From de0d98268e297cddbf07083a50c6f43431113d3a Mon Sep 17 00:00:00 2001
From: hanskw-weston <hans.kurnia@westonrobot.com>
Date: Fri, 17 May 2024 10:41:21 +0000
Subject: [PATCH] src: new structure to follow wrp_ros2

---
 .github/workflows/default.yml                 |   2 +-
 .gitlab-ci.yml                                |  74 ------
 CMakeLists.txt                                | 223 ------------------
 launch/peripheral/gps_receiver.launch         |   4 -
 launch/peripheral/imu_sensor.launch           |   4 -
 launch/peripheral/power_regulator.launch      |   4 -
 launch/peripheral/ultrasonic_sensor.launch    |   4 -
 msg/RangeData.msg                             |   6 -
 msg/RangeDataType.msg                         |   3 -
 msg/RcState.msg                               |   6 -
 src/mobile_base/README.md                     |  48 ----
 src/mobile_base/mobile_base_node.cpp          |  26 --
 wrp_sdk_msgs/CMakeLists.txt                   |  71 ++++++
 .../action}/LiftControl.action                |   0
 {msg => wrp_sdk_msgs/msg}/ActuatorState.msg   |   0
 .../msg}/ActuatorStateArray.msg               |   0
 {msg => wrp_sdk_msgs/msg}/DriverState.msg     |   0
 .../msg/LiftState.msg                         |   1 +
 .../msg}/LightControlType.msg                 |   0
 {msg => wrp_sdk_msgs/msg}/MotionCommand.msg   |   0
 {msg => wrp_sdk_msgs/msg}/MotionState.msg     |   0
 {msg => wrp_sdk_msgs/msg}/MotorState.msg      |   0
 .../msg}/PowerRegulatorChannelState.msg       |   0
 .../msg}/PowerRegulatorDeviceState.msg        |   0
 wrp_sdk_msgs/msg/RangeData.msg                |   5 +
 wrp_sdk_msgs/msg/RangeDataArray.msg           |   7 +
 wrp_sdk_msgs/msg/RcState.msg                  |   3 +
 {msg => wrp_sdk_msgs/msg}/SystemState.msg     |   0
 wrp_sdk_msgs/package.xml                      |  36 +++
 {srv => wrp_sdk_msgs/srv}/AccessControl.srv   |   0
 .../srv}/AssistedModeControl.srv              |   0
 {srv => wrp_sdk_msgs/srv}/LiftQuery.srv       |   0
 {srv => wrp_sdk_msgs/srv}/LightControl.srv    |   0
 {srv => wrp_sdk_msgs/srv}/MotionReset.srv     |   0
 .../srv}/PowerRegulatorControl.srv            |   0
 wrp_sdk_periph/CMakeLists.txt                 |  83 +++++++
 .../config}/gps_receiver_node_config.yaml     |   0
 .../config}/imu_sensor_node_config.yaml       |   0
 .../config}/power_regulator_node_config.yaml  |   0
 .../ultrasonic_sensor_node_config.yaml        |   0
 .../wrp_sdk_periph}/gps_receiver_node.hpp     |   0
 .../wrp_sdk_periph}/imu_sensor_node.hpp       |   0
 .../wrp_sdk_periph}/lift_controller_node.hpp  |  19 +-
 .../wrp_sdk_periph}/power_regulator_node.hpp  |   8 +-
 .../ultrasonic_sensor_node.hpp                |   0
 wrp_sdk_periph/launch/gps_receiver.launch     |   4 +
 wrp_sdk_periph/launch/imu_sensor.launch       |   4 +
 wrp_sdk_periph/launch/power_regulator.launch  |   4 +
 .../launch/ultrasonic_sensor.launch           |   4 +
 package.xml => wrp_sdk_periph/package.xml     |  27 +--
 .../src}/README.md                            |  12 +-
 .../src}/gps_receiver_node.cpp                |   2 +-
 .../src}/imu_sensor_node.cpp                  |   2 +-
 .../src}/lift_controller_node.cpp             |  37 +--
 .../src}/power_regulator_node.cpp             |  18 +-
 .../src}/ultrasonic_sensor_node.cpp           |   2 +-
 wrp_sdk_robot/CMakeLists.txt                  |  52 ++++
 .../wrp_sdk_robot/mobile_base_node.hpp        |  52 ++--
 .../description/scout_mini_description.launch |   2 +-
 .../description/scout_v2_description.launch   |   2 +-
 .../launch}/mobile_base/scout.launch          |   2 +-
 .../launch}/mobile_base/scout_mini.launch     |   2 +-
 .../launch}/mobile_base/tracer.launch         |   2 +-
 .../meshes}/scout_mini/mini_base_link.dae     |   0
 .../meshes}/scout_mini/mini_wheel.dae         |   0
 .../meshes}/scout_v2/base_link.dae            |   0
 .../meshes}/scout_v2/wheel_type1.dae          |   0
 .../meshes}/scout_v2/wheel_type2.dae          |   0
 wrp_sdk_robot/package.xml                     |  68 ++++++
 .../src/mobile_base_node.cpp                  | 118 ++++-----
 .../urdf}/scout_mini/scout_mini.urdf          |   0
 .../urdf}/scout_mini/scout_mini.xacro         |   4 +-
 .../urdf}/scout_mini/scout_mini_wheel.xacro   |   2 +-
 .../urdf}/scout_v2/scout_v2.urdf              |  10 +-
 .../urdf}/scout_v2/scout_v2.xacro             |   6 +-
 .../urdf}/scout_v2/scout_wheel_type1.xacro    |   2 +-
 .../urdf}/scout_v2/scout_wheel_type2.xacro    |   2 +-
 77 files changed, 514 insertions(+), 565 deletions(-)
 delete mode 100644 .gitlab-ci.yml
 delete mode 100644 CMakeLists.txt
 delete mode 100644 launch/peripheral/gps_receiver.launch
 delete mode 100644 launch/peripheral/imu_sensor.launch
 delete mode 100644 launch/peripheral/power_regulator.launch
 delete mode 100644 launch/peripheral/ultrasonic_sensor.launch
 delete mode 100644 msg/RangeData.msg
 delete mode 100644 msg/RangeDataType.msg
 delete mode 100644 msg/RcState.msg
 delete mode 100644 src/mobile_base/README.md
 delete mode 100644 src/mobile_base/mobile_base_node.cpp
 create mode 100644 wrp_sdk_msgs/CMakeLists.txt
 rename {action => wrp_sdk_msgs/action}/LiftControl.action (100%)
 rename {msg => wrp_sdk_msgs/msg}/ActuatorState.msg (100%)
 rename {msg => wrp_sdk_msgs/msg}/ActuatorStateArray.msg (100%)
 rename {msg => wrp_sdk_msgs/msg}/DriverState.msg (100%)
 rename msg/LiftStatus.msg => wrp_sdk_msgs/msg/LiftState.msg (98%)
 rename {msg => wrp_sdk_msgs/msg}/LightControlType.msg (100%)
 rename {msg => wrp_sdk_msgs/msg}/MotionCommand.msg (100%)
 rename {msg => wrp_sdk_msgs/msg}/MotionState.msg (100%)
 rename {msg => wrp_sdk_msgs/msg}/MotorState.msg (100%)
 rename {msg => wrp_sdk_msgs/msg}/PowerRegulatorChannelState.msg (100%)
 rename {msg => wrp_sdk_msgs/msg}/PowerRegulatorDeviceState.msg (100%)
 create mode 100644 wrp_sdk_msgs/msg/RangeData.msg
 create mode 100644 wrp_sdk_msgs/msg/RangeDataArray.msg
 create mode 100644 wrp_sdk_msgs/msg/RcState.msg
 rename {msg => wrp_sdk_msgs/msg}/SystemState.msg (100%)
 create mode 100644 wrp_sdk_msgs/package.xml
 rename {srv => wrp_sdk_msgs/srv}/AccessControl.srv (100%)
 rename {srv => wrp_sdk_msgs/srv}/AssistedModeControl.srv (100%)
 rename {srv => wrp_sdk_msgs/srv}/LiftQuery.srv (100%)
 rename {srv => wrp_sdk_msgs/srv}/LightControl.srv (100%)
 rename {srv => wrp_sdk_msgs/srv}/MotionReset.srv (100%)
 rename {srv => wrp_sdk_msgs/srv}/PowerRegulatorControl.srv (100%)
 create mode 100644 wrp_sdk_periph/CMakeLists.txt
 rename {config/peripheral => wrp_sdk_periph/config}/gps_receiver_node_config.yaml (100%)
 rename {config/peripheral => wrp_sdk_periph/config}/imu_sensor_node_config.yaml (100%)
 rename {config/peripheral => wrp_sdk_periph/config}/power_regulator_node_config.yaml (100%)
 rename {config/peripheral => wrp_sdk_periph/config}/ultrasonic_sensor_node_config.yaml (100%)
 rename {include/wrp_ros/peripheral => wrp_sdk_periph/include/wrp_sdk_periph}/gps_receiver_node.hpp (100%)
 rename {include/wrp_ros/peripheral => wrp_sdk_periph/include/wrp_sdk_periph}/imu_sensor_node.hpp (100%)
 rename {include/wrp_ros/peripheral => wrp_sdk_periph/include/wrp_sdk_periph}/lift_controller_node.hpp (65%)
 rename {include/wrp_ros/peripheral => wrp_sdk_periph/include/wrp_sdk_periph}/power_regulator_node.hpp (75%)
 rename {include/wrp_ros/peripheral => wrp_sdk_periph/include/wrp_sdk_periph}/ultrasonic_sensor_node.hpp (100%)
 create mode 100644 wrp_sdk_periph/launch/gps_receiver.launch
 create mode 100644 wrp_sdk_periph/launch/imu_sensor.launch
 create mode 100644 wrp_sdk_periph/launch/power_regulator.launch
 create mode 100644 wrp_sdk_periph/launch/ultrasonic_sensor.launch
 rename package.xml => wrp_sdk_periph/package.xml (74%)
 rename {src/peripheral => wrp_sdk_periph/src}/README.md (89%)
 rename {src/peripheral => wrp_sdk_periph/src}/gps_receiver_node.cpp (97%)
 rename {src/peripheral => wrp_sdk_periph/src}/imu_sensor_node.cpp (98%)
 rename {src/peripheral => wrp_sdk_periph/src}/lift_controller_node.cpp (76%)
 rename {src/peripheral => wrp_sdk_periph/src}/power_regulator_node.cpp (85%)
 rename {src/peripheral => wrp_sdk_periph/src}/ultrasonic_sensor_node.cpp (97%)
 create mode 100644 wrp_sdk_robot/CMakeLists.txt
 rename include/wrp_ros/mobile_base/mobile_base_ros.hpp => wrp_sdk_robot/include/wrp_sdk_robot/mobile_base_node.hpp (61%)
 rename {launch => wrp_sdk_robot/launch}/description/scout_mini_description.launch (75%)
 rename {launch => wrp_sdk_robot/launch}/description/scout_v2_description.launch (76%)
 rename {launch => wrp_sdk_robot/launch}/mobile_base/scout.launch (91%)
 rename {launch => wrp_sdk_robot/launch}/mobile_base/scout_mini.launch (91%)
 rename {launch => wrp_sdk_robot/launch}/mobile_base/tracer.launch (91%)
 rename {meshes => wrp_sdk_robot/meshes}/scout_mini/mini_base_link.dae (100%)
 rename {meshes => wrp_sdk_robot/meshes}/scout_mini/mini_wheel.dae (100%)
 rename {meshes => wrp_sdk_robot/meshes}/scout_v2/base_link.dae (100%)
 rename {meshes => wrp_sdk_robot/meshes}/scout_v2/wheel_type1.dae (100%)
 rename {meshes => wrp_sdk_robot/meshes}/scout_v2/wheel_type2.dae (100%)
 create mode 100644 wrp_sdk_robot/package.xml
 rename src/mobile_base/mobile_base_ros.cpp => wrp_sdk_robot/src/mobile_base_node.cpp (76%)
 rename {urdf => wrp_sdk_robot/urdf}/scout_mini/scout_mini.urdf (100%)
 rename {urdf => wrp_sdk_robot/urdf}/scout_mini/scout_mini.xacro (93%)
 rename {urdf => wrp_sdk_robot/urdf}/scout_mini/scout_mini_wheel.xacro (96%)
 rename {urdf => wrp_sdk_robot/urdf}/scout_v2/scout_v2.urdf (90%)
 rename {urdf => wrp_sdk_robot/urdf}/scout_v2/scout_v2.xacro (91%)
 rename {urdf => wrp_sdk_robot/urdf}/scout_v2/scout_wheel_type1.xacro (96%)
 rename {urdf => wrp_sdk_robot/urdf}/scout_v2/scout_wheel_type2.xacro (96%)

diff --git a/.github/workflows/default.yml b/.github/workflows/default.yml
index 3c482f6..7a5ec82 100644
--- a/.github/workflows/default.yml
+++ b/.github/workflows/default.yml
@@ -33,7 +33,7 @@ jobs:
         run: |
           mkdir -p ${GITHUB_WORKSPACE}/catkin_ws/src
       - name: Checkout
-        uses: actions/checkout@v4
+        uses: actions/checkout@v3
         with:
           submodules: recursive
           path: "catkin_ws/src/"
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
deleted file mode 100644
index 7e7499f..0000000
--- a/.gitlab-ci.yml
+++ /dev/null
@@ -1,74 +0,0 @@
-## Build and test as catkin package
-# kinetic-catkin-build:
-#   stage: build
-#   image: rduweston/ubuntu-ci:kinetic
-#   before_script:
-#     - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
-#   script:
-#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-#     - cd /catkin_ws/src && git clone -b master --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
-#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_ros
-#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
-
-# kinetic-catkin-isolated-build:
-#   stage: build
-#   image: rduweston/ubuntu-ci:kinetic
-#   before_script:
-#     - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
-#   script:
-#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-#     - cd /catkin_ws/src && git clone -b master --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
-#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_ros
-#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
-
-melodic-catkin-build:
-  stage: build
-  image: rduweston/ubuntu-ci:melodic
-  before_script:
-    - apt-get update && apt-get install -y ca-certificates curl
-    - echo "deb https://westonrobot.jfrog.io/artifactory/wrtoolbox-release bionic main" | tee /etc/apt/sources.list.d/weston-robot.list
-    - echo "deb https://westonrobot.jfrog.io/artifactory/wrtoolbox-release bionic next" >> /etc/apt/sources.list.d/weston-robot.list
-    - curl -sSL 'https://westonrobot.jfrog.io/artifactory/api/security/keypair/wr-deb/public' | apt-key add -
-    - apt-get update && apt-get -y install wrp_sdk
-  script:
-    - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_ros
-    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
-
-# melodic-catkin-isolated-build:
-#   stage: build
-#   image: rduweston/ubuntu-ci:melodic
-#   before_script:
-#     - apt update && apt -y install curl ros-$ROS_DISTRO-teleop-twist-keyboard ros-$ROS_DISTRO-std-msgs
-#     - echo "deb https://westonrobot.jfrog.io/artifactory/wrtoolbox-release bionic main" | tee /etc/apt/sources.list.d/weston-robot.list
-#     - curl -sSL 'https://westonrobot.jfrog.io/artifactory/api/security/keypair/wr-deb/public' | apt-key add -
-#     - apt-get update && apt-get -y install wrp_sdk
-#   script:
-#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_ros
-#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
-
-noetic-catkin-build:
-  stage: build
-  image: rduweston/ubuntu-ci:noetic
-  before_script:
-    - apt-get update && apt-get install -y ca-certificates curl
-    - echo "deb https://westonrobot.jfrog.io/artifactory/wrtoolbox-release bionic main" | tee /etc/apt/sources.list.d/weston-robot.list
-    - echo "deb https://westonrobot.jfrog.io/artifactory/wrtoolbox-release bionic next" >> /etc/apt/sources.list.d/weston-robot.list
-    - curl -sSL 'https://westonrobot.jfrog.io/artifactory/api/security/keypair/wr-deb/public' | apt-key add -
-    - apt-get update && apt-get -y install wrp_sdk
-  script:
-    - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_ros
-    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
-
-# noetic-catkin-isolated-build:
-#   stage: build
-#   image: rduweston/ubuntu-ci:noetic
-#   before_script:
-#     - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
-#   script:
-#     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-#     - cd /catkin_ws/src && git clone -b master --recursive https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/public/ugv_sdk.git
-#     - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/wrp_ros
-#     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 9784867..0000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,223 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(wrp_ros)
-
-## Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
-string(REPLACE ":" ";" CMAKE_PREFIX_PATH "$ENV{CMAKE_PREFIX_PATH}")
-list(APPEND CMAKE_PREFIX_PATH "/opt/weston_robot/lib/cmake")
-
-## 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 COMPONENTS
-  message_generation
-  roscpp
-  sensor_msgs
-  geometry_msgs
-  std_msgs
-  tf2
-  tf2_ros
-  actionlib
-  actionlib_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-find_package(wrp_sdk 1.0.0 REQUIRED)
-
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(LelyIO QUIET IMPORTED_TARGET liblely-io2)
-pkg_check_modules(LelyCOAPP QUIET IMPORTED_TARGET liblely-coapp)
-
-set(BUILD_PERIPH_MODULE OFF)
-if(LelyIO_FOUND AND LelyCOAPP_FOUND)
-    message(STATUS "Lely-core libraries found, peripheral module will be included")
-    set(BUILD_PERIPH_MODULE ON)
-else()
-    message(WARNING "CANopen-related dependencies are not found, ROS nodes for peripherals will not be built. Run the following commands to install the missing libraries:
-    $ sudo apt-get install -y software-properties-common 
-    $ sudo add-apt-repository ppa:lely/ppa && sudo apt-get update
-    $ sudo apt-get install -y pkg-config liblely-coapp-dev liblely-co-tools")
-endif()
-
-## 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 ##
-################################################
-
-## Generate messages in the 'msg' folder
-add_message_files(
-    FILES
-    ActuatorState.msg
-    ActuatorStateArray.msg
-    DriverState.msg
-    LiftStatus.msg
-    LightControlType.msg
-    MotionCommand.msg
-    MotionState.msg
-    MotorState.msg
-    RangeData.msg
-    RangeDataType.msg
-    RcState.msg
-    SystemState.msg
-    PowerRegulatorChannelState.msg
-    PowerRegulatorDeviceState.msg
-)
-
-## Generate services in the 'srv' folder
-add_service_files(
-  FILES
-  AccessControl.srv
-  AssistedModeControl.srv
-  LiftQuery.srv
-  LightControl.srv
-  MotionReset.srv
-  PowerRegulatorControl.srv
-)
-
-# Generate actions in the 'action' folder
-add_action_files(
-  FILES
-  LiftControl.action
-)
-
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES
-  actionlib_msgs
-  std_msgs
-  geometry_msgs
-)
-
-catkin_package(CATKIN_DEPENDS std_msgs message_runtime)
-
-################################################
-## 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 ##
-###################################
-
-catkin_package(
- INCLUDE_DIRS include
- LIBRARIES wrp_ros
- CATKIN_DEPENDS message_generation roscpp sensor_msgs std_msgs actionlib actionlib_msgs
- DEPENDS wrp_sdk 
-)
-
-###########
-## Build ##
-###########
-
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-)
-
-add_library(wrp_sdk_ros STATIC src/mobile_base/mobile_base_ros.cpp)
-target_link_libraries(wrp_sdk_ros ${catkin_LIBRARIES} westonrobot::wrp_sdk_robot)
-add_dependencies(wrp_sdk_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-add_executable(mobile_base_node src/mobile_base/mobile_base_node.cpp)
-target_link_libraries(mobile_base_node wrp_sdk_ros ${catkin_LIBRARIES})
-
-add_executable(lift_controller_node src/peripheral/lift_controller_node.cpp)
-target_link_libraries(lift_controller_node westonrobot::wrp_sdk ${catkin_LIBRARIES})
-add_dependencies(lift_controller_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-
-# peripheral device support
-if(BUILD_PERIPH_MODULE)
-    add_executable(gps_receiver_node src/peripheral/gps_receiver_node.cpp)
-    target_link_libraries(gps_receiver_node westonrobot::wrp_sdk ${catkin_LIBRARIES})
-    add_dependencies(gps_receiver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-    add_executable(imu_sensor_node src/peripheral/imu_sensor_node.cpp)
-    target_link_libraries(imu_sensor_node westonrobot::wrp_sdk ${catkin_LIBRARIES})
-    add_dependencies(imu_sensor_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-    add_executable(ultrasonic_sensor_node src/peripheral/ultrasonic_sensor_node.cpp)
-    target_link_libraries(ultrasonic_sensor_node westonrobot::wrp_sdk ${catkin_LIBRARIES})
-    add_dependencies(ultrasonic_sensor_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-    add_executable(power_regulator_node src/peripheral/power_regulator_node.cpp)
-    target_link_libraries(power_regulator_node westonrobot::wrp_sdk ${catkin_LIBRARIES})
-    add_dependencies(power_regulator_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-endif()
-
-#############
-## 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 wrp_sdk_ros
-  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_wrp_ros.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/launch/peripheral/gps_receiver.launch b/launch/peripheral/gps_receiver.launch
deleted file mode 100644
index 80f7ff7..0000000
--- a/launch/peripheral/gps_receiver.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
-    <rosparam file="$(find wrp_ros)/config/peripheral/gps_receiver_node_config.yaml" />
-    <node pkg="wrp_ros" name="gps_receiver_node" type="gps_receiver_node" output="screen"/>
-</launch>
\ No newline at end of file
diff --git a/launch/peripheral/imu_sensor.launch b/launch/peripheral/imu_sensor.launch
deleted file mode 100644
index d00151e..0000000
--- a/launch/peripheral/imu_sensor.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
-    <rosparam file="$(find wrp_ros)/config/peripheral/imu_sensor_node_config.yaml" />
-    <node pkg="wrp_ros" name="imu_sensor_node" type="imu_sensor_node" output="screen"/>
-</launch>
\ No newline at end of file
diff --git a/launch/peripheral/power_regulator.launch b/launch/peripheral/power_regulator.launch
deleted file mode 100644
index 61c5be4..0000000
--- a/launch/peripheral/power_regulator.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
-    <rosparam file="$(find wrp_ros)/config/peripheral/power_regulator_node_config.yaml" />
-    <node pkg="wrp_ros" name="power_regulator_node" type="power_regulator_node" output="screen"/>
-</launch>
\ No newline at end of file
diff --git a/launch/peripheral/ultrasonic_sensor.launch b/launch/peripheral/ultrasonic_sensor.launch
deleted file mode 100644
index 08c4ff9..0000000
--- a/launch/peripheral/ultrasonic_sensor.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
-    <rosparam file="$(find wrp_ros)/config/peripheral/ultrasonic_sensor_node_config.yaml" />
-    <node pkg="wrp_ros" name="ultrasonic_sensor_node" type="ultrasonic_sensor_node" output="screen"/>
-</launch>
\ No newline at end of file
diff --git a/msg/RangeData.msg b/msg/RangeData.msg
deleted file mode 100644
index 800f644..0000000
--- a/msg/RangeData.msg
+++ /dev/null
@@ -1,6 +0,0 @@
-uint8 RANGE_SENSOR_TYPE_TOF = 0
-uint8 RANGE_SENSOR_TYPE_ULTRASONIC = 1
-uint8 RANGE_SENSOR_TYPE_BUMPER = 2
-
-uint8 type
-RangeDataType[8] data
\ No newline at end of file
diff --git a/msg/RangeDataType.msg b/msg/RangeDataType.msg
deleted file mode 100644
index 94448f8..0000000
--- a/msg/RangeDataType.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-uint32 id
-float32 threshold
-float32 range
\ No newline at end of file
diff --git a/msg/RcState.msg b/msg/RcState.msg
deleted file mode 100644
index 4e9437e..0000000
--- a/msg/RcState.msg
+++ /dev/null
@@ -1,6 +0,0 @@
-uint8 RC_SW_UP = 0
-uint8 RC_SW_MIDDLE = 1
-uint8 RC_SW_DOWN = 2
-
-float32[8] axes
-int32[8] buttons
\ No newline at end of file
diff --git a/src/mobile_base/README.md b/src/mobile_base/README.md
deleted file mode 100644
index f0407f4..0000000
--- a/src/mobile_base/README.md
+++ /dev/null
@@ -1,48 +0,0 @@
-# wrp_ros mobile base
-
-## About
-
-ROS wrappers around wrp_sdk mobile base interface.
-
-## Support
-
-### Robot platforms
-| Robot Platform | Robot Base Type | CAN Bitrate | Support             |
-| -------------- | --------------- | ----------- | ------------------- |
-| Scout          | "weston"        | 1000000     | Supported           |
-| Scout Mini     | "agilex"        | 500000      | Supported           |
-| Hunter         | "agilex"        | 500000      | Not fully supported |
-| Tracer         | "agilex"        | 500000      | Supported           |
-| Bunker         | "agilex"        | 500000      | Not fully supported |
-| Ranger Mini    | "agilex"        | 500000      | Not fully supported |
-
-## Nodes
-
-### mobile_base_node
-| Published Topic   | Type                        | Description                     |
-| ----------------- | --------------------------- | ------------------------------- |
-| `/system_state`   | wrp_ros::SystemState        | Outputs robot's system state    |
-| `/motion_state`   | wrp_ros::MotionState        | Outputs robot's motion state    |
-| `/actuator_state` | wrp_ros::ActuatorStateArray | Outputs robot's actuator states |
-| `/odom`           | nav_msgs::msg::Odometry     | Outputs robot's wheel odometry  |
-| `/battery_state`  | sensor_msgs::BatteryState   | Outputs robot's battery state   |
-
-| Subscribed Topic | Type                      | Description              |
-| ---------------- | ------------------------- | ------------------------ |
-| `/cmd_vel`       | geometry_msgs::msg::Twist | Control robot's movement |
-
-| Service                  | Type                         | Description                             |
-| ------------------------ | ---------------------------- | --------------------------------------- |
-| `/access_control`        | wrp_ros::AccessControl       | (Re)Gain or Renounce control token      |
-| `/assisted_mode_control` | wrp_ros::AssistedModeControl | (En/Dis)able Assisted mode              |
-| `/light_control`         | wrp_ros::LightControl        | Control robot's lights                  |
-| `/motion_reset`          | wrp_ros::MotionReset         | Reset wheel position or odometry values |
-
-| Parameter         | Type | Description                                                                                         |
-| ----------------- | ---- | --------------------------------------------------------------------------------------------------- |
-| `robot_base_type` | str  | Robot base type.<br/>Default: "weston"<br/>Supported: "weston", "agilex"                            |
-| `can_device`      | str  | Robot's CAN port.<br/>Default: "can0"                                                               |
-| `base_frame`      | str  | Base frame id.<br/>Default: "base_link"<br/>                                                        |
-| `odom_frame`      | str  | Odometry frame id.<br />Default: "odom"                                                             |
-| `auto_reconnect`  | bool | Automatically attempt to gain control token.<br />Default: true                                     |
-| `motion_type`     | str  | Robot's motion type. <br/>Default: "skid_steer"<br/>Supported: "skid_steer", "omni", "differential" |
diff --git a/src/mobile_base/mobile_base_node.cpp b/src/mobile_base/mobile_base_node.cpp
deleted file mode 100644
index b1301d8..0000000
--- a/src/mobile_base/mobile_base_node.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-/*
- * mobile_base_node.cpp
- *
- * Created on: Dec 17, 2021 09:59
- * Description:
- *
- * Copyright (c) 2021 Weston Robot Pte. Ltd.
- */
-
-#include <ros/ros.h>
-
-#include "wrp_ros/mobile_base/mobile_base_ros.hpp"
-
-using namespace westonrobot;
-
-int main(int argc, char **argv) {
-  // setup ROS node
-  ros::init(argc, argv, "mobile_base_node");
-  ros::NodeHandle node("~");
-
-  MobileBaseRos base(&node);
-
-  base.Run(50);
-
-  return 0;
-}
\ No newline at end of file
diff --git a/wrp_sdk_msgs/CMakeLists.txt b/wrp_sdk_msgs/CMakeLists.txt
new file mode 100644
index 0000000..f8c1077
--- /dev/null
+++ b/wrp_sdk_msgs/CMakeLists.txt
@@ -0,0 +1,71 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(wrp_sdk_msgs)
+
+# # 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 COMPONENTS
+  message_generation
+  roscpp
+  geometry_msgs
+  std_msgs
+  actionlib_msgs
+)
+
+add_message_files(
+  FILES
+
+  # mobile base
+  "ActuatorState.msg"
+  "ActuatorStateArray.msg"
+  "DriverState.msg"
+  "LightControlType.msg"
+  "MotionCommand.msg"
+  "MotionState.msg"
+  "MotorState.msg"
+  "RangeData.msg"
+  "RangeDataArray.msg"
+  "RcState.msg"
+  "SystemState.msg"
+
+  # peripheral
+  "PowerRegulatorChannelState.msg"
+  "PowerRegulatorDeviceState.msg"
+  "LiftState.msg"
+)
+
+# # Generate services in the 'srv' folder
+add_service_files(
+  FILES
+
+  # mobile base
+  "AccessControl.srv"
+  "AssistedModeControl.srv"
+  "LightControl.srv"
+  "MotionReset.srv"
+
+  # peripheral
+  "PowerRegulatorControl.srv"
+  "LiftQuery.srv"
+)
+
+# Generate actions in the 'action' folder
+add_action_files(
+  FILES
+
+  # peripheral
+  "LiftControl.action"
+)
+
+# # Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  actionlib_msgs
+  std_msgs
+  geometry_msgs
+)
+
+catkin_package(CATKIN_DEPENDS std_msgs actionlib_msgs geometry_msgs message_runtime)
diff --git a/action/LiftControl.action b/wrp_sdk_msgs/action/LiftControl.action
similarity index 100%
rename from action/LiftControl.action
rename to wrp_sdk_msgs/action/LiftControl.action
diff --git a/msg/ActuatorState.msg b/wrp_sdk_msgs/msg/ActuatorState.msg
similarity index 100%
rename from msg/ActuatorState.msg
rename to wrp_sdk_msgs/msg/ActuatorState.msg
diff --git a/msg/ActuatorStateArray.msg b/wrp_sdk_msgs/msg/ActuatorStateArray.msg
similarity index 100%
rename from msg/ActuatorStateArray.msg
rename to wrp_sdk_msgs/msg/ActuatorStateArray.msg
diff --git a/msg/DriverState.msg b/wrp_sdk_msgs/msg/DriverState.msg
similarity index 100%
rename from msg/DriverState.msg
rename to wrp_sdk_msgs/msg/DriverState.msg
diff --git a/msg/LiftStatus.msg b/wrp_sdk_msgs/msg/LiftState.msg
similarity index 98%
rename from msg/LiftStatus.msg
rename to wrp_sdk_msgs/msg/LiftState.msg
index 0ffdc38..d963434 100644
--- a/msg/LiftStatus.msg
+++ b/wrp_sdk_msgs/msg/LiftState.msg
@@ -1,4 +1,5 @@
 uint8 LIFT_HORIZONTAL=0
 uint8 LIFT_VERTICAL=1
+
 uint8 id
 uint32 position
diff --git a/msg/LightControlType.msg b/wrp_sdk_msgs/msg/LightControlType.msg
similarity index 100%
rename from msg/LightControlType.msg
rename to wrp_sdk_msgs/msg/LightControlType.msg
diff --git a/msg/MotionCommand.msg b/wrp_sdk_msgs/msg/MotionCommand.msg
similarity index 100%
rename from msg/MotionCommand.msg
rename to wrp_sdk_msgs/msg/MotionCommand.msg
diff --git a/msg/MotionState.msg b/wrp_sdk_msgs/msg/MotionState.msg
similarity index 100%
rename from msg/MotionState.msg
rename to wrp_sdk_msgs/msg/MotionState.msg
diff --git a/msg/MotorState.msg b/wrp_sdk_msgs/msg/MotorState.msg
similarity index 100%
rename from msg/MotorState.msg
rename to wrp_sdk_msgs/msg/MotorState.msg
diff --git a/msg/PowerRegulatorChannelState.msg b/wrp_sdk_msgs/msg/PowerRegulatorChannelState.msg
similarity index 100%
rename from msg/PowerRegulatorChannelState.msg
rename to wrp_sdk_msgs/msg/PowerRegulatorChannelState.msg
diff --git a/msg/PowerRegulatorDeviceState.msg b/wrp_sdk_msgs/msg/PowerRegulatorDeviceState.msg
similarity index 100%
rename from msg/PowerRegulatorDeviceState.msg
rename to wrp_sdk_msgs/msg/PowerRegulatorDeviceState.msg
diff --git a/wrp_sdk_msgs/msg/RangeData.msg b/wrp_sdk_msgs/msg/RangeData.msg
new file mode 100644
index 0000000..fb648b8
--- /dev/null
+++ b/wrp_sdk_msgs/msg/RangeData.msg
@@ -0,0 +1,5 @@
+uint32 id
+float32 field_of_view
+float32 min_range
+float32 max_range
+float32 range
\ No newline at end of file
diff --git a/wrp_sdk_msgs/msg/RangeDataArray.msg b/wrp_sdk_msgs/msg/RangeDataArray.msg
new file mode 100644
index 0000000..addd873
--- /dev/null
+++ b/wrp_sdk_msgs/msg/RangeDataArray.msg
@@ -0,0 +1,7 @@
+uint8 RANGE_SENSOR_TYPE_ULTRASONIC = 1
+uint8 RANGE_SENSOR_TYPE_INFRARED = 1
+uint8 RANGE_SENSOR_TYPE_TOF = 2
+uint8 RANGE_SENSOR_TYPE_BUMPER = 3
+
+uint8 type
+RangeData[] data
\ No newline at end of file
diff --git a/wrp_sdk_msgs/msg/RcState.msg b/wrp_sdk_msgs/msg/RcState.msg
new file mode 100644
index 0000000..22cdb90
--- /dev/null
+++ b/wrp_sdk_msgs/msg/RcState.msg
@@ -0,0 +1,3 @@
+std_msgs/Header header
+float32[8] axes
+int32[8] buttons
\ No newline at end of file
diff --git a/msg/SystemState.msg b/wrp_sdk_msgs/msg/SystemState.msg
similarity index 100%
rename from msg/SystemState.msg
rename to wrp_sdk_msgs/msg/SystemState.msg
diff --git a/wrp_sdk_msgs/package.xml b/wrp_sdk_msgs/package.xml
new file mode 100644
index 0000000..c91ff67
--- /dev/null
+++ b/wrp_sdk_msgs/package.xml
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>wrp_sdk_msgs</name>
+  <version>0.0.0</version>
+  <description>The wrp_sdk_msgs package</description>
+
+  <maintainer email="hans.kurnia@westonrobot.com">hans.kurnia</maintainer>
+
+  <license>TODO</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  
+  <build_depend>roscpp</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>actionlib_msgs</build_export_depend>
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+
+  <exec_depend>message_runtime</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/srv/AccessControl.srv b/wrp_sdk_msgs/srv/AccessControl.srv
similarity index 100%
rename from srv/AccessControl.srv
rename to wrp_sdk_msgs/srv/AccessControl.srv
diff --git a/srv/AssistedModeControl.srv b/wrp_sdk_msgs/srv/AssistedModeControl.srv
similarity index 100%
rename from srv/AssistedModeControl.srv
rename to wrp_sdk_msgs/srv/AssistedModeControl.srv
diff --git a/srv/LiftQuery.srv b/wrp_sdk_msgs/srv/LiftQuery.srv
similarity index 100%
rename from srv/LiftQuery.srv
rename to wrp_sdk_msgs/srv/LiftQuery.srv
diff --git a/srv/LightControl.srv b/wrp_sdk_msgs/srv/LightControl.srv
similarity index 100%
rename from srv/LightControl.srv
rename to wrp_sdk_msgs/srv/LightControl.srv
diff --git a/srv/MotionReset.srv b/wrp_sdk_msgs/srv/MotionReset.srv
similarity index 100%
rename from srv/MotionReset.srv
rename to wrp_sdk_msgs/srv/MotionReset.srv
diff --git a/srv/PowerRegulatorControl.srv b/wrp_sdk_msgs/srv/PowerRegulatorControl.srv
similarity index 100%
rename from srv/PowerRegulatorControl.srv
rename to wrp_sdk_msgs/srv/PowerRegulatorControl.srv
diff --git a/wrp_sdk_periph/CMakeLists.txt b/wrp_sdk_periph/CMakeLists.txt
new file mode 100644
index 0000000..96325bd
--- /dev/null
+++ b/wrp_sdk_periph/CMakeLists.txt
@@ -0,0 +1,83 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(wrp_sdk_periph)
+
+# # Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+string(REPLACE ":" ";" CMAKE_PREFIX_PATH "$ENV{CMAKE_PREFIX_PATH}")
+list(APPEND CMAKE_PREFIX_PATH "/opt/weston_robot/lib/cmake")
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(LelyIO QUIET IMPORTED_TARGET liblely-io2)
+pkg_check_modules(LelyCOAPP QUIET IMPORTED_TARGET liblely-coapp)
+
+set(BUILD_CANOPEN_SUPPORT OFF)
+
+if(LelyIO_FOUND AND LelyCOAPP_FOUND)
+  message(STATUS "Lely-core libraries found, peripheral module will be included")
+  set(BUILD_CANOPEN_SUPPORT ON)
+else()
+  message(WARNING "CANopen-related dependencies are not found, ROS nodes for peripherals will not be built. Run the following commands to install the missing libraries:
+    $ sudo apt-get install -y software-properties-common 
+    $ sudo add-apt-repository ppa:lely/ppa && sudo apt-get update
+    $ sudo apt-get install -y pkg-config liblely-coapp-dev liblely-co-tools")
+endif()
+
+# # 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 COMPONENTS
+  roscpp
+  wrp_sdk_msgs
+  actionlib
+)
+
+find_package(wrp_sdk 1.3 REQUIRED)
+
+# ##################################
+# # catkin specific configuration ##
+# ##################################
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS roscpp wrp_sdk_msgs actionlib
+  DEPENDS wrp_sdk
+)
+
+# ##########
+# # Build ##
+# ##########
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(lift_controller_node src/lift_controller_node.cpp)
+target_link_libraries(lift_controller_node westonrobot::wrp_sdk_peripheral ${catkin_LIBRARIES})
+add_dependencies(lift_controller_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+add_executable(ultrasonic_sensor_node src/ultrasonic_sensor_node.cpp)
+target_link_libraries(ultrasonic_sensor_node westonrobot::wrp_sdk_peripheral ${catkin_LIBRARIES})
+add_dependencies(ultrasonic_sensor_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+# canopen device support
+if(BUILD_CANOPEN_SUPPORT)
+  add_executable(gps_receiver_node src/gps_receiver_node.cpp)
+  target_link_libraries(gps_receiver_node westonrobot::wrp_sdk ${catkin_LIBRARIES})
+  add_dependencies(gps_receiver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+  add_executable(imu_sensor_node src/imu_sensor_node.cpp)
+  target_link_libraries(imu_sensor_node westonrobot::wrp_sdk ${catkin_LIBRARIES})
+  add_dependencies(imu_sensor_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+  add_executable(power_regulator_node src/power_regulator_node.cpp)
+  target_link_libraries(power_regulator_node westonrobot::wrp_sdk ${catkin_LIBRARIES})
+  add_dependencies(power_regulator_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+endif()
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
\ No newline at end of file
diff --git a/config/peripheral/gps_receiver_node_config.yaml b/wrp_sdk_periph/config/gps_receiver_node_config.yaml
similarity index 100%
rename from config/peripheral/gps_receiver_node_config.yaml
rename to wrp_sdk_periph/config/gps_receiver_node_config.yaml
diff --git a/config/peripheral/imu_sensor_node_config.yaml b/wrp_sdk_periph/config/imu_sensor_node_config.yaml
similarity index 100%
rename from config/peripheral/imu_sensor_node_config.yaml
rename to wrp_sdk_periph/config/imu_sensor_node_config.yaml
diff --git a/config/peripheral/power_regulator_node_config.yaml b/wrp_sdk_periph/config/power_regulator_node_config.yaml
similarity index 100%
rename from config/peripheral/power_regulator_node_config.yaml
rename to wrp_sdk_periph/config/power_regulator_node_config.yaml
diff --git a/config/peripheral/ultrasonic_sensor_node_config.yaml b/wrp_sdk_periph/config/ultrasonic_sensor_node_config.yaml
similarity index 100%
rename from config/peripheral/ultrasonic_sensor_node_config.yaml
rename to wrp_sdk_periph/config/ultrasonic_sensor_node_config.yaml
diff --git a/include/wrp_ros/peripheral/gps_receiver_node.hpp b/wrp_sdk_periph/include/wrp_sdk_periph/gps_receiver_node.hpp
similarity index 100%
rename from include/wrp_ros/peripheral/gps_receiver_node.hpp
rename to wrp_sdk_periph/include/wrp_sdk_periph/gps_receiver_node.hpp
diff --git a/include/wrp_ros/peripheral/imu_sensor_node.hpp b/wrp_sdk_periph/include/wrp_sdk_periph/imu_sensor_node.hpp
similarity index 100%
rename from include/wrp_ros/peripheral/imu_sensor_node.hpp
rename to wrp_sdk_periph/include/wrp_sdk_periph/imu_sensor_node.hpp
diff --git a/include/wrp_ros/peripheral/lift_controller_node.hpp b/wrp_sdk_periph/include/wrp_sdk_periph/lift_controller_node.hpp
similarity index 65%
rename from include/wrp_ros/peripheral/lift_controller_node.hpp
rename to wrp_sdk_periph/include/wrp_sdk_periph/lift_controller_node.hpp
index de34c47..b0aa9cf 100644
--- a/include/wrp_ros/peripheral/lift_controller_node.hpp
+++ b/wrp_sdk_periph/include/wrp_sdk_periph/lift_controller_node.hpp
@@ -15,11 +15,12 @@
 #include <ros/ros.h>
 #include <actionlib/server/simple_action_server.h>
 
-#include <wrp_ros/LiftQuery.h>
-#include <wrp_ros/LiftStatus.h>
-#include <wrp_ros/LiftControlAction.h>
 #include "wrp_sdk/peripheral/lift_controller.hpp"
 
+#include <wrp_sdk_msgs/LiftQuery.h>
+#include <wrp_sdk_msgs/LiftState.h>
+#include <wrp_sdk_msgs/LiftControlAction.h>
+
 namespace westonrobot {
 class LiftControllerNode {
  public:
@@ -31,18 +32,18 @@ class LiftControllerNode {
   std::string device_path_ = "/dev/ttyUSB0";
 
   ros::NodeHandle nh_;
-  ros::Publisher lift_status_pub_;
+  ros::Publisher lift_state_pub_;
   ros::ServiceServer query_server_;
-  actionlib::SimpleActionServer<wrp_ros::LiftControlAction> lift_control_server_;
+  actionlib::SimpleActionServer<wrp_sdk_msgs::LiftControlAction> lift_control_server_;
 
-  wrp_ros::LiftStatus lift_status_;
+  wrp_sdk_msgs::LiftState lift_state_;
   LiftController lift_controller_;
 
   void PublishLiftState(void);
   static void ExitSignalHandler(int sig);
-  void LiftControllerCallback(const wrp_ros::LiftControlGoalConstPtr& goal);
-  bool QueryCallback(wrp_ros::LiftQuery::Request& req,
-                     wrp_ros::LiftQuery::Response& res);
+  void LiftControllerCallback(const wrp_sdk_msgs::LiftControlGoalConstPtr& goal);
+  bool QueryCallback(wrp_sdk_msgs::LiftQuery::Request& req,
+                     wrp_sdk_msgs::LiftQuery::Response& res);
   bool ReadParameters(void);
 };
 }  // namespace westonrobot
diff --git a/include/wrp_ros/peripheral/power_regulator_node.hpp b/wrp_sdk_periph/include/wrp_sdk_periph/power_regulator_node.hpp
similarity index 75%
rename from include/wrp_ros/peripheral/power_regulator_node.hpp
rename to wrp_sdk_periph/include/wrp_sdk_periph/power_regulator_node.hpp
index 50410db..5cdd800 100644
--- a/include/wrp_ros/peripheral/power_regulator_node.hpp
+++ b/wrp_sdk_periph/include/wrp_sdk_periph/power_regulator_node.hpp
@@ -13,8 +13,8 @@
 #include <memory>
 #include <ros/ros.h>
 
-#include "wrp_ros/PowerRegulatorDeviceState.h"
-#include "wrp_ros/PowerRegulatorControl.h"
+#include "wrp_sdk_msgs/PowerRegulatorDeviceState.h"
+#include "wrp_sdk_msgs/PowerRegulatorControl.h"
 
 #include "wrp_sdk/interface/power_regulator_interface.hpp"
 
@@ -34,8 +34,8 @@ class PowerRegulatorNode {
   ros::ServiceServer cmd_service_;
 
   void PublishCallback(const PowerRegulatorInterface::DeviceState& data);
-  bool HandleCommand(wrp_ros::PowerRegulatorControl::Request& req,
-                     wrp_ros::PowerRegulatorControl::Response& res);
+  bool HandleCommand(wrp_sdk_msgs::PowerRegulatorControl::Request& req,
+                     wrp_sdk_msgs::PowerRegulatorControl::Response& res);
   bool ReadParameters();
 };
 }  // namespace westonrobot
diff --git a/include/wrp_ros/peripheral/ultrasonic_sensor_node.hpp b/wrp_sdk_periph/include/wrp_sdk_periph/ultrasonic_sensor_node.hpp
similarity index 100%
rename from include/wrp_ros/peripheral/ultrasonic_sensor_node.hpp
rename to wrp_sdk_periph/include/wrp_sdk_periph/ultrasonic_sensor_node.hpp
diff --git a/wrp_sdk_periph/launch/gps_receiver.launch b/wrp_sdk_periph/launch/gps_receiver.launch
new file mode 100644
index 0000000..a17cb85
--- /dev/null
+++ b/wrp_sdk_periph/launch/gps_receiver.launch
@@ -0,0 +1,4 @@
+<launch>
+    <rosparam file="$(find wrp_sdk_periph)/config/peripheral/gps_receiver_node_config.yaml" />
+    <node pkg="wrp_sdk_periph" name="gps_receiver_node" type="gps_receiver_node" output="screen"/>
+</launch>
\ No newline at end of file
diff --git a/wrp_sdk_periph/launch/imu_sensor.launch b/wrp_sdk_periph/launch/imu_sensor.launch
new file mode 100644
index 0000000..b5d691f
--- /dev/null
+++ b/wrp_sdk_periph/launch/imu_sensor.launch
@@ -0,0 +1,4 @@
+<launch>
+    <rosparam file="$(find wrp_sdk_periph)/config/peripheral/imu_sensor_node_config.yaml" />
+    <node pkg="wrp_sdk_periph" name="imu_sensor_node" type="imu_sensor_node" output="screen"/>
+</launch>
\ No newline at end of file
diff --git a/wrp_sdk_periph/launch/power_regulator.launch b/wrp_sdk_periph/launch/power_regulator.launch
new file mode 100644
index 0000000..e09e13b
--- /dev/null
+++ b/wrp_sdk_periph/launch/power_regulator.launch
@@ -0,0 +1,4 @@
+<launch>
+    <rosparam file="$(find wrp_sdk_periph)/config/peripheral/power_regulator_node_config.yaml" />
+    <node pkg="wrp_sdk_periph" name="power_regulator_node" type="power_regulator_node" output="screen"/>
+</launch>
\ No newline at end of file
diff --git a/wrp_sdk_periph/launch/ultrasonic_sensor.launch b/wrp_sdk_periph/launch/ultrasonic_sensor.launch
new file mode 100644
index 0000000..12bab29
--- /dev/null
+++ b/wrp_sdk_periph/launch/ultrasonic_sensor.launch
@@ -0,0 +1,4 @@
+<launch>
+    <rosparam file="$(find wrp_sdk_periph)/config/peripheral/ultrasonic_sensor_node_config.yaml" />
+    <node pkg="wrp_sdk_periph" name="ultrasonic_sensor_node" type="ultrasonic_sensor_node" output="screen"/>
+</launch>
\ No newline at end of file
diff --git a/package.xml b/wrp_sdk_periph/package.xml
similarity index 74%
rename from package.xml
rename to wrp_sdk_periph/package.xml
index eea96c2..230d98e 100644
--- a/package.xml
+++ b/wrp_sdk_periph/package.xml
@@ -1,19 +1,25 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>wrp_ros</name>
+  <name>wrp_sdk_periph</name>
   <version>0.0.0</version>
-  <description>The wrp_ros package</description>
+  <description>The wrp_sdk_periph package</description>
 
-  <author email="ruixiang.du@westonrobot.com">Ruixiang Du</author>
-  <maintainer email="contact@westonrobot.com">Weston Robot</maintainer>
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="hans.kurnia@westonrobot.com">hans.kurnia</maintainer>
 
-  <license>BSD</license>
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
 
 
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/wrp_ros</url> -->
+  <!-- <url type="website">http://wiki.ros.org/wrp_sdk_periph</url> -->
 
 
   <!-- Author tags are optional, multiple are allowed, one per tag -->
@@ -44,17 +50,10 @@
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
-  <depend>message_generation</depend>
   <depend>roscpp</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>tf2</depend>
-  <depend>tf2_ros</depend>
+  <depend>wrp_sdk_msgs</depend>
   <depend>actionlib</depend>
-  <depend>actionlib_msgs</depend>
 
-  <exec_depend>message_runtime</exec_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
diff --git a/src/peripheral/README.md b/wrp_sdk_periph/src/README.md
similarity index 89%
rename from src/peripheral/README.md
rename to wrp_sdk_periph/src/README.md
index 4dbf367..d24bccc 100644
--- a/src/peripheral/README.md
+++ b/wrp_sdk_periph/src/README.md
@@ -1,4 +1,4 @@
-# wrp_ros peripherals
+# wrp_sdk_periph peripherals
 
 ## About
 
@@ -47,11 +47,11 @@ ROS wrappers around wrp_sdk peripheral drivers.
 
 | Published Topic          | Type                               | Description                             |
 | ------------------------ | ---------------------------------- | --------------------------------------- |
-| `/power_regulator/state` | wrp_ros::PowerRegulatorDeviceState | Outputs the power regulator state data. |
+| `/power_regulator/state` | wrp_sdk_periph::PowerRegulatorDeviceState | Outputs the power regulator state data. |
 
 | Service                | Type                           | Description                              |
 | ---------------------- | ------------------------------ | ---------------------------------------- |
-| `/power_regulator/cmd` | wrp_ros::PowerRegulatorControl | Control power regulator output channels. |
+| `/power_regulator/cmd` | wrp_sdk_periph::PowerRegulatorControl | Control power regulator output channels. |
 
 | Parameter     | Type   | Description                                                  |
 | ------------- | ------ | ------------------------------------------------------------ |
@@ -61,15 +61,15 @@ ROS wrappers around wrp_sdk peripheral drivers.
 
 | Published Topic                | Type                | Description                                |
 | ------------------------------ | ------------------- | ------------------------------------------ |
-| `/lift_controller/lift_status` | wrp_ros::LiftStatus | Outputs the lift id and position. |
+| `/lift_controller/lift_state` | wrp_sdk_periph::LiftState | Outputs the lift id and position. |
 
 | Action                  | Type                       | Description                  |
 | ----------------------- | -------------------------- | ---------------------------- |
-| `/lift_controller/goal` | wrp_ros::LiftControlAction | Provides a goal to the lift. |
+| `/lift_controller/goal` | wrp_sdk_periph::LiftControlAction | Provides a goal to the lift. |
 
 | Service                        | Type               | Description                              |
 | ------------------------------ | ------------------ | ---------------------------------------- |
-| `/lift_controller/query_state` | wrp_ros::LiftQuery | Query for state of the provided lift id. |
+| `/lift_controller/query_state` | wrp_sdk_periph::LiftQuery | Query for state of the provided lift id. |
 
 | Parameter     | Type   | Description                                                      |
 | ------------- | ------ | ---------------------------------------------------------------- |
diff --git a/src/peripheral/gps_receiver_node.cpp b/wrp_sdk_periph/src/gps_receiver_node.cpp
similarity index 97%
rename from src/peripheral/gps_receiver_node.cpp
rename to wrp_sdk_periph/src/gps_receiver_node.cpp
index 661c609..bcaaac1 100644
--- a/src/peripheral/gps_receiver_node.cpp
+++ b/wrp_sdk_periph/src/gps_receiver_node.cpp
@@ -7,7 +7,7 @@
  * Copyright (c) 2021 Weston Robot Pte. Ltd.
  */
 
-#include "wrp_ros/peripheral/gps_receiver_node.hpp"
+#include "wrp_sdk_periph/peripheral/gps_receiver_node.hpp"
 
 #include "wrp_sdk/peripheral/gps_receiver_nmea.hpp"
 
diff --git a/src/peripheral/imu_sensor_node.cpp b/wrp_sdk_periph/src/imu_sensor_node.cpp
similarity index 98%
rename from src/peripheral/imu_sensor_node.cpp
rename to wrp_sdk_periph/src/imu_sensor_node.cpp
index 1395e42..8360a36 100644
--- a/src/peripheral/imu_sensor_node.cpp
+++ b/wrp_sdk_periph/src/imu_sensor_node.cpp
@@ -7,7 +7,7 @@
  * Copyright (c) 2021 Weston Robot Pte. Ltd.
  */
 
-#include "wrp_ros/peripheral/imu_sensor_node.hpp"
+#include "wrp_sdk_periph/peripheral/imu_sensor_node.hpp"
 
 #include "wrp_sdk/peripheral/imu_sensor_wit.hpp"
 #include "wrp_sdk/peripheral/imu_sensor_hipnuc.hpp"
diff --git a/src/peripheral/lift_controller_node.cpp b/wrp_sdk_periph/src/lift_controller_node.cpp
similarity index 76%
rename from src/peripheral/lift_controller_node.cpp
rename to wrp_sdk_periph/src/lift_controller_node.cpp
index 504bc6f..4d0a6ed 100755
--- a/src/peripheral/lift_controller_node.cpp
+++ b/wrp_sdk_periph/src/lift_controller_node.cpp
@@ -7,13 +7,14 @@
  *
  * @copyright Copyright (c) 2024 Weston Robot Pte. Ltd.
  */
-#include "wrp_ros/peripheral/lift_controller_node.hpp"
+#include "wrp_sdk_periph/lift_controller_node.hpp"
+
 namespace westonrobot {
 LiftControllerNode::LiftControllerNode()
     : lift_controller_(),
       lift_control_server_(
           nh_, "/lift_controller/goal",
-          [this](const wrp_ros::LiftControlGoalConstPtr& goal) {
+          [this](const wrp_sdk_msgs::LiftControlGoalConstPtr& goal) {
             this->LiftControllerCallback(goal);
           },
           false) {
@@ -27,8 +28,8 @@ LiftControllerNode::LiftControllerNode()
     ros::shutdown();
   }
 
-  lift_status_pub_ =
-      nh_.advertise<wrp_ros::LiftStatus>("/lift_controller/lift_status", 10);
+  lift_state_pub_ =
+      nh_.advertise<wrp_sdk_msgs::LiftState>("/lift_controller/lift_state", 10);
 
   query_server_ = nh_.advertiseService(
       "/lift_controller/query_state", &LiftControllerNode::QueryCallback, this);
@@ -44,12 +45,12 @@ LiftControllerNode::~LiftControllerNode() {
 }
 
 void LiftControllerNode::LiftControllerCallback(
-    const wrp_ros::LiftControlGoalConstPtr& goal) {
-  wrp_ros::LiftControlFeedback feedback;
-  wrp_ros::LiftControlResult result;
+    const wrp_sdk_msgs::LiftControlGoalConstPtr& goal) {
+  wrp_sdk_msgs::LiftControlFeedback feedback;
+  wrp_sdk_msgs::LiftControlResult result;
 
-  if (goal->id != lift_status_.LIFT_HORIZONTAL &&
-      goal->id != lift_status_.LIFT_VERTICAL) {
+  if (goal->id != lift_state_.LIFT_HORIZONTAL &&
+      goal->id != lift_state_.LIFT_VERTICAL) {
     ROS_ERROR("Invalid id. Valid id are 0 (horizontal) and 1 (vertical)");
     result.id = goal->id;
     lift_control_server_.setAborted(result, "Invalid id");
@@ -79,10 +80,10 @@ void LiftControllerNode::LiftControllerCallback(
   lift_control_server_.setSucceeded(result);
 }
 
-bool LiftControllerNode::QueryCallback(wrp_ros::LiftQuery::Request& req,
-                                       wrp_ros::LiftQuery::Response& res) {
-  if (req.id != lift_status_.LIFT_HORIZONTAL &&
-      req.id != lift_status_.LIFT_VERTICAL) {
+bool LiftControllerNode::QueryCallback(wrp_sdk_msgs::LiftQuery::Request& req,
+                                       wrp_sdk_msgs::LiftQuery::Response& res) {
+  if (req.id != lift_state_.LIFT_HORIZONTAL &&
+      req.id != lift_state_.LIFT_VERTICAL) {
     ROS_ERROR("Invalid id. Valid id are 0 (horizontal) and 1 (vertical)");
     return false;
   }
@@ -96,13 +97,13 @@ bool LiftControllerNode::QueryCallback(wrp_ros::LiftQuery::Request& req,
 void LiftControllerNode::PublishLiftState() {
   signal(SIGINT, LiftControllerNode::ExitSignalHandler);
   while (ros::ok) {
-    for (uint8_t id = lift_status_.LIFT_HORIZONTAL;
-         id <= lift_status_.LIFT_VERTICAL; ++id) {
+    for (uint8_t id = lift_state_.LIFT_HORIZONTAL;
+         id <= lift_state_.LIFT_VERTICAL; ++id) {
       LiftState lift_state = lift_controller_.GetLiftState(id);
 
-      lift_status_.id = id;
-      lift_status_.position = lift_state.position;
-      lift_status_pub_.publish(lift_status_);
+      lift_state_.id = id;
+      lift_state_.position = lift_state.position;
+      lift_state_pub_.publish(lift_state_);
     }
     ros::spinOnce();
     ros::Rate(10).sleep();
diff --git a/src/peripheral/power_regulator_node.cpp b/wrp_sdk_periph/src/power_regulator_node.cpp
similarity index 85%
rename from src/peripheral/power_regulator_node.cpp
rename to wrp_sdk_periph/src/power_regulator_node.cpp
index 2245ed9..ec7e810 100644
--- a/src/peripheral/power_regulator_node.cpp
+++ b/wrp_sdk_periph/src/power_regulator_node.cpp
@@ -7,7 +7,7 @@
  * Copyright (c) 2021 Weston Robot Pte. Ltd.
  */
 
-#include "wrp_ros/peripheral/power_regulator_node.hpp"
+#include "wrp_sdk_periph/peripheral/power_regulator_node.hpp"
 
 #include "wrp_sdk/peripheral/power_regulator_v2.hpp"
 
@@ -25,7 +25,7 @@ PowerRegulatorNode::PowerRegulatorNode() {
     ros::shutdown();
   }
 
-  state_pub_ = nh_.advertise<wrp_ros::PowerRegulatorDeviceState>(
+  state_pub_ = nh_.advertise<wrp_sdk_periph::PowerRegulatorDeviceState>(
       "/power_regulator/state", 5);
 
   cmd_service_ = nh_.advertiseService("/power_regulator/cmd",
@@ -38,21 +38,21 @@ PowerRegulatorNode::PowerRegulatorNode() {
 PowerRegulatorNode::~PowerRegulatorNode() { ros::shutdown(); }
 
 bool PowerRegulatorNode::HandleCommand(
-    wrp_ros::PowerRegulatorControl::Request& req,
-    wrp_ros::PowerRegulatorControl::Response& res) {
+    wrp_sdk_periph::PowerRegulatorControl::Request& req,
+    wrp_sdk_periph::PowerRegulatorControl::Response& res) {
   ROS_INFO("Power regulator channel: %d, %d", req.channel, req.enable);
 
   PowerRegulatorInterface::OutputChannel chn;
-  if (req.channel == wrp_ros::PowerRegulatorControl::Request::CHANNEL_19V) {
+  if (req.channel == wrp_sdk_periph::PowerRegulatorControl::Request::CHANNEL_19V) {
     chn = PowerRegulatorV2::kChannel19V;
   } else if (req.channel ==
-             wrp_ros::PowerRegulatorControl::Request::CHANNEL_12V) {
+             wrp_sdk_periph::PowerRegulatorControl::Request::CHANNEL_12V) {
     chn = PowerRegulatorV2::kChannel12V;
   } else if (req.channel ==
-             wrp_ros::PowerRegulatorControl::Request::CHANNEL_5VI) {
+             wrp_sdk_periph::PowerRegulatorControl::Request::CHANNEL_5VI) {
     chn = PowerRegulatorV2::kChannel5Vi;
   } else if (req.channel ==
-             wrp_ros::PowerRegulatorControl::Request::CHANNEL_12VI) {
+             wrp_sdk_periph::PowerRegulatorControl::Request::CHANNEL_12VI) {
     chn = PowerRegulatorV2::kChannel12Vi;
   } else {
     res.state = false;
@@ -68,7 +68,7 @@ void PowerRegulatorNode::PublishCallback(
     const PowerRegulatorInterface::DeviceState& data) {
   //   ROS_INFO("regulator msg received");
 
-  wrp_ros::PowerRegulatorDeviceState state_msg;
+  wrp_sdk_periph::PowerRegulatorDeviceState state_msg;
 
   state_msg.input_voltage = data.input_voltage;
   state_msg.fan_speed = data.fan_speed;
diff --git a/src/peripheral/ultrasonic_sensor_node.cpp b/wrp_sdk_periph/src/ultrasonic_sensor_node.cpp
similarity index 97%
rename from src/peripheral/ultrasonic_sensor_node.cpp
rename to wrp_sdk_periph/src/ultrasonic_sensor_node.cpp
index efd0fa6..e3f9716 100644
--- a/src/peripheral/ultrasonic_sensor_node.cpp
+++ b/wrp_sdk_periph/src/ultrasonic_sensor_node.cpp
@@ -7,7 +7,7 @@
  * Copyright (c) 2021 Weston Robot Pte. Ltd.
  */
 
-#include "wrp_ros/peripheral/ultrasonic_sensor_node.hpp"
+#include "wrp_sdk_periph/ultrasonic_sensor_node.hpp"
 
 #include "wrp_sdk/peripheral/ultrasonic_sensor_dyp.hpp"
 #include "wrp_sdk/peripheral/ultrasonic_sensor_w200d.hpp"
diff --git a/wrp_sdk_robot/CMakeLists.txt b/wrp_sdk_robot/CMakeLists.txt
new file mode 100644
index 0000000..5d46fb6
--- /dev/null
+++ b/wrp_sdk_robot/CMakeLists.txt
@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(wrp_sdk_robot)
+
+# # Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+string(REPLACE ":" ";" CMAKE_PREFIX_PATH "$ENV{CMAKE_PREFIX_PATH}")
+list(APPEND CMAKE_PREFIX_PATH "/opt/weston_robot/lib/cmake")
+
+# # 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 COMPONENTS
+  geometry_msgs
+  nav_msgs
+  roscpp
+  sensor_msgs
+  tf2
+  tf2_ros
+  wrp_sdk_msgs
+)
+
+find_package(wrp_sdk 1.3 REQUIRED)
+
+# ##################################
+# # catkin specific configuration ##
+# ##################################
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}
+  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp sensor_msgs tf2 tf2_ros wrp_sdk_msgs
+  DEPENDS wrp_sdk
+)
+
+# ##########
+# # Build ##
+# ##########
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(mobile_base_node src/mobile_base_node.cpp)
+target_link_libraries(mobile_base_node ${catkin_LIBRARIES} westonrobot::wrp_sdk_robot)
+add_dependencies(mobile_base_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
\ No newline at end of file
diff --git a/include/wrp_ros/mobile_base/mobile_base_ros.hpp b/wrp_sdk_robot/include/wrp_sdk_robot/mobile_base_node.hpp
similarity index 61%
rename from include/wrp_ros/mobile_base/mobile_base_ros.hpp
rename to wrp_sdk_robot/include/wrp_sdk_robot/mobile_base_node.hpp
index 2952294..b9bbc17 100644
--- a/include/wrp_ros/mobile_base/mobile_base_ros.hpp
+++ b/wrp_sdk_robot/include/wrp_sdk_robot/mobile_base_node.hpp
@@ -1,14 +1,12 @@
-/*
- * mobile_base_ros.hpp
- *
- * Created on: Dec 16, 2021 16:13
- * Description:
- *
- * Copyright (c) 2021 Weston Robot Pte. Ltd.
+/**
+ * @file mobile_base_node.hpp
+ * @brief 
+ * @date 17-05-2024
+ * 
+ * @copyright Copyright (c) 2024 Weston Robot Pte. Ltd.
  */
-
-#ifndef MOBILE_BASE_ROS_HPP
-#define MOBILE_BASE_ROS_HPP
+#ifndef WRP_SDK_ROBOT_MOBILE_BASE_NODE_HPP
+#define WRP_SDK_ROBOT_MOBILE_BASE_NODE_HPP
 
 #include <memory>
 
@@ -18,20 +16,20 @@
 #include <sensor_msgs/BatteryState.h>
 #include <tf2_ros/transform_broadcaster.h>
 
-#include "wrp_ros/MotionCommand.h"
-#include "wrp_ros/AccessControl.h"
-#include "wrp_ros/AssistedModeControl.h"
-#include "wrp_ros/LightControl.h"
-#include "wrp_ros/MotionReset.h"
+#include "wrp_sdk_msgs/MotionCommand.h"
+#include "wrp_sdk_msgs/AccessControl.h"
+#include "wrp_sdk_msgs/AssistedModeControl.h"
+#include "wrp_sdk_msgs/LightControl.h"
+#include "wrp_sdk_msgs/MotionReset.h"
 
 #include "wrp_sdk/interface/mobile_robot_interface.hpp"
 
 namespace westonrobot {
 
-class MobileBaseRos {
+class MobileBaseNode {
  public:
-  MobileBaseRos(ros::NodeHandle* nh);
-  ~MobileBaseRos() = default;
+  MobileBaseNode(ros::NodeHandle* nh);
+  ~MobileBaseNode() = default;
 
   void SetAutoReconnect(bool enable);
 
@@ -87,15 +85,15 @@ class MobileBaseRos {
 
   void MotionCmdCallback(const geometry_msgs::Twist::ConstPtr& msg);
 
-  bool HandleAccessControl(wrp_ros::AccessControl::Request& req,
-                           wrp_ros::AccessControl::Response& res);
-  bool HandleAssistedModeControl(wrp_ros::AssistedModeControl::Request& req,
-                                 wrp_ros::AssistedModeControl::Response& res);
-  bool HandleLightControl(wrp_ros::LightControl::Request& req,
-                          wrp_ros::LightControl::Response& res);
-  bool HandleMotionReset(wrp_ros::MotionReset::Request& req,
-                         wrp_ros::MotionReset::Response& res);
+  bool HandleAccessControl(wrp_sdk_msgs::AccessControl::Request& req,
+                           wrp_sdk_msgs::AccessControl::Response& res);
+  bool HandleAssistedModeControl(wrp_sdk_msgs::AssistedModeControl::Request& req,
+                                 wrp_sdk_msgs::AssistedModeControl::Response& res);
+  bool HandleLightControl(wrp_sdk_msgs::LightControl::Request& req,
+                          wrp_sdk_msgs::LightControl::Response& res);
+  bool HandleMotionReset(wrp_sdk_msgs::MotionReset::Request& req,
+                         wrp_sdk_msgs::MotionReset::Response& res);
 };
 }  // namespace westonrobot
 
-#endif /* MOBILE_BASE_ROS_HPP */
+#endif /* WRP_SDK_ROBOT_MOBILE_BASE_NODE_HPP */
diff --git a/launch/description/scout_mini_description.launch b/wrp_sdk_robot/launch/description/scout_mini_description.launch
similarity index 75%
rename from launch/description/scout_mini_description.launch
rename to wrp_sdk_robot/launch/description/scout_mini_description.launch
index 804a402..996b683 100644
--- a/launch/description/scout_mini_description.launch
+++ b/wrp_sdk_robot/launch/description/scout_mini_description.launch
@@ -1,5 +1,5 @@
 <launch>
-    <arg name = "model_xacro" default = "$(find wrp_ros)/urdf/scout_mini/scout_mini.xacro" />
+    <arg name = "model_xacro" default = "$(find wrp_sdk_robot)/urdf/scout_mini/scout_mini.xacro" />
 
     <param name="robot_description" command="$(find xacro)/xacro $(arg model_xacro)"/>
     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
diff --git a/launch/description/scout_v2_description.launch b/wrp_sdk_robot/launch/description/scout_v2_description.launch
similarity index 76%
rename from launch/description/scout_v2_description.launch
rename to wrp_sdk_robot/launch/description/scout_v2_description.launch
index 6a7e1ce..9fe2f72 100644
--- a/launch/description/scout_v2_description.launch
+++ b/wrp_sdk_robot/launch/description/scout_v2_description.launch
@@ -1,5 +1,5 @@
 <launch>
-    <arg name = "model_xacro" default = "$(find wrp_ros)/urdf/scout_v2/scout_v2.xacro" />
+    <arg name = "model_xacro" default = "$(find wrp_sdk_robot)/urdf/scout_v2/scout_v2.xacro" />
 
     <param name="robot_description" command="$(find xacro)/xacro $(arg model_xacro)"/>
     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
diff --git a/launch/mobile_base/scout.launch b/wrp_sdk_robot/launch/mobile_base/scout.launch
similarity index 91%
rename from launch/mobile_base/scout.launch
rename to wrp_sdk_robot/launch/mobile_base/scout.launch
index 4d665d5..7d9705c 100644
--- a/launch/mobile_base/scout.launch
+++ b/wrp_sdk_robot/launch/mobile_base/scout.launch
@@ -12,7 +12,7 @@
     <arg name="odom_topic_name" default="odom" />
     <arg name="auto_reconnect" default="true" />
 
-    <node name="mobile_base_node" pkg="wrp_ros" type="mobile_base_node" output="screen">
+    <node name="mobile_base_node" pkg="wrp_sdk_robot" type="mobile_base_node" output="screen">
         <param name="can_device" type="string" value="$(arg can_device)" />
         <param name="robot_type" type="string" value="$(arg robot_type)" />
         <param name="motion_type" type="string" value="$(arg motion_type)" />
diff --git a/launch/mobile_base/scout_mini.launch b/wrp_sdk_robot/launch/mobile_base/scout_mini.launch
similarity index 91%
rename from launch/mobile_base/scout_mini.launch
rename to wrp_sdk_robot/launch/mobile_base/scout_mini.launch
index c2b9a6b..f8b9999 100644
--- a/launch/mobile_base/scout_mini.launch
+++ b/wrp_sdk_robot/launch/mobile_base/scout_mini.launch
@@ -12,7 +12,7 @@
     <arg name="odom_topic_name" default="odom" />
     <arg name="auto_reconnect" default="true" />
 
-    <node name="mobile_base_node" pkg="wrp_ros" type="mobile_base_node" output="screen">
+    <node name="mobile_base_node" pkg="wrp_sdk_robot" type="mobile_base_node" output="screen">
         <param name="can_device" type="string" value="$(arg can_device)" />
         <param name="robot_type" type="string" value="$(arg robot_type)" />
         <param name="motion_type" type="string" value="$(arg motion_type)" />
diff --git a/launch/mobile_base/tracer.launch b/wrp_sdk_robot/launch/mobile_base/tracer.launch
similarity index 91%
rename from launch/mobile_base/tracer.launch
rename to wrp_sdk_robot/launch/mobile_base/tracer.launch
index e995012..29b5da4 100644
--- a/launch/mobile_base/tracer.launch
+++ b/wrp_sdk_robot/launch/mobile_base/tracer.launch
@@ -12,7 +12,7 @@
     <arg name="odom_topic_name" default="odom" />
     <arg name="auto_reconnect" default="true" />
 
-    <node name="mobile_base_node" pkg="wrp_ros" type="mobile_base_node" output="screen">
+    <node name="mobile_base_node" pkg="wrp_sdk_robot" type="mobile_base_node" output="screen">
         <param name="can_device" type="string" value="$(arg can_device)" />
         <param name="robot_type" type="string" value="$(arg robot_type)" />
         <param name="motion_type" type="string" value="$(arg motion_type)" />
diff --git a/meshes/scout_mini/mini_base_link.dae b/wrp_sdk_robot/meshes/scout_mini/mini_base_link.dae
similarity index 100%
rename from meshes/scout_mini/mini_base_link.dae
rename to wrp_sdk_robot/meshes/scout_mini/mini_base_link.dae
diff --git a/meshes/scout_mini/mini_wheel.dae b/wrp_sdk_robot/meshes/scout_mini/mini_wheel.dae
similarity index 100%
rename from meshes/scout_mini/mini_wheel.dae
rename to wrp_sdk_robot/meshes/scout_mini/mini_wheel.dae
diff --git a/meshes/scout_v2/base_link.dae b/wrp_sdk_robot/meshes/scout_v2/base_link.dae
similarity index 100%
rename from meshes/scout_v2/base_link.dae
rename to wrp_sdk_robot/meshes/scout_v2/base_link.dae
diff --git a/meshes/scout_v2/wheel_type1.dae b/wrp_sdk_robot/meshes/scout_v2/wheel_type1.dae
similarity index 100%
rename from meshes/scout_v2/wheel_type1.dae
rename to wrp_sdk_robot/meshes/scout_v2/wheel_type1.dae
diff --git a/meshes/scout_v2/wheel_type2.dae b/wrp_sdk_robot/meshes/scout_v2/wheel_type2.dae
similarity index 100%
rename from meshes/scout_v2/wheel_type2.dae
rename to wrp_sdk_robot/meshes/scout_v2/wheel_type2.dae
diff --git a/wrp_sdk_robot/package.xml b/wrp_sdk_robot/package.xml
new file mode 100644
index 0000000..30e703a
--- /dev/null
+++ b/wrp_sdk_robot/package.xml
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>wrp_sdk_robot</name>
+  <version>0.0.0</version>
+  <description>The wrp_sdk_robot package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="hans.kurnia@westonrobot.com">hans.kurnia</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/wrp_sdk_robot</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>roscpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_ros</depend>
+  <depend>wrp_sdk_msgs</depend>
+  <depend>xacro</depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/src/mobile_base/mobile_base_ros.cpp b/wrp_sdk_robot/src/mobile_base_node.cpp
similarity index 76%
rename from src/mobile_base/mobile_base_ros.cpp
rename to wrp_sdk_robot/src/mobile_base_node.cpp
index fd52079..1d50c9f 100644
--- a/src/mobile_base/mobile_base_ros.cpp
+++ b/wrp_sdk_robot/src/mobile_base_node.cpp
@@ -1,13 +1,11 @@
-/*
- * mobile_base.cpp
- *
- * Created on: Dec 16, 2021 16:13
- * Description:
- *
- * Copyright (c) 2021 Weston Robot Pte. Ltd.
+/**
+ * @file mobile_base_ros.cpp
+ * @brief 
+ * @date 17-05-2024
+ * 
+ * @copyright Copyright (c) 2024 Weston Robot Pte. Ltd.
  */
-
-#include "wrp_ros/mobile_base/mobile_base_ros.hpp"
+#include "wrp_sdk_robot/mobile_base_node.hpp"
 
 #include <limits>
 
@@ -20,19 +18,19 @@
 
 #include <tf/transform_broadcaster.h>
 
-#include "wrp_ros/SystemState.h"
-#include "wrp_ros/MotionState.h"
-#include "wrp_ros/ActuatorStateArray.h"
-#include "wrp_ros/RangeData.h"
+#include "wrp_sdk_msgs/SystemState.h"
+#include "wrp_sdk_msgs/MotionState.h"
+#include "wrp_sdk_msgs/ActuatorStateArray.h"
+#include "wrp_sdk_msgs/RangeData.h"
 
 namespace westonrobot {
-MobileBaseRos::MobileBaseRos(ros::NodeHandle* nh) : nh_(nh) {
-  if (!MobileBaseRos::ReadParameters()) {
+MobileBaseNode::MobileBaseNode(ros::NodeHandle* nh) : nh_(nh) {
+  if (!MobileBaseNode::ReadParameters()) {
     ROS_ERROR("Could not load parameters");
     ros::shutdown();
   }
 
-  if (!MobileBaseRos::SetupRobot()) {
+  if (!MobileBaseNode::SetupRobot()) {
     ROS_ERROR("Failed to setup robot");
     ros::shutdown();
   }
@@ -41,7 +39,7 @@ MobileBaseRos::MobileBaseRos(ros::NodeHandle* nh) : nh_(nh) {
   SetupService();
 }
 
-bool MobileBaseRos::ReadParameters() {
+bool MobileBaseNode::ReadParameters() {
   nh_->getParam("can_device", can_device_);
   nh_->getParam("robot_type", robot_type_);
   nh_->getParam("base_frame", base_frame_);
@@ -62,7 +60,7 @@ bool MobileBaseRos::ReadParameters() {
   return true;
 }
 
-bool MobileBaseRos::SetupRobot() {
+bool MobileBaseNode::SetupRobot() {
   // create appropriate adapter
   if (robot_type_ == "weston") {
     robot_ = std::make_shared<MobileBase>();
@@ -93,42 +91,42 @@ bool MobileBaseRos::SetupRobot() {
   return true;
 }
 
-void MobileBaseRos::SetupSubscription() {
+void MobileBaseNode::SetupSubscription() {
   // publishers
   system_state_publisher_ =
-      nh_->advertise<wrp_ros::SystemState>("/system_state", 10);
+      nh_->advertise<wrp_sdk_msgs::SystemState>("/system_state", 10);
   motion_state_publisher_ =
-      nh_->advertise<wrp_ros::MotionState>("/motion_state", 10);
+      nh_->advertise<wrp_sdk_msgs::MotionState>("/motion_state", 10);
   actuator_state_publisher_ =
-      nh_->advertise<wrp_ros::ActuatorStateArray>("/actuator_state", 10);
+      nh_->advertise<wrp_sdk_msgs::ActuatorStateArray>("/actuator_state", 10);
   odom_publisher_ = nh_->advertise<nav_msgs::Odometry>("/odom", 50);
   battery_state_publisher_ =
       nh_->advertise<sensor_msgs::BatteryState>("/battery_state", 10);
 
   // subscribers
   motion_cmd_subscriber_ = nh_->subscribe<geometry_msgs::Twist>(
-      "/cmd_vel", 5, &MobileBaseRos::MotionCmdCallback, this);
+      "/cmd_vel", 5, &MobileBaseNode::MotionCmdCallback, this);
 }
 
-void MobileBaseRos::SetupService() {
+void MobileBaseNode::SetupService() {
   access_control_service_ = nh_->advertiseService(
-      "access_control", &MobileBaseRos::HandleAccessControl, this);
+      "access_control", &MobileBaseNode::HandleAccessControl, this);
   assisted_mode_control_service_ = nh_->advertiseService(
-      "assisted_mode_control", &MobileBaseRos::HandleAssistedModeControl, this);
+      "assisted_mode_control", &MobileBaseNode::HandleAssistedModeControl, this);
   light_control_service_ = nh_->advertiseService(
-      "light_control", &MobileBaseRos::HandleLightControl, this);
+      "light_control", &MobileBaseNode::HandleLightControl, this);
   motion_reset_service_ = nh_->advertiseService(
-      "motion_reset", &MobileBaseRos::HandleMotionReset, this);
+      "motion_reset", &MobileBaseNode::HandleMotionReset, this);
 }
 
-void MobileBaseRos::PublishRobotState() {
+void MobileBaseNode::PublishRobotState() {
   auto system_state = robot_->GetSystemState();
   auto motion_state = robot_->GetMotionState();
   auto actuator_state = robot_->GetActuatorState();
   auto battery_state = robot_->GetBatteryState();
 
   // system state
-  wrp_ros::SystemState system_state_msg;
+  wrp_sdk_msgs::SystemState system_state_msg;
   system_state_msg.rc_connected = system_state.rc_connected;
   system_state_msg.error_code = static_cast<uint32_t>(system_state.error_code);
   system_state_msg.operational_state =
@@ -139,7 +137,7 @@ void MobileBaseRos::PublishRobotState() {
   system_state_publisher_.publish(system_state_msg);
 
   // motion state
-  wrp_ros::MotionState motion_state_msg;
+  wrp_sdk_msgs::MotionState motion_state_msg;
   motion_state_msg.desired_linear.x = motion_state.desired_linear.x;
   motion_state_msg.desired_linear.y = motion_state.desired_linear.y;
   motion_state_msg.desired_linear.z = motion_state.desired_linear.z;
@@ -154,9 +152,9 @@ void MobileBaseRos::PublishRobotState() {
   motion_state_publisher_.publish(motion_state_msg);
 
   // actuator state
-  wrp_ros::ActuatorStateArray actuator_state_msg;
+  wrp_sdk_msgs::ActuatorStateArray actuator_state_msg;
   for (int i = 0; i < actuator_state.size(); ++i) {
-    wrp_ros::ActuatorState actuator_msg;
+    wrp_sdk_msgs::ActuatorState actuator_msg;
     actuator_msg.id = actuator_state[i].id;
     actuator_msg.motor.rpm = actuator_state[i].motor.rpm;
     actuator_msg.motor.current = actuator_state[i].motor.current;
@@ -191,11 +189,11 @@ void MobileBaseRos::PublishRobotState() {
   battery_state_publisher_.publish(battery_state_msg);
 }
 
-void MobileBaseRos::PublishSensorData() {
+void MobileBaseNode::PublishSensorData() {
   // TODO
 }
 
-void MobileBaseRos::PublishWheelOdometry() {
+void MobileBaseNode::PublishWheelOdometry() {
   auto robot_odom = robot_->GetOdometry();
 
   // ATTN: odometry directly from wrp_sdk still in progress
@@ -207,7 +205,7 @@ void MobileBaseRos::PublishWheelOdometry() {
   robot_twist.angular.y = robot_odom.angular.y;
   robot_twist.angular.z = robot_odom.angular.z;
 
-  nav_msgs::Odometry odom_msg = MobileBaseRos::CalculateOdometry(robot_twist);
+  nav_msgs::Odometry odom_msg = MobileBaseNode::CalculateOdometry(robot_twist);
 
   // publish tf transformation
   geometry_msgs::TransformStamped tf_msg;
@@ -224,7 +222,7 @@ void MobileBaseRos::PublishWheelOdometry() {
   odom_publisher_.publish(odom_msg);
 }
 
-nav_msgs::Odometry MobileBaseRos::CalculateOdometry(
+nav_msgs::Odometry MobileBaseNode::CalculateOdometry(
     geometry_msgs::Twist robot_twist) {
   auto current_time = ros::Time::now();
   float dt = (current_time - last_time_).toSec();
@@ -265,7 +263,7 @@ nav_msgs::Odometry MobileBaseRos::CalculateOdometry(
   return odom_msg;
 }
 
-void MobileBaseRos::MotionCmdCallback(
+void MobileBaseNode::MotionCmdCallback(
     const geometry_msgs::Twist::ConstPtr& msg) {
   MotionCommand cmd;
 
@@ -280,23 +278,23 @@ void MobileBaseRos::MotionCmdCallback(
   //   ROS_INFO("CMD received:%f, %f", msg->linear.x, msg->angular.z);
 }
 
-bool MobileBaseRos::HandleAccessControl(wrp_ros::AccessControl::Request& req,
-                                        wrp_ros::AccessControl::Response& res) {
+bool MobileBaseNode::HandleAccessControl(wrp_sdk_msgs::AccessControl::Request& req,
+                                        wrp_sdk_msgs::AccessControl::Response& res) {
   if (req.action_type ==
-      wrp_ros::AccessControl::Request::ACTION_TYPE_REQUEST_CONTROL) {
+      wrp_sdk_msgs::AccessControl::Request::ACTION_TYPE_REQUEST_CONTROL) {
     auto result = robot_->RequestControl();
     res.result_code = static_cast<uint32_t>(result);
   } else if (req.action_type ==
-             wrp_ros::AccessControl::Request::ACTION_TYPE_RENOUNCE_CONTROL) {
+             wrp_sdk_msgs::AccessControl::Request::ACTION_TYPE_RENOUNCE_CONTROL) {
     auto result = robot_->RenounceControl();
     res.result_code = static_cast<uint32_t>(result);
   }
   return true;
 }
 
-bool MobileBaseRos::HandleAssistedModeControl(
-    wrp_ros::AssistedModeControl::Request& req,
-    wrp_ros::AssistedModeControl::Response& res) {
+bool MobileBaseNode::HandleAssistedModeControl(
+    wrp_sdk_msgs::AssistedModeControl::Request& req,
+    wrp_sdk_msgs::AssistedModeControl::Response& res) {
   AssistedModeSetCommand cmd;
   cmd.enable = req.enable;
   robot_->SetAssistedMode(cmd);
@@ -304,8 +302,8 @@ bool MobileBaseRos::HandleAssistedModeControl(
   return true;
 }
 
-bool MobileBaseRos::HandleLightControl(wrp_ros::LightControl::Request& req,
-                                       wrp_ros::LightControl::Response& res) {
+bool MobileBaseNode::HandleLightControl(wrp_sdk_msgs::LightControl::Request& req,
+                                       wrp_sdk_msgs::LightControl::Response& res) {
   LightCommand cmd;
 
   cmd.id = req.id;
@@ -321,25 +319,25 @@ bool MobileBaseRos::HandleLightControl(wrp_ros::LightControl::Request& req,
   return true;
 }
 
-bool MobileBaseRos::HandleMotionReset(wrp_ros::MotionReset::Request& req,
-                                      wrp_ros::MotionReset::Response& res) {
+bool MobileBaseNode::HandleMotionReset(wrp_sdk_msgs::MotionReset::Request& req,
+                                      wrp_sdk_msgs::MotionReset::Response& res) {
   MotionResetCommand cmd;
 
   cmd.type = static_cast<MotionResetCommandType>(req.type);
 
   if (robot_->SdkHasControlToken()) {
     robot_->SetMotionResetCommand(cmd);
-    res.result_code = wrp_ros::MotionReset::Response::MOTION_RESET_SUCCCESS;
+    res.result_code = wrp_sdk_msgs::MotionReset::Response::MOTION_RESET_SUCCCESS;
   } else {
-    res.result_code = wrp_ros::MotionReset::Response::MOTION_RESET_FAILURE;
+    res.result_code = wrp_sdk_msgs::MotionReset::Response::MOTION_RESET_FAILURE;
   }
 
   return true;
 }
 
-void MobileBaseRos::SetAutoReconnect(bool enable) { auto_reconnect_ = enable; }
+void MobileBaseNode::SetAutoReconnect(bool enable) { auto_reconnect_ = enable; }
 
-void MobileBaseRos::Run(double loop_hz) {
+void MobileBaseNode::Run(double loop_hz) {
   loop_period_ = 1.0 / loop_hz;
   ros::Rate rate(loop_hz);
   while (ros::ok()) {
@@ -359,4 +357,16 @@ void MobileBaseRos::Run(double loop_hz) {
     rate.sleep();
   }
 }
-}  // namespace westonrobot
\ No newline at end of file
+}  // namespace westonrobot
+
+int main(int argc, char **argv) {
+  // setup ROS node
+  ros::init(argc, argv, "mobile_base_node");
+  ros::NodeHandle node("~");
+
+  westonrobot::MobileBaseNode base(&node);
+
+  base.Run(50);
+
+  return 0;
+}
\ No newline at end of file
diff --git a/urdf/scout_mini/scout_mini.urdf b/wrp_sdk_robot/urdf/scout_mini/scout_mini.urdf
similarity index 100%
rename from urdf/scout_mini/scout_mini.urdf
rename to wrp_sdk_robot/urdf/scout_mini/scout_mini.urdf
diff --git a/urdf/scout_mini/scout_mini.xacro b/wrp_sdk_robot/urdf/scout_mini/scout_mini.xacro
similarity index 93%
rename from urdf/scout_mini/scout_mini.xacro
rename to wrp_sdk_robot/urdf/scout_mini/scout_mini.xacro
index f241620..397e5f2 100644
--- a/urdf/scout_mini/scout_mini.xacro
+++ b/wrp_sdk_robot/urdf/scout_mini/scout_mini.xacro
@@ -5,7 +5,7 @@
 
     <xacro:arg name="robot_namespace" default="/" /> 
 
-    <xacro:include filename="$(find wrp_ros)/urdf/scout_mini/scout_mini_wheel.xacro" />
+    <xacro:include filename="$(find wrp_sdk_robot)/urdf/scout_mini/scout_mini_wheel.xacro" />
 
     <!-- Variables -->
     <xacro:property name="M_PI" value="3.14159"/>
@@ -28,7 +28,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0" />
             <geometry>
-                <mesh filename="package://wrp_ros/meshes/mini_base_link.dae" />
+                <mesh filename="package://wrp_sdk_robot/meshes/mini_base_link.dae" />
             </geometry>
         </visual>
         <collision>
diff --git a/urdf/scout_mini/scout_mini_wheel.xacro b/wrp_sdk_robot/urdf/scout_mini/scout_mini_wheel.xacro
similarity index 96%
rename from urdf/scout_mini/scout_mini_wheel.xacro
rename to wrp_sdk_robot/urdf/scout_mini/scout_mini_wheel.xacro
index 5a27afa..0368666 100644
--- a/urdf/scout_mini/scout_mini_wheel.xacro
+++ b/wrp_sdk_robot/urdf/scout_mini/scout_mini_wheel.xacro
@@ -38,7 +38,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
                 <!-- <origin xyz="0 0 0" rpy="0 0 0" /> -->
                 <origin xyz="${-0.452/2 + 0.005} ${-0.49/2 + 0.02} 0.0925" rpy="0 0 0" />
                 <geometry>
-                    <mesh filename="package://wrp_ros/meshes/scout_mini/mini_wheel.dae" />
+                    <mesh filename="package://wrp_sdk_robot/meshes/scout_mini/mini_wheel.dae" />
                 </geometry>
             </visual>
             <collision>
diff --git a/urdf/scout_v2/scout_v2.urdf b/wrp_sdk_robot/urdf/scout_v2/scout_v2.urdf
similarity index 90%
rename from urdf/scout_v2/scout_v2.urdf
rename to wrp_sdk_robot/urdf/scout_v2/scout_v2.urdf
index 0b3e34d..5a7997d 100644
--- a/urdf/scout_v2/scout_v2.urdf
+++ b/wrp_sdk_robot/urdf/scout_v2/scout_v2.urdf
@@ -9,7 +9,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://wrp_ros/meshes/scout_v2/base_link.dae"/>
+        <mesh filename="package://wrp_sdk_robot/meshes/scout_v2/base_link.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -39,7 +39,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://wrp_ros/meshes/scout_v2/wheel_type1.dae"/>
+        <mesh filename="package://wrp_sdk_robot/meshes/scout_v2/wheel_type1.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -64,7 +64,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://wrp_ros/meshes/scout_v2/wheel_type2.dae"/>
+        <mesh filename="package://wrp_sdk_robot/meshes/scout_v2/wheel_type2.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -89,7 +89,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://wrp_ros/meshes/scout_v2/wheel_type1.dae"/>
+        <mesh filename="package://wrp_sdk_robot/meshes/scout_v2/wheel_type1.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -114,7 +114,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://wrp_ros/meshes/scout_v2/wheel_type2.dae"/>
+        <mesh filename="package://wrp_sdk_robot/meshes/scout_v2/wheel_type2.dae"/>
       </geometry>
     </visual>
     <collision>
diff --git a/urdf/scout_v2/scout_v2.xacro b/wrp_sdk_robot/urdf/scout_v2/scout_v2.xacro
similarity index 91%
rename from urdf/scout_v2/scout_v2.xacro
rename to wrp_sdk_robot/urdf/scout_v2/scout_v2.xacro
index e06af87..e7d7524 100644
--- a/urdf/scout_v2/scout_v2.xacro
+++ b/wrp_sdk_robot/urdf/scout_v2/scout_v2.xacro
@@ -5,8 +5,8 @@
 
     <xacro:arg name="robot_namespace" default="/" /> 
 
-    <xacro:include filename="$(find wrp_ros)/urdf/scout_v2/scout_wheel_type1.xacro" />
-    <xacro:include filename="$(find wrp_ros)/urdf/scout_v2/scout_wheel_type2.xacro" />
+    <xacro:include filename="$(find wrp_sdk_robot)/urdf/scout_v2/scout_wheel_type1.xacro" />
+    <xacro:include filename="$(find wrp_sdk_robot)/urdf/scout_v2/scout_wheel_type2.xacro" />
 
     <!-- Variables -->
     <xacro:property name="M_PI" value="3.14159"/>
@@ -28,7 +28,7 @@
         <visual>
             <origin xyz="0 0 0" rpy="0 0 0" />
             <geometry>
-                <mesh filename="package://wrp_ros/meshes/scout_v2/base_link.dae" />
+                <mesh filename="package://wrp_sdk_robot/meshes/scout_v2/base_link.dae" />
             </geometry>
         </visual>
         <collision>
diff --git a/urdf/scout_v2/scout_wheel_type1.xacro b/wrp_sdk_robot/urdf/scout_v2/scout_wheel_type1.xacro
similarity index 96%
rename from urdf/scout_v2/scout_wheel_type1.xacro
rename to wrp_sdk_robot/urdf/scout_v2/scout_wheel_type1.xacro
index bb8b5dc..07cae90 100644
--- a/urdf/scout_v2/scout_wheel_type1.xacro
+++ b/wrp_sdk_robot/urdf/scout_v2/scout_wheel_type1.xacro
@@ -37,7 +37,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
             <visual>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                    <mesh filename="package://wrp_ros/meshes/scout_v2/wheel_type1.dae" />
+                    <mesh filename="package://wrp_sdk_robot/meshes/scout_v2/wheel_type1.dae" />
                 </geometry>
             </visual>
             <collision>
diff --git a/urdf/scout_v2/scout_wheel_type2.xacro b/wrp_sdk_robot/urdf/scout_v2/scout_wheel_type2.xacro
similarity index 96%
rename from urdf/scout_v2/scout_wheel_type2.xacro
rename to wrp_sdk_robot/urdf/scout_v2/scout_wheel_type2.xacro
index 6440fb8..df90958 100644
--- a/urdf/scout_v2/scout_wheel_type2.xacro
+++ b/wrp_sdk_robot/urdf/scout_v2/scout_wheel_type2.xacro
@@ -37,7 +37,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
             <visual>
                 <origin xyz="0 0 0" rpy="0 0 0" />
                 <geometry>
-                    <mesh filename="package://wrp_ros/meshes/scout_v2/wheel_type2.dae" />
+                    <mesh filename="package://wrp_sdk_robot/meshes/scout_v2/wheel_type2.dae" />
                 </geometry>
             </visual>
             <collision>