj/friClientApplication.d (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/base/obj/friClientApplication.o (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_lbr/Makefile (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_lbr/friLBRClient.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_lbr/friLBRCommand.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_lbr/friLBRState.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRClient.d (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRClient.o (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRCommand.d (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRCommand.o (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRState.d (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRState.o (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_trafo/Makefile (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_trafo/friTransformationClient.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_trafo/obj/friTransformationClient.d (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/client_trafo/obj/friTransformationClient.o (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/connection/Makefile (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/connection/friUdpConnection.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/connection/obj/friUdpConnection.d (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/connection/obj/friUdpConnection.o (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/CHANGELOG.txt (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/LICENSE.txt (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/Makefile (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/README.txt (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_decode.d (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_decode.o (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_encode.d (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_encode.o (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_decode.c (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_decode.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_encode.c (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_encode.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_syshdr.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_syshdr_win.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/Makefile (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/friCommandMessageEncoder.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/friCommandMessageEncoder.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/friMonitoringMessageDecoder.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/friMonitoringMessageDecoder.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/obj/friCommandMessageEncoder.d (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/obj/friCommandMessageEncoder.o (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/obj/friMonitoringMessageDecoder.d (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/obj/friMonitoringMessageDecoder.o (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/obj/pb_frimessages_callbacks.d (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/obj/pb_frimessages_callbacks.o (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/pb_frimessages_callbacks.c (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf/pb_frimessages_callbacks.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf_gen/FRIMessages.pb.c (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf_gen/FRIMessages.pb.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf_gen/Makefile (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf_gen/obj/FRIMessages.pb.d (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/external/libFRI/src/protobuf_gen/obj/FRIMessages.pb.o (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/iiwa_hardware_interface_plugin.xml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/include/iiwa_hardware/IRDFClient.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/include/iiwa_hardware/IiwaFRIHardwareInterface.hpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/include/iiwa_hardware/low_pass_filter.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/include/iiwa_hardware/visibility_control.h (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/package.xml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/src/IRDFClient.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_hardware/src/IiwaFRIHardwareInterface.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_inverse_kinematics/iiwa_inverse_kinematics/__init__.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_inverse_kinematics/iiwa_inverse_kinematics/inverse_kinematics_node.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_inverse_kinematics/package.xml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_inverse_kinematics/resource/iiwa_inverse_kinematics (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_inverse_kinematics/setup.cfg (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_inverse_kinematics/setup.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_inverse_kinematics/test/test_copyright.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_inverse_kinematics/test/test_flake8.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_inverse_kinematics/test/test_pep257.py (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_moveit2/CMakeLists.txt (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_moveit2/package.xml (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_moveit2/src/joystick_servo.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_moveit2/src/pose_tracking_servo.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_moveit2/src/servo_node.cpp (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_sunrise/AMENT_IGNORE (100%)
rename ros2_ws/src/{ => iiwa}/iiwa_sunrise/src/iiwa_ros2.java (100%)
diff --git a/ros2_ws/src/iiwa_bringup/CMakeLists.txt b/ros2_ws/src/iiwa/iiwa_bringup/CMakeLists.txt
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/CMakeLists.txt
rename to ros2_ws/src/iiwa/iiwa_bringup/CMakeLists.txt
diff --git a/ros2_ws/src/iiwa_bringup/config/test_trajectory_config.yaml b/ros2_ws/src/iiwa/iiwa_bringup/config/test_trajectory_config.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/config/test_trajectory_config.yaml
rename to ros2_ws/src/iiwa/iiwa_bringup/config/test_trajectory_config.yaml
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/config/test_trajectory_config_IRS_Lab.yaml
rename to ros2_ws/src/iiwa/iiwa_bringup/config/test_trajectory_config_IRS_Lab.yaml
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/Impedance_Controller/__pycache__/iiwa.launch.cpython-310.pyc
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/Impedance_Controller/__pycache__/iiwa.launch.cpython-310.pyc
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/Impedance_Controller/__pycache__/iiwa_cm.launch.cpython-310.pyc
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/Impedance_Controller/__pycache__/iiwa_cm.launch.cpython-310.pyc
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/Impedance_Controller/iiwa.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/Impedance_Controller/iiwa.launch.py
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/Impedance_Controller/iiwa_cm.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/Impedance_Controller/iiwa_cm.launch.py
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/Impedance_Controller/iiwa_ctrl.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/Impedance_Controller/iiwa_ctrl.launch.py
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_controller_manager.launch.cpython-310.pyc
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_controller_manager.launch.cpython-310.pyc
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_controllers.launch.cpython-310.pyc
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_controllers.launch.cpython-310.pyc
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_rviz.launch.cpython-310.pyc
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/ROS2_debug_FRI_connection/__pycache__/iiwa_rviz.launch.cpython-310.pyc
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_controller_manager.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_controller_manager.launch.py
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_controllers.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_controllers.launch.py
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_rviz.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/ROS2_debug_FRI_connection/iiwa_rviz.launch.py
diff --git a/ros2_ws/src/iiwa_bringup/launch/__pycache__/iiwa.launch.cpython-310.pyc b/ros2_ws/src/iiwa/iiwa_bringup/launch/__pycache__/iiwa.launch.cpython-310.pyc
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/__pycache__/iiwa.launch.cpython-310.pyc
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/__pycache__/iiwa.launch.cpython-310.pyc
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/__pycache__/iiwa_test_joint_trajectory_controller.launch.cpython-310.pyc
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/__pycache__/iiwa_test_joint_trajectory_controller.launch.cpython-310.pyc
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/__pycache__/iiwa_test_trajectory_impedance_controller.launch.cpython-310.pyc
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/__pycache__/iiwa_test_trajectory_impedance_controller.launch.cpython-310.pyc
diff --git a/ros2_ws/src/iiwa_bringup/launch/iiwa.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa.launch.py
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/iiwa.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa.launch.py
diff --git a/ros2_ws/src/iiwa_bringup/launch/iiwa_planning.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa_planning.launch.py
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/iiwa_planning.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa_planning.launch.py
diff --git a/ros2_ws/src/iiwa_bringup/launch/iiwa_pose_tracking.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa_pose_tracking.launch.py
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/iiwa_pose_tracking.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa_pose_tracking.launch.py
diff --git a/ros2_ws/src/iiwa_bringup/launch/iiwa_servoing.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa_servoing.launch.py
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/iiwa_servoing.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa_servoing.launch.py
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
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/iiwa_test_joint_trajectory_controller.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa_test_joint_trajectory_controller.launch.py
diff --git a/ros2_ws/src/iiwa_bringup/launch/iiwa_test_trajectory_impedance_controller.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa_test_trajectory_impedance_controller.launch.py
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/iiwa_test_trajectory_impedance_controller.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/iiwa_test_trajectory_impedance_controller.launch.py
diff --git a/ros2_ws/src/iiwa_bringup/launch/joy_servo_teleop.launch.py b/ros2_ws/src/iiwa/iiwa_bringup/launch/joy_servo_teleop.launch.py
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/launch/joy_servo_teleop.launch.py
rename to ros2_ws/src/iiwa/iiwa_bringup/launch/joy_servo_teleop.launch.py
diff --git a/ros2_ws/src/iiwa_bringup/package.xml b/ros2_ws/src/iiwa/iiwa_bringup/package.xml
similarity index 100%
rename from ros2_ws/src/iiwa_bringup/package.xml
rename to ros2_ws/src/iiwa/iiwa_bringup/package.xml
diff --git a/ros2_ws/src/iiwa_controllers/admittance_controller/AMENT_IGNORE b/ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/AMENT_IGNORE
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/admittance_controller/AMENT_IGNORE
rename to ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/AMENT_IGNORE
diff --git a/ros2_ws/src/iiwa_controllers/admittance_controller/CMakeLists.txt b/ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/CMakeLists.txt
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/admittance_controller/CMakeLists.txt
rename to ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/CMakeLists.txt
diff --git a/ros2_ws/src/iiwa_controllers/admittance_controller/README.md b/ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/README.md
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/admittance_controller/README.md
rename to ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/README.md
diff --git a/ros2_ws/src/iiwa_controllers/admittance_controller/admittance_plugin.xml b/ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/admittance_plugin.xml
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/admittance_controller/admittance_plugin.xml
rename to ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/admittance_plugin.xml
diff --git a/ros2_ws/src/iiwa_controllers/admittance_controller/include/admittance_controller/admittance_controller.hpp b/ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/include/admittance_controller/admittance_controller.hpp
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/admittance_controller/include/admittance_controller/admittance_controller.hpp
rename to ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/include/admittance_controller/admittance_controller.hpp
diff --git a/ros2_ws/src/iiwa_controllers/admittance_controller/include/admittance_controller/visibility_control.h b/ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/include/admittance_controller/visibility_control.h
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/admittance_controller/include/admittance_controller/visibility_control.h
rename to ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/include/admittance_controller/visibility_control.h
diff --git a/ros2_ws/src/iiwa_controllers/admittance_controller/package.xml b/ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/package.xml
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/admittance_controller/package.xml
rename to ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/package.xml
diff --git a/ros2_ws/src/iiwa_controllers/admittance_controller/src/admittance_controller.cpp b/ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/src/admittance_controller.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/admittance_controller/src/admittance_controller.cpp
rename to ros2_ws/src/iiwa/iiwa_controllers/admittance_controller/src/admittance_controller.cpp
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
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/CMakeLists.txt
rename to ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/CMakeLists.txt
diff --git a/ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/README.md b/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/README.md
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/README.md
rename to ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/README.md
diff --git a/ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/external_torque_sensor_broadcaster.xml b/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/external_torque_sensor_broadcaster.xml
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/external_torque_sensor_broadcaster.xml
rename to ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/external_torque_sensor_broadcaster.xml
diff --git a/ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/external_torque_sensor.hpp b/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/external_torque_sensor.hpp
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/external_torque_sensor.hpp
rename to ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/external_torque_sensor.hpp
diff --git a/ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/external_torque_sensor_broadcaster.hpp b/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/external_torque_sensor_broadcaster.hpp
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/external_torque_sensor_broadcaster.hpp
rename to ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/external_torque_sensor_broadcaster.hpp
diff --git a/ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/visibility_control.h b/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/visibility_control.h
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/visibility_control.h
rename to ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/include/external_torque_sensor_broadcaster/visibility_control.h
diff --git a/ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/package.xml b/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/package.xml
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/package.xml
rename to ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/package.xml
diff --git a/ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/src/external_torque_sensor_broadcaster.cpp b/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/src/external_torque_sensor_broadcaster.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/external_torque_sensor_broadcaster/src/external_torque_sensor_broadcaster.cpp
rename to ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/src/external_torque_sensor_broadcaster.cpp
diff --git a/ros2_ws/src/iiwa_controllers/impedance_controller/CMakeLists.txt b/ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/CMakeLists.txt
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/impedance_controller/CMakeLists.txt
rename to ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/CMakeLists.txt
diff --git a/ros2_ws/src/iiwa_controllers/impedance_controller/impedance_plugin.xml b/ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/impedance_plugin.xml
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/impedance_controller/impedance_plugin.xml
rename to ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/impedance_plugin.xml
diff --git a/ros2_ws/src/iiwa_controllers/impedance_controller/include/impedance_controller/impedance_controller.hpp b/ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/include/impedance_controller/impedance_controller.hpp
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/impedance_controller/include/impedance_controller/impedance_controller.hpp
rename to ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/include/impedance_controller/impedance_controller.hpp
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
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/impedance_controller/include/impedance_controller/visibility_control.h
rename to ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/include/impedance_controller/visibility_control.h
diff --git a/ros2_ws/src/iiwa_controllers/impedance_controller/package.xml b/ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/package.xml
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/impedance_controller/package.xml
rename to ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/package.xml
diff --git a/ros2_ws/src/iiwa_controllers/impedance_controller/src/impedance_controller.cpp b/ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/src/impedance_controller.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_controllers/impedance_controller/src/impedance_controller.cpp
rename to ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/src/impedance_controller.cpp
diff --git a/ros2_ws/src/iiwa_description/CMakeLists.txt b/ros2_ws/src/iiwa/iiwa_description/CMakeLists.txt
similarity index 100%
rename from ros2_ws/src/iiwa_description/CMakeLists.txt
rename to ros2_ws/src/iiwa/iiwa_description/CMakeLists.txt
diff --git a/ros2_ws/src/iiwa_description/config/base_frame.yaml b/ros2_ws/src/iiwa/iiwa_description/config/base_frame.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/config/base_frame.yaml
rename to ros2_ws/src/iiwa/iiwa_description/config/base_frame.yaml
diff --git a/ros2_ws/src/iiwa_description/config/iiwa.config.xacro b/ros2_ws/src/iiwa/iiwa_description/config/iiwa.config.xacro
similarity index 100%
rename from ros2_ws/src/iiwa_description/config/iiwa.config.xacro
rename to ros2_ws/src/iiwa/iiwa_description/config/iiwa.config.xacro
diff --git a/ros2_ws/src/iiwa_description/config/iiwa.config_impedance_ctrl.xacro b/ros2_ws/src/iiwa/iiwa_description/config/iiwa.config_impedance_ctrl.xacro
similarity index 100%
rename from ros2_ws/src/iiwa_description/config/iiwa.config_impedance_ctrl.xacro
rename to ros2_ws/src/iiwa/iiwa_description/config/iiwa.config_impedance_ctrl.xacro
diff --git a/ros2_ws/src/iiwa_description/config/iiwa_controllers.yaml b/ros2_ws/src/iiwa/iiwa_description/config/iiwa_controllers.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/config/iiwa_controllers.yaml
rename to ros2_ws/src/iiwa/iiwa_description/config/iiwa_controllers.yaml
diff --git a/ros2_ws/src/iiwa_description/config/initial_positions.yaml b/ros2_ws/src/iiwa/iiwa_description/config/initial_positions.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/config/initial_positions.yaml
rename to ros2_ws/src/iiwa/iiwa_description/config/initial_positions.yaml
diff --git a/ros2_ws/src/iiwa_description/config/initial_positions_IRS_Lab.yaml b/ros2_ws/src/iiwa/iiwa_description/config/initial_positions_IRS_Lab.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/config/initial_positions_IRS_Lab.yaml
rename to ros2_ws/src/iiwa/iiwa_description/config/initial_positions_IRS_Lab.yaml
diff --git a/ros2_ws/src/iiwa_description/gazebo/iiwa.gazebo.xacro b/ros2_ws/src/iiwa/iiwa_description/gazebo/iiwa.gazebo.xacro
similarity index 100%
rename from ros2_ws/src/iiwa_description/gazebo/iiwa.gazebo.xacro
rename to ros2_ws/src/iiwa/iiwa_description/gazebo/iiwa.gazebo.xacro
diff --git a/ros2_ws/src/iiwa_description/gazebo/worlds/empty.world b/ros2_ws/src/iiwa/iiwa_description/gazebo/worlds/empty.world
similarity index 100%
rename from ros2_ws/src/iiwa_description/gazebo/worlds/empty.world
rename to ros2_ws/src/iiwa/iiwa_description/gazebo/worlds/empty.world
diff --git a/ros2_ws/src/iiwa_description/meshes/flex_fellow_h800/flex_fellow_h800.dae b/ros2_ws/src/iiwa/iiwa_description/meshes/flex_fellow_h800/flex_fellow_h800.dae
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/flex_fellow_h800/flex_fellow_h800.dae
rename to ros2_ws/src/iiwa/iiwa_description/meshes/flex_fellow_h800/flex_fellow_h800.dae
diff --git a/ros2_ws/src/iiwa_description/meshes/flex_fellow_h800/flex_fellow_h800.stl b/ros2_ws/src/iiwa/iiwa_description/meshes/flex_fellow_h800/flex_fellow_h800.stl
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/flex_fellow_h800/flex_fellow_h800.stl
rename to ros2_ws/src/iiwa/iiwa_description/meshes/flex_fellow_h800/flex_fellow_h800.stl
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/base_link.stl b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/base_link.stl
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/base_link.stl
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/base_link.stl
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_1.stl b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_1.stl
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_1.stl
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_1.stl
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_2.stl b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_2.stl
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_2.stl
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_2.stl
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_3.stl b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_3.stl
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_3.stl
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_3.stl
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_4.stl b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_4.stl
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_4.stl
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_4.stl
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_5.stl b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_5.stl
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_5.stl
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_5.stl
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_6.stl b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_6.stl
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_6.stl
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_6.stl
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7.stl b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7.stl
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7.stl
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7.stl
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7_2.stl b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7_2.stl
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7_2.stl
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/collision/link_7_2.stl
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/link_7_2.stl b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/link_7_2.stl
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/link_7_2.stl
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/link_7_2.stl
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/base_link.dae b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/base_link.dae
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/base_link.dae
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/base_link.dae
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_1.dae b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_1.dae
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_1.dae
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_1.dae
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_2.dae b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_2.dae
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_2.dae
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_2.dae
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_3.dae b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_3.dae
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_3.dae
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_3.dae
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_4.dae b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_4.dae
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_4.dae
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_4.dae
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_5.dae b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_5.dae
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_5.dae
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_5.dae
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_6.dae b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_6.dae
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_6.dae
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_6.dae
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7.dae b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7.dae
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7.dae
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7.dae
diff --git a/ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7_2.stl b/ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7_2.stl
similarity index 100%
rename from ros2_ws/src/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7_2.stl
rename to ros2_ws/src/iiwa/iiwa_description/meshes/lbr_iiwa_14_r820/visual/link_7_2.stl
diff --git a/ros2_ws/src/iiwa_description/moveit2/iiwa_cartesian_limits.yaml b/ros2_ws/src/iiwa/iiwa_description/moveit2/iiwa_cartesian_limits.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/moveit2/iiwa_cartesian_limits.yaml
rename to ros2_ws/src/iiwa/iiwa_description/moveit2/iiwa_cartesian_limits.yaml
diff --git a/ros2_ws/src/iiwa_description/moveit2/iiwa_joint_limits.yaml b/ros2_ws/src/iiwa/iiwa_description/moveit2/iiwa_joint_limits.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/moveit2/iiwa_joint_limits.yaml
rename to ros2_ws/src/iiwa/iiwa_description/moveit2/iiwa_joint_limits.yaml
diff --git a/ros2_ws/src/iiwa_description/moveit2/iiwa_moveit2_pose_tracking_config.yaml b/ros2_ws/src/iiwa/iiwa_description/moveit2/iiwa_moveit2_pose_tracking_config.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/moveit2/iiwa_moveit2_pose_tracking_config.yaml
rename to ros2_ws/src/iiwa/iiwa_description/moveit2/iiwa_moveit2_pose_tracking_config.yaml
diff --git a/ros2_ws/src/iiwa_description/moveit2/iiwa_moveit2_pose_tracking_settings.yaml b/ros2_ws/src/iiwa/iiwa_description/moveit2/iiwa_moveit2_pose_tracking_settings.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/moveit2/iiwa_moveit2_pose_tracking_settings.yaml
rename to ros2_ws/src/iiwa/iiwa_description/moveit2/iiwa_moveit2_pose_tracking_settings.yaml
diff --git a/ros2_ws/src/iiwa_description/moveit2/iiwa_moveit2_servo_config.yaml b/ros2_ws/src/iiwa/iiwa_description/moveit2/iiwa_moveit2_servo_config.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/moveit2/iiwa_moveit2_servo_config.yaml
rename to ros2_ws/src/iiwa/iiwa_description/moveit2/iiwa_moveit2_servo_config.yaml
diff --git a/ros2_ws/src/iiwa_description/moveit2/iiwa_moveit_controller_config.yaml b/ros2_ws/src/iiwa/iiwa_description/moveit2/iiwa_moveit_controller_config.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/moveit2/iiwa_moveit_controller_config.yaml
rename to ros2_ws/src/iiwa/iiwa_description/moveit2/iiwa_moveit_controller_config.yaml
diff --git a/ros2_ws/src/iiwa_description/moveit2/kinematics.yaml b/ros2_ws/src/iiwa/iiwa_description/moveit2/kinematics.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/moveit2/kinematics.yaml
rename to ros2_ws/src/iiwa/iiwa_description/moveit2/kinematics.yaml
diff --git a/ros2_ws/src/iiwa_description/moveit2/ompl_planning.yaml b/ros2_ws/src/iiwa/iiwa_description/moveit2/ompl_planning.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/moveit2/ompl_planning.yaml
rename to ros2_ws/src/iiwa/iiwa_description/moveit2/ompl_planning.yaml
diff --git a/ros2_ws/src/iiwa_description/moveit2/planning_pipelines_config.yaml b/ros2_ws/src/iiwa/iiwa_description/moveit2/planning_pipelines_config.yaml
similarity index 100%
rename from ros2_ws/src/iiwa_description/moveit2/planning_pipelines_config.yaml
rename to ros2_ws/src/iiwa/iiwa_description/moveit2/planning_pipelines_config.yaml
diff --git a/ros2_ws/src/iiwa_description/package.xml b/ros2_ws/src/iiwa/iiwa_description/package.xml
similarity index 100%
rename from ros2_ws/src/iiwa_description/package.xml
rename to ros2_ws/src/iiwa/iiwa_description/package.xml
diff --git a/ros2_ws/src/iiwa_description/ros2_control/iiwa.r2c_hardware.xacro b/ros2_ws/src/iiwa/iiwa_description/ros2_control/iiwa.r2c_hardware.xacro
similarity index 100%
rename from ros2_ws/src/iiwa_description/ros2_control/iiwa.r2c_hardware.xacro
rename to ros2_ws/src/iiwa/iiwa_description/ros2_control/iiwa.r2c_hardware.xacro
diff --git a/ros2_ws/src/iiwa_description/ros2_control/iiwa.r2c_hardware_impedance_ctrl.xacro b/ros2_ws/src/iiwa/iiwa_description/ros2_control/iiwa.r2c_hardware_impedance_ctrl.xacro
similarity index 100%
rename from ros2_ws/src/iiwa_description/ros2_control/iiwa.r2c_hardware_impedance_ctrl.xacro
rename to ros2_ws/src/iiwa/iiwa_description/ros2_control/iiwa.r2c_hardware_impedance_ctrl.xacro
diff --git a/ros2_ws/src/iiwa_description/ros2_control/iiwa.r2c_hw_ds.xacro b/ros2_ws/src/iiwa/iiwa_description/ros2_control/iiwa.r2c_hw_ds.xacro
similarity index 100%
rename from ros2_ws/src/iiwa_description/ros2_control/iiwa.r2c_hw_ds.xacro
rename to ros2_ws/src/iiwa/iiwa_description/ros2_control/iiwa.r2c_hw_ds.xacro
diff --git a/ros2_ws/src/iiwa_description/rviz/iiwa.rviz b/ros2_ws/src/iiwa/iiwa_description/rviz/iiwa.rviz
similarity index 100%
rename from ros2_ws/src/iiwa_description/rviz/iiwa.rviz
rename to ros2_ws/src/iiwa/iiwa_description/rviz/iiwa.rviz
diff --git a/ros2_ws/src/iiwa_description/rviz/moveit.rviz b/ros2_ws/src/iiwa/iiwa_description/rviz/moveit.rviz
similarity index 100%
rename from ros2_ws/src/iiwa_description/rviz/moveit.rviz
rename to ros2_ws/src/iiwa/iiwa_description/rviz/moveit.rviz
diff --git a/ros2_ws/src/iiwa_description/rviz/servo_rviz_config.rviz b/ros2_ws/src/iiwa/iiwa_description/rviz/servo_rviz_config.rviz
similarity index 100%
rename from ros2_ws/src/iiwa_description/rviz/servo_rviz_config.rviz
rename to ros2_ws/src/iiwa/iiwa_description/rviz/servo_rviz_config.rviz
diff --git a/ros2_ws/src/iiwa_description/srdf/iiwa.srdf.xacro b/ros2_ws/src/iiwa/iiwa_description/srdf/iiwa.srdf.xacro
similarity index 100%
rename from ros2_ws/src/iiwa_description/srdf/iiwa.srdf.xacro
rename to ros2_ws/src/iiwa/iiwa_description/srdf/iiwa.srdf.xacro
diff --git a/ros2_ws/src/iiwa_description/srdf/iiwa_macro.srdf.xacro b/ros2_ws/src/iiwa/iiwa_description/srdf/iiwa_macro.srdf.xacro
similarity index 100%
rename from ros2_ws/src/iiwa_description/srdf/iiwa_macro.srdf.xacro
rename to ros2_ws/src/iiwa/iiwa_description/srdf/iiwa_macro.srdf.xacro
diff --git a/ros2_ws/src/iiwa_description/urdf/iiwa.urdf.xacro b/ros2_ws/src/iiwa/iiwa_description/urdf/iiwa.urdf.xacro
similarity index 100%
rename from ros2_ws/src/iiwa_description/urdf/iiwa.urdf.xacro
rename to ros2_ws/src/iiwa/iiwa_description/urdf/iiwa.urdf.xacro
diff --git a/ros2_ws/src/iiwa_description/urdf/iiwa14.urdf b/ros2_ws/src/iiwa/iiwa_description/urdf/iiwa14.urdf
similarity index 100%
rename from ros2_ws/src/iiwa_description/urdf/iiwa14.urdf
rename to ros2_ws/src/iiwa/iiwa_description/urdf/iiwa14.urdf
diff --git a/ros2_ws/src/iiwa_hardware/CMakeLists.txt b/ros2_ws/src/iiwa/iiwa_hardware/CMakeLists.txt
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/CMakeLists.txt
rename to ros2_ws/src/iiwa/iiwa_hardware/CMakeLists.txt
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/include/friClientApplication.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friClientApplication.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/include/friClientApplication.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friClientApplication.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/include/friClientIf.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friClientIf.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/include/friClientIf.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friClientIf.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/include/friConnectionIf.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friConnectionIf.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/include/friConnectionIf.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friConnectionIf.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/include/friException.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friException.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/include/friException.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friException.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/include/friLBRClient.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friLBRClient.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/include/friLBRClient.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friLBRClient.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/include/friLBRCommand.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friLBRCommand.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/include/friLBRCommand.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friLBRCommand.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/include/friLBRState.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friLBRState.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/include/friLBRState.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friLBRState.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/include/friTransformationClient.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friTransformationClient.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/include/friTransformationClient.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friTransformationClient.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/include/friUdpConnection.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friUdpConnection.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/include/friUdpConnection.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/include/friUdpConnection.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/base/Makefile b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/base/Makefile
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/base/Makefile
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/base/Makefile
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/base/friClientApplication.cpp b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/base/friClientApplication.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/base/friClientApplication.cpp
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/base/friClientApplication.cpp
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/base/friClientData.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/base/friClientData.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/base/friClientData.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/base/friClientData.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/base/obj/friClientApplication.d b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/base/obj/friClientApplication.d
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/base/obj/friClientApplication.d
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/base/obj/friClientApplication.d
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/base/obj/friClientApplication.o b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/base/obj/friClientApplication.o
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/base/obj/friClientApplication.o
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/base/obj/friClientApplication.o
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/Makefile b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/Makefile
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/Makefile
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/Makefile
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/friLBRClient.cpp b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/friLBRClient.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/friLBRClient.cpp
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/friLBRClient.cpp
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/friLBRCommand.cpp b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/friLBRCommand.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/friLBRCommand.cpp
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/friLBRCommand.cpp
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/friLBRState.cpp b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/friLBRState.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/friLBRState.cpp
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/friLBRState.cpp
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRClient.d b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRClient.d
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRClient.d
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRClient.d
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRClient.o b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRClient.o
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRClient.o
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRClient.o
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRCommand.d b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRCommand.d
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRCommand.d
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRCommand.d
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRCommand.o b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRCommand.o
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRCommand.o
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRCommand.o
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRState.d b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRState.d
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRState.d
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRState.d
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRState.o b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRState.o
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRState.o
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_lbr/obj/friLBRState.o
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_trafo/Makefile b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_trafo/Makefile
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_trafo/Makefile
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_trafo/Makefile
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_trafo/friTransformationClient.cpp b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_trafo/friTransformationClient.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_trafo/friTransformationClient.cpp
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_trafo/friTransformationClient.cpp
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_trafo/obj/friTransformationClient.d b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_trafo/obj/friTransformationClient.d
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_trafo/obj/friTransformationClient.d
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_trafo/obj/friTransformationClient.d
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/client_trafo/obj/friTransformationClient.o b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_trafo/obj/friTransformationClient.o
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/client_trafo/obj/friTransformationClient.o
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/client_trafo/obj/friTransformationClient.o
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/connection/Makefile b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/connection/Makefile
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/connection/Makefile
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/connection/Makefile
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/connection/friUdpConnection.cpp b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/connection/friUdpConnection.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/connection/friUdpConnection.cpp
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/connection/friUdpConnection.cpp
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/connection/obj/friUdpConnection.d b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/connection/obj/friUdpConnection.d
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/connection/obj/friUdpConnection.d
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/connection/obj/friUdpConnection.d
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/connection/obj/friUdpConnection.o b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/connection/obj/friUdpConnection.o
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/connection/obj/friUdpConnection.o
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/connection/obj/friUdpConnection.o
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/CHANGELOG.txt b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/CHANGELOG.txt
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/CHANGELOG.txt
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/CHANGELOG.txt
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/LICENSE.txt b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/LICENSE.txt
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/LICENSE.txt
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/LICENSE.txt
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/Makefile b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/Makefile
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/Makefile
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/Makefile
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/README.txt b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/README.txt
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/README.txt
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/README.txt
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_decode.d b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_decode.d
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_decode.d
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_decode.d
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_decode.o b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_decode.o
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_decode.o
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_decode.o
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_encode.d b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_encode.d
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_encode.d
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_encode.d
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_encode.o b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_encode.o
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_encode.o
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/obj/pb_encode.o
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_decode.c b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_decode.c
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_decode.c
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_decode.c
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_decode.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_decode.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_decode.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_decode.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_encode.c b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_encode.c
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_encode.c
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_encode.c
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_encode.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_encode.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_encode.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_encode.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_syshdr.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_syshdr.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_syshdr.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_syshdr.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_syshdr_win.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_syshdr_win.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_syshdr_win.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/nanopb-0.2.8/pb_syshdr_win.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/Makefile b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/Makefile
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/Makefile
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/Makefile
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/friCommandMessageEncoder.cpp b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/friCommandMessageEncoder.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/friCommandMessageEncoder.cpp
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/friCommandMessageEncoder.cpp
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/friCommandMessageEncoder.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/friCommandMessageEncoder.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/friCommandMessageEncoder.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/friCommandMessageEncoder.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/friMonitoringMessageDecoder.cpp b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/friMonitoringMessageDecoder.cpp
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/friMonitoringMessageDecoder.cpp
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/friMonitoringMessageDecoder.cpp
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/friMonitoringMessageDecoder.h b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/friMonitoringMessageDecoder.h
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/friMonitoringMessageDecoder.h
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/friMonitoringMessageDecoder.h
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/obj/friCommandMessageEncoder.d b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/obj/friCommandMessageEncoder.d
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/obj/friCommandMessageEncoder.d
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/obj/friCommandMessageEncoder.d
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/obj/friCommandMessageEncoder.o b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/obj/friCommandMessageEncoder.o
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/obj/friCommandMessageEncoder.o
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/obj/friCommandMessageEncoder.o
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/obj/friMonitoringMessageDecoder.d b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/obj/friMonitoringMessageDecoder.d
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/obj/friMonitoringMessageDecoder.d
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/obj/friMonitoringMessageDecoder.d
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/obj/friMonitoringMessageDecoder.o b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/obj/friMonitoringMessageDecoder.o
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/obj/friMonitoringMessageDecoder.o
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/obj/friMonitoringMessageDecoder.o
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/obj/pb_frimessages_callbacks.d b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/obj/pb_frimessages_callbacks.d
similarity index 100%
rename from ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/obj/pb_frimessages_callbacks.d
rename to ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/obj/pb_frimessages_callbacks.d
diff --git a/ros2_ws/src/iiwa_hardware/external/libFRI/src/protobuf/obj/pb_frimessages_callbacks.o b/ros2_ws/src/iiwa/iiwa_hardware/external/libFRI/src/protobuf/obj/pb_frimessages_callbacks.o
similarity index 100%
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 6c76053..3a623a9 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 1327740..b4a2686 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 0aab324..1254fd9 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 8ce0d77..281f6a8 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([
--
GitLab