Change directory tree (#91)

ミーティングで話したようにディレクトリを変えます <img width="417" alt="image" src="https://github.com/pf-robotics/baku-kachaka-api/assets/98455255/59f01832-3efc-47a8-ad79-872f54e99010"> --------- Co-authored-by: Yutaka Kondo <youtalk@pfrobotics.jp>
pf-robotics · Aug 8, 2023 · dd6af0a · dd6af0a
1 parent 50020ca
commit dd6af0a
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Showing 74 changed files with 49 additions and 54 deletions.
diff --git a/.flexci/script.sh b/.flexci/script.sh
@@ -436,7 +436,7 @@ BUILD_VERSION="$(git describe --always --dirty --all --long)-$(date '+%Y%m%d-%H%
 prepare_build "${project}" "${FLEXCI_BRANCH}"
 
 BASE_ARCH=""
-DOCKERFILE=Dockerfile
+DOCKERFILE=ros2/Dockerfile
 TARGET_NAMES=("${JAMMY_TARGET_NAMES[@]}")
 if [[ "${project}" == kachaka-api.ros.aarch64 ]]; then
     BASE_ARCH=aarch64

diff --git a/pyproject.toml b/pyproject.toml
@@ -8,6 +8,9 @@ readme = "README.md"
 [project.urls]
 Repository = "https://github.com/pf-robotics/kachaka-api"
 
+[tool.setuptools]
+package-dir = {"" = "python"}
+
 [tool.pysen]
 version = "0.10.5"
 
@@ -21,7 +24,7 @@ line_length = 80
 [tool.pysen.lint.source]
 excludes = [
   ".flexci/env.sh",
-  "kachaka_api/generated",
+  "python/kachaka_api/generated",
 ]
 
 [tool.pysen.plugin.clang_format]

diff --git a/example/command_gui.ipynb → python/demos/command_gui.ipynb b/example/command_gui.ipynb → python/demos/command_gui.ipynb
@@ -27,7 +27,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {
@@ -45,7 +45,6 @@
     "import grpc\n",
     "import ipywidgets as widgets\n",
     "import kachaka_api_pb2\n",
-    "\n",
     "from kachaka_api.aio import KachakaApiClient\n",
     "from kachaka_api.aio.layout_util import ShelfLocationResolver\n",
     "\n",

diff --git a/example/vision/feature_matching.ipynb → python/demos/feature_matching.ipynb b/example/vision/feature_matching.ipynb → python/demos/feature_matching.ipynb
@@ -27,7 +27,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run ../setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/example/vision/get_front_camera.ipynb → python/demos/get_front_camera.ipynb b/example/vision/get_front_camera.ipynb → python/demos/get_front_camera.ipynb
@@ -15,7 +15,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run ../setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/.../vision/get_front_camera_continuous.ipynb → ...n/demos/get_front_camera_continuous.ipynb b/.../vision/get_front_camera_continuous.ipynb → ...n/demos/get_front_camera_continuous.ipynb
@@ -15,7 +15,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run ../setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/example/get_history_list.ipynb → python/demos/get_history_list.ipynb b/example/get_history_list.ipynb → python/demos/get_history_list.ipynb
@@ -15,7 +15,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/example/get_imu.ipynb → python/demos/get_imu.ipynb b/example/get_imu.ipynb → python/demos/get_imu.ipynb
@@ -27,7 +27,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {
@@ -67,7 +67,6 @@
     "import grpc\n",
     "import kachaka_api_pb2\n",
     "import plotly.graph_objects as go\n",
-    "\n",
     "from kachaka_api.aio import KachakaApiClient\n",
     "\n",
     "MAX_POINTS = 100\n",
@@ -76,7 +75,7 @@
     "data = [0] * MAX_POINTS\n",
     "f.add_scatter(y=data)\n",
     "f.layout.title = \"IMU acceleration x\"\n",
-    "f\n"
+    "f"
    ]
   },
   {
@@ -86,14 +85,13 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "\n",
     "client = await KachakaApiClient.create()\n",
     "for i in range(100):\n",
     "    imu = await client.get_ros_imu()\n",
     "\n",
     "    data.append(imu.linear_acceleration.x)\n",
     "    del data[0]\n",
-    "    f.data[0].y = data\n"
+    "    f.data[0].y = data"
    ]
   }
  ],

diff --git a/example/get_laser_scan.ipynb → python/demos/get_laser_scan.ipynb b/example/get_laser_scan.ipynb → python/demos/get_laser_scan.ipynb
@@ -27,7 +27,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/example/get_map.ipynb → python/demos/get_map.ipynb b/example/get_map.ipynb → python/demos/get_map.ipynb
@@ -15,7 +15,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/example/vision/get_object_detection.ipynb → python/demos/get_object_detection.ipynb b/example/vision/get_object_detection.ipynb → python/demos/get_object_detection.ipynb
@@ -27,7 +27,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run ../setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/example/get_robot_serial_number.ipynb → python/demos/get_robot_serial_number.ipynb b/example/get_robot_serial_number.ipynb → python/demos/get_robot_serial_number.ipynb
@@ -16,7 +16,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/example/get_robot_version.ipynb → python/demos/get_robot_version.ipynb b/example/get_robot_version.ipynb → python/demos/get_robot_version.ipynb
@@ -15,7 +15,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run setup_example_env.py\n",
+    "%run setup_demo_env.py\n",
     "import kachaka_api\n",
     "\n",
     "client = kachaka_api.KachakaApiClient()\n",

diff --git a/example/kachaka_api_client.ipynb → python/demos/kachaka_api_client.ipynb b/example/kachaka_api_client.ipynb → python/demos/kachaka_api_client.ipynb
@@ -22,7 +22,7 @@
    "outputs": [],
    "source": [
     "# kachaka_apiをimport可能にするため、パスに追加するスクリプトです。サンプル以外の用途では、pip等でinstallしてください。\n",
-    "%run setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/example/plot_map_robot_lidar.ipynb → python/demos/plot_map_robot_lidar.ipynb b/example/plot_map_robot_lidar.ipynb → python/demos/plot_map_robot_lidar.ipynb
@@ -27,7 +27,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/example/vision/qrcode.ipynb → python/demos/qrcode.ipynb b/example/vision/qrcode.ipynb → python/demos/qrcode.ipynb
@@ -27,7 +27,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run ../setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/example/setup_example_env.py → python/demos/setup_demo_env.py b/example/setup_example_env.py → python/demos/setup_demo_env.py
diff --git a/example/speak.ipynb → python/demos/speak.ipynb b/example/speak.ipynb → python/demos/speak.ipynb
@@ -17,7 +17,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/example/teleop.ipynb → python/demos/teleop.ipynb b/example/teleop.ipynb → python/demos/teleop.ipynb
@@ -7,7 +7,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/example/vision/undistort.ipynb → python/demos/undistort.ipynb b/example/vision/undistort.ipynb → python/demos/undistort.ipynb
@@ -27,7 +27,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "%run ../setup_example_env.py"
+    "%run setup_demo_env.py"
    ]
   },
   {

diff --git a/grpc_client/.gitignore → python/grpc_client/.gitignore b/grpc_client/.gitignore → python/grpc_client/.gitignore
diff --git a/grpc_client/README.md → python/grpc_client/README.md b/grpc_client/README.md → python/grpc_client/README.md
diff --git a/grpc_client/README_SMART_SPEAKER.md → python/grpc_client/README_SMART_SPEAKER.md b/grpc_client/README_SMART_SPEAKER.md → python/grpc_client/README_SMART_SPEAKER.md
diff --git a/grpc_client/get_locations.py → python/grpc_client/get_locations.py b/grpc_client/get_locations.py → python/grpc_client/get_locations.py
diff --git a/grpc_client/move_to_location.py → python/grpc_client/move_to_location.py b/grpc_client/move_to_location.py → python/grpc_client/move_to_location.py
diff --git a/grpc_client/requirements.txt → python/grpc_client/requirements.txt b/grpc_client/requirements.txt → python/grpc_client/requirements.txt
diff --git a/grpc_client/sample_getter.py → python/grpc_client/sample_getter.py b/grpc_client/sample_getter.py → python/grpc_client/sample_getter.py
diff --git a/grpc_client/sample_llm_speak.py → python/grpc_client/sample_llm_speak.py b/grpc_client/sample_llm_speak.py → python/grpc_client/sample_llm_speak.py
diff --git a/grpc_client/set_auto_homing_enabled.py → ...on/grpc_client/set_auto_homing_enabled.py b/grpc_client/set_auto_homing_enabled.py → ...on/grpc_client/set_auto_homing_enabled.py
diff --git a/grpc_client/smart_speaker.py → python/grpc_client/smart_speaker.py b/grpc_client/smart_speaker.py → python/grpc_client/smart_speaker.py
diff --git a/grpc_client/time_signal.py → python/grpc_client/time_signal.py b/grpc_client/time_signal.py → python/grpc_client/time_signal.py
diff --git a/kachaka_api/__init__.py → python/kachaka_api/__init__.py b/kachaka_api/__init__.py → python/kachaka_api/__init__.py
diff --git a/kachaka_api/aio/__init__.py → python/kachaka_api/aio/__init__.py b/kachaka_api/aio/__init__.py → python/kachaka_api/aio/__init__.py
diff --git a/kachaka_api/aio/command_util.py → python/kachaka_api/aio/command_util.py b/kachaka_api/aio/command_util.py → python/kachaka_api/aio/command_util.py
diff --git a/kachaka_api/aio/layout_util.py → python/kachaka_api/aio/layout_util.py b/kachaka_api/aio/layout_util.py → python/kachaka_api/aio/layout_util.py
diff --git a/kachaka_api/command_util.py → python/kachaka_api/command_util.py b/kachaka_api/command_util.py → python/kachaka_api/command_util.py
diff --git a/kachaka_api/generated/kachaka_api_pb2.py → .../kachaka_api/generated/kachaka_api_pb2.py b/kachaka_api/generated/kachaka_api_pb2.py → .../kachaka_api/generated/kachaka_api_pb2.py
diff --git a/kachaka_api/generated/kachaka_api_pb2.pyi → ...kachaka_api/generated/kachaka_api_pb2.pyi b/kachaka_api/generated/kachaka_api_pb2.pyi → ...kachaka_api/generated/kachaka_api_pb2.pyi
diff --git a/...aka_api/generated/kachaka_api_pb2_grpc.py → ...aka_api/generated/kachaka_api_pb2_grpc.py b/...aka_api/generated/kachaka_api_pb2_grpc.py → ...aka_api/generated/kachaka_api_pb2_grpc.py
diff --git a/kachaka_api/layout_util.py → python/kachaka_api/layout_util.py b/kachaka_api/layout_util.py → python/kachaka_api/layout_util.py
diff --git a/Dockerfile → ros2/Dockerfile b/Dockerfile → ros2/Dockerfile
diff --git a/ros2_sample/follow/README.md → ros2/demos/kachaka_follow/README.md b/ros2_sample/follow/README.md → ros2/demos/kachaka_follow/README.md
@@ -12,7 +12,7 @@
 mkidr -p ~/ros2_ws/src
 cd ~/ros2_ws/src
 cp -r ~/kachaka-api/ros2/kachaka_interfaces .
-cp -r ~/kachaka-api/ros2_sample/follow .
+cp -r ~/kachaka-api/ros2/demos/kachaka_follow .
 
 cd ~/ros2_ws
 colcon build
@@ -33,6 +33,6 @@ cd ~/kachaka-api/ros2_bridge
 ```
 cd ~/ros2_ws
 source install/setup.bash
-ros2 run follow follow
+ros2 run kachaka_follow follow
 ```
 
diff --git a/ros2_sample/follow/follow/__init__.py → ...kachaka_follow/kachaka_follow/__init__.py b/ros2_sample/follow/follow/__init__.py → ...kachaka_follow/kachaka_follow/__init__.py
diff --git a/ros2_sample/follow/follow/follow.py → ...s/kachaka_follow/kachaka_follow/follow.py b/ros2_sample/follow/follow/follow.py → ...s/kachaka_follow/kachaka_follow/follow.py
diff --git a/ros2_sample/follow/package.xml → ros2/demos/kachaka_follow/package.xml b/ros2_sample/follow/package.xml → ros2/demos/kachaka_follow/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>follow</name>
+  <name>kachaka_follow</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="terakoji@pfrobotics.jp">terakoji</maintainer>

diff --git a/ros2_sample/follow/resource/follow → ...os/kachaka_follow/resource/kachaka_follow b/ros2_sample/follow/resource/follow → ...os/kachaka_follow/resource/kachaka_follow
diff --git a/ros2_sample/follow/setup.cfg → ros2/demos/kachaka_follow/setup.cfg b/ros2_sample/follow/setup.cfg → ros2/demos/kachaka_follow/setup.cfg
diff --git a/ros2_sample/follow/setup.py → ros2/demos/kachaka_follow/setup.py b/ros2_sample/follow/setup.py → ros2/demos/kachaka_follow/setup.py
@@ -1,6 +1,6 @@
 from setuptools import setup
 
-package_name = "follow"
+package_name = "kachaka_follow"
 
 setup(
     name=package_name,
@@ -21,6 +21,6 @@
     license="TODO: License declaration",
     tests_require=["pytest"],
     entry_points={
-        "console_scripts": ["follow = follow.follow:main"],
+        "console_scripts": ["follow = kachaka_follow.follow:main"],
     },
 )
diff --git a/ros2_sample/smart_speaker/README.md → ros2/demos/kachaka_smart_speaker/README.md b/ros2_sample/smart_speaker/README.md → ros2/demos/kachaka_smart_speaker/README.md
@@ -58,7 +58,7 @@ mkdir -p ~/ros2_ws/src
 cd ~/ros2_ws/src
 
 ln -s ~/kachaka-api/ros2/kachaka_interfaces/ kachaka_interfaces
-ln -s ~/kachaka-api/ros2_sample/smart_speaker/ smart_speaker
+ln -s ~/kachaka-api/ros2/demos/kachaka_smart_speaker/ kachaka_smart_speaker
 
 cd ~/ros2_ws
 colcon build
@@ -67,13 +67,13 @@ colcon build
 ## 実行
 
 
-* ros2bridgeを起動した上で、以下のコマンドを実行します
+* ros2_bridgeを起動した上で、以下のコマンドを実行します
 ```
 cd ~/ros2_ws
 source install/setup.bash
 
 export TOKEN=<BeeBotteのトークン>
 wget https://beebotte.com/certs/mqtt.beebotte.com.pem
 
-ros2 run smart_speaker smart_speaker
+ros2 run kachaka_smart_speaker smart_speaker
 ```
diff --git a/...e/smart_speaker/smart_speaker/__init__.py → ...speaker/kachaka_smart_speaker/__init__.py b/...e/smart_speaker/smart_speaker/__init__.py → ...speaker/kachaka_smart_speaker/__init__.py
diff --git a/...rt_speaker/smart_speaker/smart_speaker.py → ...er/kachaka_smart_speaker/smart_speaker.py b/...rt_speaker/smart_speaker/smart_speaker.py → ...er/kachaka_smart_speaker/smart_speaker.py
diff --git a/ros2_sample/smart_speaker/package.xml → ros2/demos/kachaka_smart_speaker/package.xml b/ros2_sample/smart_speaker/package.xml → ros2/demos/kachaka_smart_speaker/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>smart_speaker</name>
+  <name>kachaka_smart_speaker</name>
   <version>0.0.0</version>
   <description>ROS2 sample smart_speaker</description>
   <maintainer email="support@kachaka.life">Kahacka Customer Support</maintainer>

diff --git a/...mple/smart_speaker/resource/smart_speaker → ...rt_speaker/resource/kachaka_smart_speaker b/...mple/smart_speaker/resource/smart_speaker → ...rt_speaker/resource/kachaka_smart_speaker
diff --git a/ros2_sample/smart_speaker/setup.cfg → ros2/demos/kachaka_smart_speaker/setup.cfg b/ros2_sample/smart_speaker/setup.cfg → ros2/demos/kachaka_smart_speaker/setup.cfg
diff --git a/ros2_sample/smart_speaker/setup.py → ros2/demos/kachaka_smart_speaker/setup.py b/ros2_sample/smart_speaker/setup.py → ros2/demos/kachaka_smart_speaker/setup.py
@@ -1,6 +1,6 @@
 from setuptools import setup
 
-package_name = "smart_speaker"
+package_name = "kachaka_smart_speaker"
 
 setup(
     name=package_name,
@@ -22,7 +22,7 @@
     tests_require=["pytest"],
     entry_points={
         "console_scripts": [
-            "smart_speaker = smart_speaker.smart_speaker:main",
+            "smart_speaker = kachaka_smart_speaker.smart_speaker:main",
         ],
     },
 )
diff --git a/ros2_sample/speak/README.md → ros2/demos/kachaka_speak/README.md b/ros2_sample/speak/README.md → ros2/demos/kachaka_speak/README.md
@@ -9,18 +9,18 @@ git clone https://github.com/pf-robotics/kachaka-api.git
 mkidr -p ~/ros2_ws/src
 cd ~/ros2_ws/src
 ln -s ~/kachaka-api/ros2/kachaka_interfaces .
-ln -s ~/kachaka-api/ros2_sample/speak .
+ln -s ~/kachaka-api/ros2/demos/kachaka_speak .
 
 cd ~/ros2_ws
 colcon build
 ```
 
 ## 実行方法
 
-* ros2bridgeを起動した状態で、以下のコマンドを実行します
+* ros2_bridgeを起動した状態で、以下のコマンドを実行します
 
 ```
 cd ~/ros2_ws
 source install/setup.bash
-ros2 run speak speak
+ros2 run kachaka_speak speak
 ```
diff --git a/ros2_sample/speak/speak/__init__.py → ...s/kachaka_speak/kachaka_speak/__init__.py b/ros2_sample/speak/speak/__init__.py → ...s/kachaka_speak/kachaka_speak/__init__.py
diff --git a/ros2_sample/speak/speak/speak.py → ...emos/kachaka_speak/kachaka_speak/speak.py b/ros2_sample/speak/speak/speak.py → ...emos/kachaka_speak/kachaka_speak/speak.py
diff --git a/ros2_sample/speak/package.xml → ros2/demos/kachaka_speak/package.xml b/ros2_sample/speak/package.xml → ros2/demos/kachaka_speak/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>speak</name>
+  <name>kachaka_speak</name>
   <version>0.0.0</version>
   <description>ROS2 speak sample</description>
   <maintainer email="support@kachaka.life">Kahacka Customer Support</maintainer>

diff --git a/ros2_sample/speak/resource/speak → ...emos/kachaka_speak/resource/kachaka_speak b/ros2_sample/speak/resource/speak → ...emos/kachaka_speak/resource/kachaka_speak
diff --git a/ros2_sample/speak/setup.cfg → ros2/demos/kachaka_speak/setup.cfg b/ros2_sample/speak/setup.cfg → ros2/demos/kachaka_speak/setup.cfg
diff --git a/ros2_sample/speak/setup.py → ros2/demos/kachaka_speak/setup.py b/ros2_sample/speak/setup.py → ros2/demos/kachaka_speak/setup.py
@@ -1,6 +1,6 @@
 from setuptools import setup
 
-package_name = "speak"
+package_name = "kachaka_speak"
 
 setup(
     name=package_name,
@@ -22,7 +22,7 @@
     tests_require=["pytest"],
     entry_points={
         "console_scripts": [
-            "speak = speak.speak:main",
+            "speak = kachaka_speak.speak:main",
         ],
     },
 )
diff --git a/ros2_sample/vision/CMakeLists.txt → ros2/demos/kachaka_vision/CMakeLists.txt b/ros2_sample/vision/CMakeLists.txt → ros2/demos/kachaka_vision/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(vision)
+project(kachaka_vision)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)

diff --git a/ros2_sample/vision/README.md → ros2/demos/kachaka_vision/README.md b/ros2_sample/vision/README.md → ros2/demos/kachaka_vision/README.md
@@ -9,7 +9,7 @@
 * Download model and config file from the internet.
 
 ```bash
-cd ~/kachaka-api/ros2_sample/vision/config
+cd ~/kachaka-api/ros2/demos/kachaka_vision/config
 # sometimes the following link is not available, then please see and find the mirror link in https://github.com/CMU-Perceptual-Computing-Lab/openpose/issues/1567
 wget http://posefs1.perception.cs.cmu.edu/OpenPose/models/hand/pose_iter_102000.caffemodel
 wget https://raw.githubusercontent.com/CMU-Perceptual-Computing-Lab/openpose/master/models/hand/pose_deploy.prototxt
@@ -20,7 +20,7 @@ wget https://raw.githubusercontent.com/CMU-Perceptual-Computing-Lab/openpose/mas
 ```bash
 mkidr -p ~/ros2_ws/src
 cd ~/ros2_ws/src
-cp -r ~/kachaka-api/ros2_sample/vision .
+cp -r ~/kachaka-api/ros2/demos/kachaka_vision .
 
 cd ~/ros2_ws
 colcon build
@@ -41,7 +41,7 @@ cd ~/kachaka-api/ros2_bridge
 ```bash
 cd ~/ros2_ws
 source install/setup.bash
-ros2 launch vision hand_recognition_launch.py
+ros2 launch kachaka_vision hand_recognition_launch.py
 ```
 
 * Now, let's check the output image by the following command on another terminal, then put your hand on the front camera.

diff --git a/ros2_sample/vision/config/.gitignore → ros2/demos/kachaka_vision/config/.gitignore b/ros2_sample/vision/config/.gitignore → ros2/demos/kachaka_vision/config/.gitignore
diff --git a/ros2_sample/vision/image_view.png → ros2/demos/kachaka_vision/image_view.png b/ros2_sample/vision/image_view.png → ros2/demos/kachaka_vision/image_view.png
diff --git a/.../vision/launch/hand_recognition_launch.py → ..._vision/launch/hand_recognition_launch.py b/.../vision/launch/hand_recognition_launch.py → ..._vision/launch/hand_recognition_launch.py