Renamed the driver to ur_robot_driver

README.md

@@ -1,7 +1,7 @@
 # Universal_Robots_ROS_Driver
 Universal Robots have become a dominant supplier lightweight, robotic manipulators for industry, as well as for scientific research and education. The Robot Operating System (ROS) has developed from a community-centered movement to a mature framework and quasi standard, providing a rich set of powerful tools for robot engineers and researchers, working in many different domains.
 
-<center><img src="ur_rtde_driver/doc/initial_setup_images/e-Series.png" alt="Universal Robot e-Serie familie" style="width: 45%;"/></center>
+<center><img src="ur_robot_driver/doc/initial_setup_images/e-Series.png" alt="Universal Robot e-Serie familie" style="width: 45%;"/></center>
 
 With the release of UR’s new e-Series, the demand for a ROS driver that supports the new manipulators and the newest ROS releases and paradigms like ROS-control has increased further. The goal of this driver is to provide a stable and sustainable interface between UR robots and ROS that strongly benefit all parties.
 
@@ -42,7 +42,7 @@ Create an issue on the [Issue Board](https://gitlab.com/ur_ros_beta/universal_ro
    targets precisely.
  * **Realtime-enabled** communication structure to robustly cope with the 2ms cycle time of the
    eSeries. To use this, compile and run it on a kernel with the `PREEMPT_RT` patch enabled. (See
-   the [Real-time setup guide](ur_rtde_driver/doc/real_time.md) on how to achieve this)
+   the [Real-time setup guide](ur_robot_driver/doc/real_time.md) on how to achieve this)
  * Transparent **integration of the teach-pendant**. Using the URCaps system, a program is running
    on the robot that handles control commands sent from ROS side. With this, the robot can be
    **paused**, **stopped** and **resumed** without restarting the ROS driver.
@@ -57,10 +57,10 @@ Create an issue on the [Issue Board](https://gitlab.com/ur_ros_beta/universal_ro
    speed scaling slows down the robot. Also, the pausing function can only be used, if the default
    scaled trajectory controller is used.
 
-Please see the external [feature list](ur_rtde_driver/doc/features.md) for a listing of all features supported by this driver.
+Please see the external [feature list](ur_robot_driver/doc/features.md) for a listing of all features supported by this driver.
 
 ## Contents
-This repository contains the new **ur_rtde_driver** and a couple of helper packages, such as:
+This repository contains the new **ur_robot_driver** and a couple of helper packages, such as:
 
   * **controller_stopper**: A small external tool that stops and restarts ros-controllers based on
     the robot's state. This can be helpful, when the robot is in a state, where it won't accept
@@ -69,14 +69,14 @@ This repository contains the new **ur_rtde_driver** and a couple of helper packa
     information to make it usable by the robot_description.
   * **ur_controllers**: Controllers introduced with this driver, such as speed-scaling-aware
     controllers.
-  * **ur_rtde_driver**: The actual driver package.
+  * **ur_robot_driver**: The actual driver package.
 
 ## Requirements
 This driver requires a system setup with ROS. It is recommended to use **Ubuntu 18.04 with ROS
 melodic**, however using Ubuntu 16.04 with ROS kinetic should also work.
 
 To make sure that robot control isn't affected by system latencies, it is highly recommended to use
-a real-time kernel with the system. See the [real-time setup guide](ur_rtde_driver/doc/real_time.md)
+a real-time kernel with the system. See the [real-time setup guide](ur_robot_driver/doc/real_time.md)
 on information how to set this up.
 
 ## Building
@@ -101,20 +101,20 @@ $ catkin_make
 $ source devel/setup.bash
 ```
 
-## Setting up a UR robot for ur_rtde_driver
+## Setting up a UR robot for ur_robot_driver
 ### Prepare the robot
-For using the *ur_rtde_driver* with a real robot you need to install the
+For using the *ur_robot_driver* with a real robot you need to install the
 **externalcontrol-1.0.urcap** which can be found inside the **resources** folder of this driver.
 
 **Note**: For installing this URCap a minimal PolyScope version of 3.7 or 5.1 (in case of eSeries) is
 necessary.
 
 For installing the necessary URCap and creating a program, please see the individual tutorials on
-how to [setup a CB3 robot](ur_rtde_driver/doc/install_urcap_cb3.md) or how to [setup an e-Series
-robot](ur_rtde_driver/doc/install_urcap_e_series.md).
+how to [setup a CB3 robot](ur_robot_driver/doc/install_urcap_cb3.md) or how to [setup an e-Series
+robot](ur_robot_driver/doc/install_urcap_e_series.md).
 
 To setup the tool communication on an e-Series robot, please consider the [tool communication setup
-guide](ur_rtde_driver/doc/setup_tool_communication.md).
+guide](ur_robot_driver/doc/setup_tool_communication.md).
 
 ### Prepare the ROS PC
 For using the driver make sure it is installed (either by the debian package or built from source
@@ -145,14 +145,14 @@ to go ahead starting the driver. (**Note**: We do recommend, though, to calibrat
 
 To actually start the robot driver use one of the existing launchfiles
 
-    $ roslaunch ur_rtde_driver <robot_type>_bringup.launch robot_ip:=192.168.56.101 \
+    $ roslaunch ur_robot_driver <robot_type>_bringup.launch robot_ip:=192.168.56.101 \
 
 where **<robot_type>** is one of *ur3, ur5, ur10, ur3e, ur5e, ur10e*. Note that in this example we
 load the calibration parameters for the robot "ur10_example".
 
 If you calibrated your robot before, pass that calibration to the launch file:
 
-    $ roslaunch ur_rtde_driver <robot_type>_bringup.launch robot_ip:=192.168.56.101 \
+    $ roslaunch ur_robot_driver <robot_type>_bringup.launch robot_ip:=192.168.56.101 \
     kinematics_config:=$(rospack find ur_calibration)/etc/ur10_example_calibration.yaml
 
 If the parameters in that file don't match the ones reported from the robot, the driver will output

ur_calibration/CMakeLists.txt

@@ -9,7 +9,7 @@ add_compile_options(-std=c++11)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   roscpp
-  ur_rtde_driver
+  ur_robot_driver
 )
 find_package(Eigen3 REQUIRED)
 find_package(yaml-cpp REQUIRED)
@@ -108,7 +108,7 @@ catkin_package(
 #  LIBRARIES ur_calibration
   CATKIN_DEPENDS
     roscpp
-    ur_rtde_driver
+    ur_robot_driver
   DEPENDS
     yaml-cpp
 )

ur_calibration/README.md

@@ -31,7 +31,7 @@ exist)
 ```bash
 # Replace your actual catkin_ws folder
 $ cd <catkin_ws>/src
-$ catkin_create_pkg example_organization_ur_launch ur_rtde_driver \
+$ catkin_create_pkg example_organization_ur_launch ur_robot_driver \
 -D "Package containing calibrations and launch files for our UR robots."
 # Create a skeleton package
 $ mkdir -p example_organization_ur_launch/etc
@@ -53,7 +53,7 @@ respective launchfile in the driver:
 ```bash
 # Replace your actual catkin_ws folder
 $ cd <catkin_ws>/src/example_organization_ur_launch/launch
-$ roscp ur_rtde_driver ur10_bringup.launch ex-ur10-1.launch
+$ roscp ur_robot_driver ur10_bringup.launch ex-ur10-1.launch
 ```
 
 Next, modify the parameter section of the new launchfile to match your actual calibration:

ur_calibration/include/ur_calibration/calibration_consumer.h

@@ -27,9 +27,9 @@
 
 #ifndef UR_CALIBRATION_CALIBRATION_CONSUMER_H_INCLUDED
 #define UR_CALIBRATION_CALIBRATION_CONSUMER_H_INCLUDED
-#include <ur_rtde_driver/comm/pipeline.h>
+#include <ur_robot_driver/comm/pipeline.h>
 
-#include <ur_rtde_driver/primary/robot_state/kinematics_info.h>
+#include <ur_robot_driver/primary/robot_state/kinematics_info.h>
 
 #include <ur_calibration/calibration.h>
 

ur_calibration/package.xml

@@ -51,7 +51,7 @@
   <buildtool_depend>catkin</buildtool_depend>
   <depend>eigen</depend>
   <depend>roscpp</depend>
-  <depend>ur_rtde_driver</depend>
+  <depend>ur_robot_driver</depend>
   <depend>yaml-cpp</depend>
 
 

ur_calibration/src/calibration_correction.cpp

@@ -27,12 +27,12 @@
 
 #include <ur_calibration/calibration_consumer.h>
 
-#include <ur_rtde_driver/comm/parser.h>
-#include <ur_rtde_driver/comm/pipeline.h>
-#include <ur_rtde_driver/comm/producer.h>
-#include <ur_rtde_driver/comm/stream.h>
-#include <ur_rtde_driver/primary/package_header.h>
-#include <ur_rtde_driver/primary/primary_parser.h>
+#include <ur_robot_driver/comm/parser.h>
+#include <ur_robot_driver/comm/pipeline.h>
+#include <ur_robot_driver/comm/producer.h>
+#include <ur_robot_driver/comm/stream.h>
+#include <ur_robot_driver/primary/package_header.h>
+#include <ur_robot_driver/primary/primary_parser.h>
 
 #include <sensor_msgs/JointState.h>
 #include <tf/transform_listener.h>

ur_robot_driver/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.12)
-project(ur_rtde_driver)
+project(ur_robot_driver)
 
 add_definitions( -DROS_BUILD )
 
@@ -32,7 +32,7 @@ catkin_package(
   INCLUDE_DIRS
     include
   LIBRARIES
-    ur_rtde_driver
+    ur_robot_driver
   CATKIN_DEPENDS
     actionlib
     control_msgs
@@ -76,7 +76,7 @@ include_directories(
   ${Boost_INCLUDE_DIRS}
 )
 
-add_library(ur_rtde_driver
+add_library(ur_robot_driver
     src/comm/tcp_socket.cpp
     src/comm/server.cpp
     #src/ros/service_stopper.cpp
@@ -103,18 +103,18 @@ add_library(ur_rtde_driver
     src/ur/tool_communication.cpp
     src/rtde/rtde_writer.cpp
 )
-target_link_libraries(ur_rtde_driver ${catkin_LIBRARIES})
-add_dependencies(ur_rtde_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(ur_robot_driver ${catkin_LIBRARIES})
+add_dependencies(ur_robot_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
-add_executable(ur_rtde_driver_node
+add_executable(ur_robot_driver_node
   src/ros/hardware_interface.cpp
   src/ros/hardware_interface_node.cpp
 )
-target_link_libraries(ur_rtde_driver_node ${catkin_LIBRARIES} ur_rtde_driver)
-add_dependencies(ur_rtde_driver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(ur_robot_driver_node ${catkin_LIBRARIES} ur_robot_driver)
+add_dependencies(ur_robot_driver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 
-install(TARGETS ur_rtde_driver ur_rtde_driver_node
+install(TARGETS ur_robot_driver ur_robot_driver_node
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

ur_robot_driver/README.md

@@ -1,4 +1,4 @@
-# ur_rtde_driver 
+# ur_robot_driver 
 
 This package contains the actual driver for UR robots. It is part of the *universal_robots_driver*
 repository and requires other packages from that repository. Also, see the [main repository's

ur_robot_driver/doc/ROS_INTERFACE.md

@@ -1,4 +1,4 @@
-# ur_rtde_driver
+# ur_robot_driver
 
 The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series.
 
@@ -8,7 +8,7 @@ The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controller
 Standalone launchfile to startup a ur3e. This requires a robot reachable via a network connection.
 
 #### Arguments
- * "**controller_config_file**" (default: "$(find ur_rtde_driver)/config/ur3e_controllers.yaml")
+ * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur3e_controllers.yaml")
 
     Config file used for defining the ROS-Control controllers.
 
@@ -89,7 +89,7 @@ Standalone launchfile to startup a ur3e. This requires a robot reachable via a n
 Standalone launchfile to startup a ur10 robot. This requires a robot reachable via a network connection.
 
 #### Arguments
- * "**controller_config_file**" (default: "$(find ur_rtde_driver)/config/ur10_controllers.yaml")
+ * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur10_controllers.yaml")
 
     Config file used for defining the ROS-Control controllers.
 
@@ -162,11 +162,11 @@ Robot bringup launchfile without the robot description. Include this, if you wan
 
     IP address by which the robot can be reached.
 
- * "**rtde_input_recipe_file**" (default: "$(find ur_rtde_driver)/resources/rtde_input_recipe.txt")
+ * "**rtde_input_recipe_file**" (default: "$(find ur_robot_driver)/resources/rtde_input_recipe.txt")
 
     Recipe file used for the RTDE-inputs. Only change this if you know what you're doing.
 
- * "**rtde_output_recipe_file**" (default: "$(find ur_rtde_driver)/resources/rtde_output_recipe.txt")
+ * "**rtde_output_recipe_file**" (default: "$(find ur_robot_driver)/resources/rtde_output_recipe.txt")
 
     Recipe file used for the RTDE-outputs. Only change this if you know what you're doing.
 
@@ -210,7 +210,7 @@ Robot bringup launchfile without the robot description. Include this, if you wan
 
     Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true.
 
- * "**urscript_file**" (default: "$(find ur_rtde_driver)/resources/servoj.urscript")
+ * "**urscript_file**" (default: "$(find ur_robot_driver)/resources/servoj.urscript")
 
     Path to URScript that will be sent to the robot and that forms the main control program.
 
@@ -304,7 +304,7 @@ Launchfile that starts a robot description with robot_state publisher and the dr
 Standalone launchfile to startup a ur5 robot. This requires a robot reachable via a network connection.
 
 #### Arguments
- * "**controller_config_file**" (default: "$(find ur_rtde_driver)/config/ur5_controllers.yaml")
+ * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur5_controllers.yaml")
 
     Config file used for defining the ROS-Control controllers.
 
@@ -349,7 +349,7 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi
 Standalone launchfile to startup a ur5e robot. This requires a robot reachable via a network connection.
 
 #### Arguments
- * "**controller_config_file**" (default: "$(find ur_rtde_driver)/config/ur5e_controllers.yaml")
+ * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur5e_controllers.yaml")
 
     Config file used for defining the ROS-Control controllers.
 
@@ -430,7 +430,7 @@ Standalone launchfile to startup a ur5e robot. This requires a robot reachable v
 Standalone launchfile to startup a ur5 robot. This requires a robot reachable via a network connection.
 
 #### Arguments
- * "**controller_config_file**" (default: "$(find ur_rtde_driver)/config/ur3_controllers.yaml")
+ * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur3_controllers.yaml")
 
     Config file used for defining the ROS-Control controllers.
 
@@ -475,7 +475,7 @@ Standalone launchfile to startup a ur5 robot. This requires a robot reachable vi
 Standalone launchfile to startup a ur10e robot. This requires a robot reachable via a network connection.
 
 #### Arguments
- * "**controller_config_file**" (default: "$(find ur_rtde_driver)/config/ur10e_controllers.yaml")
+ * "**controller_config_file**" (default: "$(find ur_robot_driver)/config/ur10e_controllers.yaml")
 
     Config file used for defining the ROS-Control controllers.
 
@@ -552,7 +552,7 @@ Standalone launchfile to startup a ur10e robot. This requires a robot reachable
     On e-Series robots tool communication can be enabled with this argument
 
 ## Nodes
-### ur_rtde_driver_node
+### ur_robot_driver_node
 
 This is the actual driver node containing the ROS-Control stack. Interfaces documented here refer to the robot's hardware interface. Controller-specific API elements might be present for the individual controllers outside of this package.
 

ur_robot_driver/doc/install_urcap_cb3.md

@@ -1,6 +1,6 @@
 # Installing a URCap on a CB3 robot
 
-For using the *ur_rtde_driver* with a real robot you need to install the
+For using the *ur_robot_driver* with a real robot you need to install the
 **externalcontrol-1.0.urcap** which can be found inside the **resources** folder of this driver.
 
 **Note**: For installing this URCap a minimal PolyScope version of 3.7 is necessary.

ur_robot_driver/doc/install_urcap_e_series.md

@@ -1,6 +1,6 @@
 # Installing a URCap on a s-Series robot
 
-For using the *ur_rtde_driver* with a real robot you need to install the
+For using the *ur_robot_driver* with a real robot you need to install the
 **externalcontrol-1.0.urcap** which can be found inside the **resources** folder of this driver.
 
 **Note**: For installing this URCap a minimal PolyScope version of 5.1 is necessary.

ur_robot_driver/doc/setup_tool_communication.md

@@ -20,7 +20,7 @@ In order to use the tool communication in ROS, simply pass the correct parameter
 launch files:
 
 ```bash
-$ roslaunch ur_rtde_driver ur<3|5|10>e_bringup.launch \
+$ roslaunch ur_robot_driver ur<3|5|10>e_bringup.launch \
   use_tool_communication:=true \
   tool_voltage:=24 \ # can be 0, 12 or 24
   tool_parity:=0 \ # 0: none, 1: odd, 2: even

ur_robot_driver/include/ur_robot_driver/comm/bin_parser.h

@@ -29,9 +29,9 @@
 #include <cstring>
 #include <string>
 #include <memory>
-#include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/types.h"
-#include "ur_rtde_driver/exceptions.h"
+#include "ur_robot_driver/log.h"
+#include "ur_robot_driver/types.h"
+#include "ur_robot_driver/exceptions.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/comm/package.h

@@ -27,7 +27,7 @@
 #ifndef UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_PACKAGE_H_INCLUDED
 
-#include "ur_rtde_driver/comm/bin_parser.h"
+#include "ur_robot_driver/comm/bin_parser.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/comm/parser.h

@@ -20,8 +20,8 @@
 
 #pragma once
 #include <vector>
-#include "ur_rtde_driver/comm/bin_parser.h"
-#include "ur_rtde_driver/comm/package.h"
+#include "ur_robot_driver/comm/bin_parser.h"
+#include "ur_robot_driver/comm/package.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/comm/pipeline.h

@@ -20,9 +20,9 @@
 
 #pragma once
 
-#include "ur_rtde_driver/comm/package.h"
-#include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/queue/readerwriterqueue.h"
+#include "ur_robot_driver/comm/package.h"
+#include "ur_robot_driver/log.h"
+#include "ur_robot_driver/queue/readerwriterqueue.h"
 #include <atomic>
 #include <chrono>
 #include <thread>

ur_robot_driver/include/ur_robot_driver/comm/producer.h

@@ -20,11 +20,11 @@
 
 #pragma once
 #include <chrono>
-#include "ur_rtde_driver/comm/pipeline.h"
-#include "ur_rtde_driver/comm/parser.h"
-#include "ur_rtde_driver/comm/stream.h"
-#include "ur_rtde_driver/comm/package.h"
-#include "ur_rtde_driver/exceptions.h"
+#include "ur_robot_driver/comm/pipeline.h"
+#include "ur_robot_driver/comm/parser.h"
+#include "ur_robot_driver/comm/stream.h"
+#include "ur_robot_driver/comm/package.h"
+#include "ur_robot_driver/exceptions.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/comm/reverse_interface.h

@@ -28,8 +28,8 @@
 #ifndef UR_RTDE_DRIVER_REVERSE_INTERFACE_H_INCLUDED
 #define UR_RTDE_DRIVER_REVERSE_INTERFACE_H_INCLUDED
 
-#include "ur_rtde_driver/comm/server.h"
-#include "ur_rtde_driver/types.h"
+#include "ur_robot_driver/comm/server.h"
+#include "ur_robot_driver/types.h"
 #include <cstring>
 #include <endian.h>
 

ur_robot_driver/include/ur_robot_driver/comm/script_sender.h

@@ -29,8 +29,8 @@
 #ifndef UR_RTDE_DRIVER_SCRIPT_SENDER_H_INCLUDED
 #define UR_RTDE_DRIVER_SCRIPT_SENDER_H_INCLUDED
 
-#include "ur_rtde_driver/comm/server.h"
-#include "ur_rtde_driver/log.h"
+#include "ur_robot_driver/comm/server.h"
+#include "ur_robot_driver/log.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/comm/server.h

@@ -26,7 +26,7 @@
 #include <cstdlib>
 #include <mutex>
 #include <string>
-#include "ur_rtde_driver/comm/tcp_socket.h"
+#include "ur_robot_driver/comm/tcp_socket.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/comm/shell_consumer.h

@@ -28,9 +28,9 @@
 #ifndef UR_RTDE_DRIVER_SHELL_CONSUMER_H_INCLUDED
 #define UR_RTDE_DRIVER_SHELL_CONSUMER_H_INCLUDED
 
-#include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/comm/pipeline.h"
-#include "ur_rtde_driver/comm/package.h"
+#include "ur_robot_driver/log.h"
+#include "ur_robot_driver/comm/pipeline.h"
+#include "ur_robot_driver/comm/package.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/comm/stream.h

@@ -25,8 +25,8 @@
 #include <atomic>
 #include <mutex>
 #include <string>
-#include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/comm/tcp_socket.h"
+#include "ur_robot_driver/log.h"
+#include "ur_robot_driver/comm/tcp_socket.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/primary/package_header.h

@@ -32,7 +32,7 @@
 #include <inttypes.h>
 #include <cstddef>
 #include <endian.h>
-#include "ur_rtde_driver/types.h"
+#include "ur_robot_driver/types.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/primary/primary_package.h

@@ -28,8 +28,8 @@
 #ifndef UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_PRIMARY_PACKAGE_H_INCLUDED
 
-#include "ur_rtde_driver/primary/package_header.h"
-#include "ur_rtde_driver/comm/package.h"
+#include "ur_robot_driver/primary/package_header.h"
+#include "ur_robot_driver/comm/package.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/primary/primary_parser.h

@@ -20,16 +20,16 @@
 
 #pragma once
 #include <vector>
-#include "ur_rtde_driver/comm/bin_parser.h"
-#include "ur_rtde_driver/comm/pipeline.h"
-#include "ur_rtde_driver/comm/parser.h"
-#include "ur_rtde_driver/primary/package_header.h"
-#include "ur_rtde_driver/primary/robot_state.h"
-#include "ur_rtde_driver/primary/robot_message.h"
-//#include "ur_rtde_driver/primary/robot_state/robot_mode_data.h"
-#include "ur_rtde_driver/primary/robot_state/kinematics_info.h"
-//#include "ur_rtde_driver/primary/robot_state/master_board.h"
-#include "ur_rtde_driver/primary/robot_message/version_message.h"
+#include "ur_robot_driver/comm/bin_parser.h"
+#include "ur_robot_driver/comm/pipeline.h"
+#include "ur_robot_driver/comm/parser.h"
+#include "ur_robot_driver/primary/package_header.h"
+#include "ur_robot_driver/primary/robot_state.h"
+#include "ur_robot_driver/primary/robot_message.h"
+//#include "ur_robot_driver/primary/robot_state/robot_mode_data.h"
+#include "ur_robot_driver/primary/robot_state/kinematics_info.h"
+//#include "ur_robot_driver/primary/robot_state/master_board.h"
+#include "ur_robot_driver/primary/robot_message/version_message.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/primary/robot_message.h

@@ -28,7 +28,7 @@
 #ifndef UR_RTDE_DRIVER_ROBOT_MESSAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_ROBOT_MESSAGE_H_INCLUDED
 
-#include "ur_rtde_driver/primary/primary_package.h"
+#include "ur_robot_driver/primary/primary_package.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/primary/robot_message/version_message.h

@@ -28,7 +28,7 @@
 #ifndef UR_RTDE_DRIVER_VERSION_MESSAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_VERSION_MESSAGE_H_INCLUDED
 
-#include "ur_rtde_driver/primary/robot_message.h"
+#include "ur_robot_driver/primary/robot_message.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/primary/robot_state.h

@@ -30,8 +30,8 @@
 
 #include <sstream>
 
-#include "ur_rtde_driver/primary/primary_package.h"
-#include "ur_rtde_driver/primary/package_header.h"
+#include "ur_robot_driver/primary/primary_package.h"
+#include "ur_robot_driver/primary/package_header.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/primary/robot_state/kinematics_info.h

@@ -28,8 +28,8 @@
 #ifndef UR_RTDE_DRIVER_KINEMATICS_INFO_H_INCLUDED
 #define UR_RTDE_DRIVER_KINEMATICS_INFO_H_INCLUDED
 
-#include "ur_rtde_driver/types.h"
-#include "ur_rtde_driver/primary/robot_state.h"
+#include "ur_robot_driver/types.h"
+#include "ur_robot_driver/primary/robot_state.h"
 namespace ur_driver
 {
 namespace primary_interface

ur_robot_driver/include/ur_robot_driver/primary/robot_state/master_board.h

@@ -23,7 +23,7 @@
 #include <inttypes.h>
 #include <bitset>
 #include <cstddef>
-#include "ur_rtde_driver/primary/robot_state.h"
+#include "ur_robot_driver/primary/robot_state.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/primary/robot_state/robot_mode_data.h

@@ -29,7 +29,7 @@
 #ifndef UR_RTDE_DRIBVER_ROBOT_MODE_DATA_H_INCLUDED
 #define UR_RTDE_DRIBVER_ROBOT_MODE_DATA_H_INCLUDED
 
-#include "ur_rtde_driver/primary/robot_state.h"
+#include "ur_robot_driver/primary/robot_state.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/ros/hardware_interface.h

@@ -48,7 +48,7 @@
 #include <ur_controllers/speed_scaling_interface.h>
 #include <ur_controllers/scaled_joint_command_interface.h>
 
-#include "ur_rtde_driver/ur/ur_driver.h"
+#include "ur_robot_driver/ur/ur_driver.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/rtde/control_package_pause.h

@@ -28,7 +28,7 @@
 #ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_PAUSE_H_INCLUDED
 #define UR_RTDE_DRIVER_CONTROL_PACKAGE_PAUSE_H_INCLUDED
 
-#include "ur_rtde_driver/rtde/rtde_package.h"
+#include "ur_robot_driver/rtde/rtde_package.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_inputs.h

@@ -28,7 +28,7 @@
 #ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_INPUTS_H_INCLUDED
 #define UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_INPUTS_H_INCLUDED
 
-#include "ur_rtde_driver/rtde/rtde_package.h"
+#include "ur_robot_driver/rtde/rtde_package.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/rtde/control_package_setup_outputs.h

@@ -28,8 +28,8 @@
 #ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_OUTPUTS_H_INCLUDED
 #define UR_RTDE_DRIVER_CONTROL_PACKAGE_SETUP_OUTPUTS_H_INCLUDED
 
-#include "ur_rtde_driver/rtde/rtde_package.h"
-#include "ur_rtde_driver/rtde/package_header.h"
+#include "ur_robot_driver/rtde/rtde_package.h"
+#include "ur_robot_driver/rtde/package_header.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/rtde/control_package_start.h

@@ -28,7 +28,7 @@
 #ifndef UR_RTDE_DRIVER_CONTROL_PACKAGE_START_H_INCLUDED
 #define UR_RTDE_DRIVER_CONTROL_PACKAGE_START_H_INCLUDED
 
-#include "ur_rtde_driver/rtde/rtde_package.h"
+#include "ur_robot_driver/rtde/rtde_package.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/rtde/data_package.h

@@ -30,8 +30,8 @@
 
 #include <unordered_map>
 
-#include "ur_rtde_driver/types.h"
-#include "ur_rtde_driver/rtde/rtde_package.h"
+#include "ur_robot_driver/types.h"
+#include "ur_robot_driver/rtde/rtde_package.h"
 #include <boost/variant.hpp>
 
 namespace ur_driver

ur_robot_driver/include/ur_robot_driver/rtde/get_urcontrol_version.h

@@ -28,8 +28,8 @@
 #ifndef UR_RTDE_DRIVER_GET_URCONTROL_VERSION_H_INCLUDED
 #define UR_RTDE_DRIVER_GET_URCONTROL_VERSION_H_INCLUDED
 
-#include "ur_rtde_driver/rtde/rtde_package.h"
-#include "ur_rtde_driver/ur/version_information.h"
+#include "ur_robot_driver/rtde/rtde_package.h"
+#include "ur_robot_driver/ur/version_information.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/rtde/package_header.h

@@ -31,8 +31,8 @@
 
 #include <cstddef>
 #include <endian.h>
-#include "ur_rtde_driver/types.h"
-#include "ur_rtde_driver/comm/package_serializer.h"
+#include "ur_robot_driver/types.h"
+#include "ur_robot_driver/comm/package_serializer.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/rtde/request_protocol_version.h

@@ -28,8 +28,8 @@
 #ifndef UR_RTDE_DRIVER_REQUEST_PROTOCOL_VERSION_H_INCLUDED
 #define UR_RTDE_DRIVER_REQUEST_PROTOCOL_VERSION_H_INCLUDED
 
-#include "ur_rtde_driver/rtde/rtde_package.h"
-#include "ur_rtde_driver/rtde/package_header.h"
+#include "ur_robot_driver/rtde/rtde_package.h"
+#include "ur_robot_driver/rtde/package_header.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/rtde/rtde_client.h

@@ -28,18 +28,18 @@
 #ifndef UR_RTDE_DRIVER_RTDE_CLIENT_H_INCLUDED
 #define UR_RTDE_DRIVER_RTDE_CLIENT_H_INCLUDED
 
-#include "ur_rtde_driver/comm/pipeline.h"
-#include "ur_rtde_driver/rtde/package_header.h"
-#include "ur_rtde_driver/rtde/rtde_package.h"
-#include "ur_rtde_driver/comm/stream.h"
-#include "ur_rtde_driver/rtde/rtde_parser.h"
-#include "ur_rtde_driver/comm/producer.h"
-#include "ur_rtde_driver/rtde/data_package.h"
-#include "ur_rtde_driver/rtde/request_protocol_version.h"
-#include "ur_rtde_driver/rtde/control_package_setup_outputs.h"
-#include "ur_rtde_driver/rtde/control_package_start.h"
-#include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/rtde/rtde_writer.h"
+#include "ur_robot_driver/comm/pipeline.h"
+#include "ur_robot_driver/rtde/package_header.h"
+#include "ur_robot_driver/rtde/rtde_package.h"
+#include "ur_robot_driver/comm/stream.h"
+#include "ur_robot_driver/rtde/rtde_parser.h"
+#include "ur_robot_driver/comm/producer.h"
+#include "ur_robot_driver/rtde/data_package.h"
+#include "ur_robot_driver/rtde/request_protocol_version.h"
+#include "ur_robot_driver/rtde/control_package_setup_outputs.h"
+#include "ur_robot_driver/rtde/control_package_start.h"
+#include "ur_robot_driver/log.h"
+#include "ur_robot_driver/rtde/rtde_writer.h"
 
 static const int UR_RTDE_PORT = 30004;
 static const std::string PIPELINE_NAME = "RTDE Data Pipeline";

ur_robot_driver/include/ur_robot_driver/rtde/rtde_package.h

@@ -28,8 +28,8 @@
 #ifndef UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_RTDE_PACKAGE_H_INCLUDED
 
-#include "ur_rtde_driver/rtde/package_header.h"
-#include "ur_rtde_driver/comm/package.h"
+#include "ur_robot_driver/rtde/package_header.h"
+#include "ur_robot_driver/comm/package.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/rtde/rtde_parser.h

@@ -20,19 +20,19 @@
 
 #pragma once
 #include <vector>
-#include "ur_rtde_driver/comm/parser.h"
-#include "ur_rtde_driver/comm/bin_parser.h"
-#include "ur_rtde_driver/comm/pipeline.h"
+#include "ur_robot_driver/comm/parser.h"
+#include "ur_robot_driver/comm/bin_parser.h"
+#include "ur_robot_driver/comm/pipeline.h"
 
-#include "ur_rtde_driver/rtde/control_package_pause.h"
-#include "ur_rtde_driver/rtde/control_package_setup_inputs.h"
-#include "ur_rtde_driver/rtde/control_package_setup_outputs.h"
-#include "ur_rtde_driver/rtde/control_package_start.h"
-#include "ur_rtde_driver/rtde/data_package.h"
-#include "ur_rtde_driver/rtde/get_urcontrol_version.h"
-#include "ur_rtde_driver/rtde/package_header.h"
-#include "ur_rtde_driver/rtde/request_protocol_version.h"
-#include "ur_rtde_driver/rtde/text_message.h"
+#include "ur_robot_driver/rtde/control_package_pause.h"
+#include "ur_robot_driver/rtde/control_package_setup_inputs.h"
+#include "ur_robot_driver/rtde/control_package_setup_outputs.h"
+#include "ur_robot_driver/rtde/control_package_start.h"
+#include "ur_robot_driver/rtde/data_package.h"
+#include "ur_robot_driver/rtde/get_urcontrol_version.h"
+#include "ur_robot_driver/rtde/package_header.h"
+#include "ur_robot_driver/rtde/request_protocol_version.h"
+#include "ur_robot_driver/rtde/text_message.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/rtde/rtde_writer.h

@@ -28,11 +28,11 @@
 #ifndef UR_RTDE_DRIVER_RTDE_WRITER_H_INCLUDED
 #define UR_RTDE_DRIVER_RTDE_WRITER_H_INCLUDED
 
-#include "ur_rtde_driver/rtde/package_header.h"
-#include "ur_rtde_driver/rtde/rtde_package.h"
-#include "ur_rtde_driver/rtde/data_package.h"
-#include "ur_rtde_driver/comm/stream.h"
-#include "ur_rtde_driver/queue/readerwriterqueue.h"
+#include "ur_robot_driver/rtde/package_header.h"
+#include "ur_robot_driver/rtde/rtde_package.h"
+#include "ur_robot_driver/rtde/data_package.h"
+#include "ur_robot_driver/comm/stream.h"
+#include "ur_robot_driver/queue/readerwriterqueue.h"
 #include <thread>
 
 namespace ur_driver

ur_robot_driver/include/ur_robot_driver/rtde/text_message.h

@@ -28,7 +28,7 @@
 #ifndef UR_RTDE_DRIVER_TEXT_MESSAGE_H_INCLUDED
 #define UR_RTDE_DRIVER_TEXT_MESSAGE_H_INCLUDED
 
-#include "ur_rtde_driver/rtde/rtde_package.h"
+#include "ur_robot_driver/rtde/rtde_package.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/ur/calibration_checker.h

@@ -27,9 +27,9 @@
 #ifndef UR_RTDE_DRIVER_UR_CALIBRATION_CHECKER_H_INCLUDED
 #define UR_RTDE_DRIVER_UR_CALIBRATION_CHECKER_H_INCLUDED
 
-#include <ur_rtde_driver/comm/pipeline.h>
+#include <ur_robot_driver/comm/pipeline.h>
 
-#include <ur_rtde_driver/primary/robot_state/kinematics_info.h>
+#include <ur_robot_driver/primary/robot_state/kinematics_info.h>
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/ur/tool_communication.h

@@ -29,7 +29,7 @@
 #ifndef UR_RTDE_DRIVER_UR_TOOL_COMMUNICATION_H_INCLUDED
 #define UR_RTDE_DRIVER_UR_TOOL_COMMUNICATION_H_INCLUDED
 
-#include "ur_rtde_driver/types.h"
+#include "ur_robot_driver/types.h"
 #include <set>
 
 namespace ur_driver

ur_robot_driver/include/ur_robot_driver/ur/ur_driver.h

@@ -27,12 +27,12 @@
 #ifndef UR_RTDE_DRIVER_UR_UR_DRIVER_H_INCLUDED
 #define UR_RTDE_DRIVER_UR_UR_DRIVER_H_INCLUDED
 
-#include "ur_rtde_driver/rtde/rtde_client.h"
-#include "ur_rtde_driver/comm/reverse_interface.h"
-#include "ur_rtde_driver/comm/script_sender.h"
-#include "ur_rtde_driver/ur/tool_communication.h"
-#include "ur_rtde_driver/primary/robot_message/version_message.h"
-#include "ur_rtde_driver/rtde/rtde_writer.h"
+#include "ur_robot_driver/rtde/rtde_client.h"
+#include "ur_robot_driver/comm/reverse_interface.h"
+#include "ur_robot_driver/comm/script_sender.h"
+#include "ur_robot_driver/ur/tool_communication.h"
+#include "ur_robot_driver/primary/robot_message/version_message.h"
+#include "ur_robot_driver/rtde/rtde_writer.h"
 
 namespace ur_driver
 {

ur_robot_driver/include/ur_robot_driver/ur/version_information.h

@@ -28,7 +28,7 @@
 #ifndef UR_RTDE_DRIVER_UR_VERSION_INFORMATION_H_INCLUDED
 #define UR_RTDE_DRIVER_UR_VERSION_INFORMATION_H_INCLUDED
 
-#include <ur_rtde_driver/types.h>
+#include <ur_robot_driver/types.h>
 
 namespace ur_driver
 {

ur_robot_driver/launch/ur10_bringup.launch

@@ -5,13 +5,13 @@
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_description)/launch/ur10_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur10_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
 
-  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+  <include file="$(find ur_robot_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
     <arg name="use_tool_communication" value="false"/>
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>

ur_robot_driver/launch/ur10e_bringup.launch

@@ -6,7 +6,7 @@
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur10e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur10e_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur10e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
@@ -21,7 +21,7 @@
   <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
 
-  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+  <include file="$(find ur_robot_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
     <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>

ur_robot_driver/launch/ur3_bringup.launch

@@ -5,13 +5,13 @@
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur3_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_description)/launch/ur3_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur3_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
 
-  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+  <include file="$(find ur_robot_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
     <arg name="use_tool_communication" value="false"/>
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>

ur_robot_driver/launch/ur3e_bringup.launch

@@ -5,7 +5,7 @@
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur3e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur3e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur3e_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur3e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
@@ -20,7 +20,7 @@
   <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
 
-  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+  <include file="$(find ur_robot_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
     <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>

ur_robot_driver/launch/ur5_bringup.launch

@@ -5,13 +5,13 @@
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_description)/launch/ur5_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_description)/config/ur5_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
 
-  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+  <include file="$(find ur_robot_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
     <arg name="use_tool_communication" value="false"/>
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>

ur_robot_driver/launch/ur5e_bringup.launch

@@ -5,7 +5,7 @@
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="controller_config_file" default="$(find ur_rtde_driver)/config/ur5e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
+  <arg name="controller_config_file" default="$(find ur_robot_driver)/config/ur5e_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
   <arg name="robot_description_file" default="$(find ur_e_description)/launch/ur5e_upload.launch" doc="Robot description launch file."/>
   <arg name="kinematics_config" default="$(find ur_e_description)/config/ur5e_default.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
   <arg name="use_tool_communication" default="false" doc="On e-Series robots tool communication can be enabled with this argument"/>
@@ -20,7 +20,7 @@
   <arg name="limited" default="false" doc="Use the description in limited mode (Every axis rotates from -PI to PI)"/>
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
 
-  <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
+  <include file="$(find ur_robot_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
     <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>

ur_robot_driver/launch/ur_common.launch

@@ -29,7 +29,7 @@
   <!-- Convert joint states to /tf tranforms -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
 
-  <include file="$(find ur_rtde_driver)/launch/ur_control.launch">
+  <include file="$(find ur_robot_driver)/launch/ur_control.launch">
     <arg name="debug" value="$(arg debug)"/>
     <arg name="use_tool_communication" value="$(arg use_tool_communication)"/>
     <arg name="controller_config_file" value="$(arg controller_config_file)"/>

ur_robot_driver/launch/ur_control.launch

@@ -13,9 +13,9 @@
   <arg name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
   <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller" doc="Controllers that are activated by default."/>
   <arg name="stopped_controllers" default="pos_traj_controller" doc="Controllers that are initally loaded, but not started."/>
-  <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript" doc="Path to URScript that will be sent to the robot and that forms the main control program."/>
-  <arg name="rtde_output_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_output_recipe.txt" doc="Recipe file used for the RTDE-outputs. Only change this if you know what you're doing."/>
-  <arg name="rtde_input_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_input_recipe.txt" doc="Recipe file used for the RTDE-inputs. Only change this if you know what you're doing."/>
+  <arg name="urscript_file" default="$(find ur_robot_driver)/resources/servoj.urscript" doc="Path to URScript that will be sent to the robot and that forms the main control program."/>
+  <arg name="rtde_output_recipe_file" default="$(find ur_robot_driver)/resources/rtde_output_recipe.txt" doc="Recipe file used for the RTDE-outputs. Only change this if you know what you're doing."/>
+  <arg name="rtde_input_recipe_file" default="$(find ur_robot_driver)/resources/rtde_input_recipe.txt" doc="Recipe file used for the RTDE-inputs. Only change this if you know what you're doing."/>
   <arg name="tool_voltage" default="0" doc="Tool voltage set at the beginning of the UR program. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_parity" default="0" doc="Parity configuration used for tool communication. Only used, when `use_tool_communication` is set to true."/>
   <arg name="tool_baud_rate" default="115200" doc="Baud rate used for tool communication. Only used, when `use_tool_communication` is set to true."/>
@@ -27,7 +27,7 @@
   <arg name="headless_mode" default="false" doc="Automatically send URScript to robot to execute. On e-Series this does require the robot to be in 'remote-control' mode. With this, the URCap is not needed on the robot."/>
 
   <!-- Load hardware interface -->
-  <node name="ur_hardware_interface" pkg="ur_rtde_driver" type="ur_rtde_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
+  <node name="ur_hardware_interface" pkg="ur_robot_driver" type="ur_robot_driver_node" output="screen" launch-prefix="$(arg launch_prefix)" required="true">
     <param name="robot_ip" type="str" value="$(arg robot_ip)"/>
     <rosparam command="load" file="$(arg kinematics_config)" />
     <param name="script_file" value="$(arg urscript_file)"/>
@@ -46,7 +46,7 @@
   </node>
 
   <!-- Starts socat to bridge the robot's tool communication interface to a local tty device -->
-  <node if="$(arg use_tool_communication)" name="ur_tool_communication_bridge" pkg="ur_rtde_driver" type="tool_communication" respawn="false" output="screen">
+  <node if="$(arg use_tool_communication)" name="ur_tool_communication_bridge" pkg="ur_robot_driver" type="tool_communication" respawn="false" output="screen">
     <param name="robot_ip" value="$(arg robot_ip)"/>
     <param name="device_name" value="$(arg tool_device_name)"/>
     <param name="tcp_port" value="$(arg tool_tcp_port)"/>

ur_robot_driver/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
-  <name>ur_rtde_driver</name>
+  <name>ur_robot_driver</name>
   <version>0.0.3</version>
   <description>The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series.</description>
   <author>Thomas Timm Andersen</author>
@@ -14,9 +14,9 @@
   <license>BSD 2-clause</license>
   <license>Zlib</license>
 
-  <url type="website">http://wiki.ros.org/ur_rtde_driver</url>
-  <url type="bugtracker">https://github.com/ros-industrial/ur_rtde_driver/issues</url>
-  <url type="repository">https://github.com/ros-industrial/ur_rtde_driver</url>
+  <url type="website">http://wiki.ros.org/ur_robot_driver</url>
+  <url type="bugtracker">https://github.com/ros-industrial/ur_robot_driver/issues</url>
+  <url type="repository">https://github.com/ros-industrial/ur_robot_driver</url>
 
   <buildtool_depend>catkin</buildtool_depend>
 

ur_robot_driver/src/comm/server.cpp

@@ -20,12 +20,12 @@
  * limitations under the License.
  */
 
-#include "ur_rtde_driver/comm/server.h"
+#include "ur_robot_driver/comm/server.h"
 #include <arpa/inet.h>
 #include <netinet/tcp.h>
 #include <unistd.h>
 #include <cstring>
-#include "ur_rtde_driver/log.h"
+#include "ur_robot_driver/log.h"
 
 namespace ur_driver
 {

ur_robot_driver/src/comm/tcp_socket.cpp

@@ -26,8 +26,8 @@
 #include <unistd.h>
 #include <cstring>
 
-#include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/comm/tcp_socket.h"
+#include "ur_robot_driver/log.h"
+#include "ur_robot_driver/comm/tcp_socket.h"
 
 namespace ur_driver
 {

ur_robot_driver/src/primary/primary_package.cpp

@@ -25,7 +25,7 @@
  */
 //----------------------------------------------------------------------
 
-#include "ur_rtde_driver/primary/primary_package.h"
+#include "ur_robot_driver/primary/primary_package.h"
 
 namespace ur_driver
 {

ur_robot_driver/src/primary/robot_message.cpp

@@ -1,7 +1,7 @@
 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
 
 // -- BEGIN LICENSE BLOCK ----------------------------------------------
-// Copyright 2019 FZI Forschungszentrum Informatik (ur_rtde_driver)
+// Copyright 2019 FZI Forschungszentrum Informatik (ur_robot_driver)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -24,7 +24,7 @@
  *
  */
 //----------------------------------------------------------------------
-#include "ur_rtde_driver/primary/robot_message.h"
+#include "ur_robot_driver/primary/robot_message.h"
 
 namespace ur_driver
 {

ur_robot_driver/src/primary/robot_message/version_message.cpp

@@ -1,7 +1,7 @@
 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
 
 // -- BEGIN LICENSE BLOCK ----------------------------------------------
-// Copyright 2019 FZI Forschungszentrum Informatik (ur_rtde_driver)
+// Copyright 2019 FZI Forschungszentrum Informatik (ur_robot_driver)
 // Copyright 2017, 2018 Simon Rasmussen (refactor)
 //
 // Copyright 2015, 2016 Thomas Timm Andersen (original version)
@@ -28,8 +28,8 @@
  */
 //----------------------------------------------------------------------
 
-#include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/primary/robot_message/version_message.h"
+#include "ur_robot_driver/log.h"
+#include "ur_robot_driver/primary/robot_message/version_message.h"
 
 namespace ur_driver
 {