diff --git a/scout_viz/launch/display_model.launch b/scout_base/launch/display_model.launch
similarity index 90%
rename from scout_viz/launch/display_model.launch
rename to scout_base/launch/display_model.launch
index 72195b3..17270a5 100644
--- a/scout_viz/launch/display_model.launch
+++ b/scout_base/launch/display_model.launch
@@ -6,5 +6,5 @@
-
+
\ No newline at end of file
diff --git a/scout_viz/rviz/model_display.rviz b/scout_base/rviz/model_display.rviz
similarity index 100%
rename from scout_viz/rviz/model_display.rviz
rename to scout_base/rviz/model_display.rviz
diff --git a/scout_viz/CMakeLists.txt b/scout_viz/CMakeLists.txt
deleted file mode 100644
index ae36bb2..0000000
--- a/scout_viz/CMakeLists.txt
+++ /dev/null
@@ -1,202 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(scout_viz)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
-
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES scout_viz
-# CATKIN_DEPENDS other_catkin_pkg
-# DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-# ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/scout_viz.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/scout_viz_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-# ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_scout_viz.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/scout_viz/package.xml b/scout_viz/package.xml
deleted file mode 100644
index 01473b8..0000000
--- a/scout_viz/package.xml
+++ /dev/null
@@ -1,59 +0,0 @@
-
-
- scout_viz
- 0.0.0
- The scout_viz package
-
-
-
-
- tanpinda
-
-
-
-
-
- TODO
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- catkin
-
-
-
-
-
-
-
-
diff --git a/scout_viz/rviz/navigation.rviz b/scout_viz/rviz/navigation.rviz
deleted file mode 100644
index 00f509a..0000000
--- a/scout_viz/rviz/navigation.rviz
+++ /dev/null
@@ -1,209 +0,0 @@
-Panels:
- - Class: rviz/Displays
- Help Height: 78
- Name: Displays
- Property Tree Widget:
- Expanded:
- - /Global Options1
- - /Status1
- - /RobotModel1
- Splitter Ratio: 0.5
- Tree Height: 732
- - Class: rviz/Selection
- Name: Selection
- - Class: rviz/Tool Properties
- Expanded:
- - /2D Pose Estimate1
- - /2D Nav Goal1
- - /Publish Point1
- Name: Tool Properties
- Splitter Ratio: 0.5886790156364441
- - Class: rviz/Views
- Expanded:
- - /Current View1
- Name: Views
- Splitter Ratio: 0.5
- - Class: rviz/Time
- Experimental: false
- Name: Time
- SyncMode: 0
- SyncSource: ""
-Preferences:
- PromptSaveOnExit: true
-Toolbars:
- toolButtonStyle: 2
-Visualization Manager:
- Class: ""
- Displays:
- - Alpha: 0.5
- Cell Size: 1
- Class: rviz/Grid
- Color: 160; 160; 164
- Enabled: true
- Line Style:
- Line Width: 0.029999999329447746
- Value: Lines
- Name: Grid
- Normal Cell Count: 0
- Offset:
- X: 0
- Y: 0
- Z: 0
- Plane: XY
- Plane Cell Count: 10
- Reference Frame:
- Value: true
- - Alpha: 1
- Class: rviz/RobotModel
- Collision Enabled: false
- Enabled: true
- Links:
- All Links Enabled: true
- Expand Joint Details: false
- Expand Link Details: false
- Expand Tree: false
- Link Tree Style: Links in Alphabetic Order
- base_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- chassis_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- front_left_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- front_right_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- inertial_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- rear_left_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- rear_right_wheel_link:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- Name: RobotModel
- Robot Description: robot_description
- TF Prefix: ""
- Update Interval: 0
- Value: true
- Visual Enabled: true
- - Class: rviz/TF
- Enabled: true
- Frame Timeout: 15
- Frames:
- All Enabled: true
- base_link:
- Value: true
- chassis_link:
- Value: true
- front_left_wheel_link:
- Value: true
- front_right_wheel_link:
- Value: true
- inertial_link:
- Value: true
- rear_left_wheel_link:
- Value: true
- rear_right_wheel_link:
- Value: true
- Marker Scale: 1
- Name: TF
- Show Arrows: true
- Show Axes: true
- Show Names: true
- Tree:
- base_link:
- chassis_link:
- front_left_wheel_link:
- {}
- front_right_wheel_link:
- {}
- rear_left_wheel_link:
- {}
- rear_right_wheel_link:
- {}
- inertial_link:
- {}
- Update Interval: 0
- Value: true
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Default Light: true
- Fixed Frame: odom
- Frame Rate: 30
- Name: root
- Tools:
- - Class: rviz/Interact
- Hide Inactive Objects: true
- - Class: rviz/MoveCamera
- - Class: rviz/Select
- - Class: rviz/FocusCamera
- - Class: rviz/Measure
- - Class: rviz/SetInitialPose
- Theta std deviation: 0.2617993950843811
- Topic: /initialpose
- X std deviation: 0.5
- Y std deviation: 0.5
- - Class: rviz/SetGoal
- Topic: /move_base_simple/goal
- - Class: rviz/PublishPoint
- Single click: true
- Topic: /clicked_point
- Value: true
- Views:
- Current:
- Class: rviz/Orbit
- Distance: 2.9432930946350098
- Enable Stereo Rendering:
- Stereo Eye Separation: 0.05999999865889549
- Stereo Focal Distance: 1
- Swap Stereo Eyes: false
- Value: false
- Focal Point:
- X: 0.027046792209148407
- Y: -0.03490818291902542
- Z: -0.09952529519796371
- Focal Shape Fixed Size: true
- Focal Shape Size: 0.05000000074505806
- Invert Z Axis: false
- Name: Current View
- Near Clip Distance: 0.009999999776482582
- Pitch: 0.5447957515716553
- Target Frame:
- Value: Orbit (rviz)
- Yaw: 4.27542781829834
- Saved: ~
-Window Geometry:
- Displays:
- collapsed: false
- Height: 1029
- Hide Left Dock: false
- Hide Right Dock: true
- QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
- Selection:
- collapsed: false
- Time:
- collapsed: false
- Tool Properties:
- collapsed: false
- Views:
- collapsed: true
- Width: 1869
- X: 632
- Y: 291