diff --git a/darwin_apps/launch/action_client_sim.launch b/darwin_apps/launch/action_client_sim.launch
index 3c42daf4734b4f8f30b3f87d1ede152e5f192de0..901945390f4932a9aa18f2d473ebe3243d3df8a5 100644
--- a/darwin_apps/launch/action_client_sim.launch
+++ b/darwin_apps/launch/action_client_sim.launch
@@ -12,9 +12,9 @@
type="action_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/action_client/action_client/motion_action"
+ <remap from="/darwin/action_client/motion_action"
to="/darwin/robot/motion_action"/>
- <remap from="/darwin/action_client/action_client/set_servo_modules"
+ <remap from="/darwin/action_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
</node>
diff --git a/darwin_apps/launch/all_clients_sim.launch b/darwin_apps/launch/all_clients_sim.launch
index 09c42a8a841226f7c5aa4ba4d7476ec6bccc02ef..c79c47a795be9b3019172583fa84c734d8c112e9 100644
--- a/darwin_apps/launch/all_clients_sim.launch
+++ b/darwin_apps/launch/all_clients_sim.launch
@@ -1,13 +1,13 @@
<launch>
<arg name="robot" default="darwin" />
- <arg name="environment" default="charge_env" />
+ <arg name="environment" default="obstacles_env_empty" />
<include file="$(find darwin_description)/launch/darwin_sim.launch">
<arg name="robot" value="$(arg robot)" />
</include>
- <include file="$(find darwin_description)/launch/charge_env.launch">
+ <include file="$(find darwin_description)/launch/environment.launch">
<arg name="environment" value="$(arg environment)" />
</include>
@@ -17,9 +17,9 @@
type="action_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/action_client/action_client/motion_action"
+ <remap from="/darwin/action_client/motion_action"
to="/darwin/robot/motion_action"/>
- <remap from="/darwin/action_client/action_client/set_servo_modules"
+ <remap from="/darwin/action_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
</node>
@@ -29,12 +29,12 @@
type="joints_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/joints_client/joint_trajectory/joint_trajectory_action"
+ <remap from="/darwin/joints_client/joint_trajectory_action"
to="/darwin/robot/joint_trajectory"/>
- <remap from="/darwin/joints_client/joint_trajectory/set_servo_modules"
+ <remap from="/darwin/joints_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/joints_client/joint_trajectory/joint_state"
- to="/darwin/robot/joint_state"/>
+ <remap from="/joints_client/joint_states"
+ to="/darwin/joint_states"/>
</node>
<!-- launch the walk client node -->
@@ -60,17 +60,17 @@
<param name="FOOT_HEIGHT" value="0.04"/>
<param name="MAX_VEL" value="0.01"/>
<param name="MAX_ROT_VEL" value="0.01"/>
- <remap from="/darwin/walk_client/walk_client/cmd_vel"
+ <remap from="/walk_client/cmd_vel"
to="/darwin/robot/cmd_vel"/>
- <remap from="/darwin/walk_client/walk_client/set_walk_params"
+ <remap from="/darwin/walk_client/set_walk_params"
to="/darwin/robot/set_walk_params"/>
- <remap from="/darwin/walk_client/walk_client/get_walk_params"
+ <remap from="/darwin/walk_client/get_walk_params"
to="/darwin/robot/get_walk_params"/>
- <remap from="/darwin/walk_client/walk_client/set_servo_modules"
+ <remap from="/darwin/walk_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/walk_client/walk_client/joint_states"
+ <remap from="/walk_client/joint_states"
to="/darwin/joint_states"/>
- <remap from="/darwin/walk_client/walk_client/fallen_state"
+ <remap from="/walk_client/fallen_state"
to="/darwin/robot/fallen_state"/>
</node>
@@ -80,19 +80,19 @@
type="head_tracking_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/head_tracking_client/head_tracking_client/head_tracking_action"
+ <remap from="/darwin/head_tracking_client/head_tracking_action"
to="/darwin/robot/head_follow_target"/>
- <remap from="/darwin/head_tracking_client/head_tracking_client/head_target"
+ <remap from="/head_tracking_client/head_target"
to="/darwin/robot/head_target"/>
- <remap from="/darwin/head_tracking_client/head_tracking_client/set_servo_modules"
+ <remap from="/darwin/head_tracking_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/head_tracking_client/head_tracking_client/set_pan_pid"
+ <remap from="/darwin/head_tracking_client/set_pan_pid"
to="/darwin/robot/set_pan_pid"/>
- <remap from="/darwin/head_tracking_client/head_tracking_client/get_pan_pid"
+ <remap from="/darwin/head_tracking_client/get_pan_pid"
to="/darwin/robot/get_pan_pid"/>
- <remap from="/darwin/head_tracking_client/head_tracking_client/set_tilt_pid"
+ <remap from="/darwin/head_tracking_client/set_tilt_pid"
to="/darwin/robot/set_tilt_pid"/>
- <remap from="/darwin/head_tracking_client/head_tracking_client/get_tilt_pid"
+ <remap from="/darwin/head_tracking_client/get_tilt_pid"
to="/darwin/robot/get_tilt_pid"/>
</node>
@@ -102,15 +102,15 @@
type="joints_cart_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/left_joints_cart_client/joints_cart_client/joints_action"
+ <remap from="/darwin/left_joints_cart_client/joints_action"
to="/darwin/robot/joint_trajectory"/>
- <remap from="/darwin/left_joints_cart_client/joints_cart_client/set_servo_modules"
+ <remap from="/darwin/left_joints_cart_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/left_joints_cart_client/joints_cart_client/get_arm_ik"
+ <remap from="/darwin/left_joints_cart_client/get_arm_ik"
to="/darwin/left_arm_kinematics/get_ik"/>
- <remap from="/darwin/left_joints_cart_client/joints_cart_client/arm_ik_set_params"
+ <remap from="/darwin/left_joints_cart_client/arm_ik_set_params"
to="/darwin/left_arm_kinematics/set_parameters"/>
- <remap from="/darwin/left_joints_cart_client/joints_cart_client/joint_states"
+ <remap from="/left_joints_cart_client/joint_states"
to="/darwin/joint_states"/>
</node>
@@ -132,15 +132,15 @@
type="joints_cart_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/right_joints_cart_client/joints_cart_client/joints_action"
+ <remap from="/darwin/right_joints_cart_client/joints_action"
to="/darwin/robot/joint_trajectory"/>
- <remap from="/darwin/right_joints_cart_client/joints_cart_client/set_servo_modules"
+ <remap from="/darwin/right_joints_cart_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
<remap from="/darwin/right_joints_cart_client/joints_cart_client/get_arm_ik"
to="/darwin/right_arm_kinematics/get_ik"/>
- <remap from="/darwin/right_joints_cart_client/joints_cart_client/arm_ik_set_params"
+ <remap from="/darwin/right_joints_cart_client/arm_ik_set_params"
to="/darwin/right_arm_kinematics/set_parameters"/>
- <remap from="/darwin/right_joints_cart_client/joints_cart_client/joint_states"
+ <remap from="/right_joints_cart_client/joint_states"
to="/darwin/joint_states"/>
</node>
@@ -162,13 +162,13 @@
type="gripper_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/gripper_client/left_gripper/gripper_control"
+ <remap from="/darwin/left_gripper/gripper_control"
to="/darwin/robot/left_gripper"/>
- <remap from="/darwin/gripper_client/right_gripper/gripper_control"
+ <remap from="/darwin/right_gripper/gripper_control"
to="/darwin/robot/right_gripper"/>
- <remap from="/darwin/gripper_client/left_gripper/set_servo_modules"
+ <remap from="/darwin/left_gripper/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/gripper_client/right_gripper/set_servo_modules"
+ <remap from="/darwin/right_gripper/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
</node>
diff --git a/darwin_apps/launch/gripper_client_sim.launch b/darwin_apps/launch/gripper_client_sim.launch
index f14afbcb5d175c18db0d6553757f4e83e22b00bf..7775da40e71ca8b978755d1d4d81cfec0975c02d 100644
--- a/darwin_apps/launch/gripper_client_sim.launch
+++ b/darwin_apps/launch/gripper_client_sim.launch
@@ -12,13 +12,13 @@
type="gripper_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/gripper_client/left_gripper/gripper_control"
+ <remap from="/darwin/left_gripper/gripper_control"
to="/darwin/robot/left_gripper"/>
- <remap from="/darwin/gripper_client/right_gripper/gripper_control"
+ <remap from="/darwin/right_gripper/gripper_control"
to="/darwin/robot/right_gripper"/>
- <remap from="/darwin/gripper_client/left_gripper/set_servo_modules"
+ <remap from="/darwin/left_gripper/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/gripper_client/right_gripper/set_servo_modules"
+ <remap from="/darwin/right_gripper/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
</node>
diff --git a/darwin_apps/launch/head_tracking_client_sim.launch b/darwin_apps/launch/head_tracking_client_sim.launch
index f1bb5f02915c751a64716a15d998c50531262fc7..569ce7f0ce5886a0f6824ea17490cacc1b0997ba 100644
--- a/darwin_apps/launch/head_tracking_client_sim.launch
+++ b/darwin_apps/launch/head_tracking_client_sim.launch
@@ -12,19 +12,19 @@
type="head_tracking_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/head_tracking_client/head_tracking_client/head_tracking_action"
+ <remap from="/head_tracking_client/head_tracking_action"
to="/darwin/robot/head_follow_target"/>
- <remap from="/darwin/head_tracking_client/head_tracking_client/head_target"
+ <remap from="/darwin/head_tracking_client/head_target"
to="/darwin/robot/head_target"/>
- <remap from="/darwin/head_tracking_client/head_tracking_client/set_servo_modules"
+ <remap from="/darwin/head_tracking_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/head_tracking_client/head_tracking_client/set_pan_pid"
+ <remap from="/darwin/head_tracking_client/set_pan_pid"
to="/darwin/robot/set_pan_pid"/>
- <remap from="/darwin/head_tracking_client/head_tracking_client/get_pan_pid"
+ <remap from="/darwin/head_tracking_client/get_pan_pid"
to="/darwin/robot/get_pan_pid"/>
- <remap from="/darwin/head_tracking_client/head_tracking_client/set_tilt_pid"
+ <remap from="/darwin/head_tracking_client/set_tilt_pid"
to="/darwin/robot/set_tilt_pid"/>
- <remap from="/darwin/head_tracking_client/head_tracking_client/get_tilt_pid"
+ <remap from="/darwin/head_tracking_client/get_tilt_pid"
to="/darwin/robot/get_tilt_pid"/>
</node>
diff --git a/darwin_apps/launch/joint_trajectory_client_sim.launch b/darwin_apps/launch/joint_trajectory_client_sim.launch
index bccec0456cd2e82c6132c412839fb01dbbe38c1a..8b4f1b2aa732c9b7d5a7551bc655d4177dd57910 100644
--- a/darwin_apps/launch/joint_trajectory_client_sim.launch
+++ b/darwin_apps/launch/joint_trajectory_client_sim.launch
@@ -12,12 +12,12 @@
type="joints_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/joints_client/joint_trajectory/joint_trajectory_action"
+ <remap from="/darwin/joints_client/joint_trajectory_action"
to="/darwin/robot/joint_trajectory"/>
- <remap from="/darwin/joints_client/joint_trajectory/set_servo_modules"
+ <remap from="/darwin/joints_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/joints_client/joint_trajectory/joint_state"
- to="/darwin/robot/joint_state"/>
+ <remap from="/darwin/joints_client/joint_states"
+ to="/darwin/joint_states"/>
</node>
<!-- launch dynamic reconfigure -->
diff --git a/darwin_apps/launch/joints_cartesian_client_sim.launch b/darwin_apps/launch/joints_cartesian_client_sim.launch
index 9a8df022a4f357025d32232e5916dfec3fd92d24..0271bc6119b404eaa37a0b0c72fee6266949b024 100644
--- a/darwin_apps/launch/joints_cartesian_client_sim.launch
+++ b/darwin_apps/launch/joints_cartesian_client_sim.launch
@@ -12,15 +12,15 @@
type="joints_cart_client"
output="screen"
ns="/darwin">
- <remap from="/darwin/joints_cart_client/joints_cart_client/joints_action"
+ <remap from="/darwin/joints_cart_client/joints_action"
to="/darwin/robot/joint_trajectory"/>
- <remap from="/darwin/joints_cart_client/joints_cart_client/set_servo_modules"
+ <remap from="/darwin/joints_cart_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/joints_cart_client/joints_cart_client/get_arm_ik"
+ <remap from="/darwin/joints_cart_client/get_arm_ik"
to="/darwin/left_arm_kinematics/get_ik"/>
- <remap from="/darwin/joints_cart_client/joints_cart_client/arm_ik_set_params"
+ <remap from="/darwin/joints_cart_client/arm_ik_set_params"
to="/darwin/left_arm_kinematics/set_parameters"/>
- <remap from="/darwin/joints_cart_client/joints_cart_client/joint_states"
+ <remap from="/darwin/joints_cart_client/joint_states"
to="/darwin/joint_states"/>
<param name="frame_id" value="/darwin/base_arm_l"/>
<param name="x_pos" value="-0.0686496"/>
diff --git a/darwin_apps/launch/qr_head_tracking_sim.launch b/darwin_apps/launch/qr_head_tracking_sim.launch
index 37e50f9abf6e5746fc673d35379d7e6c5abfbb44..bc53da15442a03aa470bcef78b40979d3b961d93 100644
--- a/darwin_apps/launch/qr_head_tracking_sim.launch
+++ b/darwin_apps/launch/qr_head_tracking_sim.launch
@@ -17,19 +17,19 @@
type="qr_head_tracking"
output="screen"
ns="/darwin">
- <remap from="/darwin/qr_head_tracking/head_tracking_client/head_tracking_action"
+ <remap from="/darwin/qr_head_tracking/head_tracking_action"
to="/darwin/robot/head_follow_target"/>
- <remap from="/darwin/qr_head_tracking/head_tracking_client/head_target"
+ <remap from="/darwin/qr_head_tracking/head_target"
to="/darwin/robot/head_target"/>
- <remap from="/darwin/qr_head_tracking/head_tracking_client/set_servo_modules"
+ <remap from="/darwin/qr_head_tracking/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/qr_head_tracking/head_tracking_client/set_pan_pid"
+ <remap from="/darwin/qr_head_tracking/set_pan_pid"
to="/darwin/robot/set_pan_pid"/>
- <remap from="/darwin/qr_head_tracking/head_tracking_client/get_pan_pid"
+ <remap from="/darwin/qr_head_tracking/get_pan_pid"
to="/darwin/robot/get_pan_pid"/>
- <remap from="/darwin/qr_head_tracking/head_tracking_client/set_tilt_pid"
+ <remap from="/darwin/qr_head_tracking/set_tilt_pid"
to="/darwin/robot/set_tilt_pid"/>
- <remap from="/darwin/qr_head_tracking/head_tracking_client/get_tilt_pid"
+ <remap from="/darwin/qr_head_tracking/get_tilt_pid"
to="/darwin/robot/get_tilt_pid"/>
<remap from="/darwin/qr_head_tracking/joint_states"
to="/darwin/joint_states"/>
diff --git a/darwin_apps/launch/stairs_client_sim.launch b/darwin_apps/launch/stairs_client_sim.launch
index 36811a21feceb842e238c9a54c4362f5989e4102..666526143d14da3535600ffec552e7a7b3dd9984 100644
--- a/darwin_apps/launch/stairs_client_sim.launch
+++ b/darwin_apps/launch/stairs_client_sim.launch
@@ -42,15 +42,15 @@
<param name="A_SHIFT" value="0.3"/>
<param name="Y_SPREAD" value="0.02"/>
<param name="X_SHIFT_BODY" value="0.035"/>
- <remap from="/darwin/stairs_client/stairs_client/climb_stairs"
+ <remap from="/darwin/stairs_client/climb_stairs"
to="/darwin/robot/climb_stairs"/>
- <remap from="/darwin/stairs_client/stairs_client/set_stairs_params"
+ <remap from="/darwin/stairs_client/set_stairs_params"
to="/darwin/robot/set_stairs_params"/>
- <remap from="/darwin/stairs_client/stairs_client/get_stairs_params"
+ <remap from="/darwin/stairs_client/get_stairs_params"
to="/darwin/robot/get_stairs_params"/>
- <remap from="/darwin/stairs_client/stairs_client/set_servo_modules"
+ <remap from="/darwin/stairs_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/stairs_client/stairs_client/fallen_state"
+ <remap from="/darwin/stairs_client/fallen_state"
to="/darwin/robot/fallen_state"/>
</node>
diff --git a/darwin_apps/launch/walk_client_sim.launch b/darwin_apps/launch/walk_client_sim.launch
index 7f420b5e78131fc0926b7dcf66114147855f792e..fd66f924bcfc3206dc044874b8fa8e48e74ddd5f 100644
--- a/darwin_apps/launch/walk_client_sim.launch
+++ b/darwin_apps/launch/walk_client_sim.launch
@@ -29,17 +29,17 @@
<param name="FOOT_HEIGHT" value="0.04"/>
<param name="MAX_VEL" value="0.01"/>
<param name="MAX_ROT_VEL" value="0.01"/>
- <remap from="/darwin/walk_client/walk_client/cmd_vel"
+ <remap from="/darwin/walk_client/cmd_vel"
to="/darwin/robot/cmd_vel"/>
- <remap from="/darwin/walk_client/walk_client/set_walk_params"
+ <remap from="/darwin/walk_client/set_walk_params"
to="/darwin/robot/set_walk_params"/>
- <remap from="/darwin/walk_client/walk_client/get_walk_params"
+ <remap from="/darwin/walk_client/get_walk_params"
to="/darwin/robot/get_walk_params"/>
- <remap from="/darwin/walk_client/walk_client/set_servo_modules"
+ <remap from="/darwin/walk_client/set_servo_modules"
to="/darwin/robot/set_servo_modules"/>
- <remap from="/darwin/walk_client/walk_client/joint_states"
+ <remap from="/darwin/walk_client/joint_states"
to="/darwin/joint_states"/>
- <remap from="/darwin/walk_client/walk_client/fallen_state"
+ <remap from="/darwin/walk_client/fallen_state"
to="/darwin/robot/fallen_state"/>
</node>