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diff --git a/rgbdslam/external/gicp/ann_1.1.2/src/kd_split.h b/external/gicp/ann_1.1.2/src/kd_split.h
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/src/kd_split.h
rename to external/gicp/ann_1.1.2/src/kd_split.h
diff --git a/rgbdslam/external/gicp/ann_1.1.2/src/kd_tree.cpp b/external/gicp/ann_1.1.2/src/kd_tree.cpp
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/src/kd_tree.cpp
rename to external/gicp/ann_1.1.2/src/kd_tree.cpp
diff --git a/rgbdslam/external/gicp/ann_1.1.2/src/kd_tree.h b/external/gicp/ann_1.1.2/src/kd_tree.h
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/src/kd_tree.h
rename to external/gicp/ann_1.1.2/src/kd_tree.h
diff --git a/rgbdslam/external/gicp/ann_1.1.2/src/kd_util.cpp b/external/gicp/ann_1.1.2/src/kd_util.cpp
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/src/kd_util.cpp
rename to external/gicp/ann_1.1.2/src/kd_util.cpp
diff --git a/rgbdslam/external/gicp/ann_1.1.2/src/kd_util.h b/external/gicp/ann_1.1.2/src/kd_util.h
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/src/kd_util.h
rename to external/gicp/ann_1.1.2/src/kd_util.h
diff --git a/rgbdslam/external/gicp/ann_1.1.2/src/perf.cpp b/external/gicp/ann_1.1.2/src/perf.cpp
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/src/perf.cpp
rename to external/gicp/ann_1.1.2/src/perf.cpp
diff --git a/rgbdslam/external/gicp/ann_1.1.2/src/pr_queue.h b/external/gicp/ann_1.1.2/src/pr_queue.h
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/src/pr_queue.h
rename to external/gicp/ann_1.1.2/src/pr_queue.h
diff --git a/rgbdslam/external/gicp/ann_1.1.2/src/pr_queue_k.h b/external/gicp/ann_1.1.2/src/pr_queue_k.h
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/src/pr_queue_k.h
rename to external/gicp/ann_1.1.2/src/pr_queue_k.h
diff --git a/rgbdslam/external/gicp/ann_1.1.2/test/Makefile b/external/gicp/ann_1.1.2/test/Makefile
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/test/Makefile
rename to external/gicp/ann_1.1.2/test/Makefile
diff --git a/rgbdslam/external/gicp/ann_1.1.2/test/ann_test.cpp b/external/gicp/ann_1.1.2/test/ann_test.cpp
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/test/ann_test.cpp
rename to external/gicp/ann_1.1.2/test/ann_test.cpp
diff --git a/rgbdslam/external/gicp/ann_1.1.2/test/rand.cpp b/external/gicp/ann_1.1.2/test/rand.cpp
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/test/rand.cpp
rename to external/gicp/ann_1.1.2/test/rand.cpp
diff --git a/rgbdslam/external/gicp/ann_1.1.2/test/rand.h b/external/gicp/ann_1.1.2/test/rand.h
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/test/rand.h
rename to external/gicp/ann_1.1.2/test/rand.h
diff --git a/rgbdslam/external/gicp/ann_1.1.2/test/test1-data.pts b/external/gicp/ann_1.1.2/test/test1-data.pts
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/test/test1-data.pts
rename to external/gicp/ann_1.1.2/test/test1-data.pts
diff --git a/rgbdslam/external/gicp/ann_1.1.2/test/test1-query.pts b/external/gicp/ann_1.1.2/test/test1-query.pts
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/test/test1-query.pts
rename to external/gicp/ann_1.1.2/test/test1-query.pts
diff --git a/rgbdslam/external/gicp/ann_1.1.2/test/test1.in b/external/gicp/ann_1.1.2/test/test1.in
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/test/test1.in
rename to external/gicp/ann_1.1.2/test/test1.in
diff --git a/rgbdslam/external/gicp/ann_1.1.2/test/test1.save b/external/gicp/ann_1.1.2/test/test1.save
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/test/test1.save
rename to external/gicp/ann_1.1.2/test/test1.save
diff --git a/rgbdslam/external/gicp/ann_1.1.2/test/test2-data.pts b/external/gicp/ann_1.1.2/test/test2-data.pts
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/test/test2-data.pts
rename to external/gicp/ann_1.1.2/test/test2-data.pts
diff --git a/rgbdslam/external/gicp/ann_1.1.2/test/test2-query.pts b/external/gicp/ann_1.1.2/test/test2-query.pts
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/test/test2-query.pts
rename to external/gicp/ann_1.1.2/test/test2-query.pts
diff --git a/rgbdslam/external/gicp/ann_1.1.2/test/test2.in b/external/gicp/ann_1.1.2/test/test2.in
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/test/test2.in
rename to external/gicp/ann_1.1.2/test/test2.in
diff --git a/rgbdslam/external/gicp/ann_1.1.2/test/test2.save b/external/gicp/ann_1.1.2/test/test2.save
similarity index 100%
rename from rgbdslam/external/gicp/ann_1.1.2/test/test2.save
rename to external/gicp/ann_1.1.2/test/test2.save
diff --git a/rgbdslam/external/gicp/bfgs_funcs.cpp b/external/gicp/bfgs_funcs.cpp
similarity index 100%
rename from rgbdslam/external/gicp/bfgs_funcs.cpp
rename to external/gicp/bfgs_funcs.cpp
diff --git a/rgbdslam/external/gicp/gicp.cpp b/external/gicp/gicp.cpp
similarity index 100%
rename from rgbdslam/external/gicp/gicp.cpp
rename to external/gicp/gicp.cpp
diff --git a/rgbdslam/external/gicp/gicp.h b/external/gicp/gicp.h
similarity index 100%
rename from rgbdslam/external/gicp/gicp.h
rename to external/gicp/gicp.h
diff --git a/rgbdslam/external/gicp/optimize.cpp b/external/gicp/optimize.cpp
similarity index 100%
rename from rgbdslam/external/gicp/optimize.cpp
rename to external/gicp/optimize.cpp
diff --git a/rgbdslam/external/gicp/optimize.h b/external/gicp/optimize.h
similarity index 100%
rename from rgbdslam/external/gicp/optimize.h
rename to external/gicp/optimize.h
diff --git a/rgbdslam/external/gicp/scan.cpp b/external/gicp/scan.cpp
similarity index 100%
rename from rgbdslam/external/gicp/scan.cpp
rename to external/gicp/scan.cpp
diff --git a/rgbdslam/external/gicp/scan.h b/external/gicp/scan.h
similarity index 100%
rename from rgbdslam/external/gicp/scan.h
rename to external/gicp/scan.h
diff --git a/rgbdslam/external/gicp/scan2ascii.cpp b/external/gicp/scan2ascii.cpp
similarity index 100%
rename from rgbdslam/external/gicp/scan2ascii.cpp
rename to external/gicp/scan2ascii.cpp
diff --git a/rgbdslam/external/gicp/test_gicp.cpp b/external/gicp/test_gicp.cpp
similarity index 100%
rename from rgbdslam/external/gicp/test_gicp.cpp
rename to external/gicp/test_gicp.cpp
diff --git a/rgbdslam/external/gicp/transform.cpp b/external/gicp/transform.cpp
similarity index 100%
rename from rgbdslam/external/gicp/transform.cpp
rename to external/gicp/transform.cpp
diff --git a/rgbdslam/external/gicp/transform.h b/external/gicp/transform.h
similarity index 100%
rename from rgbdslam/external/gicp/transform.h
rename to external/gicp/transform.h
diff --git a/rgbdslam/launch/bagfiles-without-tf.launch b/launch/bagfiles-without-tf.launch
similarity index 100%
rename from rgbdslam/launch/bagfiles-without-tf.launch
rename to launch/bagfiles-without-tf.launch
diff --git a/rgbdslam/launch/color_octomap_server.launch b/launch/color_octomap_server.launch
similarity index 100%
rename from rgbdslam/launch/color_octomap_server.launch
rename to launch/color_octomap_server.launch
diff --git a/rgbdslam/launch/demo_with_first_mm_xtionpro.launch b/launch/demo_with_first_mm_xtionpro.launch
similarity index 100%
rename from rgbdslam/launch/demo_with_first_mm_xtionpro.launch
rename to launch/demo_with_first_mm_xtionpro.launch
diff --git a/rgbdslam/launch/device.launch b/launch/device.launch
similarity index 100%
rename from rgbdslam/launch/device.launch
rename to launch/device.launch
diff --git a/rgbdslam/launch/headless.launch b/launch/headless.launch
similarity index 100%
rename from rgbdslam/launch/headless.launch
rename to launch/headless.launch
diff --git a/rgbdslam/launch/hema.launch b/launch/hema.launch
similarity index 100%
rename from rgbdslam/launch/hema.launch
rename to launch/hema.launch
diff --git a/rgbdslam/launch/icrademo.launch b/launch/icrademo.launch
similarity index 100%
rename from rgbdslam/launch/icrademo.launch
rename to launch/icrademo.launch
diff --git a/rgbdslam/launch/include_calibration_data.launch b/launch/include_calibration_data.launch
similarity index 100%
rename from rgbdslam/launch/include_calibration_data.launch
rename to launch/include_calibration_data.launch
diff --git a/rgbdslam/launch/kinect+rgbdslam.launch b/launch/kinect+rgbdslam.launch
similarity index 100%
rename from rgbdslam/launch/kinect+rgbdslam.launch
rename to launch/kinect+rgbdslam.launch
diff --git a/rgbdslam/launch/octomap_server.launch b/launch/octomap_server.launch
similarity index 100%
rename from rgbdslam/launch/octomap_server.launch
rename to launch/octomap_server.launch
diff --git a/rgbdslam/launch/openni.launch b/launch/openni.launch
similarity index 100%
rename from rgbdslam/launch/openni.launch
rename to launch/openni.launch
diff --git a/rgbdslam/launch/own_reconstruction_for_hema.launch b/launch/own_reconstruction_for_hema.launch
similarity index 100%
rename from rgbdslam/launch/own_reconstruction_for_hema.launch
rename to launch/own_reconstruction_for_hema.launch
diff --git a/rgbdslam/launch/qvga-kinect+rgbdslam.launch b/launch/qvga-kinect+rgbdslam.launch
similarity index 100%
rename from rgbdslam/launch/qvga-kinect+rgbdslam.launch
rename to launch/qvga-kinect+rgbdslam.launch
diff --git a/rgbdslam/launch/rgbdslam.launch b/launch/rgbdslam.launch
similarity index 100%
rename from rgbdslam/launch/rgbdslam.launch
rename to launch/rgbdslam.launch
diff --git a/rgbdslam/launch/rgbdslam_octomap.launch b/launch/rgbdslam_octomap.launch
similarity index 100%
rename from rgbdslam/launch/rgbdslam_octomap.launch
rename to launch/rgbdslam_octomap.launch
diff --git a/rgbdslam/launch/rgbdslam_sample_config.launch b/launch/rgbdslam_sample_config.launch
similarity index 100%
rename from rgbdslam/launch/rgbdslam_sample_config.launch
rename to launch/rgbdslam_sample_config.launch
diff --git a/rgbdslam/launch/rviz_config.vcg b/launch/rviz_config.vcg
similarity index 100%
rename from rgbdslam/launch/rviz_config.vcg
rename to launch/rviz_config.vcg
diff --git a/rgbdslam/launch/slow_computer.launch b/launch/slow_computer.launch
similarity index 100%
rename from rgbdslam/launch/slow_computer.launch
rename to launch/slow_computer.launch
diff --git a/rgbdslam/launch/testpcd.launch b/launch/testpcd.launch
similarity index 100%
rename from rgbdslam/launch/testpcd.launch
rename to launch/testpcd.launch
diff --git a/rgbdslam/launch/usage_with_openni_launch.launch b/launch/usage_with_openni_launch.launch
similarity index 100%
rename from rgbdslam/launch/usage_with_openni_launch.launch
rename to launch/usage_with_openni_launch.launch
diff --git a/rgbdslam/log.conf b/log.conf
similarity index 100%
rename from rgbdslam/log.conf
rename to log.conf
diff --git a/rgbdslam/mainpage.dox b/mainpage.dox
similarity index 100%
rename from rgbdslam/mainpage.dox
rename to mainpage.dox
diff --git a/rgbdslam/package.xml b/package.xml
similarity index 100%
rename from rgbdslam/package.xml
rename to package.xml
diff --git a/rgbdslam/rgbd_benchmark/associate.py b/rgbd_benchmark/associate.py
similarity index 100%
rename from rgbdslam/rgbd_benchmark/associate.py
rename to rgbd_benchmark/associate.py
diff --git a/rgbdslam/rgbd_benchmark/benchmark_evaluation.sh b/rgbd_benchmark/benchmark_evaluation.sh
similarity index 100%
rename from rgbdslam/rgbd_benchmark/benchmark_evaluation.sh
rename to rgbd_benchmark/benchmark_evaluation.sh
diff --git a/rgbdslam/rgbd_benchmark/download_benchmark_data.urls b/rgbd_benchmark/download_benchmark_data.urls
similarity index 100%
rename from rgbdslam/rgbd_benchmark/download_benchmark_data.urls
rename to rgbd_benchmark/download_benchmark_data.urls
diff --git a/rgbdslam/rgbd_benchmark/download_benchmark_files.sh b/rgbd_benchmark/download_benchmark_files.sh
similarity index 100%
rename from rgbdslam/rgbd_benchmark/download_benchmark_files.sh
rename to rgbd_benchmark/download_benchmark_files.sh
diff --git a/rgbdslam/rgbd_benchmark/evaluate_ate.py b/rgbd_benchmark/evaluate_ate.py
similarity index 100%
rename from rgbdslam/rgbd_benchmark/evaluate_ate.py
rename to rgbd_benchmark/evaluate_ate.py
diff --git a/rgbdslam/rgbd_benchmark/generate_color_octomap_from_estimate.sh b/rgbd_benchmark/generate_color_octomap_from_estimate.sh
similarity index 100%
rename from rgbdslam/rgbd_benchmark/generate_color_octomap_from_estimate.sh
rename to rgbd_benchmark/generate_color_octomap_from_estimate.sh
diff --git a/rgbdslam/rgbd_benchmark/log_eval.conf b/rgbd_benchmark/log_eval.conf
similarity index 100%
rename from rgbdslam/rgbd_benchmark/log_eval.conf
rename to rgbd_benchmark/log_eval.conf
diff --git a/rgbdslam/rgbd_benchmark/settings_for_evaluation.launch b/rgbd_benchmark/settings_for_evaluation.launch
similarity index 100%
rename from rgbdslam/rgbd_benchmark/settings_for_evaluation.launch
rename to rgbd_benchmark/settings_for_evaluation.launch
diff --git a/rgbdslam/rgbd_benchmark/spreadsheet_template.ods b/rgbd_benchmark/spreadsheet_template.ods
similarity index 100%
rename from rgbdslam/rgbd_benchmark/spreadsheet_template.ods
rename to rgbd_benchmark/spreadsheet_template.ods
diff --git a/rgbdslam/rgbd_benchmark/summarize_evaluation.sh b/rgbd_benchmark/summarize_evaluation.sh
similarity index 100%
rename from rgbdslam/rgbd_benchmark/summarize_evaluation.sh
rename to rgbd_benchmark/summarize_evaluation.sh
diff --git a/rgbdslam/nodelet_plugin.xml b/rgbdslam/nodelet_plugin.xml
deleted file mode 100644
index 8cb8063..0000000
--- a/rgbdslam/nodelet_plugin.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<library path="lib/librgbdslamnodelet">
-     <class name="rgbdslam_dev/feature_nodelet" type="RGBDSlam::RGBDSlamNodelet" base_class_type="nodelet::Nodelet">
-     	<description>
-        	RGBDSlam feature extraction and sending pointclouds / descriptors
-     	</description>
-     </class>
-</library>
diff --git a/rgbdslam/octomap_server_manifest.patch b/rgbdslam/octomap_server_manifest.patch
deleted file mode 100644
index 1e2aef9..0000000
--- a/rgbdslam/octomap_server_manifest.patch
+++ /dev/null
@@ -1,4 +0,0 @@
-14c14
-<     <cpp cflags="-I${prefix}/include"  lflags="-L${prefix}/lib -Wl,-rpath,${prefix}/lib -loctomap_server"/>
----
->     <cpp cflags="-I${prefix}/include -I${prefix}/cfg/cpp "  lflags="-L${prefix}/lib -Wl,-rpath,${prefix}/lib -loctomap_server"/>
diff --git a/rgbdslam/rosdep.yaml b/rosdep.yaml
similarity index 100%
rename from rgbdslam/rosdep.yaml
rename to rosdep.yaml
diff --git a/rgbdslam/rosdoc.yaml b/rosdoc.yaml
similarity index 100%
rename from rgbdslam/rosdoc.yaml
rename to rosdoc.yaml
diff --git a/rgbdslam/src/ColorOctomapServer.cpp b/src/ColorOctomapServer.cpp
similarity index 100%
rename from rgbdslam/src/ColorOctomapServer.cpp
rename to src/ColorOctomapServer.cpp
diff --git a/rgbdslam/src/ColorOctomapServer.h b/src/ColorOctomapServer.h
similarity index 100%
rename from rgbdslam/src/ColorOctomapServer.h
rename to src/ColorOctomapServer.h
diff --git a/rgbdslam/src/bagloader.cpp b/src/bagloader.cpp
similarity index 100%
rename from rgbdslam/src/bagloader.cpp
rename to src/bagloader.cpp
diff --git a/rgbdslam/src/bagloader.h b/src/bagloader.h
similarity index 100%
rename from rgbdslam/src/bagloader.h
rename to src/bagloader.h
diff --git a/rgbdslam/src/edge.h b/src/edge.h
similarity index 100%
rename from rgbdslam/src/edge.h
rename to src/edge.h
diff --git a/rgbdslam/src/gicp-fallback.cpp b/src/gicp-fallback.cpp
similarity index 100%
rename from rgbdslam/src/gicp-fallback.cpp
rename to src/gicp-fallback.cpp
diff --git a/rgbdslam/src/gicp-fallback.h b/src/gicp-fallback.h
similarity index 100%
rename from rgbdslam/src/gicp-fallback.h
rename to src/gicp-fallback.h
diff --git a/rgbdslam/src/glviewer.cpp b/src/glviewer.cpp
similarity index 100%
rename from rgbdslam/src/glviewer.cpp
rename to src/glviewer.cpp
diff --git a/rgbdslam/src/glviewer.h b/src/glviewer.h
similarity index 100%
rename from rgbdslam/src/glviewer.h
rename to src/glviewer.h
diff --git a/rgbdslam/src/graph_manager.cpp b/src/graph_manager.cpp
similarity index 100%
rename from rgbdslam/src/graph_manager.cpp
rename to src/graph_manager.cpp
diff --git a/rgbdslam/src/graph_manager.h b/src/graph_manager.h
similarity index 100%
rename from rgbdslam/src/graph_manager.h
rename to src/graph_manager.h
diff --git a/rgbdslam/src/graph_manager2.cpp b/src/graph_manager2.cpp
similarity index 100%
rename from rgbdslam/src/graph_manager2.cpp
rename to src/graph_manager2.cpp
diff --git a/rgbdslam/src/graph_mgr_io.cpp b/src/graph_mgr_io.cpp
similarity index 100%
rename from rgbdslam/src/graph_mgr_io.cpp
rename to src/graph_mgr_io.cpp
diff --git a/rgbdslam/src/header.cpp b/src/header.cpp
similarity index 100%
rename from rgbdslam/src/header.cpp
rename to src/header.cpp
diff --git a/rgbdslam/src/header.h b/src/header.h
similarity index 100%
rename from rgbdslam/src/header.h
rename to src/header.h
diff --git a/rgbdslam/src/icp.cpp b/src/icp.cpp
similarity index 100%
rename from rgbdslam/src/icp.cpp
rename to src/icp.cpp
diff --git a/rgbdslam/src/icp.h b/src/icp.h
similarity index 100%
rename from rgbdslam/src/icp.h
rename to src/icp.h
diff --git a/rgbdslam/src/landmark.cpp b/src/landmark.cpp
similarity index 100%
rename from rgbdslam/src/landmark.cpp
rename to src/landmark.cpp
diff --git a/rgbdslam/src/landmark.h b/src/landmark.h
similarity index 100%
rename from rgbdslam/src/landmark.h
rename to src/landmark.h
diff --git a/rgbdslam/src/loop_closing.cpp b/src/loop_closing.cpp
similarity index 100%
rename from rgbdslam/src/loop_closing.cpp
rename to src/loop_closing.cpp
diff --git a/rgbdslam/src/main.cpp b/src/main.cpp
similarity index 100%
rename from rgbdslam/src/main.cpp
rename to src/main.cpp
diff --git a/rgbdslam/src/matching_result.cpp b/src/matching_result.cpp
similarity index 100%
rename from rgbdslam/src/matching_result.cpp
rename to src/matching_result.cpp
diff --git a/rgbdslam/src/matching_result.h b/src/matching_result.h
similarity index 100%
rename from rgbdslam/src/matching_result.h
rename to src/matching_result.h
diff --git a/rgbdslam/src/misc.cpp b/src/misc.cpp
similarity index 100%
rename from rgbdslam/src/misc.cpp
rename to src/misc.cpp
diff --git a/rgbdslam/src/misc.h b/src/misc.h
similarity index 100%
rename from rgbdslam/src/misc.h
rename to src/misc.h
diff --git a/rgbdslam/src/misc2.h b/src/misc2.h
similarity index 100%
rename from rgbdslam/src/misc2.h
rename to src/misc2.h
diff --git a/rgbdslam/src/node.cpp b/src/node.cpp
similarity index 100%
rename from rgbdslam/src/node.cpp
rename to src/node.cpp
diff --git a/rgbdslam/src/node.h b/src/node.h
similarity index 100%
rename from rgbdslam/src/node.h
rename to src/node.h
diff --git a/rgbdslam/src/openni_listener.cpp b/src/openni_listener.cpp
similarity index 100%
rename from rgbdslam/src/openni_listener.cpp
rename to src/openni_listener.cpp
diff --git a/rgbdslam/src/openni_listener.h b/src/openni_listener.h
similarity index 100%
rename from rgbdslam/src/openni_listener.h
rename to src/openni_listener.h
diff --git a/rgbdslam/src/parameter_server.cpp b/src/parameter_server.cpp
similarity index 100%
rename from rgbdslam/src/parameter_server.cpp
rename to src/parameter_server.cpp
diff --git a/rgbdslam/src/parameter_server.h b/src/parameter_server.h
similarity index 100%
rename from rgbdslam/src/parameter_server.h
rename to src/parameter_server.h
diff --git a/rgbdslam/src/point_types.h b/src/point_types.h
similarity index 100%
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