diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7fcd7a2..d741a01 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,7 +14,7 @@
 # limitations under the License.
 
 cmake_minimum_required(VERSION 3.5)
-project(event_camera_viewer)
+project(event_camera_renderer)
 
 if(DEFINED ENV{ROS_VERSION})
   if($ENV{ROS_VERSION} EQUAL "2")
diff --git a/README.md b/README.md
index c33f3ce..5234666 100644
--- a/README.md
+++ b/README.md
@@ -1,10 +1,10 @@
-# event_camera_viewer
+# event_camera_renderer
 
-This repository holds tools for viewing
+This repository holds tools for rendering
 [event_camera_msgs](https://github.com/ros-event-camera/event_camera_msgs). It
 builds under both ROS1 and ROS2.
 
-![event_image](images/event_viewer.png)
+![event_image](images/event_renderer.png)
 
 ## Supported platforms
 
@@ -17,7 +17,7 @@ Create a ROS workspace, clone this repo, and use ``vcs``
 to pull in the remaining dependencies:
 
 ```
-pkg=event_camera_viewer
+pkg=event_camera_renderer
 mkdir -p ~/$pkg/src
 cd ~/$pkg
 git clone https://github.com/ros-event-camera/${pkg}.git src/${pkg}
@@ -49,14 +49,14 @@ under node name ``event_camera``):
 ROS1:
 ```
 # create rendered ROS image stream from events
-roslaunch event_camera_viewer viewer.launch camera:=event_camera
+roslaunch event_camera_renderer renderer.launch camera:=event_camera
 rqt_image_view
 ```
 
 ROS2:
 ```
 # create rendered ROS image stream from events
-ros2 launch event_camera_viewer viewer.launch.py camera:=event_camera
+ros2 launch event_camera_renderer renderer.launch.py camera:=event_camera
 ros2 run rqt_image_view rqt_image_view
 ```
 
diff --git a/cmake/ROS1.cmake b/cmake/ROS1.cmake
index 6845d27..d5ad14c 100644
--- a/cmake/ROS1.cmake
+++ b/cmake/ROS1.cmake
@@ -32,37 +32,37 @@ include_directories(
   ${catkin_INCLUDE_DIRS})
 
 #
-# --------- viewer library
+# --------- renderer library
 #
-add_library(viewer
-  src/viewer_ros1.cpp
+add_library(renderer
+  src/renderer_ros1.cpp
   src/display.cpp
   src/time_slice_display.cpp
   src/sharp_display.cpp)
 
-target_link_libraries(viewer ${catkin_LIBRARIES})
+target_link_libraries(renderer ${catkin_LIBRARIES})
 
 #
 # --------- nodelet
 #
-add_library(viewer_nodelet src/viewer_nodelet.cpp)
-target_link_libraries(viewer_nodelet ${catkin_LIBRARIES})
+add_library(renderer_nodelet src/renderer_nodelet.cpp)
+target_link_libraries(renderer_nodelet ${catkin_LIBRARIES})
 
 #
 # -------- node
 #
-add_executable(viewer_node src/viewer_node_ros1.cpp)
-target_link_libraries(viewer_node viewer ${catkin_LIBRARIES})
+add_executable(renderer_node src/renderer_node_ros1.cpp)
+target_link_libraries(renderer_node renderer ${catkin_LIBRARIES})
 
 
 #############
 ## Install ##
 #############
 
-install(TARGETS viewer_node
+install(TARGETS renderer_node
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(TARGETS viewer viewer_nodelet
+install(TARGETS renderer renderer_nodelet
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
diff --git a/cmake/ROS2.cmake b/cmake/ROS2.cmake
index df2e4fe..a5123a6 100644
--- a/cmake/ROS2.cmake
+++ b/cmake/ROS2.cmake
@@ -37,32 +37,32 @@ endforeach()
 ament_auto_find_build_dependencies(REQUIRED ${ROS2_DEPENDENCIES})
 
 #
-# --------- viewer library
+# --------- renderer library
 #
-ament_auto_add_library(viewer
-  src/viewer_ros2.cpp src/display.cpp
+ament_auto_add_library(renderer
+  src/renderer_ros2.cpp src/display.cpp
   src/time_slice_display.cpp src/sharp_display.cpp)
 
-rclcpp_components_register_nodes(viewer "event_camera_viewer::Viewer")
+rclcpp_components_register_nodes(renderer "event_camera_renderer::Renderer")
 
 #
 # -------- node
 #
-ament_auto_add_executable(viewer_node src/viewer_node_ros2.cpp)
-target_link_libraries(viewer_node viewer)
+ament_auto_add_executable(renderer_node src/renderer_node_ros2.cpp)
+target_link_libraries(renderer_node renderer)
 
 # the node must go into the paroject specific lib directory or else
 # the launch file will not find it
 
 install(TARGETS
-  viewer_node
+  renderer_node
   DESTINATION lib/${PROJECT_NAME}/)
 
 # the shared library goes into the global lib dir so it can
 # be used as a composable node by other projects
 
 install(TARGETS
-  viewer
+  renderer
   DESTINATION lib
 )
 
diff --git a/event_camera_viewer.repos b/event_camera_renderer.repos
similarity index 100%
rename from event_camera_viewer.repos
rename to event_camera_renderer.repos
diff --git a/images/event_viewer.png b/images/event_renderer.png
similarity index 100%
rename from images/event_viewer.png
rename to images/event_renderer.png
diff --git a/include/event_camera_viewer/check_endian.h b/include/event_camera_renderer/check_endian.h
similarity index 82%
rename from include/event_camera_viewer/check_endian.h
rename to include/event_camera_renderer/check_endian.h
index 23bf225..8668c50 100644
--- a/include/event_camera_viewer/check_endian.h
+++ b/include/event_camera_renderer/check_endian.h
@@ -13,12 +13,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__CHECK_ENDIAN_H_
-#define EVENT_CAMERA_VIEWER__CHECK_ENDIAN_H_
+#ifndef EVENT_CAMERA_RENDERER__CHECK_ENDIAN_H_
+#define EVENT_CAMERA_RENDERER__CHECK_ENDIAN_H_
 
 #include <stdint.h>
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 namespace check_endian
 {
@@ -32,5 +32,5 @@ inline constexpr bool isBigEndian()
   return (combined_int.c[0] == 1);
 }
 }  // namespace check_endian
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__CHECK_ENDIAN_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__CHECK_ENDIAN_H_
diff --git a/include/event_camera_viewer/display.h b/include/event_camera_renderer/display.h
similarity index 89%
rename from include/event_camera_viewer/display.h
rename to include/event_camera_renderer/display.h
index b7f9042..c4424e5 100644
--- a/include/event_camera_viewer/display.h
+++ b/include/event_camera_renderer/display.h
@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__DISPLAY_H_
-#define EVENT_CAMERA_VIEWER__DISPLAY_H_
+#ifndef EVENT_CAMERA_RENDERER__DISPLAY_H_
+#define EVENT_CAMERA_RENDERER__DISPLAY_H_
 
 #include <memory>
 #ifdef USING_ROS_1
@@ -29,7 +29,7 @@ using EventPacket = event_camera_msgs::msg::EventPacket;
 using ImgPtr = sensor_msgs::msg::Image::UniquePtr;
 #endif
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 class Display
 {
@@ -47,5 +47,5 @@ class Display
 protected:
   Display() {}
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__DISPLAY_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__DISPLAY_H_
diff --git a/include/event_camera_viewer/viewer_ros1.h b/include/event_camera_renderer/renderer_ros1.h
similarity index 83%
rename from include/event_camera_viewer/viewer_ros1.h
rename to include/event_camera_renderer/renderer_ros1.h
index fb2db4a..3a40979 100644
--- a/include/event_camera_viewer/viewer_ros1.h
+++ b/include/event_camera_renderer/renderer_ros1.h
@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__VIEWER_ROS1_H_
-#define EVENT_CAMERA_VIEWER__VIEWER_ROS1_H_
+#ifndef EVENT_CAMERA_RENDERER__RENDERER_ROS1_H_
+#define EVENT_CAMERA_RENDERER__RENDERER_ROS1_H_
 
 #include <event_camera_codecs/decoder.h>
 #include <event_camera_codecs/decoder_factory.h>
@@ -26,16 +26,16 @@
 #include <memory>
 #include <string>
 
-#include "event_camera_viewer/display.h"
+#include "event_camera_renderer/display.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
-class Viewer
+class Renderer
 {
 public:
   using EventPacket = event_camera_msgs::EventPacket;
-  explicit Viewer(ros::NodeHandle & nh);
-  ~Viewer();
+  explicit Renderer(ros::NodeHandle & nh);
+  ~Renderer();
 
 private:
   void frameTimerExpired(const ros::TimerEvent &);
@@ -53,5 +53,5 @@ class Viewer
   image_transport::Publisher imagePub_;
   sensor_msgs::Image imageMsgTemplate_;
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__VIEWER_ROS1_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__RENDERER_ROS1_H_
diff --git a/include/event_camera_viewer/viewer_ros2.h b/include/event_camera_renderer/renderer_ros2.h
similarity index 80%
rename from include/event_camera_viewer/viewer_ros2.h
rename to include/event_camera_renderer/renderer_ros2.h
index 6096481..1ed1a91 100644
--- a/include/event_camera_viewer/viewer_ros2.h
+++ b/include/event_camera_renderer/renderer_ros2.h
@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__VIEWER_ROS2_H_
-#define EVENT_CAMERA_VIEWER__VIEWER_ROS2_H_
+#ifndef EVENT_CAMERA_RENDERER__RENDERER_ROS2_H_
+#define EVENT_CAMERA_RENDERER__RENDERER_ROS2_H_
 
 #include <event_camera_msgs/msg/event_packet.hpp>
 #include <image_transport/image_transport.hpp>
@@ -23,16 +23,16 @@
 #include <sensor_msgs/msg/image.hpp>
 #include <string>
 
-#include "event_camera_viewer/display.h"
+#include "event_camera_renderer/display.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
-class Viewer : public rclcpp::Node
+class Renderer : public rclcpp::Node
 {
 public:
   using EventPacket = event_camera_msgs::msg::EventPacket;
-  explicit Viewer(const rclcpp::NodeOptions & options);
-  ~Viewer();
+  explicit Renderer(const rclcpp::NodeOptions & options);
+  ~Renderer();
 
 private:
   void frameTimerExpired();
@@ -48,5 +48,5 @@ class Viewer : public rclcpp::Node
   image_transport::Publisher imagePub_;
   sensor_msgs::msg::Image imageMsgTemplate_;
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__VIEWER_ROS2_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__RENDERER_ROS2_H_
diff --git a/include/event_camera_viewer/sharp_display.h b/include/event_camera_renderer/sharp_display.h
similarity index 83%
rename from include/event_camera_viewer/sharp_display.h
rename to include/event_camera_renderer/sharp_display.h
index 153fdd5..506252a 100644
--- a/include/event_camera_viewer/sharp_display.h
+++ b/include/event_camera_renderer/sharp_display.h
@@ -13,15 +13,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__SHARP_DISPLAY_H_
-#define EVENT_CAMERA_VIEWER__SHARP_DISPLAY_H_
+#ifndef EVENT_CAMERA_RENDERER__SHARP_DISPLAY_H_
+#define EVENT_CAMERA_RENDERER__SHARP_DISPLAY_H_
 
 #include <event_camera_codecs/decoder_factory.h>
 
-#include "event_camera_viewer/display.h"
-#include "event_camera_viewer/sharp_updater.h"
+#include "event_camera_renderer/display.h"
+#include "event_camera_renderer/sharp_updater.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 class SharpDisplay : public Display
 {
@@ -41,5 +41,5 @@ class SharpDisplay : public Display
   event_camera_codecs::Decoder<EventPacket, SharpUpdater> * decoder_;
   event_camera_codecs::DecoderFactory<EventPacket, SharpUpdater> decoderFactory_;
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__SHARP_DISPLAY_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__SHARP_DISPLAY_H_
diff --git a/include/event_camera_viewer/sharp_updater.h b/include/event_camera_renderer/sharp_updater.h
similarity index 96%
rename from include/event_camera_viewer/sharp_updater.h
rename to include/event_camera_renderer/sharp_updater.h
index f5dd1db..15dd527 100644
--- a/include/event_camera_viewer/sharp_updater.h
+++ b/include/event_camera_renderer/sharp_updater.h
@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__SHARP_UPDATER_H_
-#define EVENT_CAMERA_VIEWER__SHARP_UPDATER_H_
+#ifndef EVENT_CAMERA_RENDERER__SHARP_UPDATER_H_
+#define EVENT_CAMERA_RENDERER__SHARP_UPDATER_H_
 
 #include <memory.h>
 
@@ -30,7 +30,7 @@ using ImgPtr = sensor_msgs::msg::Image::UniquePtr;
 
 #include <event_camera_codecs/event_processor.h>
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 class SharpUpdater : public event_camera_codecs::EventProcessor
 {
@@ -154,5 +154,5 @@ class SharpUpdater : public event_camera_codecs::EventProcessor
   uint32_t numOccupiedPixels_{0};  // currently occupied number of pixels
   uint32_t numOccupiedBlocks_{0};  // currently occupied number of blocks
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__SHARP_UPDATER_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__SHARP_UPDATER_H_
diff --git a/include/event_camera_viewer/simple_updater.h b/include/event_camera_renderer/simple_updater.h
similarity index 90%
rename from include/event_camera_viewer/simple_updater.h
rename to include/event_camera_renderer/simple_updater.h
index c9e9375..19bb307 100644
--- a/include/event_camera_viewer/simple_updater.h
+++ b/include/event_camera_renderer/simple_updater.h
@@ -13,8 +13,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__SIMPLE_UPDATER_H_
-#define EVENT_CAMERA_VIEWER__SIMPLE_UPDATER_H_
+#ifndef EVENT_CAMERA_RENDERER__SIMPLE_UPDATER_H_
+#define EVENT_CAMERA_RENDERER__SIMPLE_UPDATER_H_
 
 #include <memory>
 #include <mutex>
@@ -28,7 +28,7 @@ using ImgPtr = sensor_msgs::msg::Image::UniquePtr;
 
 #include <event_camera_codecs/event_processor.h>
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 class SimpleUpdater : public event_camera_codecs::EventProcessor
 {
@@ -59,5 +59,5 @@ class SimpleUpdater : public event_camera_codecs::EventProcessor
 private:
   ImgPtr img_;
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__SIMPLE_UPDATER_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__SIMPLE_UPDATER_H_
diff --git a/include/event_camera_viewer/time_slice_display.h b/include/event_camera_renderer/time_slice_display.h
similarity index 82%
rename from include/event_camera_viewer/time_slice_display.h
rename to include/event_camera_renderer/time_slice_display.h
index 176c00e..76e9bb3 100644
--- a/include/event_camera_viewer/time_slice_display.h
+++ b/include/event_camera_renderer/time_slice_display.h
@@ -13,15 +13,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef EVENT_CAMERA_VIEWER__TIME_SLICE_DISPLAY_H_
-#define EVENT_CAMERA_VIEWER__TIME_SLICE_DISPLAY_H_
+#ifndef EVENT_CAMERA_RENDERER__TIME_SLICE_DISPLAY_H_
+#define EVENT_CAMERA_RENDERER__TIME_SLICE_DISPLAY_H_
 
 #include <event_camera_codecs/decoder_factory.h>
 
-#include "event_camera_viewer/display.h"
-#include "event_camera_viewer/simple_updater.h"
+#include "event_camera_renderer/display.h"
+#include "event_camera_renderer/simple_updater.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 class TimeSliceDisplay : public Display
 {
@@ -41,5 +41,5 @@ class TimeSliceDisplay : public Display
   event_camera_codecs::Decoder<EventPacket, SimpleUpdater> * decoder_;
   event_camera_codecs::DecoderFactory<EventPacket, SimpleUpdater> decoderFactory_;
 };
-}  // namespace event_camera_viewer
-#endif  // EVENT_CAMERA_VIEWER__TIME_SLICE_DISPLAY_H_
+}  // namespace event_camera_renderer
+#endif  // EVENT_CAMERA_RENDERER__TIME_SLICE_DISPLAY_H_
diff --git a/launch/viewer.launch b/launch/renderer.launch
similarity index 77%
rename from launch/viewer.launch
rename to launch/renderer.launch
index a934a0e..3a26917 100644
--- a/launch/viewer.launch
+++ b/launch/renderer.launch
@@ -2,7 +2,7 @@
   <arg name="camera" default="/event_camera"/>
   <arg name="topic" default="events"/>
   <arg name="type" default="time_slice"/>
-  <node pkg="event_camera_viewer" type="viewer_node" name="viewer" clear_params="true"
+  <node pkg="event_camera_renderer" type="renderer_node" name="renderer" clear_params="true"
 	output="screen">
     <param name="fps" value="25"/>
     <param name="display_type" value="$(arg type)"/>
diff --git a/launch/viewer.launch.py b/launch/renderer.launch.py
similarity index 51%
rename from launch/viewer.launch.py
rename to launch/renderer.launch.py
index 1b86cd4..68eed85 100644
--- a/launch/viewer.launch.py
+++ b/launch/renderer.launch.py
@@ -24,30 +24,37 @@
 
 def launch_setup(context, *args, **kwargs):
     """Create simple node."""
-    node = Node(package='event_camera_viewer',
-                executable='viewer_node',
-                output='screen',
-                namespace=LaunchConfig('camera'),
-                # prefix=['xterm -e gdb -ex run --args'],
-                name="viewer",
-                parameters=[{'fps': LaunchConfig('fps'),
-                             'display_type': LaunchConfig('type'),
-                             'use_sim_time': LaunchConfig('use_sim_time')}],
-                remappings=[('~/events', 'events')]
-                )
+    node = Node(
+        package="event_camera_renderer",
+        executable="renderer_node",
+        output="screen",
+        namespace=LaunchConfig("camera"),
+        # prefix=['xterm -e gdb -ex run --args'],
+        name="renderer",
+        parameters=[
+            {
+                "fps": LaunchConfig("fps"),
+                "display_type": LaunchConfig("type"),
+                "use_sim_time": LaunchConfig("use_sim_time"),
+            }
+        ],
+        remappings=[("~/events", "events")],
+    )
     return [node]
 
 
 def generate_launch_description():
     """Create simple node by calling opaque function."""
-    return launch.LaunchDescription([
-        LaunchArg('camera', default_value=['event_camera'],
-                  description='camera name'),
-        LaunchArg('fps', default_value='25.0',
-                  description='frame rate'),
-        LaunchArg('use_sim_time', default_value='False',
-                  description='use_sim_time'),
-        LaunchArg('type', default_value='time_slice',
-                  description='display type (time_slice or sharp)'),
-        OpaqueFunction(function=launch_setup)
-        ])
+    return launch.LaunchDescription(
+        [
+            LaunchArg("camera", default_value=["event_camera"], description="camera name"),
+            LaunchArg("fps", default_value="25.0", description="frame rate"),
+            LaunchArg("use_sim_time", default_value="False", description="use_sim_time"),
+            LaunchArg(
+                "type",
+                default_value="time_slice",
+                description="display type (time_slice or sharp)",
+            ),
+            OpaqueFunction(function=launch_setup),
+        ]
+    )
diff --git a/launch/viewer_composable.launch.py b/launch/renderer_composable.launch.py
similarity index 57%
rename from launch/viewer_composable.launch.py
rename to launch/renderer_composable.launch.py
index 7347612..71dd858 100644
--- a/launch/viewer_composable.launch.py
+++ b/launch/renderer_composable.launch.py
@@ -25,34 +25,33 @@
 
 def launch_setup(context, *args, **kwargs):
     """Create composable node."""
-    cam_name = LaunchConfig('camera_name')
+    cam_name = LaunchConfig("camera_name")
     cam_str = cam_name.perform(context)
     container = ComposableNodeContainer(
-            name='event_viewer',
-            namespace='',
-            package='rclcpp_components',
-            executable='component_container',
-            composable_node_descriptions=[
-                ComposableNode(
-                    package='event_camera_viewer',
-                    plugin='event_camera_viewer::Viewer',
-                    name=cam_str + '_viewer',
-                    parameters=[
-                        {'fps': 25.0}],
-                    remappings=[
-                        ('~/events', cam_str + '/events')],
-                    extra_arguments=[{'use_intra_process_comms': True}],
-                )
-            ],
-            output='screen',
+        name="event_renderer",
+        namespace="",
+        package="rclcpp_components",
+        executable="component_container",
+        composable_node_descriptions=[
+            ComposableNode(
+                package="event_camera_renderer",
+                plugin="event_camera_renderer::Renderer",
+                name=cam_str + "_renderer",
+                parameters=[{"fps": 25.0}],
+                remappings=[("~/events", cam_str + "/events")],
+                extra_arguments=[{"use_intra_process_comms": True}],
+            )
+        ],
+        output="screen",
     )
     return [container]
 
 
 def generate_launch_description():
     """Create composable node by calling opaque function."""
-    return launch.LaunchDescription([
-        LaunchArg('camera_name', default_value=['event_camera'],
-                  description='camera name'),
-        OpaqueFunction(function=launch_setup)
-        ])
+    return launch.LaunchDescription(
+        [
+            LaunchArg("camera_name", default_value=["event_camera"], description="camera name"),
+            OpaqueFunction(function=launch_setup),
+        ]
+    )
diff --git a/nodelet_plugins.xml b/nodelet_plugins.xml
index 78d73f9..4c8d762 100644
--- a/nodelet_plugins.xml
+++ b/nodelet_plugins.xml
@@ -1,9 +1,9 @@
-<library path="lib/libviewer_nodelet">
-  <class name="event_camera_viewer/ViewerNodelet"
-         type="event_camera_viewer::ViewerNodelet"
+<library path="lib/librenderer_nodelet">
+  <class name="event_camera_renderer/RendererNodelet"
+         type="event_camera_renderer::RendererNodelet"
          base_class_type="nodelet::Nodelet">
     <description>
-      viewer for event_camera_msgs
+      renderer for event_camera_msgs
     </description>
   </class>
 </library>
\ No newline at end of file
diff --git a/package.xml b/package.xml
index 65afc47..29af778 100644
--- a/package.xml
+++ b/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>event_camera_viewer</name>
+  <name>event_camera_renderer</name>
   <version>1.0.0</version>
-  <description>package to view event_camera_msgs</description>
+  <description>package for rendering event_camera_msgs</description>
   <maintainer email="bernd.pfrommer@gmail.com">Bernd Pfrommer</maintainer>
   <license>Apache2</license>
 
diff --git a/src/display.cpp b/src/display.cpp
index 5d2168d..22e69f2 100644
--- a/src/display.cpp
+++ b/src/display.cpp
@@ -13,12 +13,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "event_camera_viewer/display.h"
+#include "event_camera_renderer/display.h"
 
-#include "event_camera_viewer/sharp_display.h"
-#include "event_camera_viewer/time_slice_display.h"
+#include "event_camera_renderer/sharp_display.h"
+#include "event_camera_renderer/time_slice_display.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 std::shared_ptr<Display> Display::newInstance(const std::string & type)
 {
@@ -30,4 +30,4 @@ std::shared_ptr<Display> Display::newInstance(const std::string & type)
   }
   return (0);
 }
-}  // namespace event_camera_viewer
+}  // namespace event_camera_renderer
diff --git a/src/viewer_node_ros1.cpp b/src/renderer_node_ros1.cpp
similarity index 87%
rename from src/viewer_node_ros1.cpp
rename to src/renderer_node_ros1.cpp
index bf36dce..fe435e0 100644
--- a/src/viewer_node_ros1.cpp
+++ b/src/renderer_node_ros1.cpp
@@ -15,15 +15,15 @@
 
 #include <ros/ros.h>
 
-#include "event_camera_viewer/viewer_ros1.h"
+#include "event_camera_renderer/renderer_ros1.h"
 
 int main(int argc, char ** argv)
 {
-  ros::init(argc, argv, "viewer_node");
+  ros::init(argc, argv, "renderer_node");
   ros::NodeHandle pnh("~");
 
   try {
-    event_camera_viewer::Viewer node(pnh);
+    event_camera_renderer::Renderer node(pnh);
     ros::spin();
   } catch (const std::exception & e) {
     ROS_ERROR("%s: %s", pnh.getNamespace().c_str(), e.what());
diff --git a/src/viewer_node_ros2.cpp b/src/renderer_node_ros2.cpp
similarity index 82%
rename from src/viewer_node_ros2.cpp
rename to src/renderer_node_ros2.cpp
index 0bb283b..729d8f7 100644
--- a/src/viewer_node_ros2.cpp
+++ b/src/renderer_node_ros2.cpp
@@ -16,13 +16,13 @@
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
 
-#include "event_camera_viewer/viewer_ros2.h"
+#include "event_camera_renderer/renderer_ros2.h"
 
 int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
-  auto node = std::make_shared<event_camera_viewer::Viewer>(rclcpp::NodeOptions());
-  RCLCPP_INFO(node->get_logger(), "viewer_node started up!");
+  auto node = std::make_shared<event_camera_renderer::Renderer>(rclcpp::NodeOptions());
+  RCLCPP_INFO(node->get_logger(), "renderer_node started up!");
   // actually run the node
   rclcpp::spin(node);  // should not return
   rclcpp::shutdown();
diff --git a/src/viewer_nodelet.cpp b/src/renderer_nodelet.cpp
similarity index 74%
rename from src/viewer_nodelet.cpp
rename to src/renderer_nodelet.cpp
index 4e29b97..4645473 100644
--- a/src/viewer_nodelet.cpp
+++ b/src/renderer_nodelet.cpp
@@ -18,25 +18,25 @@
 
 #include <memory>
 
-#include "event_camera_viewer/viewer_ros1.h"
+#include "event_camera_renderer/renderer_ros1.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
-class ViewerNodelet : public nodelet::Nodelet
+class RendererNodelet : public nodelet::Nodelet
 {
 public:
   void onInit() override
   {
     nh_ = getPrivateNodeHandle();
-    viewer_ = std::make_shared<Viewer>(nh_);
+    renderer_ = std::make_shared<Renderer>(nh_);
   }
 
 private:
   // ------ variables --------
-  std::shared_ptr<Viewer> viewer_;
+  std::shared_ptr<Renderer> renderer_;
   ros::NodeHandle nh_;
 };
-}  // namespace event_camera_viewer
+}  // namespace event_camera_renderer
 
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_EXPORT_CLASS(event_camera_viewer::ViewerNodelet, nodelet::Nodelet)
+PLUGINLIB_EXPORT_CLASS(event_camera_renderer::RendererNodelet, nodelet::Nodelet)
diff --git a/src/viewer_ros1.cpp b/src/renderer_ros1.cpp
similarity index 77%
rename from src/viewer_ros1.cpp
rename to src/renderer_ros1.cpp
index 1171091..0db93dc 100644
--- a/src/viewer_ros1.cpp
+++ b/src/renderer_ros1.cpp
@@ -13,16 +13,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "event_camera_viewer/viewer_ros1.h"
+#include "event_camera_renderer/renderer_ros1.h"
 
 #include <event_camera_codecs/decoder.h>
 
-#include "event_camera_viewer/check_endian.h"
+#include "event_camera_renderer/check_endian.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 namespace ph = std::placeholders;
-Viewer::Viewer(ros::NodeHandle & nh) : nh_(nh)
+Renderer::Renderer(ros::NodeHandle & nh) : nh_(nh)
 {
   display_ = Display::newInstance(nh_.param<std::string>("display_type", "time_slice"));
   if (!display_) {
@@ -33,19 +33,19 @@ Viewer::Viewer(ros::NodeHandle & nh) : nh_(nh)
   sliceTime_ = 1.0 / nh_.param<double>("fps", 25.0);
   image_transport::ImageTransport it(nh_);
   imagePub_ = it.advertise(
-    "image_raw", 1, boost::bind(&Viewer::imageConnectCallback, this, boost::placeholders::_1),
-    boost::bind(&Viewer::imageConnectCallback, this, boost::placeholders::_1));
+    "image_raw", 1, boost::bind(&Renderer::imageConnectCallback, this, boost::placeholders::_1),
+    boost::bind(&Renderer::imageConnectCallback, this, boost::placeholders::_1));
   imageMsgTemplate_.height = 0;
 }
 
-Viewer::~Viewer() { frameTimer_.stop(); }
+Renderer::~Renderer() { frameTimer_.stop(); }
 
-void Viewer::imageConnectCallback(const image_transport::SingleSubscriberPublisher &)
+void Renderer::imageConnectCallback(const image_transport::SingleSubscriberPublisher &)
 {
   if (imagePub_.getNumSubscribers() != 0) {
     if (!isSubscribedToEvents_) {
-      frameTimer_ = nh_.createTimer(ros::Duration(sliceTime_), &Viewer::frameTimerExpired, this);
-      eventSub_ = nh_.subscribe("events", 1000 /*qsize */, &Viewer::eventMsg, this);
+      frameTimer_ = nh_.createTimer(ros::Duration(sliceTime_), &Renderer::frameTimerExpired, this);
+      eventSub_ = nh_.subscribe("events", 1000 /*qsize */, &Renderer::eventMsg, this);
       isSubscribedToEvents_ = true;
     }
   } else {
@@ -57,7 +57,7 @@ void Viewer::imageConnectCallback(const image_transport::SingleSubscriberPublish
   }
 }
 
-void Viewer::frameTimerExpired(const ros::TimerEvent &)
+void Renderer::frameTimerExpired(const ros::TimerEvent &)
 {
   if (imagePub_.getNumSubscribers() != 0 && display_->hasImage()) {
     // take memory managent from image updater
@@ -70,14 +70,14 @@ void Viewer::frameTimerExpired(const ros::TimerEvent &)
   }
 }
 
-void Viewer::startNewImage()
+void Renderer::startNewImage()
 {
   std::unique_ptr<sensor_msgs::Image> img(new sensor_msgs::Image(imageMsgTemplate_));
   img->data.resize(img->height * img->step, 0);  // allocate memory and set all bytes to zero
   display_->setImage(&img);                      // event publisher will also render image now
 }
 
-void Viewer::eventMsg(const EventPacket::ConstPtr & msg)
+void Renderer::eventMsg(const EventPacket::ConstPtr & msg)
 {
   if (imageMsgTemplate_.height == 0) {
     imageMsgTemplate_.header = msg->header;
@@ -94,4 +94,4 @@ void Viewer::eventMsg(const EventPacket::ConstPtr & msg)
   display_->update(&(msg->events[0]), msg->events.size());
 }
 
-}  // namespace event_camera_viewer
+}  // namespace event_camera_renderer
diff --git a/src/viewer_ros2.cpp b/src/renderer_ros2.cpp
similarity index 86%
rename from src/viewer_ros2.cpp
rename to src/renderer_ros2.cpp
index 1aaca80..cd932a5 100644
--- a/src/viewer_ros2.cpp
+++ b/src/renderer_ros2.cpp
@@ -13,19 +13,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "event_camera_viewer/viewer_ros2.h"
+#include "event_camera_renderer/renderer_ros2.h"
 
 #include <event_camera_msgs/msg/event_packet.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 #include <vector>
 
-#include "event_camera_viewer/check_endian.h"
+#include "event_camera_renderer/check_endian.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
-Viewer::Viewer(const rclcpp::NodeOptions & options)
+Renderer::Renderer(const rclcpp::NodeOptions & options)
 : Node(
-    "event_camera_viewer",
+    "event_camera_renderer",
     rclcpp::NodeOptions(options).automatically_declare_parameters_from_overrides(true))
 {
   std::string displayType;
@@ -45,10 +45,10 @@ Viewer::Viewer(const rclcpp::NodeOptions & options)
   // must check by polling
   subscriptionCheckTimer_ = rclcpp::create_timer(
     this, get_clock(), rclcpp::Duration(1, 0),
-    std::bind(&Viewer::subscriptionCheckTimerExpired, this));
+    std::bind(&Renderer::subscriptionCheckTimerExpired, this));
 }
 
-Viewer::~Viewer()
+Renderer::~Renderer()
 {
   if (frameTimer_) {
     frameTimer_->cancel();
@@ -58,7 +58,7 @@ Viewer::~Viewer()
   }
 }
 
-void Viewer::subscriptionCheckTimerExpired()
+void Renderer::subscriptionCheckTimerExpired()
 {
   // this silly dance is only necessary because ROS2 at this time does not support
   // callbacks when subscribers come and go
@@ -73,13 +73,13 @@ void Viewer::subscriptionCheckTimerExpired()
       const int qsize = 1000;
       auto qos = rclcpp::QoS(rclcpp::KeepLast(qsize)).best_effort().durability_volatile();
       eventSub_ = this->create_subscription<event_camera_msgs::msg::EventPacket>(
-        "~/events", qos, std::bind(&Viewer::eventMsg, this, std::placeholders::_1));
+        "~/events", qos, std::bind(&Renderer::eventMsg, this, std::placeholders::_1));
     }
     if (!frameTimer_) {
       // start publishing frames if there is interest in either camerainfo or image
       frameTimer_ = rclcpp::create_timer(
         this, get_clock(), rclcpp::Duration::from_seconds(sliceTime_),
-        std::bind(&Viewer::frameTimerExpired, this));
+        std::bind(&Renderer::frameTimerExpired, this));
     }
   } else {
     // -------------- no subscribers -------------------
@@ -99,7 +99,7 @@ void Viewer::subscriptionCheckTimerExpired()
   }
 }
 
-void Viewer::eventMsg(EventPacket::ConstSharedPtr msg)
+void Renderer::eventMsg(EventPacket::ConstSharedPtr msg)
 {
   if (imageMsgTemplate_.height == 0) {
     imageMsgTemplate_.header = msg->header;
@@ -116,7 +116,7 @@ void Viewer::eventMsg(EventPacket::ConstSharedPtr msg)
   display_->update(&(msg->events[0]), msg->events.size());
 }
 
-void Viewer::frameTimerExpired()
+void Renderer::frameTimerExpired()
 {
   const rclcpp::Time t = this->get_clock()->now();
   // publish frame if available and somebody listening
@@ -131,7 +131,7 @@ void Viewer::frameTimerExpired()
   }
 }
 
-void Viewer::startNewImage()
+void Renderer::startNewImage()
 {
   if (imageMsgTemplate_.height != 0) {
     sensor_msgs::msg::Image::UniquePtr img(new sensor_msgs::msg::Image(imageMsgTemplate_));
@@ -140,6 +140,6 @@ void Viewer::startNewImage()
   }
 }
 
-}  // namespace event_camera_viewer
+}  // namespace event_camera_renderer
 
-RCLCPP_COMPONENTS_REGISTER_NODE(event_camera_viewer::Viewer)
+RCLCPP_COMPONENTS_REGISTER_NODE(event_camera_renderer::Renderer)
diff --git a/src/sharp_display.cpp b/src/sharp_display.cpp
index 00c0d5c..74fbff9 100644
--- a/src/sharp_display.cpp
+++ b/src/sharp_display.cpp
@@ -13,9 +13,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "event_camera_viewer/sharp_display.h"
+#include "event_camera_renderer/sharp_display.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 void SharpDisplay::initialize(const std::string & encoding, uint32_t width, uint32_t height)
 {
@@ -31,4 +31,4 @@ void SharpDisplay::update(const uint8_t * events, size_t numEvents)
   // decode will produce callbacks to imageUpdater_
   decoder_->decode(events, numEvents, &imageUpdater_);
 }
-}  // namespace event_camera_viewer
+}  // namespace event_camera_renderer
diff --git a/src/time_slice_display.cpp b/src/time_slice_display.cpp
index 2b834c6..ca4a95b 100644
--- a/src/time_slice_display.cpp
+++ b/src/time_slice_display.cpp
@@ -13,9 +13,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "event_camera_viewer/time_slice_display.h"
+#include "event_camera_renderer/time_slice_display.h"
 
-namespace event_camera_viewer
+namespace event_camera_renderer
 {
 void TimeSliceDisplay::initialize(const std::string & encoding, uint32_t width, uint32_t height)
 {
@@ -31,4 +31,4 @@ void TimeSliceDisplay::update(const uint8_t * events, size_t numEvents)
   // decode will produce callbacks to imageUpdater_
   decoder_->decode(events, numEvents, &imageUpdater_);
 }
-}  // namespace event_camera_viewer
+}  // namespace event_camera_renderer