diff --git a/ur_calibration/CMakeLists.txt b/ur_calibration/CMakeLists.txt
new file mode 100644
index 0000000..7da1dd6
--- /dev/null
+++ b/ur_calibration/CMakeLists.txt
@@ -0,0 +1,186 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(ur_calibration)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  ur_rtde_driver
+)
+find_package(Eigen3 REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES ur_calibration
+  CATKIN_DEPENDS
+    roscpp
+    ur_rtde_driver
+#  DEPENDS Eigen3
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+)
+
+add_executable(calibration_correction
+  src/calibration.cpp
+  src/calibration_correction.cpp
+)
+
+add_dependencies(calibration_correction ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(calibration_correction
+  ${catkin_LIBRARIES}
+  yaml-cpp
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+if (CATKIN_ENABLE_TESTING)
+  catkin_add_gtest(calibration_test
+    test/calibration_test.cpp
+    src/calibration.cpp)
+  target_link_libraries(calibration_test ${catkin_LIBRARIES})
+endif()
+
+install(TARGETS calibration_correction RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/include/ur_rtde_driver/calibration.h b/ur_calibration/include/ur_calibration/calibration.h
similarity index 98%
rename from include/ur_rtde_driver/calibration.h
rename to ur_calibration/include/ur_calibration/calibration.h
index 55e00d5..6175286 100644
--- a/include/ur_rtde_driver/calibration.h
+++ b/ur_calibration/include/ur_calibration/calibration.h
@@ -148,7 +148,10 @@ public:
     return chain_;
   }
 
-  std::string toXacroProperties() {return robot_parameters_corrected_.toXacroProperties();}
+  std::string toXacroProperties()
+  {
+    return robot_parameters_corrected_.toXacroProperties();
+  }
   void writeToYaml(std::ofstream& ofstream) const;
 
   std::vector<Eigen::Matrix4d> getSimplified() const;
diff --git a/ur_calibration/package.xml b/ur_calibration/package.xml
new file mode 100644
index 0000000..698e83f
--- /dev/null
+++ b/ur_calibration/package.xml
@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ur_calibration</name>
+  <version>0.0.1</version>
+  <description>Package for extracting the factory calibration from a UR robot and change it such that it can be used by ur_description to gain a correct URDF</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="mauch@fzi.de">Felix Mauch</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>Apache 2.0</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/ur_calibration</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roscpp</depend>
+  <depend>ur_rtde_driver</depend>
+
+
+  <test_depend>rosunit</test_depend>
+</package>
diff --git a/src/calibration.cpp b/ur_calibration/src/calibration.cpp
similarity index 99%
rename from src/calibration.cpp
rename to ur_calibration/src/calibration.cpp
index 818b10e..cdff728 100644
--- a/src/calibration.cpp
+++ b/ur_calibration/src/calibration.cpp
@@ -12,7 +12,7 @@
  */
 //----------------------------------------------------------------------
 
-#include <ur_rtde_driver/calibration.h>
+#include <ur_calibration/calibration.h>
 
 Calibration::Calibration(const DHRobot& robot_parameters) : robot_parameters_(robot_parameters)
 {
diff --git a/src/calibration_correction.cpp b/ur_calibration/src/calibration_correction.cpp
similarity index 99%
rename from src/calibration_correction.cpp
rename to ur_calibration/src/calibration_correction.cpp
index dee695e..68f6424 100644
--- a/src/calibration_correction.cpp
+++ b/ur_calibration/src/calibration_correction.cpp
@@ -12,7 +12,7 @@
  */
 //----------------------------------------------------------------------
 
-#include <ur_rtde_driver/calibration.h>
+#include <ur_calibration/calibration.h>
 
 #include <sensor_msgs/JointState.h>
 #include <tf/transform_listener.h>
diff --git a/test/calibration_test.cpp b/ur_calibration/test/calibration_test.cpp
similarity index 99%
rename from test/calibration_test.cpp
rename to ur_calibration/test/calibration_test.cpp
index 130a1c7..1fb5028 100644
--- a/test/calibration_test.cpp
+++ b/ur_calibration/test/calibration_test.cpp
@@ -13,7 +13,7 @@
 //----------------------------------------------------------------------
 
 #include <gtest/gtest.h>
-#include <ur_rtde_driver/calibration.h>
+#include <ur_calibration/calibration.h>
 
 namespace
 {
diff --git a/CMakeLists.txt b/ur_rtde_driver/CMakeLists.txt
similarity index 73%
rename from CMakeLists.txt
rename to ur_rtde_driver/CMakeLists.txt
index 7d75787..0dec3ab 100644
--- a/CMakeLists.txt
+++ b/ur_rtde_driver/CMakeLists.txt
@@ -13,21 +13,17 @@ find_package(catkin REQUIRED
     actionlib
     control_msgs
     controller_manager
-    eigen_conversions
     geometry_msgs
     hardware_interface
-    kdl_parser
     industrial_msgs
     roscpp
     sensor_msgs
     std_srvs
     tf
-    tf_conversions
     trajectory_msgs
     ur_msgs
 )
 find_package(Boost REQUIRED)
-find_package(Eigen3 REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS
@@ -38,10 +34,8 @@ catkin_package(
     actionlib
     control_msgs
     controller_manager
-    eigen_conversions
     geometry_msgs
     hardware_interface
-    kdl_parser
     industrial_msgs
     roscpp
     sensor_msgs
@@ -49,7 +43,6 @@ catkin_package(
     ur_msgs
     std_srvs
     tf
-    tf_conversions
   DEPENDS
     Boost
 )
@@ -121,18 +114,6 @@ target_link_libraries(plain_driver ${catkin_LIBRARIES} ur_rtde_driver)
 add_dependencies(plain_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 
-add_executable(calibration_correction
-  src/calibration.cpp
-  src/calibration_correction.cpp
-)
-
-add_dependencies(calibration_correction ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-## Specify libraries to link a library or executable target against
-target_link_libraries(calibration_correction
-  ${catkin_LIBRARIES}
-  yaml-cpp
-)
-
 install(DIRECTORY config launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
@@ -142,25 +123,5 @@ install(DIRECTORY include/${PROJECT_NAME}/
   FILES_MATCHING PATTERN "*.h"
 )
 
-#############
-## Testing ##
-#############
-
-if (CATKIN_ENABLE_TESTING)
-  catkin_add_gtest(calibration_test
-    test/calibration_test.cpp
-    src/calibration.cpp)
-  target_link_libraries(calibration_test ${catkin_LIBRARIES})
-endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
-
-  #catkin_add_gtest(ur_rtde_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp)
-  #target_link_libraries(ur_rtde_driver_test ur_rtde_driver ${catkin_LIBRARIES})
-#endif()
-install(TARGETS calibration_correction RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 install(TARGETS ur_rtde_driver ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
-install(FILES Apache-2.0_ur_modern_driver.txt DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/LICENSES)
-install(FILES manifest.yaml rosdoc.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/doc)
diff --git a/LICENSE b/ur_rtde_driver/LICENSE
similarity index 100%
rename from LICENSE
rename to ur_rtde_driver/LICENSE
diff --git a/README.md b/ur_rtde_driver/README.md
similarity index 100%
rename from README.md
rename to ur_rtde_driver/README.md
diff --git a/config/ur10_controllers.yaml b/ur_rtde_driver/config/ur10_controllers.yaml
similarity index 100%
rename from config/ur10_controllers.yaml
rename to ur_rtde_driver/config/ur10_controllers.yaml
diff --git a/config/ur3_controllers.yaml b/ur_rtde_driver/config/ur3_controllers.yaml
similarity index 100%
rename from config/ur3_controllers.yaml
rename to ur_rtde_driver/config/ur3_controllers.yaml
diff --git a/config/ur5_controllers.yaml b/ur_rtde_driver/config/ur5_controllers.yaml
similarity index 100%
rename from config/ur5_controllers.yaml
rename to ur_rtde_driver/config/ur5_controllers.yaml
diff --git a/include/ur_rtde_driver/comm/bin_parser.h b/ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h
similarity index 100%
rename from include/ur_rtde_driver/comm/bin_parser.h
rename to ur_rtde_driver/include/ur_rtde_driver/comm/bin_parser.h
diff --git a/include/ur_rtde_driver/comm/package.h b/ur_rtde_driver/include/ur_rtde_driver/comm/package.h
similarity index 100%
rename from include/ur_rtde_driver/comm/package.h
rename to ur_rtde_driver/include/ur_rtde_driver/comm/package.h
diff --git a/include/ur_rtde_driver/comm/package_serializer.h b/ur_rtde_driver/include/ur_rtde_driver/comm/package_serializer.h
similarity index 100%
rename from include/ur_rtde_driver/comm/package_serializer.h
rename to ur_rtde_driver/include/ur_rtde_driver/comm/package_serializer.h
diff --git a/include/ur_rtde_driver/comm/parser.h b/ur_rtde_driver/include/ur_rtde_driver/comm/parser.h
similarity index 100%
rename from include/ur_rtde_driver/comm/parser.h
rename to ur_rtde_driver/include/ur_rtde_driver/comm/parser.h
diff --git a/include/ur_rtde_driver/comm/pipeline.h b/ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
similarity index 100%
rename from include/ur_rtde_driver/comm/pipeline.h
rename to ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
diff --git a/include/ur_rtde_driver/comm/producer.h b/ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
similarity index 100%
rename from include/ur_rtde_driver/comm/producer.h
rename to ur_rtde_driver/include/ur_rtde_driver/comm/producer.h
diff --git a/include/ur_rtde_driver/comm/reverse_interface.h b/ur_rtde_driver/include/ur_rtde_driver/comm/reverse_interface.h
similarity index 100%
rename from include/ur_rtde_driver/comm/reverse_interface.h
rename to ur_rtde_driver/include/ur_rtde_driver/comm/reverse_interface.h
diff --git a/include/ur_rtde_driver/comm/server.h b/ur_rtde_driver/include/ur_rtde_driver/comm/server.h
similarity index 100%
rename from include/ur_rtde_driver/comm/server.h
rename to ur_rtde_driver/include/ur_rtde_driver/comm/server.h
diff --git a/include/ur_rtde_driver/comm/shell_consumer.h b/ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h
similarity index 100%
rename from include/ur_rtde_driver/comm/shell_consumer.h
rename to ur_rtde_driver/include/ur_rtde_driver/comm/shell_consumer.h
diff --git a/include/ur_rtde_driver/comm/stream.h b/ur_rtde_driver/include/ur_rtde_driver/comm/stream.h
similarity index 100%
rename from include/ur_rtde_driver/comm/stream.h
rename to ur_rtde_driver/include/ur_rtde_driver/comm/stream.h
diff --git a/include/ur_rtde_driver/comm/tcp_socket.h b/ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h
similarity index 100%
rename from include/ur_rtde_driver/comm/tcp_socket.h
rename to ur_rtde_driver/include/ur_rtde_driver/comm/tcp_socket.h
diff --git a/include/ur_rtde_driver/event_counter.h b/ur_rtde_driver/include/ur_rtde_driver/event_counter.h
similarity index 100%
rename from include/ur_rtde_driver/event_counter.h
rename to ur_rtde_driver/include/ur_rtde_driver/event_counter.h
diff --git a/include/ur_rtde_driver/log.h b/ur_rtde_driver/include/ur_rtde_driver/log.h
similarity index 100%
rename from include/ur_rtde_driver/log.h
rename to ur_rtde_driver/include/ur_rtde_driver/log.h
diff --git a/include/ur_rtde_driver/primary/package_header.h b/ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
similarity index 100%
rename from include/ur_rtde_driver/primary/package_header.h
rename to ur_rtde_driver/include/ur_rtde_driver/primary/package_header.h
diff --git a/include/ur_rtde_driver/primary/primary_package.h b/ur_rtde_driver/include/ur_rtde_driver/primary/primary_package.h
similarity index 100%
rename from include/ur_rtde_driver/primary/primary_package.h
rename to ur_rtde_driver/include/ur_rtde_driver/primary/primary_package.h
diff --git a/include/ur_rtde_driver/primary/primary_parser.h b/ur_rtde_driver/include/ur_rtde_driver/primary/primary_parser.h
similarity index 100%
rename from include/ur_rtde_driver/primary/primary_parser.h
rename to ur_rtde_driver/include/ur_rtde_driver/primary/primary_parser.h
diff --git a/include/ur_rtde_driver/primary/robot_message.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h
similarity index 100%
rename from include/ur_rtde_driver/primary/robot_message.h
rename to ur_rtde_driver/include/ur_rtde_driver/primary/robot_message.h
diff --git a/include/ur_rtde_driver/primary/robot_message/version_message.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h
similarity index 100%
rename from include/ur_rtde_driver/primary/robot_message/version_message.h
rename to ur_rtde_driver/include/ur_rtde_driver/primary/robot_message/version_message.h
diff --git a/include/ur_rtde_driver/primary/robot_state.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h
similarity index 100%
rename from include/ur_rtde_driver/primary/robot_state.h
rename to ur_rtde_driver/include/ur_rtde_driver/primary/robot_state.h
diff --git a/include/ur_rtde_driver/primary/robot_state/kinematics_info.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h
similarity index 100%
rename from include/ur_rtde_driver/primary/robot_state/kinematics_info.h
rename to ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/kinematics_info.h
diff --git a/include/ur_rtde_driver/primary/robot_state/master_board.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/master_board.h
similarity index 100%
rename from include/ur_rtde_driver/primary/robot_state/master_board.h
rename to ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/master_board.h
diff --git a/include/ur_rtde_driver/primary/robot_state/robot_mode_data.h b/ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/robot_mode_data.h
similarity index 100%
rename from include/ur_rtde_driver/primary/robot_state/robot_mode_data.h
rename to ur_rtde_driver/include/ur_rtde_driver/primary/robot_state/robot_mode_data.h
diff --git a/include/ur_rtde_driver/queue/LICENSE.md b/ur_rtde_driver/include/ur_rtde_driver/queue/LICENSE.md
similarity index 100%
rename from include/ur_rtde_driver/queue/LICENSE.md
rename to ur_rtde_driver/include/ur_rtde_driver/queue/LICENSE.md
diff --git a/include/ur_rtde_driver/queue/atomicops.h b/ur_rtde_driver/include/ur_rtde_driver/queue/atomicops.h
similarity index 100%
rename from include/ur_rtde_driver/queue/atomicops.h
rename to ur_rtde_driver/include/ur_rtde_driver/queue/atomicops.h
diff --git a/include/ur_rtde_driver/queue/readerwriterqueue.h b/ur_rtde_driver/include/ur_rtde_driver/queue/readerwriterqueue.h
similarity index 100%
rename from include/ur_rtde_driver/queue/readerwriterqueue.h
rename to ur_rtde_driver/include/ur_rtde_driver/queue/readerwriterqueue.h
diff --git a/include/ur_rtde_driver/ros/hardware_interface.h b/ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
similarity index 100%
rename from include/ur_rtde_driver/ros/hardware_interface.h
rename to ur_rtde_driver/include/ur_rtde_driver/ros/hardware_interface.h
diff --git a/include/ur_rtde_driver/ros/io_service.h b/ur_rtde_driver/include/ur_rtde_driver/ros/io_service.h
similarity index 100%
rename from include/ur_rtde_driver/ros/io_service.h
rename to ur_rtde_driver/include/ur_rtde_driver/ros/io_service.h
diff --git a/include/ur_rtde_driver/ros/service_stopper.h b/ur_rtde_driver/include/ur_rtde_driver/ros/service_stopper.h
similarity index 100%
rename from include/ur_rtde_driver/ros/service_stopper.h
rename to ur_rtde_driver/include/ur_rtde_driver/ros/service_stopper.h
diff --git a/include/ur_rtde_driver/rtde/control_package_pause.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h
similarity index 100%
rename from include/ur_rtde_driver/rtde/control_package_pause.h
rename to ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_pause.h
diff --git a/include/ur_rtde_driver/rtde/control_package_setup_inputs.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h
similarity index 100%
rename from include/ur_rtde_driver/rtde/control_package_setup_inputs.h
rename to ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_inputs.h
diff --git a/include/ur_rtde_driver/rtde/control_package_setup_outputs.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h
similarity index 100%
rename from include/ur_rtde_driver/rtde/control_package_setup_outputs.h
rename to ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_setup_outputs.h
diff --git a/include/ur_rtde_driver/rtde/control_package_start.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h
similarity index 100%
rename from include/ur_rtde_driver/rtde/control_package_start.h
rename to ur_rtde_driver/include/ur_rtde_driver/rtde/control_package_start.h
diff --git a/include/ur_rtde_driver/rtde/data_package.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
similarity index 100%
rename from include/ur_rtde_driver/rtde/data_package.h
rename to ur_rtde_driver/include/ur_rtde_driver/rtde/data_package.h
diff --git a/include/ur_rtde_driver/rtde/get_urcontrol_version.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h
similarity index 100%
rename from include/ur_rtde_driver/rtde/get_urcontrol_version.h
rename to ur_rtde_driver/include/ur_rtde_driver/rtde/get_urcontrol_version.h
diff --git a/include/ur_rtde_driver/rtde/package_header.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h
similarity index 100%
rename from include/ur_rtde_driver/rtde/package_header.h
rename to ur_rtde_driver/include/ur_rtde_driver/rtde/package_header.h
diff --git a/include/ur_rtde_driver/rtde/request_protocol_version.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h
similarity index 100%
rename from include/ur_rtde_driver/rtde/request_protocol_version.h
rename to ur_rtde_driver/include/ur_rtde_driver/rtde/request_protocol_version.h
diff --git a/include/ur_rtde_driver/rtde/rtde_client.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
similarity index 100%
rename from include/ur_rtde_driver/rtde/rtde_client.h
rename to ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_client.h
diff --git a/include/ur_rtde_driver/rtde/rtde_package.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h
similarity index 100%
rename from include/ur_rtde_driver/rtde/rtde_package.h
rename to ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_package.h
diff --git a/include/ur_rtde_driver/rtde/rtde_parser.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_parser.h
similarity index 100%
rename from include/ur_rtde_driver/rtde/rtde_parser.h
rename to ur_rtde_driver/include/ur_rtde_driver/rtde/rtde_parser.h
diff --git a/include/ur_rtde_driver/rtde/text_message.h b/ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h
similarity index 100%
rename from include/ur_rtde_driver/rtde/text_message.h
rename to ur_rtde_driver/include/ur_rtde_driver/rtde/text_message.h
diff --git a/include/ur_rtde_driver/test/random_data.h b/ur_rtde_driver/include/ur_rtde_driver/test/random_data.h
similarity index 100%
rename from include/ur_rtde_driver/test/random_data.h
rename to ur_rtde_driver/include/ur_rtde_driver/test/random_data.h
diff --git a/include/ur_rtde_driver/test/utils.h b/ur_rtde_driver/include/ur_rtde_driver/test/utils.h
similarity index 100%
rename from include/ur_rtde_driver/test/utils.h
rename to ur_rtde_driver/include/ur_rtde_driver/test/utils.h
diff --git a/include/ur_rtde_driver/types.h b/ur_rtde_driver/include/ur_rtde_driver/types.h
similarity index 100%
rename from include/ur_rtde_driver/types.h
rename to ur_rtde_driver/include/ur_rtde_driver/types.h
diff --git a/include/ur_rtde_driver/ur/commander.h b/ur_rtde_driver/include/ur_rtde_driver/ur/commander.h
similarity index 100%
rename from include/ur_rtde_driver/ur/commander.h
rename to ur_rtde_driver/include/ur_rtde_driver/ur/commander.h
diff --git a/include/ur_rtde_driver/ur/consumer.h b/ur_rtde_driver/include/ur_rtde_driver/ur/consumer.h
similarity index 100%
rename from include/ur_rtde_driver/ur/consumer.h
rename to ur_rtde_driver/include/ur_rtde_driver/ur/consumer.h
diff --git a/include/ur_rtde_driver/ur/factory.h b/ur_rtde_driver/include/ur_rtde_driver/ur/factory.h
similarity index 100%
rename from include/ur_rtde_driver/ur/factory.h
rename to ur_rtde_driver/include/ur_rtde_driver/ur/factory.h
diff --git a/include/ur_rtde_driver/ur/messages.h b/ur_rtde_driver/include/ur_rtde_driver/ur/messages.h
similarity index 100%
rename from include/ur_rtde_driver/ur/messages.h
rename to ur_rtde_driver/include/ur_rtde_driver/ur/messages.h
diff --git a/include/ur_rtde_driver/ur/messages_parser.h b/ur_rtde_driver/include/ur_rtde_driver/ur/messages_parser.h
similarity index 100%
rename from include/ur_rtde_driver/ur/messages_parser.h
rename to ur_rtde_driver/include/ur_rtde_driver/ur/messages_parser.h
diff --git a/include/ur_rtde_driver/ur/robot_mode.h b/ur_rtde_driver/include/ur_rtde_driver/ur/robot_mode.h
similarity index 100%
rename from include/ur_rtde_driver/ur/robot_mode.h
rename to ur_rtde_driver/include/ur_rtde_driver/ur/robot_mode.h
diff --git a/include/ur_rtde_driver/ur/rt_parser.h b/ur_rtde_driver/include/ur_rtde_driver/ur/rt_parser.h
similarity index 100%
rename from include/ur_rtde_driver/ur/rt_parser.h
rename to ur_rtde_driver/include/ur_rtde_driver/ur/rt_parser.h
diff --git a/include/ur_rtde_driver/ur/rt_state.h b/ur_rtde_driver/include/ur_rtde_driver/ur/rt_state.h
similarity index 100%
rename from include/ur_rtde_driver/ur/rt_state.h
rename to ur_rtde_driver/include/ur_rtde_driver/ur/rt_state.h
diff --git a/include/ur_rtde_driver/ur/state.h b/ur_rtde_driver/include/ur_rtde_driver/ur/state.h
similarity index 100%
rename from include/ur_rtde_driver/ur/state.h
rename to ur_rtde_driver/include/ur_rtde_driver/ur/state.h
diff --git a/include/ur_rtde_driver/ur/state_parser.h b/ur_rtde_driver/include/ur_rtde_driver/ur/state_parser.h
similarity index 100%
rename from include/ur_rtde_driver/ur/state_parser.h
rename to ur_rtde_driver/include/ur_rtde_driver/ur/state_parser.h
diff --git a/include/ur_rtde_driver/ur/ur_driver.h b/ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
similarity index 100%
rename from include/ur_rtde_driver/ur/ur_driver.h
rename to ur_rtde_driver/include/ur_rtde_driver/ur/ur_driver.h
diff --git a/launch/ur10_bringup.launch b/ur_rtde_driver/launch/ur10_bringup.launch
similarity index 100%
rename from launch/ur10_bringup.launch
rename to ur_rtde_driver/launch/ur10_bringup.launch
diff --git a/launch/ur10_bringup_compatible.launch b/ur_rtde_driver/launch/ur10_bringup_compatible.launch
similarity index 100%
rename from launch/ur10_bringup_compatible.launch
rename to ur_rtde_driver/launch/ur10_bringup_compatible.launch
diff --git a/launch/ur10_bringup_joint_limited.launch b/ur_rtde_driver/launch/ur10_bringup_joint_limited.launch
similarity index 100%
rename from launch/ur10_bringup_joint_limited.launch
rename to ur_rtde_driver/launch/ur10_bringup_joint_limited.launch
diff --git a/launch/ur10_ros_control.launch b/ur_rtde_driver/launch/ur10_ros_control.launch
similarity index 100%
rename from launch/ur10_ros_control.launch
rename to ur_rtde_driver/launch/ur10_ros_control.launch
diff --git a/launch/ur3_bringup.launch b/ur_rtde_driver/launch/ur3_bringup.launch
similarity index 100%
rename from launch/ur3_bringup.launch
rename to ur_rtde_driver/launch/ur3_bringup.launch
diff --git a/launch/ur3_bringup_joint_limited.launch b/ur_rtde_driver/launch/ur3_bringup_joint_limited.launch
similarity index 100%
rename from launch/ur3_bringup_joint_limited.launch
rename to ur_rtde_driver/launch/ur3_bringup_joint_limited.launch
diff --git a/launch/ur3_ros_control.launch b/ur_rtde_driver/launch/ur3_ros_control.launch
similarity index 100%
rename from launch/ur3_ros_control.launch
rename to ur_rtde_driver/launch/ur3_ros_control.launch
diff --git a/launch/ur5_bringup.launch b/ur_rtde_driver/launch/ur5_bringup.launch
similarity index 100%
rename from launch/ur5_bringup.launch
rename to ur_rtde_driver/launch/ur5_bringup.launch
diff --git a/launch/ur5_bringup_compatible.launch b/ur_rtde_driver/launch/ur5_bringup_compatible.launch
similarity index 100%
rename from launch/ur5_bringup_compatible.launch
rename to ur_rtde_driver/launch/ur5_bringup_compatible.launch
diff --git a/launch/ur5_bringup_joint_limited.launch b/ur_rtde_driver/launch/ur5_bringup_joint_limited.launch
similarity index 100%
rename from launch/ur5_bringup_joint_limited.launch
rename to ur_rtde_driver/launch/ur5_bringup_joint_limited.launch
diff --git a/launch/ur5_ros_control.launch b/ur_rtde_driver/launch/ur5_ros_control.launch
similarity index 100%
rename from launch/ur5_ros_control.launch
rename to ur_rtde_driver/launch/ur5_ros_control.launch
diff --git a/launch/ur_common.launch b/ur_rtde_driver/launch/ur_common.launch
similarity index 100%
rename from launch/ur_common.launch
rename to ur_rtde_driver/launch/ur_common.launch
diff --git a/package.xml b/ur_rtde_driver/package.xml
similarity index 94%
rename from package.xml
rename to ur_rtde_driver/package.xml
index f1e6b57..15af7a3 100644
--- a/package.xml
+++ b/ur_rtde_driver/package.xml
@@ -24,16 +24,13 @@
   <depend>controller_manager</depend>
   <depend>actionlib</depend>
   <depend>control_msgs</depend>
-  <depend>eigen_conversions</depend>
   <depend>geometry_msgs</depend>
-  <depend>kdl_parser</depend>
   <depend>industrial_msgs</depend>
   <depend>roscpp</depend>
   <depend>sensor_msgs</depend>
   <depend>trajectory_msgs</depend>
   <depend>ur_msgs</depend>
   <depend>tf</depend>
-  <depend>tf_conversions</depend>
   <depend>std_srvs</depend>
 
   <test_depend>gtest</test_depend>
diff --git a/src/comm/server.cpp b/ur_rtde_driver/src/comm/server.cpp
similarity index 100%
rename from src/comm/server.cpp
rename to ur_rtde_driver/src/comm/server.cpp
diff --git a/src/comm/tcp_socket.cpp b/ur_rtde_driver/src/comm/tcp_socket.cpp
similarity index 100%
rename from src/comm/tcp_socket.cpp
rename to ur_rtde_driver/src/comm/tcp_socket.cpp
diff --git a/src/main_plain_driver.cpp b/ur_rtde_driver/src/main_plain_driver.cpp
similarity index 100%
rename from src/main_plain_driver.cpp
rename to ur_rtde_driver/src/main_plain_driver.cpp
diff --git a/src/primary/primary_package.cpp b/ur_rtde_driver/src/primary/primary_package.cpp
similarity index 100%
rename from src/primary/primary_package.cpp
rename to ur_rtde_driver/src/primary/primary_package.cpp
diff --git a/src/primary/robot_message.cpp b/ur_rtde_driver/src/primary/robot_message.cpp
similarity index 100%
rename from src/primary/robot_message.cpp
rename to ur_rtde_driver/src/primary/robot_message.cpp
diff --git a/src/primary/robot_message/version_message.cpp b/ur_rtde_driver/src/primary/robot_message/version_message.cpp
similarity index 100%
rename from src/primary/robot_message/version_message.cpp
rename to ur_rtde_driver/src/primary/robot_message/version_message.cpp
diff --git a/src/primary/robot_state/kinematics_info.cpp b/ur_rtde_driver/src/primary/robot_state/kinematics_info.cpp
similarity index 100%
rename from src/primary/robot_state/kinematics_info.cpp
rename to ur_rtde_driver/src/primary/robot_state/kinematics_info.cpp
diff --git a/src/producer.cpp b/ur_rtde_driver/src/producer.cpp
similarity index 100%
rename from src/producer.cpp
rename to ur_rtde_driver/src/producer.cpp
diff --git a/src/ros/hardware_interface.cpp b/ur_rtde_driver/src/ros/hardware_interface.cpp
similarity index 100%
rename from src/ros/hardware_interface.cpp
rename to ur_rtde_driver/src/ros/hardware_interface.cpp
diff --git a/src/ros/hardware_interface_node.cpp b/ur_rtde_driver/src/ros/hardware_interface_node.cpp
similarity index 100%
rename from src/ros/hardware_interface_node.cpp
rename to ur_rtde_driver/src/ros/hardware_interface_node.cpp
diff --git a/src/ros/service_stopper.cpp b/ur_rtde_driver/src/ros/service_stopper.cpp
similarity index 100%
rename from src/ros/service_stopper.cpp
rename to ur_rtde_driver/src/ros/service_stopper.cpp
diff --git a/src/rtde/control_package_pause.cpp b/ur_rtde_driver/src/rtde/control_package_pause.cpp
similarity index 100%
rename from src/rtde/control_package_pause.cpp
rename to ur_rtde_driver/src/rtde/control_package_pause.cpp
diff --git a/src/rtde/control_package_setup_inputs.cpp b/ur_rtde_driver/src/rtde/control_package_setup_inputs.cpp
similarity index 100%
rename from src/rtde/control_package_setup_inputs.cpp
rename to ur_rtde_driver/src/rtde/control_package_setup_inputs.cpp
diff --git a/src/rtde/control_package_setup_outputs.cpp b/ur_rtde_driver/src/rtde/control_package_setup_outputs.cpp
similarity index 100%
rename from src/rtde/control_package_setup_outputs.cpp
rename to ur_rtde_driver/src/rtde/control_package_setup_outputs.cpp
diff --git a/src/rtde/control_package_start.cpp b/ur_rtde_driver/src/rtde/control_package_start.cpp
similarity index 100%
rename from src/rtde/control_package_start.cpp
rename to ur_rtde_driver/src/rtde/control_package_start.cpp
diff --git a/src/rtde/data_package.cpp b/ur_rtde_driver/src/rtde/data_package.cpp
similarity index 100%
rename from src/rtde/data_package.cpp
rename to ur_rtde_driver/src/rtde/data_package.cpp
diff --git a/src/rtde/get_urcontrol_version.cpp b/ur_rtde_driver/src/rtde/get_urcontrol_version.cpp
similarity index 100%
rename from src/rtde/get_urcontrol_version.cpp
rename to ur_rtde_driver/src/rtde/get_urcontrol_version.cpp
diff --git a/src/rtde/request_protocol_version.cpp b/ur_rtde_driver/src/rtde/request_protocol_version.cpp
similarity index 100%
rename from src/rtde/request_protocol_version.cpp
rename to ur_rtde_driver/src/rtde/request_protocol_version.cpp
diff --git a/src/rtde/rtde_client.cpp b/ur_rtde_driver/src/rtde/rtde_client.cpp
similarity index 100%
rename from src/rtde/rtde_client.cpp
rename to ur_rtde_driver/src/rtde/rtde_client.cpp
diff --git a/src/rtde/rtde_package.cpp b/ur_rtde_driver/src/rtde/rtde_package.cpp
similarity index 100%
rename from src/rtde/rtde_package.cpp
rename to ur_rtde_driver/src/rtde/rtde_package.cpp
diff --git a/src/rtde/text_message.cpp b/ur_rtde_driver/src/rtde/text_message.cpp
similarity index 100%
rename from src/rtde/text_message.cpp
rename to ur_rtde_driver/src/rtde/text_message.cpp
diff --git a/src/ur/commander.cpp b/ur_rtde_driver/src/ur/commander.cpp
similarity index 100%
rename from src/ur/commander.cpp
rename to ur_rtde_driver/src/ur/commander.cpp
diff --git a/src/ur/master_board.cpp b/ur_rtde_driver/src/ur/master_board.cpp
similarity index 100%
rename from src/ur/master_board.cpp
rename to ur_rtde_driver/src/ur/master_board.cpp
diff --git a/src/ur/messages.cpp b/ur_rtde_driver/src/ur/messages.cpp
similarity index 100%
rename from src/ur/messages.cpp
rename to ur_rtde_driver/src/ur/messages.cpp
diff --git a/src/ur/robot_mode.cpp b/ur_rtde_driver/src/ur/robot_mode.cpp
similarity index 100%
rename from src/ur/robot_mode.cpp
rename to ur_rtde_driver/src/ur/robot_mode.cpp
diff --git a/src/ur/rt_state.cpp b/ur_rtde_driver/src/ur/rt_state.cpp
similarity index 100%
rename from src/ur/rt_state.cpp
rename to ur_rtde_driver/src/ur/rt_state.cpp
diff --git a/src/ur/ur_driver.cpp b/ur_rtde_driver/src/ur/ur_driver.cpp
similarity index 100%
rename from src/ur/ur_driver.cpp
rename to ur_rtde_driver/src/ur/ur_driver.cpp
diff --git a/tests/main.cpp b/ur_rtde_driver/tests/main.cpp
similarity index 100%
rename from tests/main.cpp
rename to ur_rtde_driver/tests/main.cpp
diff --git a/tests/ur/master_board.cpp b/ur_rtde_driver/tests/ur/master_board.cpp
similarity index 100%
rename from tests/ur/master_board.cpp
rename to ur_rtde_driver/tests/ur/master_board.cpp
diff --git a/tests/ur/robot_mode.cpp b/ur_rtde_driver/tests/ur/robot_mode.cpp
similarity index 100%
rename from tests/ur/robot_mode.cpp
rename to ur_rtde_driver/tests/ur/robot_mode.cpp
diff --git a/tests/ur/rt_state.cpp b/ur_rtde_driver/tests/ur/rt_state.cpp
similarity index 100%
rename from tests/ur/rt_state.cpp
rename to ur_rtde_driver/tests/ur/rt_state.cpp