diff --git a/launch/camera0rgb.launch b/launch/camera0rgb.launch
index 6a34be44019ca2baf71994d6201c511dc7a05e9c..748bc50609aedee3e659546d11a372e14d25e9b5 100644
--- a/launch/camera0rgb.launch
+++ b/launch/camera0rgb.launch
@@ -1,3 +1,4 @@
+<!-- -->
<launch>
<node name="iri_firewire_camera" pkg="iri_firewire_camera" type="iri_firewire_camera" output="screen">
diff --git a/launch/camera_flea.launch b/launch/camera_flea.launch
index e2fcc95e6b229739eba4774b1a93e1d2bf0e5e34..9a200220d6f465ba01b0653338b6b92f3ece91dc 100644
--- a/launch/camera_flea.launch
+++ b/launch/camera_flea.launch
@@ -1,3 +1,4 @@
+<!-- -->
<launch>
<node pkg="iri_firewire_camera"
diff --git a/launch/crop_by_2_rect.launch b/launch/crop_by_2_rect.launch
index b4c5bae9aed8525e2eb1230cbf060965c03f568f..7f11c67ede58d37fe484a6b8fb41db2c14f443a0 100644
--- a/launch/crop_by_2_rect.launch
+++ b/launch/crop_by_2_rect.launch
@@ -1,3 +1,4 @@
+<!-- -->
<launch>
<!-- published topics: /processed_image -->
diff --git a/launch/firewire.launch b/launch/firewire.launch
index 60463aab4e8935bdd97f51192d4f003187c634d0..50aad10f92efcd6bedd9119907242b1f03e17f1b 100755
--- a/launch/firewire.launch
+++ b/launch/firewire.launch
@@ -1,3 +1,4 @@
+<!-- -->
<launch>
<!-- bumblebee -->
diff --git a/launch/firewire_arpose_nodelet.launch b/launch/firewire_arpose_nodelet.launch
index 5789e092604a6110ae2bc8f5bf609e822c5c81b9..4dcb332524da0dd21955925e29b8611572564c9a 100755
--- a/launch/firewire_arpose_nodelet.launch
+++ b/launch/firewire_arpose_nodelet.launch
@@ -1,3 +1,4 @@
+<!-- -->
<launch>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen">
<!--<param name="Camera_serial" value="00b09d01006cf72a" />--> <!-- tibi rear left -->
diff --git a/launch/firewire_nodelet.launch b/launch/firewire_nodelet.launch
index 07b60a0418de7b7b00082243f6b4456497299a85..fbd7abe8fe4db4201b404a37e796a4e5cbfca49b 100755
--- a/launch/firewire_nodelet.launch
+++ b/launch/firewire_nodelet.launch
@@ -1,3 +1,4 @@
+<!-- -->
<launch>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen">
<param name="Camera_node" value="0" />
diff --git a/launch/tibi_dabo_bumblebee_calibration.launch b/launch/tibi_dabo_bumblebee_calibration.launch
deleted file mode 100644
index ee1c4cb0664ecfc06c4a1b02aa58b7dda8efef1f..0000000000000000000000000000000000000000
--- a/launch/tibi_dabo_bumblebee_calibration.launch
+++ /dev/null
@@ -1,84 +0,0 @@
-<launch>
-
- <!-- load robot defined machines -->
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT).machines" />
-
- <!-- tibi/dabo sensors -->
- <!-- published topics: /$(env ROBOT)/sensors/front_laser_scan -->
- <!-- /$(env ROBOT)/sensors/rear_laser_scan -->
- <!-- /$(env ROBOT)/sensors/vertical_laser_scan -->
- <!-- /$(env ROBOT)/sensors/head_right_image -->
- <!-- /$(env ROBOT)/sensors/payload_battery_status -->
- <!-- /$(env ROBOT)/sensors/joy -->
- <!-- subscribed topics: -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <include file="$(find tibi_dabo_base)/launch/$(env ROBOT)_sensors.launch">
- <arg name="front_laser" value="False" />
- <arg name="rear_laser" value="False" />
- <arg name="vertical_laser" value="False" />
- <arg name="wiimote" value="False" />
- <arg name="bumblebee_right" value="True" />
- <arg name="battery" value="False" />
- </include>
-
- <!-- tibi/dabo devices -->
- <!-- published topics: $(env ROBOT)/joint_states -->
- <!-- $(env ROBOT)/segway/status-->
- <!-- subscribed topics: $(env ROBOT)/head/joint_position -->
- <!-- $(env ROBOT)/head/facial_expression -->
- <!-- $(env ROBOT)/segway/cmd_vel -->
- <!-- $(env ROBOT)/joint_states -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: $(env ROBOT)/left_arm/motion_sequence -->
- <!-- $(env ROBOT)/left_arm/joint_motion -->
- <!-- $(env ROBOT)/right_arm/motion_sequence -->
- <!-- $(env ROBOT)/right_arm/joint_motion -->
- <!-- $(env ROBOT)/head/motion_sequence -->
- <!-- $(env ROBOT)/head/lights_sequence -->
- <!-- $(env ROBOT)/head/joint_motion -->
- <include file="$(find tibi_dabo_base)/launch/$(env ROBOT)_devices.launch">
- <arg name="head" value="True" />
- <arg name="left_arm" value="False" />
- <arg name="right_arm" value="False" />
- <arg name="platform" value="True" />
- </include>
-
- <!--image processing -->
- <!-- published topics: /$(env ROBOT)/processed_image -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/head_right/image_raw -->
- <!-- /$(env ROBOT)/sensors/head_right/camera_info -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <include file="$(find iri_firewire_camera)/launch/tibi_dabo_crop_by_2_rect.launch">
- </include>
-
- <group ns="$(env ROBOT)">
-
- <!-- Starts Chessboard Pattern Projection node -->
- <node name="chessboard_pattern_projection_rect"
- pkg ="iri_chessboard_pattern_projection"
- type="iri_chessboard_pattern_projection" >
- <remap from="/$(env ROBOT)/chessboard_pattern_projection_rect/image"
- to="/$(env ROBOT)/processed_image" />
- <param name="~tf_prefix" value="/$(env ROBOT)" />
- </node>
-
- <!--
- <node name="mono_calibration"
- pkg ="camera_calibration"
- type="cameracalibrator.py"
- args="-size 9x6 -square 0.054 image:=/$(env ROBOT)/iri_firewire_camera/camera_image camera:=/stereo/right">
- </node>
- -->
-
- </group>
-
-</launch>
-
diff --git a/launch/tibi_dabo_crop_by_1_rect.launch b/launch/tibi_dabo_crop_by_1_rect.launch
deleted file mode 100644
index 9235660360892fe8f7f3b61ac86f3ce78ab3cf3d..0000000000000000000000000000000000000000
--- a/launch/tibi_dabo_crop_by_1_rect.launch
+++ /dev/null
@@ -1,42 +0,0 @@
-<launch>
-
- <!-- load robot defined machines -->
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
-
- <group ns="$(env ROBOT)">
- <!-- published topics: /$(env ROBOT)/processed_image -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/head_right/image_raw -->
- <!-- /$(env ROBOT)/sensors/head_right/camera_info -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- image crop -->
- <node pkg ="nodelet"
- type="nodelet"
- name="image_proc_dec"
- machine="visio"
- args="standalone image_proc/crop_decimate">
- <param name="decimation_x" value="1" />
- <param name="decimation_y" value="1" />
- <remap from="/$(env ROBOT)/camera/image_raw"
- to="/$(env ROBOT)/sensors/head_right/image_raw"/>
- <remap from="/$(env ROBOT)/camera/camera_info"
- to="/$(env ROBOT)/sensors/head_right/camera_info"/>
- </node>
-
- <!-- image rectification -->
- <node pkg ="image_proc"
- type="image_proc"
- name="image_proc_rect"
- machine="visio">
- <remap from="/$(env ROBOT)/image_raw"
- to="/$(env ROBOT)/camera_out/image_raw" />
- <remap from="/$(env ROBOT)/camera_info"
- to="/$(env ROBOT)/camera_out/camera_info" />
- <remap from="/$(env ROBOT)/image_rect_color"
- to="/$(env ROBOT)/processed_image" />
- </node>
- </group>
-</launch>
-
diff --git a/launch/tibi_dabo_crop_by_2_rect.launch b/launch/tibi_dabo_crop_by_2_rect.launch
deleted file mode 100644
index 56b608d601ee6854e0be37d1c33e9a40a890315c..0000000000000000000000000000000000000000
--- a/launch/tibi_dabo_crop_by_2_rect.launch
+++ /dev/null
@@ -1,42 +0,0 @@
-<launch>
-
- <!-- load robot defined machines -->
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT)_$(env ROS_MODE).machines" />
-
- <group ns="$(env ROBOT)">
- <!-- published topics: /$(env ROBOT)/processed_image -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/head_right/image_raw -->
- <!-- /$(env ROBOT)/sensors/head_right/camera_info -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- image crop -->
- <node pkg ="nodelet"
- type="nodelet"
- name="image_proc_dec"
- machine="visio"
- args="standalone image_proc/crop_decimate">
- <param name="decimation_x" value="2" />
- <param name="decimation_y" value="2" />
- <remap from="/$(env ROBOT)/camera/image_raw"
- to="/$(env ROBOT)/sensors/head_right/image_raw"/>
- <remap from="/$(env ROBOT)/camera/camera_info"
- to="/$(env ROBOT)/sensors/head_right/camera_info"/>
- </node>
-
- <!-- image rectification -->
- <node pkg ="image_proc"
- type="image_proc"
- name="image_proc_rect"
- machine="visio">
- <remap from="/$(env ROBOT)/image_raw"
- to="/$(env ROBOT)/camera_out/image_raw" />
- <remap from="/$(env ROBOT)/camera_info"
- to="/$(env ROBOT)/camera_out/camera_info" />
- <remap from="/$(env ROBOT)/image_rect_color"
- to="/$(env ROBOT)/processed_image" />
- </node>
- </group>
-</launch>
-
diff --git a/launch/tibi_dabo_rect.launch b/launch/tibi_dabo_rect.launch
deleted file mode 100644
index 5e32353e6b190f90f5e68b8d992eec7b8f615d07..0000000000000000000000000000000000000000
--- a/launch/tibi_dabo_rect.launch
+++ /dev/null
@@ -1,42 +0,0 @@
-<launch>
-
- <!-- load robot defined machines -->
- <include file="$(find tibi_dabo_base)/machines/$(env ROBOT).machines" />
-
- <group ns="$(env ROBOT)">
- <!-- published topics: /$(env ROBOT)/processed_image -->
- <!-- subscribed topics: /$(env ROBOT)/sensors/head_right/image_raw -->
- <!-- /$(env ROBOT)/sensors/head_right/camera_info -->
- <!-- service clients: -->
- <!-- service servers: -->
- <!-- action clients: -->
- <!-- action servers: -->
- <!-- image crop -->
- <node pkg ="nodelet"
- type="nodelet"
- name="image_proc_dec"
- machine="visio"
- args="standalone image_proc/crop_decimate">
- <param name="decimation_x" value="1" />
- <param name="decimation_y" value="1" />
- <remap from="/$(env ROBOT)/camera/image_raw"
- to="/$(env ROBOT)/sensors/head_right/image_raw"/>
- <remap from="/$(env ROBOT)/camera/camera_info"
- to="/$(env ROBOT)/sensors/head_right/camera_info"/>
- </node>
-
- <!-- image rectification -->
- <node pkg ="image_proc"
- type="image_proc"
- name="image_proc_rect"
- machine="visio">
- <remap from="/$(env ROBOT)/image_raw"
- to="/$(env ROBOT)/camera_out/image_raw" />
- <remap from="/$(env ROBOT)/camera_info"
- to="/$(env ROBOT)/camera_out/camera_info" />
- <remap from="/$(env ROBOT)/image_rect_color"
- to="/$(env ROBOT)/processed_image" />
- </node>
- </group>
-</launch>
-