diff --git a/LICENSE b/LICENSE
deleted file mode 100644
index ab731f00c1298f1856869292a650dd8e631a2154..0000000000000000000000000000000000000000
--- a/LICENSE
+++ /dev/null
@@ -1,21 +0,0 @@
-MIT License
-
-Copyright (c) 2020 Edinburgh University Formula Student 
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
diff --git a/eufs_description/CMakeLists.txt b/eufs_description/CMakeLists.txt
deleted file mode 100644
index d393b70f4193f9d13c147ac228047fa801a670fc..0000000000000000000000000000000000000000
--- a/eufs_description/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(eufs_description)
-
-find_package(catkin REQUIRED)
-
-catkin_package()
-
-install(
-  DIRECTORY meshes urdf
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
\ No newline at end of file
diff --git a/eufs_description/README.md b/eufs_description/README.md
deleted file mode 100644
index 941c24b3afc7a290fe8c5e3c493dd8937cd1fc67..0000000000000000000000000000000000000000
--- a/eufs_description/README.md
+++ /dev/null
@@ -1,13 +0,0 @@
-# eufs_description
-This package contains meshes and configurations for robots as well as tools for visualisation.
-
-## Nodes
-- `camera_overlay.py` - adds overlaying data to one of the camera images of the car. To run with camera overlay of speed and steering, change the use_overlay parameter,
- append to the above command ```use_overlay:=true```
-
-## Launches
-- `visualisator.launch` - default rviz layout.
-
-## Notes
-- Folder `robots` contains the description of our robots(cars) and their relevant sensor positions.
-- Folder `sensors` contains various scripts for common sensors in robots.
diff --git a/eufs_description/config/rqt/visualisator.perspective b/eufs_description/config/rqt/visualisator.perspective
deleted file mode 100644
index fbbc9dd2f78b8ff1e20b00e960896295314acd89..0000000000000000000000000000000000000000
--- a/eufs_description/config/rqt/visualisator.perspective
+++ /dev/null
@@ -1,228 +0,0 @@
-{
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-  "groups": {
-    "pluginmanager": {
-      "keys": {
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-        }
-      },
-      "groups": {
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-          "keys": {},
-          "groups": {
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-                  "type": "repr",
-                  "repr": "True"
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-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'Simple_visualisator'"
-                }
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-              "groups": {
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-                  "keys": {
-                    "geometry": {
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-                      "pretty-print": "         >       >       "
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-                      "repr(QByteArray.hex)": "QtCore.QByteArray('000000ff00000000fd00000001000000020000073f000003f5fc0100000001fc000000000000073f000000e700fffffffc0200000002fc00000000000002b70000010f00fffffffc0100000002fb00000026007200710074005f007200760069007a005f005f005200560069007a005f005f0031005f005f01000000000000058d0000000000000000fb0000006a007200710074005f0072006f0062006f0074005f007300740065006500720069006e0067005f005f0052006f0062006f0074005300740065006500720069006e0067005f005f0031005f005f0052006f0062006f0074005300740065006500720069006e00670055006901000000000000073f000000e700fffffffb0000005a007200710074005f0069006d006100670065005f0076006900650077005f005f0049006d0061006700650056006900650077005f005f0031005f005f0049006d006100670065005600690065007700570069006400670065007401000002bd000001380000005100ffffff0000073f0000000000000004000000040000000800000008fc00000000')",
-                      "pretty-print": "                   ?                    &rqt_rviz__RViz__1__          jrqt_robot_steering__RobotSteering__1__RobotSteeringUi          Zrqt_image_view__ImageView__1__ImageViewWidget                       "
-                    }
-                  },
-                  "groups": {}
-                }
-              }
-            }
-          }
-        },
-        "plugin__rqt_rviz__RViz__1": {
-          "keys": {},
-          "groups": {
-            "dock_widget__": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "True"
-                },
-                "parent": {
-                  "type": "repr",
-                  "repr": "1"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'slam_visuals.rviz[*] - RViz'"
-                }
-              },
-              "groups": {}
-            }
-          }
-        },
-        "plugin__rqt_image_view__ImageView__1": {
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-            "dock_widget__ImageViewWidget": {
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-                  "type": "repr",
-                  "repr": "1"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'Image View'"
-                }
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-              "groups": {}
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-            "plugin": {
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-                  "type": "repr",
-                  "repr": "10.0"
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-                  "type": "repr",
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-                "num_gridlines": {
-                  "type": "repr",
-                  "repr": "0"
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-                "toolbar_hidden": {
-                  "type": "repr",
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-                  "type": "repr",
-                  "repr": "False"
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-                "dynamic_range": {
-                  "type": "repr",
-                  "repr": "False"
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-                "topic": {
-                  "type": "repr",
-                  "repr": "u'/zed/left/image_color'"
-                },
-                "publish_click_location": {
-                  "type": "repr",
-                  "repr": "False"
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-          "keys": {},
-          "groups": {
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-                  "type": "repr",
-                  "repr": "1"
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-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'Robot Steering'"
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-              "groups": {}
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-            "plugin": {
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-        "plugin__rqt_bag__Bag__1": {
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-        }
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-      "groups": {
-        "toolbar_areas": {
-          "keys": {
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-              "repr": "8"
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-          "groups": {}
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diff --git a/eufs_description/config/rqt/visualisator_overlay.perspective b/eufs_description/config/rqt/visualisator_overlay.perspective
deleted file mode 100644
index 71d8d7a7fec16775076dc06d793741204a0e991d..0000000000000000000000000000000000000000
--- a/eufs_description/config/rqt/visualisator_overlay.perspective
+++ /dev/null
@@ -1,228 +0,0 @@
-{
-  "keys": {},
-  "groups": {
-    "pluginmanager": {
-      "keys": {
-        "running-plugins": {
-          "type": "repr",
-          "repr": "{u'__DockWidgetContainer': [1], u'rqt_robot_steering/RobotSteering': [1], u'rqt_image_view/ImageView': [1]}"
-        }
-      },
-      "groups": {
-        "plugin____DockWidgetContainer__1": {
-          "keys": {},
-          "groups": {
-            "dock_widget": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "True"
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-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'Simple_visualisator'"
-                }
-              },
-              "groups": {
-                "mainwindow": {
-                  "keys": {
-                    "geometry": {
-                      "type": "repr(QByteArray.hex)",
-                      "repr(QByteArray.hex)": "QtCore.QByteArray('01d9d0cb0002000000000000000000150000073e0000040900000000000000150000073e0000040900000000000000000780')",
-                      "pretty-print": "         >       >       "
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-                      "repr(QByteArray.hex)": "QtCore.QByteArray('000000ff00000000fd00000001000000020000073f000003f5fc0100000001fc000000000000073f0000019b00fffffffc0200000002fc00000000000002b70000010f00fffffffc0100000002fb00000026007200710074005f007200760069007a005f005f005200560069007a005f005f0031005f005f01000000000000058d0000000000000000fb0000006a007200710074005f0072006f0062006f0074005f007300740065006500720069006e0067005f005f0052006f0062006f0074005300740065006500720069006e0067005f005f0031005f005f0052006f0062006f0074005300740065006500720069006e00670055006901000000000000073f000000e700fffffffb0000005a007200710074005f0069006d006100670065005f0076006900650077005f005f0049006d0061006700650056006900650077005f005f0031005f005f0049006d006100670065005600690065007700570069006400670065007401000002bd00000138000000b200ffffff0000073f0000000000000004000000040000000800000008fc00000000')",
-                      "pretty-print": "                   ?                    &rqt_rviz__RViz__1__          jrqt_robot_steering__RobotSteering__1__RobotSteeringUi          Zrqt_image_view__ImageView__1__ImageViewWidget                       "
-                    }
-                  },
-                  "groups": {}
-                }
-              }
-            }
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-        "plugin__rqt_rviz__RViz__1": {
-          "keys": {},
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diff --git a/eufs_description/config/rviz/visualisator.rviz b/eufs_description/config/rviz/visualisator.rviz
deleted file mode 100644
index 2ec083081b0efb06c75da0a4a8d6bd60c52af203..0000000000000000000000000000000000000000
--- a/eufs_description/config/rviz/visualisator.rviz
+++ /dev/null
@@ -1,368 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Status1
-      Splitter Ratio: 0.5
-    Tree Height: 371
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679016
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ZED_pcl
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.0299999993
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Alpha: 0.5
-      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_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        gps_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        imu_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        left_front_axle_carrier:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        left_front_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        left_rear_axle_carrier:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        left_rear_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        left_steering_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        right_front_axle_carrier:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        right_front_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        right_rear_axle_carrier:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        right_rear_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        right_steering_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        velodyne:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        velodyne_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        zed_center:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        zed_left_camera:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        zed_left_camera_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        zed_right_camera:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-      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_footprint:
-          Value: true
-        base_link:
-          Value: true
-        gps_base_link:
-          Value: true
-        imu_base_link:
-          Value: true
-        left_front_axle_carrier:
-          Value: true
-        left_front_wheel:
-          Value: true
-        left_rear_axle_carrier:
-          Value: true
-        left_rear_wheel:
-          Value: true
-        left_steering_link:
-          Value: true
-        odom:
-          Value: true
-        right_front_axle_carrier:
-          Value: true
-        right_front_wheel:
-          Value: true
-        right_rear_axle_carrier:
-          Value: true
-        right_rear_wheel:
-          Value: true
-        right_steering_link:
-          Value: true
-        velodyne:
-          Value: true
-        velodyne_base_link:
-          Value: true
-        zed_center:
-          Value: true
-        zed_frame:
-          Value: true
-        zed_left_camera:
-          Value: true
-        zed_left_camera_optical_frame:
-          Value: true
-        zed_right_camera:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        odom:
-          base_footprint:
-            base_link:
-              gps_base_link:
-                {}
-              imu_base_link:
-                {}
-              left_rear_axle_carrier:
-                left_rear_wheel:
-                  {}
-              left_steering_link:
-                left_front_axle_carrier:
-                  left_front_wheel:
-                    {}
-              right_rear_axle_carrier:
-                right_rear_wheel:
-                  {}
-              right_steering_link:
-                right_front_axle_carrier:
-                  right_front_wheel:
-                    {}
-              velodyne_base_link:
-                velodyne:
-                  {}
-              zed_center:
-                zed_left_camera:
-                  zed_left_camera_optical_frame:
-                    {}
-                zed_right_camera:
-                  {}
-              zed_frame:
-                {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 999999
-      Min Color: 0; 0; 0
-      Min Intensity: -9.52743662e-10
-      Name: Velodyne
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Flat Squares
-      Topic: /velodyne_points
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 4096
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: ZED_pcl
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Flat Squares
-      Topic: /zed/points2
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: base_link
-    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
-      Topic: /initialpose
-    - 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: 9.05346203
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 1.90714812
-        Y: 0.807029843
-        Z: 0.0468055829
-      Focal Shape Fixed Size: false
-      Focal Shape Size: 0.0500000007
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.499795437
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 3.13184404
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 674
-  Hide Left Dock: false
-  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000202fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000202000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000001dbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000041000001db000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000058d0000003bfc0100000002fb0000000800540069006d006501000000000000058d0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000041d0000020200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: true
-  Width: 1421
-  X: 0
-  Y: 21
diff --git a/eufs_description/launch/eufs.rviz b/eufs_description/launch/eufs.rviz
deleted file mode 100644
index 10b82bf5a75c9f3fb4393ea60ec5f29c431066cf..0000000000000000000000000000000000000000
--- a/eufs_description/launch/eufs.rviz
+++ /dev/null
@@ -1,241 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-      Splitter Ratio: 0.5
-    Tree Height: 775
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed 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_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        hokuyo3d_laser_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        left_front_axle_carrier:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        left_front_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        left_rear_axle_carrier:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        left_rear_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        left_steering_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        right_front_axle_carrier:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        right_front_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        right_rear_axle_carrier:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        right_rear_wheel:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        right_steering_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-      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_footprint:
-          Value: true
-        base_link:
-          Value: true
-        hokuyo3d_laser_link:
-          Value: true
-        left_front_axle_carrier:
-          Value: true
-        left_front_wheel:
-          Value: true
-        left_rear_axle_carrier:
-          Value: true
-        left_rear_wheel:
-          Value: true
-        left_steering_link:
-          Value: true
-        right_front_axle_carrier:
-          Value: true
-        right_front_wheel:
-          Value: true
-        right_rear_axle_carrier:
-          Value: true
-        right_rear_wheel:
-          Value: true
-        right_steering_link:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        base_footprint:
-          base_link:
-            hokuyo3d_laser_link:
-              {}
-            left_rear_axle_carrier:
-              left_rear_wheel:
-                {}
-            left_steering_link:
-              left_front_axle_carrier:
-                left_front_wheel:
-                  {}
-            right_rear_axle_carrier:
-              right_rear_wheel:
-                {}
-            right_steering_link:
-              right_front_axle_carrier:
-                right_front_wheel:
-                  {}
-      Update Interval: 0
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: base_footprint
-    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
-      Topic: /initialpose
-    - 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: 3.14769
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0.00688788
-        Y: 0.0254592
-        Z: 0.471117
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.220399
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 0.642225
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 1056
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000013c00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004e80000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1855
-  X: 65
-  Y: 24
diff --git a/eufs_description/launch/velodyne_example.rviz b/eufs_description/launch/velodyne_example.rviz
deleted file mode 100644
index 0a41515eac980fe147560d9eac73d917b248c127..0000000000000000000000000000000000000000
--- a/eufs_description/launch/velodyne_example.rviz
+++ /dev/null
@@ -1,250 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /TF1/Frames1
-      Splitter Ratio: 0.5
-    Tree Height: 565
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679016
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: VLP-16
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.0299999993
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-        base_footprint:
-          Value: true
-        base_link:
-          Value: true
-        velodyne:
-          Value: true
-        velodyne2:
-          Value: true
-        velodyne2_base_link:
-          Value: true
-        velodyne_base_link:
-          Value: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        base_footprint:
-          base_link:
-            velodyne2_base_link:
-              velodyne2:
-                {}
-            velodyne_base_link:
-              velodyne:
-                {}
-      Update Interval: 0
-      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_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        velodyne:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        velodyne2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        velodyne2_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        velodyne_base_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
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: ring
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 7
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: VLP-16
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Flat Squares
-      Topic: /velodyne_points
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: ring
-      Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: Intensity
-      Decay Time: 0
-      Enabled: false
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Max Intensity: 22
-      Min Color: 0; 0; 0
-      Min Intensity: 0
-      Name: HDL-32E
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.00999999978
-      Style: Flat Squares
-      Topic: /velodyne_points2
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: false
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: base_footprint
-    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
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/XYOrbit
-      Distance: 2.07834911
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
-      Focal Shape Fixed Size: false
-      Focal Shape Size: 0.0500000007
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.370399028
-      Target Frame: <Fixed Frame>
-      Value: XYOrbit (rviz)
-      Yaw: 5.54361677
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 846
-  Hide Left Dock: false
-  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000340000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: true
-  Width: 1200
-  X: 2457
-  Y: 75
diff --git a/eufs_description/launch/visualisator.launch b/eufs_description/launch/visualisator.launch
deleted file mode 100644
index bf3d7cc324677f323c3a027621e1dff8d8e4b53d..0000000000000000000000000000000000000000
--- a/eufs_description/launch/visualisator.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  
-  <!-- whether to use overlay or not -->
-  <arg name="use_overlay" default="false" />
-
-  <!-- launch rviz config file -->
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find eufs_description)/config/rviz/visualisator.rviz" />
-
-  <!-- if using overlay, launch overlay python script and rqt perspective file reading overlay images -->
-  <group if="$(arg use_overlay)">
-  	  <node pkg="rqt_gui" name="debug_visuals" type="rqt_gui" args="--perspective-file $(find eufs_description)/config/rqt/visualisator_overlay.perspective"/>
-  	  <node pkg="eufs_description" name="camera_overlay" type="camera_overlay.py"/>
-  </group>
-  
-  <!-- else if not using overlay, launch rqt perspective file reading normal camera images -->
-  <group if="$(eval not arg('use_overlay'))">
-  	  <node pkg="rqt_gui" name="debug_visuals" type="rqt_gui" args="--perspective-file $(find eufs_description)/config/rqt/visualisator.perspective"/>
-  </group>
-
-</launch>
diff --git a/eufs_description/materials/Wheel_Texture.jpg b/eufs_description/materials/Wheel_Texture.jpg
deleted file mode 100644
index 29c1e82549e743f00edc589f0d99bc1bd8d1c050..0000000000000000000000000000000000000000
Binary files a/eufs_description/materials/Wheel_Texture.jpg and /dev/null differ
diff --git a/eufs_description/materials/asphalt.jpg b/eufs_description/materials/asphalt.jpg
deleted file mode 100644
index dd463bd2c317fbbe5ed91957b845d6bf89b8fe93..0000000000000000000000000000000000000000
Binary files a/eufs_description/materials/asphalt.jpg and /dev/null differ
diff --git a/eufs_description/materials/gazebo.material b/eufs_description/materials/gazebo.material
deleted file mode 100644
index 597e67a01270cd3ab788b6f75be9d40e518e8afd..0000000000000000000000000000000000000000
--- a/eufs_description/materials/gazebo.material
+++ /dev/null
@@ -1,1085 +0,0 @@
-import * from "grid.material"
-
-vertex_program Gazebo/DepthMapVS glsl
-{
-  source depth_map.vert
-
-  default_params
-  {
-    param_named_auto texelOffsets texel_offsets
-  }
-}
-
-fragment_program Gazebo/DepthMapFS glsl
-{
-  source depth_map.frag
-
-  default_params
-  {
-    param_named_auto pNear near_clip_distance
-    param_named_auto pFar far_clip_distance
-  }
-}
-
-material Gazebo/DepthMap
-{
-  technique
-  {
-    pass
-    {
-      vertex_program_ref Gazebo/DepthMapVS { }
-      fragment_program_ref Gazebo/DepthMapFS { }
-    }
-  }
-}
-
-vertex_program Gazebo/XYZPointsVS glsl
-{
-  source depth_points_map.vert
-}
-
-fragment_program Gazebo/XYZPointsFS glsl
-{
-  source depth_points_map.frag
-
-  default_params
-  {
-    param_named_auto width viewport_width
-    param_named_auto height viewport_height
-  }
-}
-
-material Gazebo/XYZPoints
-{
-  technique
-  {
-    pass pcd_tex
-    {
-      separate_scene_blend one zero one zero
-
-      vertex_program_ref Gazebo/XYZPointsVS { }
-      fragment_program_ref Gazebo/XYZPointsFS { }
-    }
-  }
-}
-
-vertex_program Gazebo/LaserScan1stVS glsl
-{
-  source laser_1st_pass.vert
-}
-
-fragment_program Gazebo/LaserScan1stFS glsl
-{
-  source laser_1st_pass.frag
-
-  default_params
-  {
-    param_named retro float 0.0
-    param_named_auto near near_clip_distance
-    param_named_auto far far_clip_distance
-  }
-}
-
-material Gazebo/LaserScan1st
-{
-  technique
-  {
-    pass laser_tex
-    {
-      separate_scene_blend one zero one zero
-
-      vertex_program_ref Gazebo/LaserScan1stVS { }
-      fragment_program_ref Gazebo/LaserScan1stFS { }
-    }
-  }
-}
-
-vertex_program Gazebo/LaserScan2ndVS glsl
-{
-  source laser_2nd_pass.vert
-}
-
-fragment_program Gazebo/LaserScan2ndFS glsl
-{
-  source laser_2nd_pass.frag
-
-  default_params
-  {
-    param_named tex1 int 0
-    param_named tex2 int 1
-    param_named tex3 int 2
-    param_named_auto texSize texture_size 0
-  }
-}
-
-material Gazebo/LaserScan2nd
-{
-  technique
-  {
-    pass laser_tex_2nd
-    {
-      separate_scene_blend one zero one zero
-
-      vertex_program_ref Gazebo/LaserScan2ndVS { }
-      fragment_program_ref Gazebo/LaserScan2ndFS { }
-    }
-  }
-}
-
-material Gazebo/Grey
-{
-  technique
-  {
-    pass main
-    {
-      ambient .3 .3 .3  1.0
-      diffuse .7 .7 .7  1.0
-      specular 0.01 0.01 0.01 1.000000 1.500000
-    }
-  }
-}
-
-material Gazebo/DarkGrey
-{
-  technique
-  {
-    pass main
-    {
-      ambient .175 .175 .175  1.0
-      diffuse .175 .175 .175  1.0
-      specular .175 .175 .175 1.000000 1.500000
-    }
-  }
-}
-
-material Gazebo/White
-{
-  technique
-  {
-    pass ambient
-    {
-      ambient 1 1 1 1
-    }
-
-    pass light
-    {
-      diffuse 1 1 1 1
-      specular .1 .1 .1 128
-    }
-  }
-}
-
-material Gazebo/FlatBlack
-{
-  technique
-  {
-    pass
-    {
-      ambient 0.1 0.1 0.1
-      diffuse 0.1 0.1 0.1
-      specular 0.01 0.01 0.01 1.0 1.0
-    }
-  }
-}
-
-material Gazebo/Black
-{
-  technique
-  {
-    pass
-    {
-      ambient 0 0 0 1
-      diffuse 0 0 0 1
-      specular 0.1 0.1 0.1 1 5.0
-    }
-  }
-}
-
-
-material Gazebo/Red
-{
-  technique
-  {
-    pass ambient
-    {
-      ambient 1 0 0
-      diffuse 1 0 0
-      specular 0.1 0.1 0.1 1 1
-    }
-  }
-}
-
-material Gazebo/RedBright
-{
-  technique
-  {
-    pass ambient
-    {
-      ambient 0.87 0.26 0.07
-      diffuse 0.87 0.26 0.07
-      specular 0.87 0.26 0.07 1 1
-    }
-  }
-}
-
-material Gazebo/Green
-{
-  technique
-  {
-    pass ambient
-    {
-      ambient 0 1 0
-      diffuse 0 1 0
-      specular 0.1 0.1 0.1 1 1
-    }
-  }
-}
-
-material Gazebo/Blue
-{
-  technique
-  {
-    pass ambient
-    {
-      ambient 0 0 1
-      diffuse 0 0 1
-      specular 0.1 0.1 0.1 1 1
-    }
-  }
-}
-
-material Gazebo/SkyBlue
-{
-  technique
-  {
-    pass ambient
-    {
-      ambient 0.13 0.44 0.70
-      diffuse 0 0 1
-      specular 0.1 0.1 0.1 1 1
-    }
-  }
-}
-
-material Gazebo/Yellow
-{
-  technique
-  {
-    pass ambient
-    {
-      ambient 1 1 0 1
-      diffuse 1 1 0 1
-      specular 0 0 0 0 0
-    }
-  }
-}
-
-material Gazebo/ZincYellow
-{
-  technique
-  {
-    pass ambient
-    {
-      ambient 0.9725 0.9529 0.2078 1
-      diffuse 0.9725 0.9529 0.2078 1
-      specular 0.9725 0.9529 0.2078 1 1
-    }
-  }
-}
-
-material Gazebo/Purple
-{
-  technique
-  {
-    pass ambient
-    {
-      ambient 1 0 1
-      diffuse 1 0 1
-      specular 0.1 0.1 0.1 1 1
-    }
-  }
-}
-
-material Gazebo/Turquoise
-{
-  technique
-  {
-    pass ambient
-    {
-      ambient 0 1 1
-      diffuse 0 1 1
-      specular 0.1 0.1 0.1 1 1
-    }
-  }
-}
-
-material Gazebo/Orange
-{
-  technique
-  {
-    pass ambient
-    {
-      lighting on
-
-      ambient 1 0.5088 0.0468 1
-      diffuse 1 0.5088 0.0468 1
-      specular 0.5 0.5 0.5 128
-    }
-  }
-}
-
-material Gazebo/WhiteGlow : Gazebo/White
-{
-  technique
-  {
-    pass light
-    {
-      emissive 1 1 1
-    }
-  }
-}
-
-material Gazebo/RedGlow
-{
-  technique
-  {
-    pass ambient
-    {
-      ambient 1 0 0
-      diffuse 1 0 0
-      emissive 1 0 0
-      specular 0 0 0 128
-    }
-
-    pass light
-    {
-      ambient 1 0 0
-      diffuse 1 0 0
-      emissive 1 0 0
-      specular 1 0 0 128
-    }
-  }
-}
-
-
-
-material Gazebo/GreenGlow : Gazebo/Green
-{
-  technique
-  {
-    pass ambient
-    {
-      emissive 0 1 0
-    }
-
-    pass light
-    {
-      emissive 0 1 0
-    }
-  }
-}
-
-material Gazebo/BlueGlow : Gazebo/Blue
-{
-  technique
-  {
-    pass light
-    {
-      emissive 0 0 1
-    }
-  }
-}
-
-material Gazebo/YellowGlow : Gazebo/Yellow
-{
-  technique
-  {
-    pass light
-    {
-      emissive 1 1 0
-    }
-  }
-}
-
-material Gazebo/PurpleGlow : Gazebo/Purple
-{
-  technique
-  {
-    pass light
-    {
-      emissive 1 0 1
-    }
-  }
-}
-
-material Gazebo/TurquoiseGlow : Gazebo/Turquoise
-{
-  technique
-  {
-    pass light
-    {
-      emissive 0 1 1
-    }
-  }
-}
-
-material Gazebo/TurquoiseGlowOutline
-{
-  technique
-  {
-    pass ambient
-    {
-      scene_blend alpha_blend
-      //lighting off
-
-      diffuse 0 1 1 1
-      specular .1 .1 .1 128
-    }
-
-    pass ambient2
-    {
-      scene_blend alpha_blend
-
-      diffuse 0 1 1
-      specular .1 .1 .1 128
-      emissive 0 1 1
-
-      polygon_mode wireframe
-    }
-  }
-}
-
-material Gazebo/RedTransparentOverlay
-{
-  technique
-  {
-    pass
-    {
-      scene_blend alpha_blend
-      depth_write off
-      lighting off
-      depth_check off
-
-      texture_unit
-      {
-        colour_op_ex source1 src_manual src_current 1 0 0
-        alpha_op_ex source1 src_manual src_current 0.5
-      }
-    }
-  }
-}
-
-material Gazebo/BlueTransparentOverlay
-{
-  technique
-  {
-    pass
-    {
-      scene_blend alpha_blend
-      depth_write off
-      lighting off
-      depth_check off
-
-      texture_unit
-      {
-        colour_op_ex source1 src_manual src_current 0 0 1
-        alpha_op_ex source1 src_manual src_current 0.5
-      }
-    }
-  }
-}
-
-material Gazebo/GreenTransparentOverlay
-{
-  technique
-  {
-    pass
-    {
-      scene_blend alpha_blend
-      depth_write off
-      lighting off
-      depth_check off
-
-      texture_unit
-      {
-        colour_op_ex source1 src_manual src_current 0 1 0
-        alpha_op_ex source1 src_manual src_current 0.5
-      }
-    }
-  }
-}
-
-material Gazebo/RedTransparent
-{
-  technique
-  {
-    pass
-    {
-      scene_blend alpha_blend
-      depth_write off
-      lighting off
-
-      texture_unit
-      {
-        colour_op_ex source1 src_manual src_current 1 0 0
-        alpha_op_ex source1 src_manual src_current 0.5
-      }
-    }
-  }
-}
-
-material Gazebo/GreenTransparent
-{
-  technique
-  {
-    pass
-    {
-      scene_blend alpha_blend
-      depth_write off
-
-      ambient 0.0 1.0 0.0 1
-      diffuse 0.0 1.0 0.0 1
-
-      texture_unit
-      {
-        colour_op_ex source1 src_current src_current 0 1 0
-        alpha_op_ex source1 src_manual src_current 0.5
-      }
-    }
-  }
-}
-
-material Gazebo/BlueTransparent
-{
-  technique
-  {
-    pass
-    {
-      scene_blend alpha_blend
-      depth_write off
-
-      ambient 0.0 0.0 1.0 1
-      diffuse 0.0 0.0 1.0 1
-
-      texture_unit
-      {
-        colour_op_ex source1 src_current src_current 0 1 0
-        alpha_op_ex source1 src_manual src_current 0.5
-      }
-    }
-  }
-}
-
-material Gazebo/GreyTransparent
-{
-  technique
-  {
-    pass
-    {
-      scene_blend alpha_blend
-      depth_write off
-
-      ambient 0.5 0.5 0.5 1
-      diffuse 0.5 0.5 0.5 1
-
-      texture_unit
-      {
-        colour_op_ex source1 src_current src_current 0 1 0
-        alpha_op_ex source1 src_manual src_current 0.5
-      }
-    }
-  }
-}
-
-material Gazebo/YellowTransparent
-{
-  technique
-  {
-    pass
-    {
-      scene_blend alpha_blend
-      depth_write off
-
-      ambient 1.0 1.0 0.0 1
-      diffuse 1.0 1.0 0.0 1
-
-      texture_unit
-      {
-        colour_op_ex source1 src_current src_current 0 1 0
-        alpha_op_ex source1 src_manual src_current 0.4
-      }
-    }
-
-    pass
-    {
-      depth_write on
-
-      ambient 1.0 1.0 0.0 1
-      diffuse 1.0 1.0 0.0 1
-      polygon_mode points
-
-      texture_unit
-      {
-        colour_op_ex source1 src_current src_current 0 1 0
-        alpha_op_ex source1 src_manual src_current 0.4
-      }
-    }
-  }
-}
-
-material Gazebo/LightOn
-{
-  technique
-  {
-    pass ambient
-    {
-      diffuse 0 1 0
-      ambient 0 1 0
-      emissive 0 1 0
-    }
-  }
-}
-
-material Gazebo/LightOff
-{
-  technique
-  {
-    pass ambient
-    {
-      diffuse 1 0 0
-      ambient 1 0 0
-      emissive 1 0 0
-    }
-  }
-}
-
-material Gazebo/BlueLaser
-{
-  receive_shadows off
-
-  technique
-  {
-    pass
-    {
-      scene_blend alpha_blend
-      depth_write off
-      cull_hardware none
-
-      ambient 0.0 0.0 1.0 1
-      diffuse 0.0 0.0 1.0 1
-
-      texture_unit
-      {
-        colour_op_ex source1 src_current src_current 0 1 0
-        alpha_op_ex source1 src_manual src_current 0.4
-      }
-
-    }
-  }
-}
-
-material Gazebo/OrangeTransparent
-{
-  receive_shadows off
-
-  technique
-  {
-    pass
-    {
-      scene_blend alpha_blend
-      depth_write off
-
-      ambient 1.0 0.44 0.0 1
-      diffuse 1.0 0.44 0.0 1
-
-      texture_unit
-      {
-        colour_op_ex source1 src_current src_current 0 1 0
-        alpha_op_ex source1 src_manual src_current 0.4
-      }
-
-    }
-  }
-}
-
-
-material Gazebo/JointAnchor
-{
-  receive_shadows off
-
-  technique
-  {
-    pass
-    {
-      ambient 1.000000 1.000000 1.000000 1.000000
-      diffuse 1.000000 1.000000 1.000000 1.000000
-      specular 1.000000 1.000000 1.000000 1.000000
-      emissive 1.000000 1.000000 1.000000 1.000000
-      lighting off
-    }
-  }
-}
-
-
-material Gazebo/WoodFloor
-{
-  receive_shadows on
-
-  technique
-  {
-    pass
-    {
-      ambient 0.5 0.5 0.5 1.000000
-
-      texture_unit
-      {
-        texture hardwood_floor.jpg
-      }
-    }
-  }
-}
-
-material Gazebo/CeilingTiled
-{
-  receive_shadows on
-
-  technique
-  {
-    pass
-    {
-      ambient 0.5 0.5 0.5 1.000000
-
-      texture_unit
-      {
-        texture ceiling_tiled.jpg
-      }
-    }
-  }
-}
-
-material Gazebo/PaintedWall
-{
-  receive_shadows on
-
-  technique
-  {
-    pass
-    {
-      ambient 1.0 1.0 1.0 1.000000
-
-      texture_unit
-      {
-        texture paintedWall.jpg
-      }
-    }
-  }
-}
-
-material Gazebo/PioneerBody
-{
-  receive_shadows on
-  technique
-  {
-    pass Ambient
-    {
-      ambient 0.5 0 0
-
-      texture_unit
-      {
-        texture pioneerBody.jpg
-        filtering trilinear
-      }
-    }
-    pass DirectionalLight
-    {
-      ambient 0 0 0
-      diffuse 1 0 0 1
-      specular 0.5 0 0 1 10
-
-      texture_unit
-      {
-        texture pioneerBody.jpg
-        filtering trilinear
-      }
-    }
-    pass PointLight
-    {
-      ambient 0 0 0
-      diffuse 1 0 0 1
-      specular 0.5 0 0 1 10
-
-      texture_unit
-      {
-        texture pioneerBody.jpg
-        filtering trilinear
-      }
-    }
-
-  }
-}
-
-material Gazebo/Pioneer2Body
-{
-  receive_shadows on
-  technique
-  {
-    pass
-    {
-      //ambient 0.500000 0.500000 0.500000 1.000000
-      ambient 0.481193 0.000123 0.000123 1.000000
-      diffuse 0.681193 0.000923 0.000923 1.000000
-      specular 0.500000 0.500000 0.500000 1.000000 12.500000
-      emissive 0.000000 0.000000 0.000000 1.000000
-    }
-  }
-}
-
-material Gazebo/Gold
-{
-  receive_shadows on
-  technique
-  {
-    pass
-    {
-      ambient 0.400000 0.248690 0.020759 1.000000
-      diffuse 0.800000 0.648690 0.120759 1.000000
-      specular 0.400000 0.400000 0.400000 1.000000 12.500000
-    }
-  }
-}
-
-material Gazebo/GreyGradientSky
-{
-  technique
-  {
-    pass
-    {
-      depth_write off
-      lighting off
-
-      texture_unit
-      {
-        texture grey_gradient.jpg
-      }
-    }
-  }
-}
-
-material Gazebo/CloudySky
-{
-  technique
-  {
-    pass
-    {
-      depth_write off
-      lighting off
-
-      texture_unit
-      {
-        texture clouds.jpg
-        scroll_anim 0.15 0
-      }
-    }
-  }
-}
-
-material Gazebo/WoodPallet
-{
-  technique
-  {
-    pass
-    {
-      ambient 0.5 0.5 0.5 1.0
-      diffuse 1.0 1.0 1.0 1.0
-      specular 0.0 0.0 0.0 1.0 0.5
-
-      texture_unit
-      {
-        texture WoodPallet.png
-        filtering trilinear
-      }
-    }
-  }
-
-  /*
-  technique
-  {
-    scheme GBuffer
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-    {
-      lighting off
-
-      vertex_program_ref Gazebo/NateVS
-      {
-      }
-
-      fragment_program_ref Gazebo/NateFS
-      {
-      }
-    }
-  }*/
-}
-
-material Gazebo/Wood
-{
-  technique
-  {
-    pass
-    {
-      ambient 1.0 1.0 1.0 1.0
-      diffuse 1.0 1.0 1.0 1.0
-      specular 0.2 0.2 0.2 1.0 12.5
-
-      texture_unit
-      {
-        texture wood.jpg
-        filtering trilinear
-      }
-    }
-  }
-}
-
-material Gazebo/Road
-{
-  technique
-  {
-    pass
-    {
-      ambient 0.1 0.1 0.1 1.0
-      diffuse 0.8 0.8 0.8 1.0
-      specular 0.01 0.01 0.01 1.0 2.0
-
-      texture_unit
-      {
-        texture road1.jpg
-        filtering trilinear
-      }
-    }
-  }
-}
-
-material drc/san_fauxcity_sign
-{
-  receive_shadows off
-  technique
-  {
-    pass
-    {
-      ambient 0.8 0.8 0.8 1.0
-      diffuse 0.8 0.8 0.8 1.0
-      specular 0.1 0.1 0.1 1.0 2.0
-
-      texture_unit
-      {
-        texture san_fauxcity.png
-        filtering trilinear
-      }
-    }
-  }
-}
-
-vertex_program Gazebo/GaussianCameraNoiseVS glsl
-{
-  source camera_noise_gaussian_vs.glsl
-}
-
-fragment_program Gazebo/GaussianCameraNoiseFS glsl
-{
-  source camera_noise_gaussian_fs.glsl
-  default_params
-  {
-    param_named RT int 0
-    param_named mean float 0.0
-    param_named stddev float 1.0
-    param_named offsets float3 0.0 0.0 0.0
-  }
-}
-
-material Gazebo/GaussianCameraNoise
-{
-  technique
-  {
-    pass
-    {
-      vertex_program_ref Gazebo/GaussianCameraNoiseVS { }
-      fragment_program_ref Gazebo/GaussianCameraNoiseFS { }
-
-      texture_unit RT
-      {
-        tex_coord_set 0
-        tex_address_mode clamp
-        filtering linear linear linear
-      }
-    }
-  }
-}
-
-material Gazebo/PointCloud
-{
-   technique
-   {
-      pass
-      {
-         diffuse vertexcolour
-         specular vertexcolour
-         ambient vertexcolour
-         point_size 3
-         point_sprites off
-         point_size_attenuation off
-      }
-   }
-}
-
-material Gazebo/Dirt
-{
-  technique
-  {
-    pass
-    {
-      ambient 0.1 0.1 0.1 1.0
-      diffuse 0.8 0.8 0.8 1.0
-      specular 0.01 0.01 0.01 1.0 2.0
-
-      texture_unit
-      {
-        texture ground_dirt_texture.jpg
-        filtering trilinear
-	scale .01 .01
-      }
-    }
-  }
-}
-
-material Gazebo/Asphalt
-{
-  technique
-  {
-    pass
-    {
-
-      texture_unit
-      {
-        texture asphalt.jpg
-        filtering trilinear
-        scale .01 .01
-      }
-    }
-  }
-}
-
-material Gazebo/CarTexture
-{
-  technique
-  {
-    pass
-    {
-
-      texture_unit
-      {
-        texture Car_Texture.jpg
-        filtering trilinear
-        scale .01 .01
-      }
-    }
-  }
-}
\ No newline at end of file
diff --git a/eufs_description/meshes/MonkeyNoise.dae b/eufs_description/meshes/MonkeyNoise.dae
deleted file mode 100644
index ba1d77dc2b7dc4d21b9af49c0edf757fa603188d..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/MonkeyNoise.dae
+++ /dev/null
@@ -1,160 +0,0 @@
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400 930 494 930 399 931 493 931 505 931 400 932 388 932 506 932 501 933 503 933 505 933 502 934 494 934 506 934 493 935 495 935 499 935 500 936 496 936 494 936 381 937 387 937 505 937 382 938 314 938 506 938 313 939 505 939 503 939 504 940 506 940 314 940 319 941 321 941 503 941 504 942 322 942 320 942</p>
-        </polylist>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Lamp" name="Lamp" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Lamp-light"/>
-      </node>
-      <node id="Suzanne" name="Suzanne" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#Suzanne-mesh" name="Suzanne"/>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/eufs_description/meshes/NoiseCube.dae b/eufs_description/meshes/NoiseCube.dae
deleted file mode 100644
index a2abed99714ad90594ba05de1f7607af47f039ca..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/NoiseCube.dae
+++ /dev/null
@@ -1,199 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f235</authoring_tool>
-    </contributor>
-    <created>2019-02-03T13:41:40</created>
-    <modified>2019-02-03T13:41:40</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Lamp-light" name="Lamp">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <adapt_thresh>0.000999987</adapt_thresh>
-          <area_shape>1</area_shape>
-          <area_size>0.1</area_size>
-          <area_sizey>0.1</area_sizey>
-          <area_sizez>1</area_sizez>
-          <atm_distance_factor>1</atm_distance_factor>
-          <atm_extinction_factor>1</atm_extinction_factor>
-          <atm_turbidity>2</atm_turbidity>
-          <att1>0</att1>
-          <att2>1</att2>
-          <backscattered_light>1</backscattered_light>
-          <bias>1</bias>
-          <blue>1</blue>
-          <buffers>1</buffers>
-          <bufflag>0</bufflag>
-          <bufsize>2880</bufsize>
-          <buftype>2</buftype>
-          <clipend>30.002</clipend>
-          <clipsta>1.000799</clipsta>
-          <compressthresh>0.04999995</compressthresh>
-          <dist sid="blender_dist">29.99998</dist>
-          <energy sid="blender_energy">1</energy>
-          <falloff_type>2</falloff_type>
-          <filtertype>0</filtertype>
-          <flag>0</flag>
-          <gamma sid="blender_gamma">1</gamma>
-          <green>1</green>
-          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
-          <horizon_brightness>1</horizon_brightness>
-          <mode>8192</mode>
-          <ray_samp>1</ray_samp>
-          <ray_samp_method>1</ray_samp_method>
-          <ray_samp_type>0</ray_samp_type>
-          <ray_sampy>1</ray_sampy>
-          <ray_sampz>1</ray_sampz>
-          <red>1</red>
-          <samp>3</samp>
-          <shadhalostep>0</shadhalostep>
-          <shadow_b sid="blender_shadow_b">0</shadow_b>
-          <shadow_g sid="blender_shadow_g">0</shadow_g>
-          <shadow_r sid="blender_shadow_r">0</shadow_r>
-          <sky_colorspace>0</sky_colorspace>
-          <sky_exposure>1</sky_exposure>
-          <skyblendfac>1</skyblendfac>
-          <skyblendtype>1</skyblendtype>
-          <soft>3</soft>
-          <spotblend>0.15</spotblend>
-          <spotsize>75</spotsize>
-          <spread>1</spread>
-          <sun_brightness>1</sun_brightness>
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diff --git a/eufs_description/meshes/VLP16_base_1.dae b/eufs_description/meshes/VLP16_base_1.dae
deleted file mode 100644
index d033ef370cd2904d9f1b5336c94e309c5f7aabe9..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/VLP16_base_1.dae
+++ /dev/null
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diff --git a/eufs_description/meshes/VLP16_base_1.stl b/eufs_description/meshes/VLP16_base_1.stl
deleted file mode 100755
index 4f9b3064ebfd2c591f5bef559b30574d7a9bfa6c..0000000000000000000000000000000000000000
Binary files a/eufs_description/meshes/VLP16_base_1.stl and /dev/null differ
diff --git a/eufs_description/meshes/VLP16_base_2.dae b/eufs_description/meshes/VLP16_base_2.dae
deleted file mode 100644
index 5ae0343caec835bc8a61c187062c37c4f000a379..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/VLP16_base_2.dae
+++ /dev/null
@@ -1,89 +0,0 @@
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-    <modified>2015-11-30T17:42:06</modified>
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diff --git a/eufs_description/meshes/VLP16_base_2.stl b/eufs_description/meshes/VLP16_base_2.stl
deleted file mode 100755
index 257a2d2fc8f7fe389b1fcde929a15835b4886947..0000000000000000000000000000000000000000
Binary files a/eufs_description/meshes/VLP16_base_2.stl and /dev/null differ
diff --git a/eufs_description/meshes/VLP16_scan.dae b/eufs_description/meshes/VLP16_scan.dae
deleted file mode 100644
index 569632886181ff3d885af5e2b3766c870e10c151..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/VLP16_scan.dae
+++ /dev/null
@@ -1,89 +0,0 @@
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diff --git a/eufs_description/meshes/VLP16_scan.stl b/eufs_description/meshes/VLP16_scan.stl
deleted file mode 100755
index a14755d348f4b094a5935d8681c5512e76827f50..0000000000000000000000000000000000000000
Binary files a/eufs_description/meshes/VLP16_scan.stl and /dev/null differ
diff --git a/eufs_description/meshes/ads-dv.dae b/eufs_description/meshes/ads-dv.dae
deleted file mode 100644
index 2e68c47439ca1742d08594f776e593639a2d6fd8..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/ads-dv.dae
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-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="node" name="node" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#shape0-mesh" name="node">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/eufs_description/meshes/antenna_3GO16.dae b/eufs_description/meshes/antenna_3GO16.dae
deleted file mode 100644
index 6f18d727ae25b301741c0a8a79bcdbfff39c8e77..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/antenna_3GO16.dae
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-    <asset>
-        <contributor>
-            <author>VCGLab</author>
-            <authoring_tool>VCGLib | MeshLab</authoring_tool>
-        </contributor>
-        <up_axis>Y_UP</up_axis>
-        <created>Thu Nov 13 12:08:43 2014</created>
-        <modified>Thu Nov 13 12:08:43 2014</modified>
-    </asset>
-    <library_images/>
-    <library_materials/>
-    <library_effects/>
-    <library_geometries>
-        <geometry id="shape0-lib" name="shape0">
-            <mesh>
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diff --git a/eufs_description/meshes/antenna_3GO16.stl b/eufs_description/meshes/antenna_3GO16.stl
deleted file mode 100644
index c474ac2f7d65d8a5050401e29fad7349cfcf17a6..0000000000000000000000000000000000000000
Binary files a/eufs_description/meshes/antenna_3GO16.stl and /dev/null differ
diff --git a/eufs_description/meshes/chassis.dae b/eufs_description/meshes/chassis.dae
deleted file mode 100644
index 79411f26aea4725520a0c60063331b898def17c6..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/chassis.dae
+++ /dev/null
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613.3942 709.1323 -80.2569 648.2012 712.1369 -131.7038 606.1798 717.2919 -17.46432 645.6795 731.1617 86.57234 627.061 726.4287 -4.230674 663.8287 727.4311 38.43666 658.8015 729.9438 94.5935 640.6431 732.5059 -105.6343 635.6283 732.6008 -115.4755 640.3551 724.749 -147.5041 621.2066 728.162 -60.83041 655.5279 729.5626 90.6537 631.8971 731.6266 137.907 612.0844 733.0026 36.13427 637.4599 721.6605 24.4642 645.6713 731.2573 -20.62467 654.6917 732.6714 -91.28203 630.5697 731.2374 78.7705 652.1801 727.2615 -43.29057 638.2341 727.1712 -140.2714 614.3314 732.8516 148.1534 621.8236 727.1049 116.6348 640.2166 723.8934 338.7274 122.8739 886.199 340.9367 120.2345 881.2001 340.9116 120.1458 886.2001 286.6109 90.54694 881.199 286.768 90.85312 886.1975 271.7388 125.4885 881.1778 261.205 115.4498 886.2288 263.5093 114.5656 881.2063 255.8003 119.8556 881.1896 255.2335 122.6417 886.2001 258.7719 128.9175 881.2001 259.5436 129.3426 886.2001 258.9747 74.31377 886.157 258.0329 73.97603 881.2017 256.8817 80.06501 881.225 261.8746 82.68817 886.2334 335.8749 143.6618 886.1984 338.7799 142.0938 881.2123 333.0929 147.3951 881.2001 333.4907 153.1793 886.2353 337.839 154.245 881.182 338.2013 153.8807 886.2095 250.1448 122.0562 881.2397 257.0166 133.6168 886.1688 259.1899 134.4989 881.2001 338.2661 128.1593 886.2001 294.6144 106.3948 886.2001 291.333 101.7607 886.2001 250.2129 118.9556 886.2001 295.8132 69.58516 886.1999 291.1079 98.0982 886.192 335.5405 115.1482 886.2001 295.1831 98.42402 886.2001 325.3499 104.5894 886.2001 260.7189 111.62 886.2011 311.3662 130.1634 886.2001 312.5406 136.4328 886.1225 320.9797 82.99692 886.2001 314.966 89.90699 886.1844 343.5195 127.2687 886.2001 347.0694 121.888 886.221 343.9992 147.3514 886.1791 272.9616 127.3099 886.2001 268.6433 127.2934 886.2189 319.6525 133.7247 886.2001 274.2107 118.8922 886.2034 268.8883 118.9597 886.2001 298.1231 77.45654 886.2001 283.9269 98.4576 886.2066 290.7066 77.07393 886.204 256.0798 81.68711 886.2001 257.5755 70.82474 886.1918 346.061 156.0869 886.1766 332.4218 137.0688 886.2001 266.863 77.15294 886.2037 330.6606 123.1494 886.1846 307.3893 82.43682 886.1998 283.0404 106.0675 886.2001 270.1833 77.20156 886.2039 270.776 87.20121 886.2035 341.9616 140.1851 886.2065 332.1248 129.5715 886.2001 294.0401 104.5002 881.1869 296.5698 69.29947 881.2098 293.5516 97.5006 881.1975 289.4982 99.73326 881.2001 338.7443 122.6724 881.1986 330.4021 122.8355 881.2182 340.8694 127.6374 881.1952 335.5357 115.1402 881.2001 260.8989 111.3906 881.197 311.3673 130.1732 881.2001 313.0868 136.4522 881.2343 320.8542 84.10339 881.1844 348.1641 122.9903 881.2125 343.566 147.3436 881.1921 320.0933 92.91739 881.2007 262.0009 86.08016 881.1939 267.093 128.7915 881.1516 319.6566 133.7458 881.2001 275.0802 117.6621 881.2134 298.1123 77.43162 881.2001 269.9034 87.33099 881.2011 290.9601 76.86325 881.2054 333.7947 155.5538 881.2001 326.705 145.4027 881.2001 264.1283 81.67051 881.2001 345.8243 155.6219 881.1849 312.4989 90.19091 881.2001 307.6509 83.38716 881.1999 332.5034 137.004 881.2001 263.9606 68.73716 881.2001 283.0664 106.1031 881.2001 270.2537 78.95664 881.2003 266.0402 75.10351 881.1682 283.8774 97.04839 881.2001 344.8851 140.0459 881.2001 332.0412 129.516 881.2001 31.57402 570.1958 623.6084 33.26813 569.1271 623.2857 32.46885 567.7901 622.8821 30.8239 568.3361 623.0477 305.7683 356.7024 -790.4755 306.5632 357.226 -793.4687 311.6709 353.9794 -790.5 311.1842 350.1349 -793.5328 309.0437 348.5436 -790.4569 300.734 364.4577 -792.0001 322.1216 349.5548 -790.9589 321.7143 357.6199 -790.5 319.474 366.5135 -791.6686 294.241 354.5274 -790.5 303.525 351.0881 -790.5 321.3048 340.568 -792 299.4843 341.6532 -790.4818 320.7294 349.5403 -793.5 321.3036 357.5219 -793.4274 293.9572 351.4156 -793.524 304.1591 349.8351 -793.4708 302.5903 340.1061 -793.5 -236.967 439.2516 -606.4457 -243.9738 436.9748 -606.192 -233.3241 432.3724 -606.4998 -243.1271 431.8418 -615.2739 -244.7119 430.8007 -605.8341 -238.4182 429.2009 -605.2864 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-        </triangles>
-        <triangles material="Material_2-material" count="7698">
-          <input semantic="VERTEX" source="#socket_head_cap_screw_am_PreviewCfg_9-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#socket_head_cap_screw_am_PreviewCfg_9-mesh-normals" offset="1"/>
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-        </triangles>
-        <triangles material="Material_9-material" count="6600">
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-          <input semantic="NORMAL" source="#socket_head_cap_screw_am_PreviewCfg_9-mesh-normals" offset="1"/>
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3966 5374 3967 5376 3968 5377 3965 5372 3967 5376 3982 5373 3980 5378 3969 5379 3966 5374 3982 5373 3969 5379 3966 5374 3969 5379 3970 5380 3967 5376 3966 5374 3970 5380 3967 5376 3970 5380 3973 5381 3969 5379 3980 5378 3971 5382 3972 5383 3969 5379 3971 5382 3970 5380 3969 5379 3972 5383 3973 5381 3970 5380 3972 5383 3973 5381 3972 5383 3978 5384 3972 5385 3975 5386 3974 5387 3972 5385 3974 5387 3978 5388 3976 5389 3971 5390 3977 5391 3974 5387 3977 5391 3978 5388 3974 5387 3976 5389 3977 5391 3975 5386 3971 5390 3976 5389 3972 5385 3971 5390 3975 5386 3979 5392 3973 5381 3978 5384 3977 5393 3979 5392 3978 5384 3980 5378 3979 5392 3977 5393 3980 5378 3977 5393 3971 5382 3980 5378 3973 5381 3979 5392 3981 5394 3967 5376 3973 5381 3981 5394 3973 5381 3980 5378 3982 5373 3981 5394 3980 5378 3968 5377 3967 5376 3981 5394 3968 5377 3981 5394 3982 5373 3983 5375 3968 5377 3982 5373 3968 5377 3983 5375 3965 5372 3984 5395 3976 5396 3974 5387 3984 5395 3975 5386 3976 5396 3974 5387 3975 5386 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8252 11023 8265 11042 8266 11024 8265 11042 8264 11025 8267 11019 8251 11022 8252 11023 8266 11024 8267 11019 8252 11023 8249 11020 8267 11019 8266 11024 8267 11019 8248 11018 8251 11022 8257 11034 8258 11036 8259 11037 10008 13324 10007 13325 10006 13326 10011 13327 10010 13328 10009 13329 10012 13330 10010 13328 10011 13327 10013 13331 10012 13330 10011 13327 10016 13332 10017 13333 10015 13334 10016 13332 10015 13334 10014 13335 10018 13336 10017 13333 10016 13332 10018 13336 10019 13337 10017 13333 10022 13338 10020 13339 10021 13340 10097 13341 10022 13338 10021 13340 10087 13342 10022 13338 10097 13341 10025 13343 10023 13344 10024 13345 10026 13346 10025 13343 10024 13345 10028 13347 10027 13348 10099 13349 10029 13350 10027 13348 10028 13347 10030 13351 10029 13350 10028 13347 10031 13352 10029 13350 10030 13351 10034 13353 10033 13354 10032 13355 10035 13356 10034 13353 10032 13355 10038 13357 10036 13358 10037 13359 10039 13360 10038 13357 10037 13359 10042 13361 10040 13362 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18220 24995 18235 24994 18222 24997 18220 24995 18222 24997 18223 24998 18221 24996 18232 24999 18228 25000 18222 24997 18228 25000 18224 25001 18222 24997 18221 24996 18228 25000 18223 24998 18222 24997 18224 25001 18230 25002 18223 24998 18224 25001 18224 25003 18225 25004 18230 25005 18226 25006 18228 25007 18227 25008 18229 25009 18228 25007 18226 25006 18230 25005 18226 25006 18227 25008 18230 25005 18225 25004 18226 25006 18224 25003 18228 25007 18229 25009 18224 25003 18229 25009 18225 25004 18231 25010 18223 24998 18230 25002 18231 25010 18230 25002 18227 25011 18232 24999 18231 25010 18227 25011 18232 24999 18227 25011 18228 25000 18223 24998 18231 25010 18233 25012 18232 24999 18221 24996 18233 25012 18233 25012 18231 25010 18232 24999 18234 25013 18220 24995 18223 24998 18234 25013 18223 24998 18233 25014 18235 24994 18234 25013 18233 25014 18235 24994 18233 25014 18221 24996 18236 24993 18219 24992 18220 24995 18236 24993 18220 24995 18234 25013 18236 24993 18234 25013 18235 24994 18229 25009 18226 25006 18225 25004</p>
-        </triangles>
-        <triangles material="Material_16-material" count="3090">
-          <input semantic="VERTEX" source="#socket_head_cap_screw_am_PreviewCfg_9-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#socket_head_cap_screw_am_PreviewCfg_9-mesh-normals" offset="1"/>
-          <p>130 143 126 144 120 145 121 146 130 143 120 145 121 146 120 145 122 147 123 148 121 146 122 147 124 149 128 150 123 148 124 149 125 151 128 150 124 149 126 144 125 151 127 152 126 144 124 149 127 152 120 145 126 144 127 152 128 150 120 145 121 146 128 150 127 152 123 148 128 150 121 146 122 147 128 150 125 151 122 147 120 145 128 150 129 153 123 148 122 147 129 153 122 147 125 151 129 153 125 151 126 144 130 143 129 153 126 144 130 154 121 146 127 152 130 154 124 155 129 153 130 154 127 152 124 155 123 148 129 153 124 155 235 337 237 338 236 339 238 340 237 338 235 337 239 341 236 339 244 342 235 337 236 339 239 341 242 343 241 344 243 345 242 343 240 346 241 344 248 347 243 345 244 342 248 347 242 343 243 345 240 346 238 340 241 344 245 348 241 344 237 349 244 342 236 350 246 351 236 350 237 349 246 351 241 344 245 348 243 345 239 352 248 347 235 353 242 354 248 347 247 355 238 340 235 353 249 356 242 354 247 355 240 346 248 347 239 352 247 355 249 356 235 353 246 351 249 356 246 351 237 349 249 356 237 349 241 344 238 340 249 356 241 344 248 347 244 342 246 351 235 353 248 347 246 351 247 355 243 345 245 357 247 355 245 357 240 346 247 355 244 342 243 345 239 341 244 342 247 355 240 346 237 338 238 340 240 346 245 357 237 338 623 872 626 873 625 874 622 875 623 872 625 874 628 876 630 877 624 878 630 877 623 872 622 875 628 876 624 878 632 879 629 880 632 879 631 881 629 880 628 876 632 879 630 877 622 875 624 878 634 882 627 883 631 881 635 884 625 874 633 885 633 885 627 883 634 882 633 885 626 873 627 883 635 884 622 875 625 874 633 885 625 874 626 873 636 886 624 878 622 875 634 882 632 879 637 887 634 882 631 881 632 879 636 886 622 875 635 884 636 886 632 879 624 878 637 887 632 879 636 886 630 877 635 888 623 872 629 880 631 881 627 883 638 889 629 880 627 883 638 889 627 883 626 873 635 888 638 889 626 873 635 888 626 873 623 872 630 877 628 890 636 891 633 885 629 892 638 893 634 894 629 892 633 885 633 885 638 893 635 884 628 890 637 895 636 891 637 895 629 892 634 894 628 890 629 892 637 895 630 877 636 891 635 888 1195 1705 1191 1706 1193 1707 1190 1708 1194 1709 1196 1710 1194 1709 1192 1711 1195 1705 1192 1711 1191 1706 1195 1705 1190 1708 1192 1711 1194 1709 1192 1712 1190 1713 1197 1714 1191 1706 1199 1715 1198 1716 1192 1712 1197 1714 1199 1715 1190 1713 1200 1717 1197 1714 1191 1706 1192 1712 1199 1715 1196 1710 1202 1718 1193 1707 1196 1710 1201 1719 1202 1718 1194 1709 1201 1719 1196 1710 1194 1709 1200 1717 1201 1719 1193 1707 1202 1718 1199 1715 1195 1720 1197 1714 1194 1709 1195 1720 1199 1715 1197 1714 1194 1709 1197 1714 1200 1717 1193 1707 1199 1715 1195 1720 1196 1710 1193 1707 1203 1721 1196 1710 1203 1721 1204 1722 1193 1707 1191 1706 1198 1716 1193 1707 1198 1716 1203 1721 1190 1713 1196 1710 1204 1722 1190 1713 1204 1722 1200 1717 1203 1723 1201 1724 1204 1722 1198 1716 1202 1725 1203 1723 1201 1724 1200 1717 1204 1722 1202 1725 1201 1724 1203 1723 1198 1716 1199 1715 1202 1725 1429 2039 1427 2040 1428 2041 1429 2039 1430 2042 1427 2040 1429 2039 1431 2043 1430 2042 1443 2044 1431 2043 1429 2039 1434 2045 1427 2046 1433 2047 1435 2048 1437 2049 1427 2046 1435 2048 1427 2046 1434 2045 1433 2047 1439 2050 1432 2051 1435 2048 1438 2052 1436 2053 1433 2047 1427 2046 1430 2054 1439 2050 1433 2047 1431 2055 1439 2050 1431 2055 1437 2049 1439 2050 1437 2049 1435 2048 1439 2050 1435 2048 1436 2053 1430 2054 1431 2055 1433 2047 1434 2056 1440 2057 1428 2058 1441 2059 1442 2060 1438 2052 1441 2059 1428 2058 1443 2061 1440 2057 1432 2051 1442 2060 1441 2059 1434 2056 1428 2058 1442 2060 1429 2062 1440 2057 1442 2060 1443 2061 1429 2062 1442 2060 1441 2059 1443 2061 1440 2057 1429 2062 1428 2058 1434 2045 1441 2059 1435 2048 1440 2057 1434 2056 1433 2047 1441 2059 1438 2052 1435 2048 1442 2063 1436 2053 1438 2052 1442 2063 1439 2050 1436 2053 1432 2051 1439 2050 1442 2063 1433 2047 1432 2051 1440 2057 1443 2044 1437 2064 1431 2043 1428 2041 1427 2040 1437 2064 1428 2041 1437 2064 1443 2044 1967 2666 1963 2667 1968 2668 1964 2669 1963 2667 1967 2666 1964 2669 1965 2670 1963 2667 1966 2671 1965 2670 1964 2669 1967 2666 1977 2672 1973 2673 1966 2671 1978 2674 1965 2670 1967 2666 1968 2668 1977 2672 1971 2675 1975 2676 1969 2677 1970 2678 1971 2675 1969 2677 1973 2673 1970 2678 1969 2677 1973 2673 1969 2677 1974 2679 1971 2675 1972 2680 1975 2676 1969 2681 1977 2682 1974 2683 1974 2683 1968 2684 1976 2685 1965 2670 1972 2686 1963 2667 1978 2687 1972 2686 1965 2670 1969 2681 1975 2688 1978 2687 1974 2683 1977 2682 1968 2684 1968 2684 1963 2689 1976 2685 1969 2681 1978 2687 1977 2682 1975 2688 1972 2686 1978 2687 1964 2669 1979 2690 1966 2671 1967 2666 1979 2690 1964 2669 1979 2690 1976 2685 1963 2689 1966 2671 1979 2690 1963 2689 1966 2671 1963 2689 1972 2680 1971 2675 1966 2671 1972 2680 1967 2666 1973 2673 1974 2679 1967 2666 1974 2679 1976 2685 1979 2690 1967 2666 1976 2685 1970 2678 1978 2674 1971 2675 1970 2678 1977 2672 1978 2674 1973 2673 1977 2672 1970 2678 1971 2675 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-        </triangles>
-        <triangles material="Material_8-material" count="2244">
-          <input semantic="VERTEX" source="#socket_head_cap_screw_am_PreviewCfg_9-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#socket_head_cap_screw_am_PreviewCfg_9-mesh-normals" offset="1"/>
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-        </triangles>
-        <triangles material="Material_13-material" count="1181">
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4546 3352 4544 3355 4543 3344 4546 3355 4543 3277 4540 3344 4546 3277 4540 3329 258 3321 4487 3356 4547 3359 4548 3338 4505 3356 4547 3321 4487 3359 4548 3358 4549 3357 4550 3356 4547 3358 4549 3359 4548 3358 4549 3326 4492 3319 4485 3357 4550 3358 4549 3319 4485 3304 4551 3356 4552 3338 4553 3304 4551 3306 4554 3356 4552 3360 4555 3358 4556 3306 4554 3326 4557 3358 4556 3360 4555 3326 4557 3360 4555 3304 4551 3326 4557 3304 4551 3338 4553 3306 4554 3358 4556 3356 4552 3305 4558 3321 4559 3359 4560 3319 4561 3361 4562 3307 4563 3319 4561 3307 4563 3357 4564 3361 4562 3321 4559 3305 4558 3307 4563 3305 4558 3359 4560 3307 4563 3359 4560 3357 4564 3319 4561 3321 4559 3361 4562 3362 4565 3366 4566 3363 4501 3332 4498 3362 4565 3363 4501 3366 4566 3365 4567 3364 4568 3362 4565 3365 4567 3366 4566 3365 4567 3335 4502 3340 4507 3364 4568 3365 4567 3340 4507 3301 4569 3362 4570 3332 4571 3367 4572 3301 4569 3332 4571 3303 4573 3362 4570 3301 4569 3365 4574 3303 4573 3367 4572 3335 4575 3365 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diff --git a/eufs_description/meshes/chassis_collision.dae b/eufs_description/meshes/chassis_collision.dae
deleted file mode 100644
index 0362405fa60a87a16e3fa9291a031c7f8e0266fd..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/chassis_collision.dae
+++ /dev/null
@@ -1,240 +0,0 @@
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\ No newline at end of file
diff --git a/eufs_description/meshes/cone.dae b/eufs_description/meshes/cone.dae
deleted file mode 100644
index 8891f147ea80f07b293489d23512e80403726db2..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/cone.dae
+++ /dev/null
@@ -1,141 +0,0 @@
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diff --git a/eufs_description/meshes/cone_big.dae b/eufs_description/meshes/cone_big.dae
deleted file mode 100644
index 68b5f8b494bfc4de684434b9e9521c6539daea3a..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/cone_big.dae
+++ /dev/null
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\ No newline at end of file
diff --git a/eufs_description/meshes/cone_blue.dae b/eufs_description/meshes/cone_blue.dae
deleted file mode 100644
index 12e846990f46a631bf2ed718e00e659b40067496..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/cone_blue.dae
+++ /dev/null
@@ -1,134 +0,0 @@
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diff --git a/eufs_description/meshes/cone_yellow.dae b/eufs_description/meshes/cone_yellow.dae
deleted file mode 100644
index c9d140130df3c5e6d22ea8b0a98b9735979119c4..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/cone_yellow.dae
+++ /dev/null
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diff --git a/eufs_description/meshes/hokuyo_utm_30lx.dae b/eufs_description/meshes/hokuyo_utm_30lx.dae
deleted file mode 100755
index e9cba15a0e4a7fd18c6e4bdbc3dd0cbd9c1314d2..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/hokuyo_utm_30lx.dae
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deleted file mode 100755
index 70b9630d5d5b7fa824f7bf68bfee7842a326a5b2..0000000000000000000000000000000000000000
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2401 2671 3114 1456 1639 1645 1457 1640 1646 2401 2671 3114 2400 2670 3113 1456 1639 1645 2402 2672 3115 1457 1640 1646 1458 1636 1642 2402 2672 3115 2401 2671 3114 1457 1640 1646 2403 2673 3129 1458 1636 1642 1459 1635 1638 2403 2673 3129 2402 2672 3115 1458 1636 1642 2403 2673 3129 1459 1635 1638 1460 1633 1615 2404 2674 3131 2403 2673 3129 1460 1633 1615 2404 2674 3131 1460 1633 1615 1461 1632 1464 2405 2675 3133 2404 2674 3131 1461 1632 1464 2405 2675 3133 1461 1632 1464 1462 1631 1463 2406 2676 3155 2405 2675 3133 1462 1631 1463 2406 2676 3155 1462 1631 1463 1463 1626 1458 2374 2647 2406 2406 2676 3155 1463 1626 1458 2380 2653 2623 1439 1669 2525 2378 2677 2650 2407 2678 2651 2378 2677 2650 2377 2654 2624 2408 2679 2652 2380 2653 2623 2378 2677 2650 2407 2678 2651 2408 2679 2652 2378 2677 2650 1691 1469 3084 2410 2680 3085 2409 1763 3086 2411 2681 2653 2407 2678 2651 2377 2654 2624 2412 2682 2654 2411 2681 2653 2377 2654 2624 1669 1982 2655 2377 2654 2624 2381 1661 2520 1668 1981 2656 1669 1982 2655 2381 1661 2520 1668 1981 2656 2381 1661 2520 2382 1659 2518 1667 1984 2657 1668 1981 2656 2382 1659 2518 1666 1985 2674 1667 1984 2657 2382 1659 2518 1666 1985 2674 2382 1659 2518 2383 1658 2517 1665 1986 2675 1666 1985 2674 2383 1658 2517 1665 1986 2675 2383 1658 2517 2384 1655 2502 1664 1993 2676 2384 1655 2502 2385 2655 2625 1664 1993 2676 1665 1986 2675 2384 1655 2502 1663 1994 2677 1664 1993 2676 2385 2655 2625 1663 1994 2677 2385 2655 2625 2386 2656 2642 1662 1995 2678 2386 2656 2642 2387 2657 2643 1662 1995 2678 1663 1994 2677 2386 2656 2642 1661 1980 2679 2387 2657 2643 2388 2658 2644 1661 1980 2679 1662 1995 2678 2387 2657 2643 1660 1979 2680 2388 2658 2644 2389 2659 2645 1660 1979 2680 1661 1980 2679 2388 2658 2644 1659 1978 2681 2389 2659 2645 2390 2660 2646 1659 1978 2681 1660 1979 2680 2389 2659 2645 1658 1977 2682 2390 2660 2646 2391 2661 2647 1658 1977 2682 1659 1978 2681 2390 2660 2646 1657 1976 2683 2391 2661 2647 2392 2662 2648 1657 1976 2683 1658 1977 2682 2391 2661 2647 1656 1975 2292 2392 2662 2940 2393 2663 2941 1656 1975 2292 1657 1976 2293 2392 2662 2940 1655 1974 2291 2393 2663 2941 2394 2664 2942 1655 1974 2291 1656 1975 2292 2393 2663 2941 1654 1973 2290 2394 2664 2942 2395 2665 2943 1654 1973 2290 1655 1974 2291 2394 2664 2942 1653 1972 3156 2395 2665 3108 2396 2666 3109 1653 1972 3156 1654 1973 3172 2395 2665 3108 1652 1970 3173 2396 2666 3109 2397 2667 3110 1652 1970 3173 1653 1972 3156 2396 2666 3109 1651 1988 3174 2397 2667 3110 2398 2668 3111 1651 1988 3174 1652 1970 3173 2397 2667 3110 1650 1989 3176 2398 2668 3111 2399 2669 3112 1650 1989 3176 1651 1988 3174 2398 2668 3111 1649 1990 3177 2399 2669 3112 2400 2670 3113 1649 1990 3177 1650 1989 3176 2399 2669 3112 1649 1990 3177 2400 2670 3113 2401 2671 3114 1648 1991 3178 2401 2671 3114 2402 2672 3115 1648 1991 3178 1649 1990 3177 2401 2671 3114 1647 1992 3179 2402 2672 3115 2403 2673 3129 1647 1992 3179 1648 1991 3178 2402 2672 3115 1646 1987 3182 2403 2673 3129 2404 2674 3131 1646 1987 3182 1647 1992 3179 2403 2673 3129 1645 1969 3183 1646 1987 3182 2404 2674 3131 1645 1969 3183 2404 2674 3131 2405 2675 3133 1644 1968 3185 1645 1969 3183 2405 2675 3133 1644 1968 3185 2405 2675 3133 2406 2676 3155 1643 1967 3077 1644 1968 3185 2406 2676 3155 1643 1967 3077 2406 2676 3155 2374 2647 2406 1669 1982 2655 2413 2683 2684 2377 2654 2624 2412 2682 2654 2377 2654 2624 2413 2683 2684 1701 2015 3067 1695 2019 3074 2418 2684 3087 1669 1982 2655 1637 1983 2685 2413 2683 2684 2414 2685 2686 2413 2683 2684 1637 1983 2685 2415 2686 2687 2412 2682 2654 2413 2683 2684 2416 2687 2688 2415 2686 2687 2413 2683 2684 2414 2685 2686 2416 2687 2688 2413 2683 2684 1695 2019 3074 1696 2020 3076 2419 2688 3088 2420 2689 2689 2414 2685 2686 1637 1983 2685 2421 2690 2944 2420 2689 2945 1637 1983 2300 2421 2690 2944 1637 1983 2300 1638 1963 2280 1696 2020 3076 1712 1745 3075 2422 2691 3089 2423 1935 2235 2421 2690 2944 1638 1963 2280 2425 2692 2706 2376 1663 2522 2375 2648 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diff --git a/eufs_description/meshes/kinect.jpg b/eufs_description/meshes/kinect.jpg
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diff --git a/eufs_description/meshes/kinect.tga b/eufs_description/meshes/kinect.tga
deleted file mode 100755
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diff --git a/eufs_description/meshes/kinectv2.dae b/eufs_description/meshes/kinectv2.dae
deleted file mode 100755
index 912934f2377df4c8b24119d30a08e2cf1dd86584..0000000000000000000000000000000000000000
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diff --git a/eufs_description/meshes/kinectv2_nobase.dae b/eufs_description/meshes/kinectv2_nobase.dae
deleted file mode 100755
index 2e51ec2a09a7848df0bf28f5d9664c77645807cd..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/kinectv2_nobase.dae
+++ /dev/null
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diff --git a/eufs_description/meshes/kinectv2_nobase.stl b/eufs_description/meshes/kinectv2_nobase.stl
deleted file mode 100755
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diff --git a/eufs_description/meshes/pointgrey_bumblebee2.dae b/eufs_description/meshes/pointgrey_bumblebee2.dae
deleted file mode 100755
index dae45c7b5084d0fcfd098a85497b041bbc241088..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/pointgrey_bumblebee2.dae
+++ /dev/null
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-      </mesh>
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-  <library_controllers/>
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-        <instance_geometry url="#Cube_001-mesh">
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-              <instance_material symbol="Material-material" target="#Material-material"/>
-            </technique_common>
-          </bind_material>
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-        <instance_geometry url="#Cube_003-mesh">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/eufs_description/meshes/wheel.dae b/eufs_description/meshes/wheel.dae
deleted file mode 100644
index 37182f36166dedec93f2e326a36f19c759c54def..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/wheel.dae
+++ /dev/null
@@ -1,478 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.79.0</authoring_tool>
-    </contributor>
-    <created>2018-10-26T18:17:28</created>
-    <modified>2018-10-26T18:17:28</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Lamp-light" name="Lamp">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <adapt_thresh>0.000999987</adapt_thresh>
-          <area_shape>1</area_shape>
-          <area_size>0.1</area_size>
-          <area_sizey>0.1</area_sizey>
-          <area_sizez>1</area_sizez>
-          <atm_distance_factor>1</atm_distance_factor>
-          <atm_extinction_factor>1</atm_extinction_factor>
-          <atm_turbidity>2</atm_turbidity>
-          <att1>0</att1>
-          <att2>1</att2>
-          <backscattered_light>1</backscattered_light>
-          <bias>1</bias>
-          <blue>1</blue>
-          <buffers>1</buffers>
-          <bufflag>0</bufflag>
-          <bufsize>2880</bufsize>
-          <buftype>2</buftype>
-          <clipend>30.002</clipend>
-          <clipsta>1.000799</clipsta>
-          <compressthresh>0.04999995</compressthresh>
-          <dist sid="blender_dist">29.99998</dist>
-          <energy sid="blender_energy">1</energy>
-          <falloff_type>2</falloff_type>
-          <filtertype>0</filtertype>
-          <flag>0</flag>
-          <gamma sid="blender_gamma">1</gamma>
-          <green>1</green>
-          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
-          <horizon_brightness>1</horizon_brightness>
-          <mode>8192</mode>
-          <ray_samp>1</ray_samp>
-          <ray_samp_method>1</ray_samp_method>
-          <ray_samp_type>0</ray_samp_type>
-          <ray_sampy>1</ray_sampy>
-          <ray_sampz>1</ray_sampz>
-          <red>1</red>
-          <samp>3</samp>
-          <shadhalostep>0</shadhalostep>
-          <shadow_b sid="blender_shadow_b">0</shadow_b>
-          <shadow_g sid="blender_shadow_g">0</shadow_g>
-          <shadow_r sid="blender_shadow_r">0</shadow_r>
-          <sky_colorspace>0</sky_colorspace>
-          <sky_exposure>1</sky_exposure>
-          <skyblendfac>1</skyblendfac>
-          <skyblendtype>1</skyblendtype>
-          <soft>3</soft>
-          <spotblend>0.15</spotblend>
-          <spotsize>75</spotsize>
-          <spread>1</spread>
-          <sun_brightness>1</sun_brightness>
-          <sun_effect_type>0</sun_effect_type>
-          <sun_intensity>1</sun_intensity>
-          <sun_size>1</sun_size>
-          <type>0</type>
-        </technique>
-      </extra>
-    </light>
-    <light id="Lamp_001-light" name="Lamp.001">
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-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
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-      </technique_common>
-      <extra>
-        <technique profile="blender">
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-          <area_shape>1</area_shape>
-          <area_size>0.1</area_size>
-          <area_sizey>0.1</area_sizey>
-          <area_sizez>1</area_sizez>
-          <atm_distance_factor>1</atm_distance_factor>
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-          <atm_turbidity>2</atm_turbidity>
-          <att1>0</att1>
-          <att2>1</att2>
-          <backscattered_light>1</backscattered_light>
-          <bias>1</bias>
-          <blue>1</blue>
-          <buffers>1</buffers>
-          <bufflag>0</bufflag>
-          <bufsize>2880</bufsize>
-          <buftype>2</buftype>
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-          <clipsta>1.000799</clipsta>
-          <compressthresh>0.04999995</compressthresh>
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-          <filtertype>0</filtertype>
-          <flag>0</flag>
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-          <green>1</green>
-          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
-          <horizon_brightness>1</horizon_brightness>
-          <mode>8192</mode>
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-          <ray_samp_method>1</ray_samp_method>
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-          <ray_sampz>1</ray_sampz>
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-          <shadow_b sid="blender_shadow_b">0</shadow_b>
-          <shadow_g sid="blender_shadow_g">0</shadow_g>
-          <shadow_r sid="blender_shadow_r">0</shadow_r>
-          <sky_colorspace>0</sky_colorspace>
-          <sky_exposure>1</sky_exposure>
-          <skyblendfac>1</skyblendfac>
-          <skyblendtype>1</skyblendtype>
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-          <spotsize>75</spotsize>
-          <spread>1</spread>
-          <sun_brightness>1</sun_brightness>
-          <sun_effect_type>0</sun_effect_type>
-          <sun_intensity>1</sun_intensity>
-          <sun_size>1</sun_size>
-          <type>0</type>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
-  <library_images/>
-  <library_effects>
-    <effect id="wheel-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0 0 0 1</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.8618557 0.8618557 0.8618557 1</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.798969 0.798969 0.798969 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">50</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
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-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0 0 0 1</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.01507886 0.01507886 0.01507886 1</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.02477449 0.02477449 0.02477449 1</color>
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-            <shininess>
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-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_materials>
-    <material id="wheel-material" name="wheel">
-      <instance_effect url="#wheel-effect"/>
-    </material>
-    <material id="wheel_001-material" name="wheel_001">
-      <instance_effect url="#wheel_001-effect"/>
-    </material>
-  </library_materials>
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4577 2279 4577 2373 4578 2278 4578 2366 4578 2372 4579 2365 4579 2343 4579 2340 4580 2363 4580 2337 4580 2373 4581 2279 4581 2278 4581 2374 4582 2352 4582 2368 4582 2350 4583 2352 4583 2374 4583 2375 4584 2372 4584 2343 4584 2285 4585 2367 4585 2344 4585 2285 4586 2344 4586 2371 4586 2342 4587 2376 4587 2363 4587 2284 4588 2367 4588 2285 4588 2342 4589 2363 4589 2340 4589 2284 4590 2377 4590 2367 4590 2286 4591 2285 4591 2371 4591 2353 4592 2369 4592 2378 4592 2349 4593 2353 4593 2378 4593 2345 4594 2375 4594 2343 4594 2342 4595 2379 4595 2376 4595 2349 4596 2378 4596 2380 4596 2286 4597 2371 4597 2381 4597 2351 4598 2379 4598 2342 4598 2347 4599 2349 4599 2380 4599 2351 4600 2373 4600 2379 4600 2354 4601 2373 4601 2351 4601 2287 4602 2286 4602 2381 4602 2348 4603 2350 4603 2374 4603 2354 4604 2279 4604 2373 4604 2284 4605 2382 4605 2377 4605 2356 4606 2347 4606 2380 4606 2356 4607 2380 4607 2370 4607 2356 4608 2370 4608 2279 4608 2287 4609 2381 4609 2383 4609 2356 4610 2279 4610 2354 4610 2283 4611 2382 4611 2284 4611 2283 4612 2384 4612 2382 4612 2288 4613 2383 4613 2375 4613 2288 4614 2287 4614 2383 4614 2348 4615 2374 4615 2384 4615 2288 4616 2375 4616 2345 4616 2282 4617 2348 4617 2384 4617 2282 4618 2384 4618 2283 4618 2335 4619 2288 4619 2345 4619 2346 4620 2348 4620 2282 4620 2294 4621 2293 4621 2385 4621 2387 4622 2388 4622 2296 4622 2296 4623 2388 4623 2297 4623 2387 4624 2296 4624 2295 4624 2385 4625 2293 4625 2389 4625 2292 4626 2291 4626 2390 4626 2291 4627 2386 4627 2390 4627 2391 4628 2387 4628 2295 4628 2293 4629 2292 4629 2389 4629 2292 4630 2390 4630 2389 4630 2388 4631 2392 4631 2290 4631 2297 4632 2388 4632 2290 4632 2391 4633 2295 4633 2294 4633 2290 4634 2392 4634 2291 4634 2391 4635 2294 4635 2385 4635 2291 4636 2392 4636 2386 4636 2300 4637 2299 4637 2393 4637 2393 4638 2299 4638 2395 4638 2397 4639 2396 4639 2302 4639 2302 4640 2396 4640 2303 4640 2298 4641 2305 4641 2394 4641 2298 4642 2394 4642 2398 4642 2396 4643 2399 4643 2303 4643 2397 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4677 2315 4677 2318 4678 2411 4678 2414 4678 2315 4679 2416 4679 2316 4679 2415 4680 2321 4680 2320 4680 2410 4681 2415 4681 2320 4681 2316 4682 2416 4682 2409 4682 2316 4683 2409 4683 2317 4683 2320 4684 2319 4684 2410 4684 1564 4685 2045 4685 2043 4685 1564 4686 2042 4686 2045 4686 2049 4687 1570 4687 2050 4687 1570 4688 2047 4688 2050 4688 1595 4689 2053 4689 2057 4689 1595 4690 2057 4690 2055 4690 1603 4691 2064 4691 2063 4691 1603 4692 2063 4692 2062 4692 1165 4693 1535 4693 2072 4693 1535 4694 2073 4694 2072 4694 2322 4695 2080 4695 2323 4695 2080 4696 2322 4696 2075 4696 2088 4697 2087 4697 2324 4697 2327 4698 2326 4698 2325 4698 2327 4699 2096 4699 2326 4699 1515 4700 2102 4700 2103 4700 2102 4701 2108 4701 2103 4701 2118 4702 2119 4702 2117 4702 2118 4703 2117 4703 2116 4703 1716 4704 2123 4704 2124 4704 1716 4705 2124 4705 2122 4705 2126 4706 2130 4706 2129 4706 2126 4707 2129 4707 2128 4707 2135 4708 2137 4708 2136 4708 2135 4709 2138 4709 2137 4709 1693 4710 2143 4710 2145 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-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Lamp" name="Lamp" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Lamp-light"/>
-      </node>
-      <node id="node0" name="node0" type="NODE">
-        <matrix sid="transform">1.94705e-10 0 9.99987e-4 0 0 9.99987e-4 0 0 -9.99987e-4 0 1.94705e-10 0.05368415 0 0 0 1</matrix>
-        <instance_geometry url="#Part__Feature-mesh" name="node0"/>
-      </node>
-      <node id="node40" name="node40" type="NODE">
-        <matrix sid="transform">1.94705e-10 0 9.99987e-4 0 0 9.99987e-4 0 0 -9.99987e-4 0 1.94705e-10 0.03 0 0 0 1</matrix>
-        <instance_geometry url="#Part__Feature003-mesh" name="node40">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="wheel-material" target="#wheel-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="node52" name="node52" type="NODE">
-        <matrix sid="transform">1.94705e-10 0 9.99987e-4 0 0 9.99987e-4 0 0 -9.99987e-4 0 1.94705e-10 0.03 0 0 0 1</matrix>
-        <instance_geometry url="#Part__Feature005-mesh" name="node52">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="wheel_001-material" target="#wheel_001-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="Camera_001" name="Camera_001" type="NODE">
-        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276337 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953431 0.4452454 5.343665 0 0 0 1</matrix>
-        <instance_camera url="#Camera_001-camera"/>
-      </node>
-      <node id="Lamp_001" name="Lamp_001" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Lamp_001-light"/>
-      </node>
-      <node id="node40_001" name="node40_001" type="NODE">
-        <matrix sid="transform">7.54969e-11 0 -9.99987e-4 1.03527e-9 0 9.99987e-4 0 0 9.99987e-4 0 7.54969e-11 -0.02631585 0 0 0 1</matrix>
-        <instance_geometry url="#Part__Feature003_001-mesh" name="node40_001">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="wheel-material" target="#wheel-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="node0_001" name="node0_001" type="NODE">
-        <matrix sid="transform">7.54969e-11 0 -9.99987e-4 -1.03527e-9 0 9.99987e-4 0 0 9.99987e-4 0 7.54969e-11 -0.05 0 0 0 1</matrix>
-        <instance_geometry url="#Part__Feature_001-mesh" name="node0_001"/>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/eufs_description/meshes/wheel_left.dae b/eufs_description/meshes/wheel_left.dae
deleted file mode 100644
index df4edf52bd739d41cbb7234ca5cf902040e65910..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/wheel_left.dae
+++ /dev/null
@@ -1,400 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.79.0</authoring_tool>
-    </contributor>
-    <created>2018-10-26T18:03:20</created>
-    <modified>2018-10-26T18:03:20</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Lamp-light" name="Lamp">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <adapt_thresh>0.000999987</adapt_thresh>
-          <area_shape>1</area_shape>
-          <area_size>0.1</area_size>
-          <area_sizey>0.1</area_sizey>
-          <area_sizez>1</area_sizez>
-          <atm_distance_factor>1</atm_distance_factor>
-          <atm_extinction_factor>1</atm_extinction_factor>
-          <atm_turbidity>2</atm_turbidity>
-          <att1>0</att1>
-          <att2>1</att2>
-          <backscattered_light>1</backscattered_light>
-          <bias>1</bias>
-          <blue>1</blue>
-          <buffers>1</buffers>
-          <bufflag>0</bufflag>
-          <bufsize>2880</bufsize>
-          <buftype>2</buftype>
-          <clipend>30.002</clipend>
-          <clipsta>1.000799</clipsta>
-          <compressthresh>0.04999995</compressthresh>
-          <dist sid="blender_dist">29.99998</dist>
-          <energy sid="blender_energy">1</energy>
-          <falloff_type>2</falloff_type>
-          <filtertype>0</filtertype>
-          <flag>0</flag>
-          <gamma sid="blender_gamma">1</gamma>
-          <green>1</green>
-          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
-          <horizon_brightness>1</horizon_brightness>
-          <mode>8192</mode>
-          <ray_samp>1</ray_samp>
-          <ray_samp_method>1</ray_samp_method>
-          <ray_samp_type>0</ray_samp_type>
-          <ray_sampy>1</ray_sampy>
-          <ray_sampz>1</ray_sampz>
-          <red>1</red>
-          <samp>3</samp>
-          <shadhalostep>0</shadhalostep>
-          <shadow_b sid="blender_shadow_b">0</shadow_b>
-          <shadow_g sid="blender_shadow_g">0</shadow_g>
-          <shadow_r sid="blender_shadow_r">0</shadow_r>
-          <sky_colorspace>0</sky_colorspace>
-          <sky_exposure>1</sky_exposure>
-          <skyblendfac>1</skyblendfac>
-          <skyblendtype>1</skyblendtype>
-          <soft>3</soft>
-          <spotblend>0.15</spotblend>
-          <spotsize>75</spotsize>
-          <spread>1</spread>
-          <sun_brightness>1</sun_brightness>
-          <sun_effect_type>0</sun_effect_type>
-          <sun_intensity>1</sun_intensity>
-          <sun_size>1</sun_size>
-          <type>0</type>
-        </technique>
-      </extra>
-    </light>
-    <light id="Lamp_001-light" name="Lamp.001">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <adapt_thresh>9.99987e-4</adapt_thresh>
-          <area_shape>1</area_shape>
-          <area_size>0.1</area_size>
-          <area_sizey>0.1</area_sizey>
-          <area_sizez>1</area_sizez>
-          <atm_distance_factor>1</atm_distance_factor>
-          <atm_extinction_factor>1</atm_extinction_factor>
-          <atm_turbidity>2</atm_turbidity>
-          <att1>0</att1>
-          <att2>1</att2>
-          <backscattered_light>1</backscattered_light>
-          <bias>1</bias>
-          <blue>1</blue>
-          <buffers>1</buffers>
-          <bufflag>0</bufflag>
-          <bufsize>2880</bufsize>
-          <buftype>2</buftype>
-          <clipend>30.002</clipend>
-          <clipsta>1.000799</clipsta>
-          <compressthresh>0.04999995</compressthresh>
-          <dist sid="blender_dist">29.99998</dist>
-          <energy sid="blender_energy">1</energy>
-          <falloff_type>2</falloff_type>
-          <filtertype>0</filtertype>
-          <flag>0</flag>
-          <gamma sid="blender_gamma">1</gamma>
-          <green>1</green>
-          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
-          <horizon_brightness>1</horizon_brightness>
-          <mode>8192</mode>
-          <ray_samp>1</ray_samp>
-          <ray_samp_method>1</ray_samp_method>
-          <ray_samp_type>0</ray_samp_type>
-          <ray_sampy>1</ray_sampy>
-          <ray_sampz>1</ray_sampz>
-          <red>1</red>
-          <samp>3</samp>
-          <shadhalostep>0</shadhalostep>
-          <shadow_b sid="blender_shadow_b">0</shadow_b>
-          <shadow_g sid="blender_shadow_g">0</shadow_g>
-          <shadow_r sid="blender_shadow_r">0</shadow_r>
-          <sky_colorspace>0</sky_colorspace>
-          <sky_exposure>1</sky_exposure>
-          <skyblendfac>1</skyblendfac>
-          <skyblendtype>1</skyblendtype>
-          <soft>3</soft>
-          <spotblend>0.15</spotblend>
-          <spotsize>75</spotsize>
-          <spread>1</spread>
-          <sun_brightness>1</sun_brightness>
-          <sun_effect_type>0</sun_effect_type>
-          <sun_intensity>1</sun_intensity>
-          <sun_size>1</sun_size>
-          <type>0</type>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
-  <library_images/>
-  <library_effects>
-    <effect id="wheel-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0 0 0 1</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.8618557 0.8618557 0.8618557 1</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.798969 0.798969 0.798969 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">50</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="wheel_001-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0 0 0 1</color>
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2007 3818 2011 3818 2007 3819 1872 3819 2011 3819 2010 3820 2009 3820 2012 3820 2009 3821 2008 3821 2012 3821 1903 3822 1902 3822 2010 3822 2012 3823 2008 3823 2011 3823 1872 3824 1873 3824 2011 3824 1903 3825 2010 3825 2013 3825 1904 3826 1903 3826 2013 3826 1873 3827 1851 3827 2014 3827 2011 3828 1873 3828 2014 3828 2012 3829 2011 3829 2014 3829 2013 3830 2010 3830 2015 3830 2010 3831 2012 3831 2015 3831 1905 3832 1904 3832 2013 3832 1905 3833 2013 3833 2016 3833 1851 3834 1852 3834 2014 3834 2015 3835 2012 3835 2014 3835 2016 3836 2013 3836 2015 3836 1907 3837 1905 3837 2016 3837 2014 3838 1852 3838 2017 3838 1852 3839 1853 3839 2017 3839 2015 3840 2014 3840 2017 3840 1907 3841 2016 3841 2018 3841 2018 3842 2016 3842 2015 3842 1909 3843 1907 3843 2018 3843 2018 3844 2015 3844 2019 3844 1853 3845 1855 3845 2017 3845 1880 3846 1879 3846 1956 3846 2019 3847 2015 3847 2017 3847 1881 3848 1974 3848 2020 3848 1855 3849 1857 3849 2017 3849 1882 3850 1881 3850 2020 3850 1883 3851 1882 3851 2020 3851 1909 3852 2018 3852 2021 3852 2020 3853 1974 3853 1951 3853 1911 3854 1909 3854 2021 3854 2021 3855 2018 3855 2019 3855 2019 3856 2017 3856 2022 3856 1884 3857 1883 3857 2020 3857 2017 3858 1857 3858 2022 3858 1912 3859 1911 3859 2021 3859 2020 3860 1951 3860 2023 3860 1951 3861 1950 3861 1957 3861 2021 3862 2019 3862 2024 3862 1884 3863 2020 3863 2025 3863 2024 3864 2019 3864 2022 3864 2025 3865 2020 3865 2023 3865 1847 3866 1854 3866 1957 3866 2023 3867 1951 3867 1957 3867 1857 3868 1859 3868 2022 3868 1913 3869 1912 3869 2026 3869 1912 3870 2021 3870 2026 3870 2026 3871 2021 3871 2024 3871 1885 3872 1884 3872 2025 3872 2024 3873 2022 3873 2027 3873 2022 3874 1859 3874 2027 3874 1859 3875 1861 3875 2027 3875 1885 3876 2025 3876 2028 3876 1854 3877 1856 3877 2029 3877 2026 3878 2024 3878 2030 3878 2023 3879 1957 3879 2029 3879 1957 3880 1854 3880 2029 3880 2028 3881 2025 3881 2023 3881 1874 3882 1913 3882 2026 3882 1874 3883 2026 3883 2031 3883 2028 3884 2023 3884 2032 3884 2030 3885 2024 3885 2027 3885 1861 3886 1863 3886 2027 3886 1887 3887 1885 3887 2028 3887 2031 3888 2026 3888 2030 3888 1856 3889 1858 3889 2029 3889 2031 3890 2030 3890 2033 3890 2032 3891 2023 3891 2029 3891 1887 3892 2028 3892 2034 3892 1876 3893 1874 3893 2031 3893 2032 3894 2029 3894 2035 3894 2029 3895 1858 3895 2035 3895 2034 3896 2028 3896 2032 3896 1863 3897 1865 3897 2036 3897 2033 3898 2030 3898 2036 3898 2027 3899 1863 3899 2036 3899 2030 3900 2027 3900 2036 3900 1888 3901 1887 3901 2034 3901 1876 3902 2031 3902 2037 3902 2034 3903 2032 3903 2038 3903 1858 3904 1860 3904 2035 3904 2037 3905 2031 3905 2033 3905 1878 3906 1876 3906 2037 3906 2038 3907 2032 3907 2035 3907 1890 3908 1888 3908 2034 3908 1865 3909 1867 3909 2036 3909 1890 3910 2034 3910 2039 3910 1891 3911 1890 3911 2039 3911 1878 3912 2037 3912 2040 3912 2039 3913 2034 3913 2038 3913 1860 3914 1862 3914 2041 3914 2040 3915 2037 3915 2033 3915 2038 3916 2035 3916 2041 3916 2035 3917 1860 3917 2041 3917 1892 3918 1891 3918 2039 3918 2039 3919 2038 3919 2001 3919 1879 3920 1878 3920 2040 3920 1956 3921 1879 3921 2040 3921 1892 3922 2039 3922 2000 3922 2040 3923 2033 3923 1976 3923 1894 3924 1892 3924 2000 3924 2000 3925 2039 3925 2001 3925 1862 3926 1864 3926 2002 3926 2001 3927 2038 3927 2002 3927 2041 3928 1862 3928 2002 3928 2038 3929 2041 3929 2002 3929 1956 3930 2040 3930 1976 3930 2036 3931 1867 3931 2042 3931 1976 3932 2033 3932 2042 3932 2033 3933 2036 3933 2042 3933 1867 3934 1869 3934 2042 3934 1981 3935 1977 3935 2042 3935 1828 3936 1981 3936 2042 3936 1977 3937 1976 3937 2042 3937 1869 3938 1828 3938 2042 3938</p>
-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Lamp" name="Lamp" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Lamp-light"/>
-      </node>
-      <node id="node0" name="node0" type="NODE">
-        <matrix sid="transform">7.54969e-11 0 -9.99987e-4 0 0 9.99987e-4 0 0 9.99987e-4 0 7.54969e-11 0 0 0 0 1</matrix>
-        <instance_geometry url="#Part__Feature-mesh" name="node0"/>
-      </node>
-      <node id="node40" name="node40" type="NODE">
-        <matrix sid="transform">7.54969e-11 0 -9.99987e-4 0 0 9.99987e-4 0 0 9.99987e-4 0 7.54969e-11 0 0 0 0 1</matrix>
-        <instance_geometry url="#Part__Feature003-mesh" name="node40">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="wheel-material" target="#wheel-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="node52" name="node52" type="NODE">
-        <matrix sid="transform">7.54969e-11 0 -9.99987e-4 0 0 9.99987e-4 0 0 9.99987e-4 0 7.54969e-11 0 0 0 0 1</matrix>
-        <instance_geometry url="#Part__Feature005-mesh" name="node52">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="wheel_001-material" target="#wheel_001-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="Camera_001" name="Camera_001" type="NODE">
-        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276337 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953431 0.4452454 5.343665 0 0 0 1</matrix>
-        <instance_camera url="#Camera_001-camera"/>
-      </node>
-      <node id="Lamp_001" name="Lamp_001" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Lamp_001-light"/>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/eufs_description/meshes/wheel_right.dae b/eufs_description/meshes/wheel_right.dae
deleted file mode 100644
index 82ddfe39f4273e8d02ba680743c1496d32ccf143..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/wheel_right.dae
+++ /dev/null
@@ -1,400 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.79.0</authoring_tool>
-    </contributor>
-    <created>2018-10-26T18:08:01</created>
-    <modified>2018-10-26T18:08:01</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Lamp-light" name="Lamp">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
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2020 3851 1909 3852 2018 3852 2021 3852 2020 3853 1974 3853 1951 3853 1911 3854 1909 3854 2021 3854 2021 3855 2018 3855 2019 3855 2019 3856 2017 3856 2022 3856 1884 3857 1883 3857 2020 3857 2017 3858 1857 3858 2022 3858 1912 3859 1911 3859 2021 3859 2020 3860 1951 3860 2023 3860 1951 3861 1950 3861 1957 3861 2021 3862 2019 3862 2024 3862 1884 3863 2020 3863 2025 3863 2024 3864 2019 3864 2022 3864 2025 3865 2020 3865 2023 3865 1847 3866 1854 3866 1957 3866 2023 3867 1951 3867 1957 3867 1857 3868 1859 3868 2022 3868 1913 3869 1912 3869 2026 3869 1912 3870 2021 3870 2026 3870 2026 3871 2021 3871 2024 3871 1885 3872 1884 3872 2025 3872 2024 3873 2022 3873 2027 3873 2022 3874 1859 3874 2027 3874 1859 3875 1861 3875 2027 3875 1885 3876 2025 3876 2028 3876 1854 3877 1856 3877 2029 3877 2026 3878 2024 3878 2030 3878 2023 3879 1957 3879 2029 3879 1957 3880 1854 3880 2029 3880 2028 3881 2025 3881 2023 3881 1874 3882 1913 3882 2026 3882 1874 3883 2026 3883 2031 3883 2028 3884 2023 3884 2032 3884 2030 3885 2024 3885 2027 3885 1861 3886 1863 3886 2027 3886 1887 3887 1885 3887 2028 3887 2031 3888 2026 3888 2030 3888 1856 3889 1858 3889 2029 3889 2031 3890 2030 3890 2033 3890 2032 3891 2023 3891 2029 3891 1887 3892 2028 3892 2034 3892 1876 3893 1874 3893 2031 3893 2032 3894 2029 3894 2035 3894 2029 3895 1858 3895 2035 3895 2034 3896 2028 3896 2032 3896 1863 3897 1865 3897 2036 3897 2033 3898 2030 3898 2036 3898 2027 3899 1863 3899 2036 3899 2030 3900 2027 3900 2036 3900 1888 3901 1887 3901 2034 3901 1876 3902 2031 3902 2037 3902 2034 3903 2032 3903 2038 3903 1858 3904 1860 3904 2035 3904 2037 3905 2031 3905 2033 3905 1878 3906 1876 3906 2037 3906 2038 3907 2032 3907 2035 3907 1890 3908 1888 3908 2034 3908 1865 3909 1867 3909 2036 3909 1890 3910 2034 3910 2039 3910 1891 3911 1890 3911 2039 3911 1878 3912 2037 3912 2040 3912 2039 3913 2034 3913 2038 3913 1860 3914 1862 3914 2041 3914 2040 3915 2037 3915 2033 3915 2038 3916 2035 3916 2041 3916 2035 3917 1860 3917 2041 3917 1892 3918 1891 3918 2039 3918 2039 3919 2038 3919 2001 3919 1879 3920 1878 3920 2040 3920 1956 3921 1879 3921 2040 3921 1892 3922 2039 3922 2000 3922 2040 3923 2033 3923 1976 3923 1894 3924 1892 3924 2000 3924 2000 3925 2039 3925 2001 3925 1862 3926 1864 3926 2002 3926 2001 3927 2038 3927 2002 3927 2041 3928 1862 3928 2002 3928 2038 3929 2041 3929 2002 3929 1956 3930 2040 3930 1976 3930 2036 3931 1867 3931 2042 3931 1976 3932 2033 3932 2042 3932 2033 3933 2036 3933 2042 3933 1867 3934 1869 3934 2042 3934 1981 3935 1977 3935 2042 3935 1828 3936 1981 3936 2042 3936 1977 3937 1976 3937 2042 3937 1869 3938 1828 3938 2042 3938</p>
-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 0 0.8953956 0.4452714 5.343665 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Lamp" name="Lamp" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Lamp-light"/>
-      </node>
-      <node id="node0" name="node0" type="NODE">
-        <matrix sid="transform">1.94705e-10 0 9.99987e-4 0 0 9.99987e-4 0 0 -9.99987e-4 0 1.94705e-10 0 0 0 0 1</matrix>
-        <instance_geometry url="#Part__Feature-mesh" name="node0"/>
-      </node>
-      <node id="node40" name="node40" type="NODE">
-        <matrix sid="transform">1.94705e-10 0 9.99987e-4 0 0 9.99987e-4 0 0 -9.99987e-4 0 1.94705e-10 0 0 0 0 1</matrix>
-        <instance_geometry url="#Part__Feature003-mesh" name="node40">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="wheel-material" target="#wheel-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="node52" name="node52" type="NODE">
-        <matrix sid="transform">1.94705e-10 0 9.99987e-4 0 0 9.99987e-4 0 0 -9.99987e-4 0 1.94705e-10 0 0 0 0 1</matrix>
-        <instance_geometry url="#Part__Feature005-mesh" name="node52">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="wheel_001-material" target="#wheel_001-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="Camera_001" name="Camera_001" type="NODE">
-        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276337 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953431 0.4452454 5.343665 0 0 0 1</matrix>
-        <instance_camera url="#Camera_001-camera"/>
-      </node>
-      <node id="Lamp_001" name="Lamp_001" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Lamp_001-light"/>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/eufs_description/meshes/zed.dae b/eufs_description/meshes/zed.dae
deleted file mode 100644
index 68b1d6a738dbc70918bb0ddba3159fc5afa0517a..0000000000000000000000000000000000000000
--- a/eufs_description/meshes/zed.dae
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-    <asset>
-        <contributor>
-            <author>VCGLab</author>
-            <authoring_tool>VCGLib | MeshLab</authoring_tool>
-        </contributor>
-        <up_axis>Y_UP</up_axis>
-        <created>Sat Feb 10 17:42:35 2018</created>
-        <modified>Sat Feb 10 17:42:35 2018</modified>
-    </asset>
-    <library_images/>
-    <library_materials/>
-    <library_effects/>
-    <library_geometries>
-        <geometry id="shape0-lib" name="shape0">
-            <mesh>
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-            <node id="node" name="node">
-                <instance_geometry url="#shape0-lib">
-                    <bind_material>
-                        <technique_common/>
-                    </bind_material>
-                </instance_geometry>
-            </node>
-        </visual_scene>
-    </library_visual_scenes>
-    <scene>
-        <instance_visual_scene url="#VisualSceneNode"/>
-    </scene>
-</COLLADA>
diff --git a/eufs_description/models/acceleration/model.config b/eufs_description/models/acceleration/model.config
deleted file mode 100644
index aaa42651bb8a5c582c459281d45d2bf203ca5320..0000000000000000000000000000000000000000
--- a/eufs_description/models/acceleration/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>acceleration</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name>Ignat Georgiev</name>
-        <email>ignat.m.georgiev@gmail.com</email>
-    </author>
-    <description>Model for the acceleration event at Formula Student</description>
-</model>
diff --git a/eufs_description/models/acceleration/model.sdf b/eufs_description/models/acceleration/model.sdf
deleted file mode 100644
index 54589695816d8c30ce56661e8e09a23879287346..0000000000000000000000000000000000000000
--- a/eufs_description/models/acceleration/model.sdf
+++ /dev/null
@@ -1,235 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='track'>
-    <include>
-      <pose>-50 1.5 0 0 0 0</pose>
-      <uri>model://models/big_cone</uri>
-      <name>big_cone</name>
-    </include>
-    <include>
-      <pose>-50 -1.5 0 0 0 0</pose>
-      <uri>model://models/big_cone</uri>
-      <name>big_cone</name>
-    </include>
-    <include>
-      <pose>-50.5 1.5 0 0 0 0</pose>
-      <uri>model://models/big_cone</uri>
-      <name>big_cone</name>
-    </include>
-    <include>
-      <pose>-50.5 -1.5 0 0 0 0</pose>
-      <uri>model://models/big_cone</uri>
-      <name>big_cone</name>
-    </include>
-    <include>
-      <pose>-45 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>-45 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>-40 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>-40 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>-35 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>-35 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>-30 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>-30 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>-25 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>-25 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>-20 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>-20 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>-15 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>-15 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>-10 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>-10 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>-5 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>-5 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>0 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>0 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>5 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>5 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>10 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>10 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>15 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>15 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>20 1.5 0 0 0 0</pose>
-      <uri>model://models/blue_cone</uri>
-      <name>blue_cone</name>
-    </include>
-    <include>
-      <pose>20 -1.5 0 0 0 0</pose>
-      <uri>model://models/yellow_cone</uri>
-      <name>yellow_cone</name>
-    </include>
-    <include>
-      <pose>25 1.5 0 0 0 0</pose>
-      <uri>model://models/big_cone</uri>
-      <name>big_cone</name>
-    </include>
-    <include>
-      <pose>25 -1.5 0 0 0 0</pose>
-      <uri>model://models/big_cone</uri>
-      <name>big_cone</name>
-    </include>
-    <include>
-      <pose>30 1.5 0 0 0 0</pose>
-      <uri>model://models/orange_cone</uri>
-      <name>orange_cone</name>
-    </include>
-    <include>
-      <pose>30 -1.5 0 0 0 0</pose>
-      <uri>model://models/orange_cone</uri>
-      <name>orange_cone</name>
-    </include>
-    <include>
-      <pose>35 1.5 0 0 0 0</pose>
-      <uri>model://models/orange_cone</uri>
-      <name>orange_cone</name>
-    </include>
-    <include>
-      <pose>35 -1.5 0 0 0 0</pose>
-      <uri>model://models/orange_cone</uri>
-      <name>orange_cone</name>
-    </include>
-    <include>
-      <pose>40 1.5 0 0 0 0</pose>
-      <uri>model://models/orange_cone</uri>
-      <name>orange_cone</name>
-    </include>
-    <include>
-      <pose>40 -1.5 0 0 0 0</pose>
-      <uri>model://models/orange_cone</uri>
-      <name>orange_cone</name>
-    </include>
-    <include>
-      <pose>45 1.5 0 0 0 0</pose>
-      <uri>model://models/orange_cone</uri>
-      <name>orange_cone</name>
-    </include>
-    <include>
-      <pose>45 -1.5 0 0 0 0</pose>
-      <uri>model://models/orange_cone</uri>
-      <name>orange_cone</name>
-    </include>
-    <include>
-      <pose>50 1.5 0 0 0 0</pose>
-      <uri>model://models/orange_cone</uri>
-      <name>orange_cone</name>
-    </include>
-    <include>
-      <pose>50 -1.5 0 0 0 0</pose>
-      <uri>model://models/orange_cone</uri>
-      <name>orange_cone</name>
-    </include>
-    <include>
-      <pose>50 0.75 0 0 0 0</pose>
-      <uri>model://models/orange_cone</uri>
-      <name>orange_cone</name>
-    </include>
-    <include>
-      <pose>50 -0.75 0 0 0 0</pose>
-      <uri>model://models/orange_cone</uri>
-      <name>orange_cone</name>
-    </include>
-  </model>
-</sdf>
diff --git a/eufs_description/models/big_cone/model.config b/eufs_description/models/big_cone/model.config
deleted file mode 100644
index 3fb54520d1c5f5541bb73dc83db24973b76a23da..0000000000000000000000000000000000000000
--- a/eufs_description/models/big_cone/model.config
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>big_cone</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name>Ignat Georgiev</name>
-        <email>ignat.m.georgiev@gmail.com</email>
-    </author>
-    <description>Model of big orange cone used in Formula Student Driverless events.
-    	Ref: Model name WEMAS 307.610500.00.00</description>
-</model>
diff --git a/eufs_description/models/big_cone/model.sdf b/eufs_description/models/big_cone/model.sdf
deleted file mode 100644
index 91cf7ae231599c42788739dcc932a944bb9196c1..0000000000000000000000000000000000000000
--- a/eufs_description/models/big_cone/model.sdf
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='big_cone'>
-    <link name='link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
-      <inertial>
-        <inertia>
-          <ixx>0.0016</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0016</iyy>
-          <iyz>0</iyz>
-          <izz>0.0010</izz>
-        </inertia>
-        <mass>0.45</mass>
-      </inertial>
-      <visual name='visual'>
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_big.dae</uri>
-          </mesh>
-        </geometry>
-        <cast_shadows>1</cast_shadows>
-      </visual>
-      <collision name='collision'>
-        <max_contacts>3</max_contacts>
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_big.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-    </link>
-  </model>
-</sdf>
\ No newline at end of file
diff --git a/eufs_description/models/big_track/model.config b/eufs_description/models/big_track/model.config
deleted file mode 100644
index 7526554d01075f7bf186728e6e75df961f6ee74f..0000000000000000000000000000000000000000
--- a/eufs_description/models/big_track/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>big_track</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name>Ignat Georgiev</name>
-        <email>ignat.m.georgiev@gmail.com</email>
-    </author>
-    <description>Model of an example track for a Formula Student sprint event. Smaller than usual tracks.</description>
-</model>
diff --git a/eufs_description/models/big_track/model.sdf b/eufs_description/models/big_track/model.sdf
deleted file mode 100644
index b2fef581a6fb7bea8b9865f63628323cbbb47251..0000000000000000000000000000000000000000
--- a/eufs_description/models/big_track/model.sdf
+++ /dev/null
@@ -1,3851 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='track'>
-    
-
-    <link name='link_0_clone_0'>
-      <pose frame=''>-40 0 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_1'>
-      <pose frame=''>-40 3 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_2'>
-      <pose frame=''>-40 6 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_3'>
-      <pose frame=''>-40 8 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_4'>
-      <pose frame=''>-40 11 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_5'>
-      <pose frame=''>-40 14 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_6'>
-      <pose frame=''>-40 18 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_7'>
-      <pose frame=''>-40 21 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_8'>
-      <pose frame=''>-39 24 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_9'>
-      <pose frame=''>-39 27 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_10'>
-      <pose frame=''>-38 -2 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_11'>
-      <pose frame=''>-38 30 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_12'>
-      <pose frame=''>-37 32 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_13'>
-      <pose frame=''>-36 4 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_14'>
-      <pose frame=''>-36 6 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_15'>
-      <pose frame=''>-35 -3 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_16'>
-      <pose frame=''>-35 3 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
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-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_177'>
-      <pose frame=''>52 -16 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_178'>
-      <pose frame=''>53 -23 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_179'>
-      <pose frame=''>53 -6 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_180'>
-      <pose frame=''>54 -14 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_181'>
-      <pose frame=''>55 -11 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_182'>
-      <pose frame=''>55 -9 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-    <static>0</static>
-    <allow_auto_disable>1</allow_auto_disable>
-  </model>
-</sdf>
diff --git a/eufs_description/models/blue_cone/model.config b/eufs_description/models/blue_cone/model.config
deleted file mode 100644
index 36baf4f331800612f8fd16c9aa65afba86a908f3..0000000000000000000000000000000000000000
--- a/eufs_description/models/blue_cone/model.config
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>blue_cone</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name>Ignat Georgiev</name>
-        <email>ignat.m.georgiev@gmail.com</email>
-    </author>
-    <description>Model of blue cone used in Formula Student Driverless events.
-    	Ref: Model name WEMAS 400.000043.00.00</description>
-</model>
diff --git a/eufs_description/models/blue_cone/model.sdf b/eufs_description/models/blue_cone/model.sdf
deleted file mode 100644
index 93b0e1b84abc22152f8a9854f09990ec267a00b9..0000000000000000000000000000000000000000
--- a/eufs_description/models/blue_cone/model.sdf
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='blue_cone'>
-    <link name='link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
-      <inertial>
-        <inertia>
-          <ixx>0.0016</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0016</iyy>
-          <iyz>0</iyz>
-          <izz>0.0010</izz>
-        </inertia>
-        <mass>0.45</mass>
-      </inertial>
-      <visual name='visual'>
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-        <cast_shadows>1</cast_shadows>
-      </visual>
-      <collision name='collision'>
-        <max_contacts>3</max_contacts>
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-    </link>
-  </model>
-</sdf>
\ No newline at end of file
diff --git a/eufs_description/models/ground_plane/model.config b/eufs_description/models/ground_plane/model.config
deleted file mode 100644
index 957018cab6475ff9884651228719db6c3a2d1cf3..0000000000000000000000000000000000000000
--- a/eufs_description/models/ground_plane/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>ground_plane</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name>Ignat Georgiev</name>
-        <email>ignat.m.georgiev@gmail.com</email>
-    </author>
-    <description></description>
-</model>
diff --git a/eufs_description/models/ground_plane/model.sdf b/eufs_description/models/ground_plane/model.sdf
deleted file mode 100644
index 38b318051aade9d4565c148bb46ec796f9b9355e..0000000000000000000000000000000000000000
--- a/eufs_description/models/ground_plane/model.sdf
+++ /dev/null
@@ -1,50 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='ground_plane'>
-    <static>1</static>
-    <link name='link'>
-      <collision name='collision'>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>120 120</size>
-          </plane>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>100</mu>
-              <mu2>50</mu2>
-            </ode>
-            <torsional>
-              <ode/>
-            </torsional>
-          </friction>
-          <contact>
-            <ode/>
-          </contact>
-          <bounce/>
-        </surface>
-        <max_contacts>10</max_contacts>
-      </collision>
-      <visual name='visual'>
-        <cast_shadows>0</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>120 120</size>
-          </plane>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://materials/gazebo.material</uri>
-            <name>Gazebo/Asphalt</name>
-          </script>
-        </material>
-      </visual>
-      <self_collide>0</self_collide>
-      <kinematic>0</kinematic>
-      <gravity>1</gravity>
-    </link>
-  </model>
-</sdf>
diff --git a/eufs_description/models/monster/model.config b/eufs_description/models/monster/model.config
deleted file mode 100644
index d3a959b7e6515cda50bd780dad52bbbcc4b53725..0000000000000000000000000000000000000000
--- a/eufs_description/models/monster/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>monster</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name>Bailey Andrew</name>
-        <email>e.bailey.andrew@gmail.com</email>
-    </author>
-    <description>Randomly generated track</description>
-</model>
diff --git a/eufs_description/models/monster/model.sdf b/eufs_description/models/monster/model.sdf
deleted file mode 100644
index d08a0518aa72f95c729c81a42398cf4177812f2c..0000000000000000000000000000000000000000
--- a/eufs_description/models/monster/model.sdf
+++ /dev/null
@@ -1,8996 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='track'>
-    
-
-    <link name='link_0_clone_0'>
-      <pose frame=''>-45 216 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_1'>
-      <pose frame=''>-43 219 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_2'>
-      <pose frame=''>-42 209 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_3'>
-      <pose frame=''>-39 207 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_4'>
-      <pose frame=''>-36 213 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_5'>
-      <pose frame=''>-35 216 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_6'>
-      <pose frame=''>-35 226 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_7'>
-      <pose frame=''>-31 -24 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_8'>
-      <pose frame=''>-31 215 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_9'>
-      <pose frame=''>-31 225 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_10'>
-      <pose frame=''>-30 -20 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_11'>
-      <pose frame=''>-30 216 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_12'>
-      <pose frame=''>-29 -32 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_13'>
-      <pose frame=''>-29 206 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_14'>
-      <pose frame=''>-28 -17 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_15'>
-      <pose frame=''>-28 206 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_16'>
-      <pose frame=''>-28 223 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_17'>
-      <pose frame=''>-26 -14 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_18'>
-      <pose frame=''>-23 -12 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_19'>
-      <pose frame=''>-23 206 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_20'>
-      <pose frame=''>-22 -40 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_21'>
-      <pose frame=''>-22 -30 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-
-
-    <link name='link_0_clone_22'>
-      <pose frame=''>-22 219 0.15 0 -0 0</pose>
-      
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_blue.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-
-      <visual name="visual">
-        <geometry>
-          <mesh>
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-      <visual name="visual">
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-    <static>0</static>
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-  </model>
-</sdf>
diff --git a/eufs_description/models/orange_cone/model.config b/eufs_description/models/orange_cone/model.config
deleted file mode 100644
index 83e9b6c10b5274a0c0db657444743f3341457830..0000000000000000000000000000000000000000
--- a/eufs_description/models/orange_cone/model.config
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>orange_cone</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name>Ignat Georgiev</name>
-        <email>ignat.m.georgiev@gmail.com</email>
-    </author>
-    <description>Model of blue cone used in Formula Student Driverless events.
-    	Ref: Model name WEMAS 400.000043.00.00</description>
-</model>
diff --git a/eufs_description/models/orange_cone/model.sdf b/eufs_description/models/orange_cone/model.sdf
deleted file mode 100644
index 4003491d41c80e1544fa91a32647565a8ceea2e1..0000000000000000000000000000000000000000
--- a/eufs_description/models/orange_cone/model.sdf
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='orange_cone'>
-    <link name='link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
-      <inertial>
-        <inertia>
-          <ixx>0.0016</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0016</iyy>
-          <iyz>0</iyz>
-          <izz>0.0010</izz>
-        </inertia>
-        <mass>0.45</mass>
-      </inertial>
-      <visual name='visual'>
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone.dae</uri>
-          </mesh>
-        </geometry>
-        <cast_shadows>1</cast_shadows>
-      </visual>
-      <collision name='collision'>
-        <max_contacts>3</max_contacts>
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-    </link>
-  </model>
-</sdf>
\ No newline at end of file
diff --git a/eufs_description/models/rand/model.config b/eufs_description/models/rand/model.config
deleted file mode 100644
index 010cf1c0544ad5e7eb6f981b13ed3d4173b11253..0000000000000000000000000000000000000000
--- a/eufs_description/models/rand/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>rand</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name>Bailey Andrew</name>
-        <email>e.bailey.andrew@gmail.com</email>
-    </author>
-    <description>Randomly generated track</description>
-</model>
diff --git a/eufs_description/models/rand/model.sdf b/eufs_description/models/rand/model.sdf
deleted file mode 100644
index bad859932ea2ae85303c0b7c73c81673babacfa2..0000000000000000000000000000000000000000
--- a/eufs_description/models/rand/model.sdf
+++ /dev/null
@@ -1,5993 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='rand'>
-    
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diff --git a/eufs_description/models/rand_CT/model.config b/eufs_description/models/rand_CT/model.config
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index e04b2d5cdced553835b286d04bebd6a1aa756cb9..0000000000000000000000000000000000000000
--- a/eufs_description/models/rand_CT/model.config
+++ /dev/null
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diff --git a/eufs_description/models/rand_CT/model.sdf b/eufs_description/models/rand_CT/model.sdf
deleted file mode 100644
index 8da45e8666690afc9f915fc2dce83f74ab3ceedf..0000000000000000000000000000000000000000
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diff --git a/eufs_description/models/skidpad/model.config b/eufs_description/models/skidpad/model.config
deleted file mode 100644
index 595e583ee7f9c9ee0d220026a585d21b31d487a5..0000000000000000000000000000000000000000
--- a/eufs_description/models/skidpad/model.config
+++ /dev/null
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diff --git a/eufs_description/models/skidpad/model.sdf b/eufs_description/models/skidpad/model.sdf
deleted file mode 100644
index b4c042917244ef88a769a2ef8695ef4d2d6fb3ec..0000000000000000000000000000000000000000
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diff --git a/eufs_description/models/small_track/model.config b/eufs_description/models/small_track/model.config
deleted file mode 100644
index 944566b42f9f83f6857bc77594605ecef59d27bc..0000000000000000000000000000000000000000
--- a/eufs_description/models/small_track/model.config
+++ /dev/null
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diff --git a/eufs_description/models/small_track/model.sdf b/eufs_description/models/small_track/model.sdf
deleted file mode 100644
index b7f2d0dd6578c2c2800e01540f252db79af86b7e..0000000000000000000000000000000000000000
--- a/eufs_description/models/small_track/model.sdf
+++ /dev/null
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-            <pose>-9.98667 8.39348 0 0 0 0</pose>
-            <name>big_cone_3</name>
-        </include>
-    </model>
-</sdf>
diff --git a/eufs_description/models/yellow_cone/model.config b/eufs_description/models/yellow_cone/model.config
deleted file mode 100644
index 964bbdda734a9cf1e5d0cb5ce621ec88d6b2fa12..0000000000000000000000000000000000000000
--- a/eufs_description/models/yellow_cone/model.config
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>yellow_cone</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name>Ignat Georgiev</name>
-        <email>ignat.m.georgiev@gmail.com</email>
-    </author>
-    <description>Model of yellow cone used in Formula Student Driverless events.
-    	Ref: Model name WEMAS 400.000013.01.10</description>
-</model>
diff --git a/eufs_description/models/yellow_cone/model.sdf b/eufs_description/models/yellow_cone/model.sdf
deleted file mode 100644
index 561b9a2274c48c7fda8816103bd64433aa7354ea..0000000000000000000000000000000000000000
--- a/eufs_description/models/yellow_cone/model.sdf
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='yellow_cone'>
-    <link name='link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
-      <inertial>
-        <inertia>
-          <ixx>0.0016</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0016</iyy>
-          <iyz>0</iyz>
-          <izz>0.0010</izz>
-        </inertia>
-        <mass>0.45</mass>
-      </inertial>
-      <visual name='visual'>
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-        <cast_shadows>1</cast_shadows>
-      </visual>
-      <collision name='collision'>
-        <max_contacts>3</max_contacts>
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/cone_yellow.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-    </link>
-  </model>
-</sdf>
\ No newline at end of file
diff --git a/eufs_description/package.xml b/eufs_description/package.xml
deleted file mode 100644
index 6e7bc9c59ce3331a376e99d49b4563ebc9b4cda8..0000000000000000000000000000000000000000
--- a/eufs_description/package.xml
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-    <name>eufs_description</name>
-    <version>0.1.0</version>
-    <description>The eufs_description package
-    Contrains all of the 3D models and meshes for 
-    simulation purposes.
-    </description>
-
-    <maintainer email="ignat.m.georgiev@gmail.com">Ignat Georgiev</maintainer>
-    <maintainer email="loizoustephanos@gmail.com">Stephanos Loizou</maintainer>
-    <maintainer email="olliejday@gmail.com">Oliver Day</maintainer>
-
-    <license>MIT</license>
-
-    <url type="website">http://eufs.co</url>
-    <url type="repository">https://gitlab.com/eufs/eufs_sim</url>
-    <url type="bugtracker">https://gitlab.com/eufs/eufs_sim/issues</url>
-
-    <buildtool_depend>catkin</buildtool_depend>
-
-    <depend>gazebo_ros</depend>
-    <depend>urdf</depend>
-    <depend>xacro</depend>
-    <depend>hector_gazebo_plugins</depend>
-    <depend>controller_manager</depend>
-    <depend>velodyne_simulator</depend>
-    <depend>effort_controllers</depend>
-    <depend>velocity_controllers</depend>
-    <depend>joint_state_controller</depend>
-    <depend>gazebo_ros_control</depend>
-    <depend>std_msgs</depend>
-    <depend>std_srvs</depend>
-    <depend>tf</depend>
-
-    <export>
-        <gazebo_ros gazebo_plugin_path="${prefix}/lib" gazebo_model_path="${prefix}/.." />
-    </export>
-</package>
diff --git a/eufs_description/robots/ads-dv-torque.urdf.xacro b/eufs_description/robots/ads-dv-torque.urdf.xacro
deleted file mode 100644
index 85f2afa2576e5637d0d6f141bdfde9ccdae97be3..0000000000000000000000000000000000000000
--- a/eufs_description/robots/ads-dv-torque.urdf.xacro
+++ /dev/null
@@ -1,494 +0,0 @@
-<?xml version="1.0"?>
-
-<!-- 
-This file defines a model of the ADS-DV car provided by Formula Student UK.
-It is derived from the ackermann_vehicle_gazebo ROS package available at
-https://github.com/jbpassot/ackermann_vehicle
-
-Lengths are measured in meters, angles are measured in radians, and masses are
-measured in kilograms. All of these values are approximations.
-
-To work with Gazebo, each link must have an inertial element, even if
-the link only serves to connect two joints. To be visible in Gazebo, a link
-must have a collision element. Furthermore, the link must have a Gazebo
-material.
-
-Copyright (c) 2011-2014 Wunderkammer Laboratory
-
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-
-  http://www.apache.org/licenses/LICENSE-2.0
-
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
--->
-
-<!-- 
-ADS-DV Specifications as given by IMechE:
-WHEELBASE         :1530mm
-FRONT TRACK       :1201mm
-REAR TRACK        :1201mm
-OVERALL WIDTH     :1430mm
-OVERALL LENGTH    :2814.6mm
-STATIC CASTER     :6 deg
-STATIC CAMBER     :2 deg
-TYRES             : SAE FORMULA STUDENT AVON 7.2/20.0-13
-DRIVEN WHEELS     :4WD
-DIFFERENTIALS     :OPEN DIFF -->
-
-<robot name="eufs" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <!-- Degree-to-radian conversions -->
-  <xacro:property name="degrees_45" value="0.785398163"/>
-  <xacro:property name="degrees_21" value="0.3665191429"/>
-  <xacro:property name="degrees_90" value="1.57079633"/>
-  <xacro:property name="degrees_180" value="3.14159265"/>
-  <xacro:property name="degrees_270" value="4.712388980385"/>
-
-
-  <!-- chassis_length is measured along the x axis, chassis_width
-       along the y axis, and chassis_height along the z axis. -->
-  <xacro:property name="chassis_length" value="0.0"/>  <!-- used to poition car mesh -->
-  <xacro:property name="chassis_width" value="0.0"/>  <!-- not used -->
-  <xacro:property name="chassis_height" value="0.25"/> <!-- not used -->
-  <xacro:property name="chassis_mass" value="125"/>    <!-- used for physics dynamics -->
-
-  <!-- max steering angle and speed define the limits of the simulated vehicle -->
-  <xacro:property name="max_steering_angle" value="0.4747296"/>  <!-- 27.2 deg -->
-  <xacro:property name="max_speed" value="50"/>  <!-- m/s -->
-
-  <!--
-  tire_dia:   diameter of the full wheel; used for mesh generation
-  hub_dia:    diameter of everything on the wheel except the tyre itself
-  tire_width: width of the tyre; used for mesh generation and dynamics
-  wheel_mass: weight of the wheel; used for simulating dynamics 
-  -->
-  <xacro:property name="hub_dia" value="0.3302"/>
-  <xacro:property name="tire_dia" value="0.505"/>
-  <xacro:property name="tire_width" value="0.18288"/>
-  <xacro:property name="wheel_mass" value="10"/>
-
-  <!-- 
-  hex_hub_dist: distance between left and right hex hubs when
-                the shock absorbers are fully extended
-  axle_length: is the distance from a U joint to the corresponding hex hub
-  wheel_travel: is the vertical wheel travel from suspension
-  shock_z_offset: how much higher is the shock from the chassis
-  -->
-  <xacro:property name="wheelbase" value="1.53"/>
-  <xacro:property name="hex_hub_dist" value="1.201"/>
-  <xacro:property name="axle_length" value="0.120"/>
-  <xacro:property name="front_wheel_travel" value="0.05"/>
-  <xacro:property name="front_shock_z_offset" value="-0.1"/>
-  <xacro:property name="rear_wheel_travel" value="0.05"/>
-  <xacro:property name="rear_shock_z_offset" value="-0.1"/>
-
-  <!-- 
-  shock_eff_limit: 2 * ((shock_stroke / 2) * shock_spring_constant)
-  shock_vel_lmitt: good default is 1000
-  -->
-  <xacro:property name="front_shock_eff_limit" value="500"/>
-  <xacro:property name="rear_shock_eff_limit" value="500"/>
-  <xacro:property name="shock_vel_limit" value="1000"/>
-
-  <xacro:property name="wheel_joint_damping" value="0.2" />
-  <xacro:property name="wheel_joint_friction" value="0.7" />
-
-  <xacro:property name="suspension_joint_damping" value="10" />
-  <xacro:property name="suspension_joint_friction" value="0.7" />
-
-  <!-- 
-  final_gear_ratio = X
-  stall_torque = 0.549 N m
-  axle_eff_limit = ((2 * stall_torque) * final_gear_ratio) / 4 
-  axle_vel_limit = (2 * pi) * (max_speed / (pi * tire_dia))
-  Ref for axle eff limit: https://static1.squarespace.com/static/57e8888fc534a547699d733d/t/5966f20436e5d3eb435c12a4/1499918855460/Rear+Drivetrain+Design+Overview.pdf
-  -->
-  <xacro:property name="front_axle_eff_limit" value="60"/>
-  <xacro:property name="rear_axle_eff_limit" value="60"/>
-  <xacro:property name="axle_vel_limit" value="${2*max_speed/tire_dia}"/>
-
-  <xacro:property name="servo_stall_torque" value="20"/>
-  <xacro:property name="servo_no_load_speed" value="20"/>
-
-  <!-- arg to specify namespace -->
-  <xacro:arg name="prefix" default=""/>
-
-  <!-- This is needed to make the model work with Gazebo. -->
-  <xacro:macro name="null_inertial">
-    <inertial>
-      <mass value="0.001"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </xacro:macro>
-
-  <!-- Inertia of a thick-walled cylindrical tube with open ends. Height is
-       measured along the z axis, which is the tube's axis. inner_rad and
-       outer_rad are the tube's inner and outer radii, respectively. Pitch
-       MOI is calculated from platform calibration data using bifilar pendulum
-       method -->
-  <xacro:macro name="thick_walled_tube_inertial"
-               params="inner_rad outer_rad height mass">
-    <inertial>
-      <mass value="${mass}"/>
-      <inertia ixx="${(1 / 12) * mass * (3 * (inner_rad * inner_rad +
-                    outer_rad * outer_rad) + height * height)}"
-               ixy="0" ixz="0"
-               iyy="${(1 / 12) * mass * (3 * (inner_rad * inner_rad +
-                    outer_rad * outer_rad) + height * height)}"
-               iyz="0"
-               izz="${mass * (inner_rad * inner_rad +
-                    outer_rad * outer_rad) / 2}"/>
-    </inertial>
-  </xacro:macro>
-
-
-  <!-- Shock absorbers -->
-  <xacro:macro name="front_shock"
-               params="lr_prefix fr_prefix lr_reflect fr_reflect child">
-    <joint name="${lr_prefix}_${fr_prefix}_shock" type="prismatic">
-      <parent link="base_link"/>
-      <child link="${child}"/>
-
-      <origin xyz="${fr_reflect * wheelbase / 2}
-                   ${lr_reflect * ((hex_hub_dist / 2) - axle_length)}
-                   ${front_shock_z_offset/2}"/>
-      <axis xyz="0 0 -1"/>
-      <limit lower="${-front_wheel_travel / 2}" upper="${front_wheel_travel / 2}"
-             effort="${front_shock_eff_limit}" velocity="${shock_vel_limit}"/>
-      <dynamics damping="${suspension_joint_damping}" friction="${suspension_joint_friction}"/>
-    </joint>
-    <transmission name="${lr_prefix}_${fr_prefix}_shock_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${lr_prefix}_${fr_prefix}_shock">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${lr_prefix}_${fr_prefix}_shock_act">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-  </xacro:macro>
-
-  <xacro:macro name="rear_shock"
-               params="lr_prefix fr_prefix lr_reflect fr_reflect child">
-    <joint name="${lr_prefix}_${fr_prefix}_shock" type="prismatic">
-      <parent link="base_link"/>
-      <child link="${child}"/>
-
-      <origin xyz="${fr_reflect * wheelbase / 2}
-                   ${lr_reflect * ((hex_hub_dist / 2) - axle_length)}
-                   ${rear_shock_z_offset/2}"/>
-      <axis xyz="0 0 -1"/>
-      <limit lower="${-rear_wheel_travel / 2}" upper="${rear_wheel_travel / 2}"
-             effort="${rear_shock_eff_limit}" velocity="${shock_vel_limit}"/>
-      <dynamics damping="${suspension_joint_damping}" friction="${suspension_joint_friction}"/>
-    </joint>
-    <transmission name="${lr_prefix}_${fr_prefix}_shock_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${lr_prefix}_${fr_prefix}_shock">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${lr_prefix}_${fr_prefix}_shock_act">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-  </xacro:macro>
-
-  <!-- The "wheel" macro defines an axle carrier, axle, and wheel. -->
-  <xacro:macro name="wheel" params="lr_prefix fr_prefix lr_reflect tire_width wheel_mass axle_eff_limit">
-    <link name="${lr_prefix}_${fr_prefix}_axle_carrier">
-      <xacro:null_inertial/>
-    </link>
-
-
-    <!-- The left and right axles have the same axis so that identical
-         rotation values cause the wheels to rotate in the same direction. -->
-    <joint name="${lr_prefix}_${fr_prefix}_axle" type="continuous">
-      <parent link="${lr_prefix}_${fr_prefix}_axle_carrier"/>
-      <child link="${lr_prefix}_${fr_prefix}_wheel"/>
-      <origin rpy="${degrees_90} 0 0"/>
-      <axis xyz="0 0 -1"/>
-      <limit effort="${axle_eff_limit}" velocity="${axle_vel_limit}"/>
-      <dynamics damping="${wheel_joint_damping}" friction="${wheel_joint_friction}"/>
-    </joint>
-
-    <transmission name="${lr_prefix}_${fr_prefix}_axle_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${lr_prefix}_${fr_prefix}_axle">
-        <!--<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>-->
-        <!--Swap out for above to go back to original, which causes errors :/-->
-        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${lr_prefix}_${fr_prefix}_axle_act">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-    <link name="${lr_prefix}_${fr_prefix}_wheel">
-      <visual>
-        <origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="${tire_dia / 2}" length="${tire_width}"/>
-        </geometry>
-      </visual>
-
-      <collision name="collision">
-        <origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="${tire_dia / 2}" length="${tire_width}"/>
-        </geometry>
-      </collision>
-
-      <xacro:thick_walled_tube_inertial
-          inner_rad="${hub_dia / 2.0}" outer_rad="${tire_dia / 2.0}"
-          height="${tire_width}" mass="${wheel_mass}"/>
-      <max_contacts>1</max_contacts>
-      <surface>
-        <contact>
-          <ode>
-            <soft_cfm>0.000000001</soft_cfm>
-            <soft_erp>0.2</soft_erp>
-            <kp>1e+10</kp>
-            <kd>10</kd>
-            <max_vel>0.01</max_vel>
-            <min_depth>0.005</min_depth>
-          </ode>
-        </contact>
-      </surface>
-
-    </link>
-
-    <gazebo reference="${lr_prefix}_${fr_prefix}_wheel">
-      <mu1>0.7</mu1>
-      <mu2>0.75</mu2>
-      <material>Gazebo/Black</material>
-    </gazebo>
-
-  </xacro:macro>
-
-  <!-- Front wheel -->
-  <xacro:macro name="front_wheel"
-               params="lr_prefix fr_prefix lr_reflect fr_reflect tire_width
-                       wheel_mass axle_eff_limit">
-    <xacro:front_shock lr_prefix="${lr_prefix}" fr_prefix="${fr_prefix}"
-                       lr_reflect="${lr_reflect}" fr_reflect="${fr_reflect}"
-                       child="${lr_prefix}_steering_link"/>
-
-    <link name="${lr_prefix}_steering_link">
-      <xacro:null_inertial/>
-    </link>
-
-    <!--
-    <link name="${lr_prefix}_front_wheel">
-      <xacro:null_inertial/>
-    </link>-->
-
-    <joint name="${lr_prefix}_steering_joint" type="revolute">
-      <parent link="${lr_prefix}_steering_link"/>
-      <child link="${lr_prefix}_${fr_prefix}_axle_carrier"/>
-      <!-- cant the front wheels to improve traction -->
-      <axis xyz="0 ${-lr_reflect*0.09950372}  0.99503719"/>
-      <limit lower="${-max_steering_angle}" upper="${max_steering_angle}"
-             effort="${servo_stall_torque}" velocity="${servo_no_load_speed}"/>
-    </joint>
-
-    <transmission name="${lr_prefix}_steering_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${lr_prefix}_steering_joint">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${lr_prefix}_steering_act">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-    <xacro:wheel lr_prefix="${lr_prefix}" fr_prefix="${fr_prefix}"
-                 lr_reflect="${lr_reflect}" tire_width="${tire_width}"
-                 wheel_mass="${wheel_mass}"
-                 axle_eff_limit="${axle_eff_limit}"
-                 />
-  </xacro:macro>
-
-  <!-- Rear wheel -->
-  <xacro:macro name="rear_wheel"
-               params="lr_prefix fr_prefix lr_reflect fr_reflect tire_width
-                       wheel_mass axle_eff_limit">
-    <xacro:rear_shock lr_prefix="${lr_prefix}" fr_prefix="${fr_prefix}"
-                 lr_reflect="${lr_reflect}" fr_reflect="${fr_reflect}"
-                 child="${lr_prefix}_${fr_prefix}_axle_carrier"/>
-    <xacro:wheel lr_prefix="${lr_prefix}" fr_prefix="${fr_prefix}"
-                 lr_reflect="${lr_reflect}" tire_width="${tire_width}"
-                 wheel_mass="${wheel_mass}"
-                 axle_eff_limit="${axle_eff_limit}"/>
-  </xacro:macro>
-
-  <!-- base_link must have geometry so that its axes can be displayed in rviz. -->
-  <link name="base_link">
-    <visual>
-      <origin xyz="${-chassis_length/2} 0 0"
-              rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://eufs_description/meshes/ads-dv.dae" scale="1 1 1" />
-      </geometry>
-    </visual>
-
-    <collision>
-      <origin xyz="${-chassis_length/2} 0 0"
-              rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://eufs_description/meshes/ads-dv.dae" scale="1 1 1" />
-      </geometry>
-    </collision>
-
-    <inertial>
-      <mass value="${chassis_mass}"/>
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.024290532"
-               ixy="0" ixz="0"
-               iyy="0.242298057"
-               iyz="0"
-               izz="0.242448658"/>
-    </inertial>
-  </link>
-  <!-- <gazebo reference="base_link">
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-  </gazebo> -->
-
- <link name="odom_ground_truth">
-    <collision>
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1e-5" />
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
-    </inertial>
-  </link>
-
-  <joint name="odom_ground_truth_joint" type="fixed">
-    <axis xyz="0 0 0" />
-    <origin xyz="-0.039 0 0.0859" rpy="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="odom_ground_truth"/>
-  </joint>
-
-  <!-- Wheels -->
-  <xacro:front_wheel lr_prefix="left" fr_prefix="front"
-                     lr_reflect="1" fr_reflect="1"
-                     tire_width="${tire_width}"
-                     wheel_mass="${wheel_mass}"
-                     axle_eff_limit="${front_axle_eff_limit}"/>
-  <xacro:front_wheel lr_prefix="right" fr_prefix="front"
-                     lr_reflect="-1" fr_reflect="1"
-                     tire_width="${tire_width}"
-                     wheel_mass="${wheel_mass}"
-                     axle_eff_limit="${front_axle_eff_limit}"/>
-  <xacro:rear_wheel lr_prefix="left" fr_prefix="rear"
-                    lr_reflect="1" fr_reflect="-1"
-                    tire_width="${tire_width}"
-                    wheel_mass="${wheel_mass}"
-                    axle_eff_limit="${rear_axle_eff_limit}"/>
-  <xacro:rear_wheel lr_prefix="right" fr_prefix="rear"
-                    lr_reflect="-1" fr_reflect="-1"
-                    tire_width="${tire_width}"
-                    wheel_mass="${wheel_mass}"
-                    axle_eff_limit="${rear_axle_eff_limit}"/>
-
-  <gazebo>
-
-    <plugin filename="libgazebo_ros_control.so" name="ros_control">
-      <robotNamespace>/eufs</robotNamespace>
-      <robotParam>robot_description</robotParam>
-      <controlPeriod>0.001</controlPeriod>
-      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
-      <legacyModeNS>true</legacyModeNS>
-    </plugin>
-
-    <!-- Ground truth plug in -->
-    <plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>200.0</updateRate>
-      <bodyName>odom_ground_truth</bodyName>
-      <topicName>ground_truth/state_raw</topicName>
-      <gaussianNoise>0.00</gaussianNoise>
-      <frameName>world</frameName>
-      <!-- origin is at spawn location -->
-      <xyzOffset>0 0 0</xyzOffset>
-      <rpyOffset>0 0 0</rpyOffset>
-    </plugin>
-
-    <plugin name="tire_friction_lr" filename="libTireFrictionPlugin.so">
-      <link_name>left_rear_wheel</link_name>
-      <collision_name>collision</collision_name>
-      <friction_static>1.1</friction_static>
-      <friction_dynamic>0.7</friction_dynamic>
-      <slip_static>0.10</slip_static>
-      <slip_dynamic>0.20</slip_dynamic>
-      <speed_static>0.50</speed_static>
-    </plugin>
-
-    <plugin name="tire_friction_rr" filename="libTireFrictionPlugin.so">
-      <link_name>right_rear_wheel</link_name>
-      <collision_name>collision</collision_name>
-      <friction_static>1.1</friction_static>
-      <friction_dynamic>0.7</friction_dynamic>
-      <slip_static>0.10</slip_static>
-      <slip_dynamic>0.20</slip_dynamic>
-      <speed_static>0.50</speed_static>
-    </plugin>
-
-    <plugin name="tire_friction_lf" filename="libTireFrictionPlugin.so">
-      <link_name>left_front_wheel</link_name>
-      <collision_name>collision</collision_name>
-      <friction_static>1.1</friction_static>
-      <friction_dynamic>0.7</friction_dynamic>
-      <slip_static>0.10</slip_static>
-      <slip_dynamic>0.20</slip_dynamic>
-      <speed_static>0.50</speed_static>
-    </plugin>
-
-    <plugin name="tire_friction_rf" filename="libTireFrictionPlugin.so">
-      <link_name>right_front_wheel</link_name>
-      <collision_name>collision</collision_name>
-      <friction_static>1.1</friction_static>
-      <friction_dynamic>0.7</friction_dynamic>
-      <slip_static>0.10</slip_static>
-      <slip_dynamic>0.20</slip_dynamic>
-      <speed_static>0.50</speed_static>
-    </plugin>
-
-
-  </gazebo>
-
-
-  <!-- Import all available sensors -->
-  <xacro:include filename="$(find eufs_description)/sensors/all_sensors.urdf.xacro" />
-
-  <xacro:sensor_imu parent="base_link" prefix="imu">
-      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
-  </xacro:sensor_imu>
-
-  <xacro:sensor_gps  parent="base_link" prefix="gps">
-      <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
-  </xacro:sensor_gps>
-
-  <xacro:VLP-16R  parent="base_link" name="velodyne" topic="/velodyne_points" hz="10" samples="800">
-      <origin xyz="1.58 0.0 -0.1" rpy="0 ${1*M_PI/180.0} 0"/>
-  </xacro:VLP-16R>
-
-  <xacro:zed_camera parent="base_link" prefix="zed">
-      <origin xyz="0.1 0.0 0.52" rpy="0 0 0"/> 
-  </xacro:zed_camera> 
-
-</robot>
diff --git a/eufs_description/robots/ads-dv.urdf.xacro b/eufs_description/robots/ads-dv.urdf.xacro
deleted file mode 100644
index 70b5d3772c6868a02c4b3af02b55947bd53fa3a3..0000000000000000000000000000000000000000
--- a/eufs_description/robots/ads-dv.urdf.xacro
+++ /dev/null
@@ -1,146 +0,0 @@
-<?xml version="1.0"?>
-<robot name="eufs" xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-
-    <!-- ***************** -->
-    <!-- Imported elements -->
-    <!-- ***************** -->
-
-    <!-- First we import all posible elements defined in the urdf.xacro files. All these elements are defined as macro:xacros -->
-
-    <!-- Import Robotnik CAR base elements -->
-    <xacro:include filename="$(find eufs_description)/urdf/ads-dv_base.urdf.xacro" />
-
-    <!-- Import Robotnik CAR wheels -->
-    <xacro:include filename="$(find eufs_description)/urdf/suspension_wheel.urdf.xacro" />
-
-    <!-- Import all available sensors -->
-    <xacro:include filename="$(find eufs_description)/sensors/all_sensors.urdf.xacro" />
-
-    <!-- ***************** -->
-    <!-- Global parameters -->
-    <!-- ***************** -->
-
-    <xacro:property name="PI" value="3.1415926535897931"/>
-
-    <!-- Wheel parameters -->
-    <xacro:property name="wheel_offset_x" value="1.0" />    <!-- x,y,z in translation from base_link to the center of the wheel -->
-    <xacro:property name="wheel_offset_y" value="0.75" />
-    <xacro:property name="wheel_offset_z" value="0.0" />
-
-    <!-- Flag to select the high or low quality model -->
-    <xacro:property name="hq" value="true" />
-
-
-    <!-- *************** -->
-    <!-- Robots Elements -->
-    <!-- *************** -->
-
-    <!-- Here we create the robot elements using the xacro:macros imported at the beggining of this file -->
-
-    <!-- Summit XL base -->
-    <xacro:eufs_base name="eufs" publish_bf="true" hq="${hq}" />
-
-    <!-- Gazebo ros control pluggins -->
-    <xacro:ros_control/>
-
-    <!-- Gazebo skid steering pluggins -->
-    <!-- xacro:skid_steering broadcastOdomTF="1"/ -->
-
-    <!-- WHEELS -->
-
-    <!-- Wheels -->
-    <xacro:front_wheel lr_prefix="left" fr_prefix="front"
-        lr_reflect="1" fr_reflect="1"/>
-    <xacro:front_wheel lr_prefix="right" fr_prefix="front"
-        lr_reflect="-1" fr_reflect="1"/>
-    <xacro:rear_wheel lr_prefix="left" fr_prefix="rear"
-        lr_reflect="1" fr_reflect="-1"/>
-    <xacro:rear_wheel lr_prefix="right" fr_prefix="rear"
-        lr_reflect="-1" fr_reflect="-1"/>
-
-
-    <!-- MAIN SENSORS -->
-
-<!--     LOCATIONS: (XYZ)
-    IMU: 0.0 0.0 0.170
-    GPS: -0.110 0.0 0.9
-    LIDAR: 1.700 0.0 -0.150
-    STEREO CAM: -0.110 0.0 0.800 -->
-
-    <xacro:sensor_imu parent="base_footprint" prefix="imu">
-        <origin xyz="-0.0 0.0 0.0" rpy="0 0 0"/>
-    </xacro:sensor_imu>
-
-
-    <xacro:sensor_gps  parent="base_footprint" prefix="gps">
-        <origin xyz="0.0 0.0 0.4" rpy="0 0 0"/>
-    </xacro:sensor_gps>
-
-
-<!--     <xacro:sensor_hokuyo_utm30lx  parent="base_link" prefix="lidar" >
-        <origin xyz="1.700 0.0 -0.080" rpy="0 -0.0174533 0"/>
-    </xacro:sensor_hokuyo_utm30lx> -->
-
-
-    <!-- <xacro:VLP-16  parent="base_link" name="velodyne" topic="/velodyne_points" hz="10">
-        <origin xyz="1.700 0.0 -0.150" rpy="0 -0.0174533 0"/>
-    </xacro:VLP-16> -->
-
-    <xacro:VLP-16R  parent="base_footprint" name="velodyne" topic="/velodyne_points" hz="10" samples="800">
-        <origin xyz="1.58 0.0 -0.1" rpy="0 ${1*M_PI/180.0} 0"/>
-    </xacro:VLP-16R>
-
-    <xacro:zed_camera parent="base_footprint" prefix="zed">
-        <origin xyz="0.1 0.0 0.52" rpy="0 0 0"/>
-    </xacro:zed_camera>
-
-
-
-    <!-- EXTRA SENSORS FROM THE ROBOTNIK SENSORS LIBRARY -->
-
-<!--
-    <xacro:sensor_hokuyo3d name="hokuyo3d" parent="base_link">
-        <origin xyz="0.9 0.0 0.450" rpy="0 0.35 0"/>
-    </xacro:sensor_hokuyo3d>
-
-
-    <xacro:sensor_hokuyo_urg04lx name="hokuyo1" parent="base_link">
-        <origin xyz="-0.1 0.0 0.33" rpy="0 0 0"/>
-    </xacro:sensor_hokuyo_urg04lx>
-
-
-    <xacro:sensor_axis name="camera" parent="base_link">
-        <origin xyz="0.19 0 0.17" rpy="0 ${15*PI/180} 0"/>
-    </xacro:sensor_axis>
-
-
-    <xacro:sensor_asus_xtion_pro name="xtion_pro" parent="base_link">
-        <origin xyz="0.3 0.0 0.3" rpy="0 0 0"/>
-    </xacro:sensor_asus_xtion_pro>
-
-
-    <xacro:sensor_kinect parent="base_link" prefix="kinect">
-        <origin xyz="0.0 0.0 0.45" rpy="0 0 0"/>
-    </xacro:sensor_kinect>
-
-
-    <xacro:BB2-08S2C-60  prefix="bee" frame="bee" name="bee"/>
-
-
-    <xacro:sensor_fotonic name="fotonic" parent="base_link">
-        <origin xyz="0.3 0.0 0.24" rpy="0 0 0"/>
-    </xacro:sensor_fotonic>   -->
-
-
-
-    <!-- PLUGINS -->
-
-    <!-- ros control plugin -->
-<!--   <gazebo>
-    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"/>
-</gazebo> -->
-
-
-
-</robot>
diff --git a/eufs_description/robots/eufs.urdf b/eufs_description/robots/eufs.urdf
deleted file mode 100644
index 82f07969bd6f1c291fd89810225a813d9b06e956..0000000000000000000000000000000000000000
--- a/eufs_description/robots/eufs.urdf
+++ /dev/null
@@ -1,637 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from eufs.urdf.xacro               | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="eufs" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- ***************** -->
-  <!-- Imported elements -->
-  <!-- ***************** -->
-  <!-- First we import all posible elements defined in the urdf.xacro files. All these elements are defined as macro:xacros -->
-  <!-- Import Robotnik CAR base elements -->
-  <!-- ros control plugin -->
-  <!-- No Ackermann steering plugin -->
-  <gazebo reference="base_footprint">
-    <material>Gazebo/Green</material>
-  </gazebo>
-  <!-- Import Robotnik CAR wheels -->
-  <!-- hub_dia and tire_dia are the diameters of the hub and tire,
-       respectively. hex_hub_depth is the distance that the hex hub is
-       inset from the outer edge of the tire. It is set so that each wheel
-       is a "zero offset" wheel. hex_hub_depth = tire_width / 2 -
-       axle_length. -->
-  <!-- or +0.072 -->
-  <!-- check -->
-  <!-- hex_hub_dist is the distance between left and right hex hubs when
-       the shock absorbers are fully extended. axle_length is the distance
-       from a U joint to the corresponding hex hub. wheel_travel is the
-       vertical wheel travel. -->
-  <!-- 1.127 0.742 check -->
-  <!-- Degree-to-radian conversions -->
-  <!-- shock_eff_limit is 2 * ((shock_stroke / 2) * shock_spring_constant) N. -->
-  <!-- axle eff limit = 2 * stall_torque
-       as a function of the max gradient (15%) with overall max payload (600Kg) * wheel_radius
-       (calculating this way, it should be divided by 2 if 2 motors are used)
-       axle_eff_limit = 204.95 / 2 N m = ~102.5 -->
-  <!-- xacro:property name="axle_eff_limit" value="102.5"/ -->
-  <!-- max_speed = 33 Km/h = 9.17 m/s
-       axle_vel_limit = (2 * pi) * (max_speed / (pi * tire_dia)) =  39.02 rad/s -->
-  <!-- Servo_stall_torque of the direction axis in Nm. servo_no_load_speed is
-       measured in rad/s. -->
-  <!-- check -->
-  <!-- check -->
-  <!-- Inertia of a thick-walled cylindrical tube with open ends. Height is
-       measured along the z axis, which is the tube's axis. inner_rad and
-       outer_rad are the tube's inner and outer radii, respectively. -->
-  <!-- Null inertial element. This is needed to make the model work with
-       Gazebo. -->
-  <!-- Shock absorber -->
-  <!-- The "wheel" macro defines an axle carrier, axle, and wheel. -->
-  <!-- xacro:macro name="rubber_wheel" params="name parent *origin reflect hq" -->
-  <!-- Front wheel -->
-  <!-- Rear wheel -->
-  <!-- Import all available sensors -->
-  <!-- This file unifies all sensors that can be used on simulation, defined as xacro:macros -->
-  <!-- Axis p5512 -->
-  <!-- Axis m5013 -->
-  <!-- Fotonic -->
-  <!-- GPS -->
-  <!-- Hokuyo urg04lx -->
-  <!-- Hokuyo utm30lx -->
-  <!-- Imu -->
-  <!-- Kinect -->
-  <!-- Asus Xtion PRO -->
-  <!-- Xacro properties -->
-  <!-- Hokuyo 3d -->
-  <!-- ***************** -->
-  <!-- Global parameters -->
-  <!-- ***************** -->
-  <!-- Wheel parameters -->
-  <!-- x,y,z in translation from base_link to the center of the wheel -->
-  <!-- Flag to select the high or low quality model -->
-  <!-- *************** -->
-  <!-- Robots Elements -->
-  <!-- *************** -->
-  <!-- Here we create the robot elements using the xacro:macros imported at the beggining of this file -->
-  <!-- Summit XL base -->
-  <!-- Robot mechanical and motor parameters -->
-  <xacro:property name="PI" value="3.1415926535897931"/>
-  <xacro:property name="wheel_width" value="0.2"/>
-  <!-- BASE FOOTPRINT -->
-  <link name="base_footprint">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.15"/>
-      <geometry>
-        <box size="0.001 0.001 0.001"/>
-        <mesh filename="package://eufs_description/meshes/chassis.dae"/>
-      </geometry>
-    </visual>
-    <inertial>
-      <mass value="125.0"/>
-      <origin xyz="0 0 0.15"/>
-      <inertia ixx="1.391" ixy="0.004" ixz="0.0" iyy="6.853" iyz="0.0" izz="6.125"/>
-    </inertial>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.15"/>
-      <geometry>
-        <mesh filename="package://eufs_description/meshes/chassis_collision.dae"/>
-      </geometry>
-    </collision>
-    <!--
-      <collision>
-          <origin xyz="0 0 0" rpy="0 0 0" />
-          <geometry>
-            <box size="0.001 0.001 0.001" />
-          </geometry>
-      </collision>
--->
-  <!-- Gazebo ros control pluggins -->
-  <gazebo>
-    <plugin filename="libgazebo_ros_control.so" name="ros_control">
-      <robotNamespace>/eufs</robotNamespace>
-      <robotParam>robot_description</robotParam>
-      <!-- controlPeriod>0.003</controlPeriod -->
-      <controlPeriod>0.001</controlPeriod>
-      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
-      <legacyModeNS>true</legacyModeNS>
-    </plugin>
-  </gazebo>
-  <!-- Gazebo skid steering pluggins -->
-  <!-- xacro:skid_steering broadcastOdomTF="1"/ -->
-  <!-- WHEELS -->
-  <!-- Wheels -->
-  <joint name="left_front_shock" type="prismatic">
-    <parent link="base_footprint"/>
-    <child link="left_steering_link"/>
-    <origin xyz="0.825                    0.33                    0.15"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="100" lower="-0.05" upper="0.05" velocity="1000"/>
-  </joint>
-  <transmission name="left_front_shock_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="left_front_shock">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="left_front_shock_act">
-      <!-- This hardwareInterface element exists for compatibility
-             with ROS Hydro. -->
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <link name="left_steering_link">
-    <!-- visual>
-		<origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="0.1" length="0.1"/>
-        </geometry>
-	  </visual>
-	  <collision>
-		<origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="0.1" length="0.1"/>
-        </geometry>
-	  </collision -->
-    <inertial>
-      <mass value="0.001"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <joint name="left_steering_joint" type="revolute">
-    <parent link="left_steering_link"/>
-    <child link="left_front_axle_carrier"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="50" lower="-0.785398163" upper="0.785398163" velocity="25"/>
-  </joint>
-  <transmission name="left_steering_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="left_steering_joint">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="left_steering_act">
-      <!-- This hardwareInterface element exists for compatibility
-             with ROS Hydro. -->
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <gazebo reference="left_steering_link">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <link name="left_front_axle_carrier">
-    <!-- visual>
-        <origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="0.1" length="0.1"/>
-        </geometry>
-	  </visual>
-	  <collision>
-        <origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="0.1" length="0.1"/>
-        </geometry>
-	  </collision -->
-    <inertial>
-      <mass value="0.001"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- The left and right axles have the same axis so that identical
-         rotation values cause the wheels to rotate in the same direction. -->
-  <joint name="left_front_axle" type="continuous">
-    <parent link="left_front_axle_carrier"/>
-    <child link="left_front_wheel"/>
-    <origin rpy="1.57079633 0 3.14159265"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="204.95" velocity="39.02"/>
-  </joint>
-  <transmission name="left_front_axle_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="left_front_axle">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="left_front_axle_act">
-      <!-- This hardwareInterface element exists for compatibility
-             with ROS Hydro. -->
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <gazebo reference="left_front_axle_carrier">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <link name="left_front_wheel">
-    <visual>
-      <origin xyz="0                      0                      0.14"/>
-      <geometry>
-        <cylinder length="0.2" radius="0.25"/>
-      </geometry>
-      <material name="tire_mat"/>
-    </visual>
-    <collision>
-      <origin xyz="0                                           0                      0.14"/>
-      <geometry>
-        <cylinder length="0.2" radius="0.25"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="8.0"/>
-      <inertia ixx="0.164729166667" ixy="0" ixz="0" iyy="0.164729166667" iyz="0" izz="0.276125"/>
-    </inertial>
-  </link>
-  <gazebo reference="left_front_wheel">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="right_front_shock" type="prismatic">
-    <parent link="base_footprint"/>
-    <child link="right_steering_link"/>
-    <origin xyz="0.825                    -0.33                    0.15"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="100" lower="-0.05" upper="0.05" velocity="1000"/>
-  </joint>
-  <transmission name="right_front_shock_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="right_front_shock">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="right_front_shock_act">
-      <!-- This hardwareInterface element exists for compatibility
-             with ROS Hydro. -->
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <link name="right_steering_link">
-    <!-- visual>
-		<origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="0.1" length="0.1"/>
-        </geometry>
-	  </visual>
-	  <collision>
-		<origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="0.1" length="0.1"/>
-        </geometry>
-	  </collision -->
-    <inertial>
-      <mass value="0.001"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <joint name="right_steering_joint" type="revolute">
-    <parent link="right_steering_link"/>
-    <child link="right_front_axle_carrier"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="50" lower="-0.785398163" upper="0.785398163" velocity="25"/>
-  </joint>
-  <transmission name="right_steering_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="right_steering_joint">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="right_steering_act">
-      <!-- This hardwareInterface element exists for compatibility
-             with ROS Hydro. -->
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <gazebo reference="right_steering_link">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <link name="right_front_axle_carrier">
-    <!-- visual>
-        <origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="0.1" length="0.1"/>
-        </geometry>
-	  </visual>
-	  <collision>
-        <origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="0.1" length="0.1"/>
-        </geometry>
-	  </collision -->
-    <inertial>
-      <mass value="0.001"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- The left and right axles have the same axis so that identical
-         rotation values cause the wheels to rotate in the same direction. -->
-  <joint name="right_front_axle" type="continuous">
-    <parent link="right_front_axle_carrier"/>
-    <child link="right_front_wheel"/>
-    <origin rpy="1.57079633 0 3.14159265"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="204.95" velocity="39.02"/>
-  </joint>
-  <transmission name="right_front_axle_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="right_front_axle">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="right_front_axle_act">
-      <!-- This hardwareInterface element exists for compatibility
-             with ROS Hydro. -->
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <gazebo reference="right_front_axle_carrier">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <link name="right_front_wheel">
-    <visual>
-      <origin xyz="0                      0                      -0.14"/>
-      <geometry>
-        <cylinder length="0.2" radius="0.25"/>
-      </geometry>
-      <material name="tire_mat"/>
-    </visual>
-    <collision>
-      <origin xyz="0                                           0                      -0.14"/>
-      <geometry>
-        <cylinder length="0.2" radius="0.25"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="8.0"/>
-      <inertia ixx="0.164729166667" ixy="0" ixz="0" iyy="0.164729166667" iyz="0" izz="0.276125"/>
-    </inertial>
-  </link>
-  <gazebo reference="right_front_wheel">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="left_rear_shock" type="prismatic">
-    <parent link="base_footprint"/>
-    <child link="left_rear_axle_carrier"/>
-    <origin xyz="-0.825                    0.33                    0.15"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="100" lower="-0.05" upper="0.05" velocity="1000"/>
-  </joint>
-  <transmission name="left_rear_shock_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="left_rear_shock">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="left_rear_shock_act">
-      <!-- This hardwareInterface element exists for compatibility
-             with ROS Hydro. -->
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <link name="left_rear_axle_carrier">
-    <!-- visual>
-        <origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="0.1" length="0.1"/>
-        </geometry>
-	  </visual>
-	  <collision>
-        <origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="0.1" length="0.1"/>
-        </geometry>
-	  </collision -->
-    <inertial>
-      <mass value="0.001"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- The left and right axles have the same axis so that identical
-         rotation values cause the wheels to rotate in the same direction. -->
-  <joint name="left_rear_axle" type="continuous">
-    <parent link="left_rear_axle_carrier"/>
-    <child link="left_rear_wheel"/>
-    <origin rpy="1.57079633 0 3.14159265"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="204.95" velocity="39.02"/>
-  </joint>
-  <transmission name="left_rear_axle_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="left_rear_axle">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="left_rear_axle_act">
-      <!-- This hardwareInterface element exists for compatibility
-             with ROS Hydro. -->
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <gazebo reference="left_rear_axle_carrier">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <link name="left_rear_wheel">
-    <visual>
-      <origin xyz="0                      0                      0.14"/>
-      <geometry>
-        <cylinder length="0.2" radius="0.25"/>
-      </geometry>
-      <material name="tire_mat"/>
-    </visual>
-    <collision>
-      <origin xyz="0                                           0                      0.14"/>
-      <geometry>
-        <cylinder length="0.2" radius="0.25"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="8.0"/>
-      <inertia ixx="0.164729166667" ixy="0" ixz="0" iyy="0.164729166667" iyz="0" izz="0.276125"/>
-    </inertial>
-  </link>
-  <gazebo reference="left_rear_wheel">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <joint name="right_rear_shock" type="prismatic">
-    <parent link="base_footprint"/>
-    <child link="right_rear_axle_carrier"/>
-    <origin xyz="-0.825                    -0.33                    0.15"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="100" lower="-0.05" upper="0.05" velocity="1000"/>
-  </joint>
-  <transmission name="right_rear_shock_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="right_rear_shock">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="right_rear_shock_act">
-      <!-- This hardwareInterface element exists for compatibility
-             with ROS Hydro. -->
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <link name="right_rear_axle_carrier">
-    <!-- visual>
-        <origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="0.1" length="0.1"/>
-        </geometry>
-	  </visual>
-	  <collision>
-        <origin xyz="0 0 0"/>
-        <geometry>
-          <cylinder radius="0.1" length="0.1"/>
-        </geometry>
-	  </collision -->
-    <inertial>
-      <mass value="0.001"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </link>
-  <!-- The left and right axles have the same axis so that identical
-         rotation values cause the wheels to rotate in the same direction. -->
-  <joint name="right_rear_axle" type="continuous">
-    <parent link="right_rear_axle_carrier"/>
-    <child link="right_rear_wheel"/>
-    <origin rpy="1.57079633 0 3.14159265"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="204.95" velocity="39.02"/>
-  </joint>
-  <transmission name="right_rear_axle_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="right_rear_axle">
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="right_rear_axle_act">
-      <!-- This hardwareInterface element exists for compatibility
-             with ROS Hydro. -->
-      <hardwareInterface>EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <gazebo reference="right_rear_axle_carrier">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <link name="right_rear_wheel">
-    <visual>
-      <origin xyz="0                      0                      -0.14"/>
-      <geometry>
-        <cylinder length="0.2" radius="0.25"/>
-      </geometry>
-      <material name="tire_mat"/>
-    </visual>
-    <collision>
-      <origin xyz="0                                           0                      -0.14"/>
-      <geometry>
-        <cylinder length="0.2" radius="0.25"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="8.0"/>
-      <inertia ixx="0.164729166667" ixy="0" ixz="0" iyy="0.164729166667" iyz="0" izz="0.276125"/>
-    </inertial>
-  </link>
-  <gazebo reference="right_rear_wheel">
-    <material>Gazebo/Black</material>
-  </gazebo>
-  <!-- SENSORS -->
-  <joint name="hokuyo3d_laser_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.95 0.0 0.1"/>
-    <parent link="base_footprint"/>
-    <child link="hokuyo3d_laser_link"/>
-  </joint>
-  <link name="hokuyo3d_laser_link">
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.15"/>
-      <geometry>
-        <box size="0.1 0.1 0.08"/>
-      </geometry>
-    </collision>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.15"/>
-      <geometry>
-        <mesh filename="package://eufs_description/meshes/sensors/hokuyo3d.dae"/>
-      </geometry>
-    </visual>
-    <inertial>
-      <mass value="1e-5"/>
-      <origin rpy="0 0 0" xyz="0 0 0.15"/>
-      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
-    </inertial>
-  </link>
-  <!-- Hokuyo sensor for simulation -->
-<!--   <gazebo reference="hokuyo3d_laser_link">
-    <sensor name="hokuyo3d_sensor" type="ray">
-      <pose>0 0 0 0 0 0</pose>
-      <visualize>false</visualize>
-      <update_rate>20</update_rate>
-      <ray>
-        <scan>
-          <horizontal>
-            <samples>16</samples>
-            <resolution>1.0</resolution>
-            <min_angle>-1.83591184</min_angle>
-            <max_angle>1.83591184</max_angle>
-          </horizontal>
-          <vertical>
-            <samples>162</samples>
-            <resolution>1.0</resolution>
-            <min_angle>-0.0872664626</min_angle>
-            <max_angle>0.610865238</max_angle>
-          </vertical>
-        </scan>
-        <range>
-          <min>0.10</min>
-          <max>20.0</max>
-          <resolution>0.01</resolution>
-        </range>
-        <noise>
-          <type>gaussian</type>
-          <mean>0.0</mean>
-          <stddev>0.01</stddev>
-        </noise>
-      </ray>
-      <plugin filename="libgazebo_ros_block_laser.so" name="gazebo_ros_head_hokuyo_controller">
-        <topicName>hokuyo3d/points2</topicName>
-        <frameName>hokuyo3d_laser_link</frameName>
-      </plugin>
-    </sensor>
-  </gazebo> -->
-
-
-  <xacro:sensor_hokuyo_utm30lx name="hokuyo" parent="base_footprint" prefix_topic="eufs">
-		<origin xyz="0.0 0.0 0.48" rpy="0 0 0"/>
-	</xacro:sensor_hokuyo_utm30lx>
-  <!--
-	<xacro:sensor_hokuyo_urg04lx name="hokuyo1" parent="base_link">
-		<origin xyz="-0.1 0.0 0.33" rpy="0 0 0"/>
-	</xacro:sensor_hokuyo_urg04lx>
--->
-  <!-- xacro:sensor_axis name="camera" parent="base_link">
-		<origin xyz="0.19 0 0.17" rpy="0 ${15*PI/180} 0"/>
-	</xacro:sensor_axis>
-
-	<xacro:sensor_imu name="imu" parent="base_link">
-		<origin xyz="-0.18 0.0 0.170" rpy="0 0 0"/>
-	</xacro:sensor_imu>
-
-	<xacro:sensor_gps name="gps" parent="base_link">
-		<origin xyz="-0.22 0 0.275" rpy="0 0 0"/>
-	</xacro:sensor_gps -->
-  <!--
-	<xacro:sensor_asus_xtion_pro name="xtion_pro" parent="base_link">
-		<origin xyz="0.3 0.0 0.3" rpy="0 0 0"/>
-	</xacro:sensor_asus_xtion_pro>
--->
-  <!--
-	<xacro:sensor_kinect name="kinect" parent="base_link">
-		<origin xyz="0.3 0.0 0.16" rpy="0 0 0"/>
-	</xacro:sensor_kinect>
-
--->
-  <!--
-	<xacro:sensor_fotonic name="fotonic" parent="base_link">
-		<origin xyz="0.3 0.0 0.24" rpy="0 0 0"/>
-	</xacro:sensor_fotonic>
--->
-  <!-- gazebo>
-    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"/>
-  </gazebo -->
-  <!-- ros control plugin -->
-</robot>
diff --git a/eufs_description/robots/eufs.urdf.xacro b/eufs_description/robots/eufs.urdf.xacro
deleted file mode 100644
index 359c95906c28a7f98a15f7ab07d4819a10373807..0000000000000000000000000000000000000000
--- a/eufs_description/robots/eufs.urdf.xacro
+++ /dev/null
@@ -1,137 +0,0 @@
-<?xml version="1.0"?>
-<robot name="eufs" xmlns:xacro="http://www.ros.org/wiki/xacro"> 
-
-
-    <!-- ***************** -->
-    <!-- Imported elements -->
-    <!-- ***************** -->
-    
-    <!-- First we import all posible elements defined in the urdf.xacro files. All these elements are defined as macro:xacros -->
-
-    <!-- Import Robotnik CAR base elements -->
-    <xacro:include filename="$(find eufs_description)/urdf/eufs_base.urdf.xacro" />
-
-    <!-- Import Robotnik CAR wheels -->
-    <xacro:include filename="$(find eufs_description)/urdf/suspension_wheel.urdf.xacro" />
-
-    <!-- Import all available sensors -->
-    <xacro:include filename="$(find eufs_description)/sensors/all_sensors.urdf.xacro" />
-
-    <!-- ***************** -->
-    <!-- Global parameters -->
-    <!-- ***************** -->
-
-    <xacro:property name="PI" value="3.1415926535897931"/>
-
-    <!-- Wheel parameters -->
-    <xacro:property name="wheel_offset_x" value="1.0" />    <!-- x,y,z in translation from base_link to the center of the wheel -->
-    <xacro:property name="wheel_offset_y" value="0.75" />    
-    <xacro:property name="wheel_offset_z" value="0.0" />
-
-    <!-- *************** -->
-    <!-- Robots Elements -->
-    <!-- *************** -->
-
-    <!-- Chassis of the car -->
-    <xacro:eufs_base name="eufs" publish_bf="true" hq="false" clearance="0.25"/>
-
-    <!-- Gazebo ros control pluggins -->
-    <xacro:ros_control/>
-    
-    <!-- Gazebo skid steering pluggins -->
-    <!-- xacro:skid_steering broadcastOdomTF="1"/ -->
-
-    <!-- WHEELS -->
-    <xacro:front_wheel lr_prefix="left" fr_prefix="front"
-        lr_reflect="1" fr_reflect="1"/>
-    <xacro:front_wheel lr_prefix="right" fr_prefix="front"
-        lr_reflect="-1" fr_reflect="1"/>
-    <xacro:rear_wheel lr_prefix="left" fr_prefix="rear"
-        lr_reflect="1" fr_reflect="-1"/>
-    <xacro:rear_wheel lr_prefix="right" fr_prefix="rear"
-        lr_reflect="-1" fr_reflect="-1"/>
-
-
-    <!-- MAIN SENSORS -->
-
-    <xacro:sensor_imu parent="base_link" prefix="imu">
-        <origin xyz="0.0 0.0 0.170" rpy="0 0 0"/>
-    </xacro:sensor_imu>
-
-
-    <xacro:sensor_gps  parent="base_link" prefix="gps">
-        <origin xyz="-0.110 0.0 0.9" rpy="0 0 0"/>
-    </xacro:sensor_gps>
-
-
-<!--     <xacro:sensor_hokuyo_utm30lx  parent="base_link" prefix="lidar" >
-        <origin xyz="1.700 0.0 -0.080" rpy="0 -0.0174533 0"/>
-    </xacro:sensor_hokuyo_utm30lx> -->
-
-
-    <!-- <xacro:VLP-16  parent="base_link" name="velodyne" topic="/velodyne_points" hz="10">
-        <origin xyz="1.700 0.0 -0.150" rpy="0 -0.0174533 0"/>
-    </xacro:VLP-16> -->
-
-    <xacro:VLP-16  parent="base_link" name="velodyne" topic="/velodyne_points" hz="10" samples="1200">
-        <origin xyz="1.700 0.0 -0.150" rpy="0 -${1.5*M_PI/180.0} 0"/>
-    </xacro:VLP-16>
-
-    <xacro:zed_camera parent="base_link" prefix="zed">
-        <origin xyz="-0.110 0.0 0.84" rpy="0 0 0"/> 
-    </xacro:zed_camera>  
-
-
-
-    <!-- EXTRA SENSORS FROM THE ROBOTNIK SENSORS LIBRARY -->
-
-<!--   
-    <xacro:sensor_hokuyo3d name="hokuyo3d" parent="base_link">
-        <origin xyz="0.9 0.0 0.450" rpy="0 0.35 0"/>
-    </xacro:sensor_hokuyo3d>
-    
-
-    <xacro:sensor_hokuyo_urg04lx name="hokuyo1" parent="base_link">
-        <origin xyz="-0.1 0.0 0.33" rpy="0 0 0"/>
-    </xacro:sensor_hokuyo_urg04lx>
-    
-
-    <xacro:sensor_axis name="camera" parent="base_link">
-        <origin xyz="0.19 0 0.17" rpy="0 ${15*PI/180} 0"/>
-    </xacro:sensor_axis> 
-     
-
-    <xacro:sensor_asus_xtion_pro name="xtion_pro" parent="base_link">
-        <origin xyz="0.3 0.0 0.3" rpy="0 0 0"/> 
-    </xacro:sensor_asus_xtion_pro>  
-
-
-    <xacro:sensor_kinect parent="base_link" prefix="kinect">
-        <origin xyz="0.0 0.0 0.45" rpy="0 0 0"/> 
-    </xacro:sensor_kinect>
-  
-
-    <xacro:BB2-08S2C-60  prefix="bee" frame="bee" name="bee"/>
-
-
-    <xacro:sensor_fotonic name="fotonic" parent="base_link">
-        <origin xyz="0.3 0.0 0.24" rpy="0 0 0"/> 
-    </xacro:sensor_fotonic>   -->
-
-
-
-    <!-- PLUGINS -->
-
-    <!-- ros control plugin --> 
-<!--   <gazebo>
-    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"/>
-</gazebo> -->
-
-
-
-</robot>
-
-
-
-
-
diff --git a/eufs_description/robots/wheelchair.urdf.xacro b/eufs_description/robots/wheelchair.urdf.xacro
deleted file mode 100644
index 589f2cd63cd0e60741553a5a3a92a992ba6b40e2..0000000000000000000000000000000000000000
--- a/eufs_description/robots/wheelchair.urdf.xacro
+++ /dev/null
@@ -1,58 +0,0 @@
-<?xml version="1.0"?>
-<robot name="eufs" xmlns:xacro="http://www.ros.org/wiki/xacro"> 
-
-
-    <!-- ***************** -->
-    <!-- Imported elements -->
-    <!-- ***************** -->
-    
-    <!-- First we import all posible elements defined in the urdf.xacro files. All these elements are defined as macro:xacros -->
-
-    <!-- Import Robotnik CAR base elements -->
-    <xacro:include filename="$(find eufs_description)/urdf/eufs_base.urdf.xacro" />
-
-    <!-- Import all available sensors -->
-    <xacro:include filename="$(find eufs_description)/sensors/all_sensors.urdf.xacro" />
-
-    <!-- ***************** -->
-    <!-- Global parameters -->
-    <!-- ***************** -->
-
-    <xacro:property name="PI" value="3.1415926535897931"/>
-
-    <!-- *************** -->
-    <!-- Robots Elements -->
-    <!-- *************** -->
-
-    <!-- Here we create the robot elements using the xacro:macros imported at the beggining of this file -->
-
-    <!-- Chassis of the car -->
-    <xacro:eufs_base name="eufs" publish_bf="true" hq="false" clearance="0"/>
-
-
-    <!-- MAIN SENSORS -->
-    <!-- all sensor frames below are relative to base_footprint -->
-
-    <xacro:sensor_imu parent="base_link" prefix="imu">
-        <origin xyz="0.20 0.0 0.46" rpy="0 0 0"/>
-    </xacro:sensor_imu>
-
-
-    <xacro:sensor_gps  parent="base_link" prefix="gps">
-        <origin xyz="0.0 0.0 1.095" rpy="0 0 0"/>
-    </xacro:sensor_gps>
-
-
-    <xacro:VLP-16R  parent="base_link" name="velodyne" topic="/velodyne_points" hz="10" samples="1200">
-        <origin xyz="0.54 0.0 0.13" rpy="0 -${1.7*M_PI/180.0} 0"/>
-    </xacro:VLP-16R>
-
-
-    <xacro:zed_camera parent="base_link" prefix="zed">
-        <origin xyz="0.175 -0.01 0.785" rpy="0 0 0"/> 
-    </xacro:zed_camera>  
-
-    <!-- We don't have URDFs for the wheels but we're putting the frames here anyway -->
-    <!-- -0.29 +/-0.275 0.155 -->
-
-</robot>
diff --git a/eufs_description/sensors/VLP-16.urdf.xacro b/eufs_description/sensors/VLP-16.urdf.xacro
deleted file mode 100644
index 03f534ba3df35743b54cd71a277f918390a956ea..0000000000000000000000000000000000000000
--- a/eufs_description/sensors/VLP-16.urdf.xacro
+++ /dev/null
@@ -1,101 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="VLP-16">
-  <xacro:property name="M_PI" value="3.1415926535897931" />
-  <xacro:macro name="VLP-16" params="*origin parent:=base_footprint name:=velodyne topic:=/velodyne_points hz:=10 lasers:=16 samples:=1875 collision_range:=0.3 min_range:=0.9 max_range:=130.0 noise:=0.008 min_angle:=-${M_PI} max_angle:=${M_PI}">
-
-    <joint name="${name}_base_mount_joint" type="fixed">
-      <xacro:insert_block name="origin" />
-      <parent link="${parent}"/>
-      <child link="${name}_base_link"/>
-    </joint>
-
-    <link name="${name}_base_link">
-      <inertial>
-        <mass value="0.83"/>
-        <origin xyz="0 0 0.03585"/>
-        <inertia ixx="${(0.83 * (3.0*0.0516*0.0516 + 0.0717*0.0717)) / 12.0}" ixy="0" ixz="0"
-          iyy="${(0.83 * (3.0*0.0516*0.0516 + 0.0717*0.0717)) / 12.0}" iyz="0"
-          izz="${0.5 * 0.83 * (0.0516*0.0516)}"/>
-      </inertial>
-      <visual>
-        <geometry>
-          <mesh filename="package://eufs_description/meshes/VLP16_base_1.dae" />
-        </geometry>
-      </visual>
-      <visual>
-        <geometry>
-          <mesh filename="package://eufs_description/meshes/VLP16_base_2.dae" />
-        </geometry>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0.03585"/>
-        <geometry>
-          <cylinder radius="0.0516" length="0.0717"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${name}_base_scan_joint" type="fixed" >
-      <origin xyz="0 0 0.0377" rpy="0 0 0" />
-      <parent link="${name}_base_link" />
-      <child link="${name}"/>
-    </joint>
-
-    <link name="${name}">
-      <inertial>
-        <mass value="0.01"/>
-        <origin xyz="0 0 0"/>
-        <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
-      </inertial>
-      <visual>
-        <origin xyz="0 0 -0.0377" />
-        <geometry>
-          <mesh filename="package://eufs_description/meshes/VLP16_scan.dae" />
-        </geometry>
-      </visual>
-    </link>
-
-    <!-- Gazebo requires the velodyne_gazebo_plugins package -->
-    <gazebo reference="${name}">
-      <sensor type="ray" name="${name}-VLP16">
-        <pose>0 0 0 0 0 0</pose>
-        <visualize>false</visualize>
-        <update_rate>${hz}</update_rate>
-        <ray>
-          <scan>
-            <horizontal>
-              <samples>${samples}</samples>
-              <resolution>1</resolution>
-              <min_angle>${min_angle}</min_angle>
-              <max_angle>${max_angle}</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>${lasers}</samples>
-              <resolution>1</resolution>
-              <min_angle>-${15.0*M_PI/180.0}</min_angle>
-              <max_angle> ${15.0*M_PI/180.0}</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>${collision_range}</min>
-            <max>${max_range+1}</max>
-            <resolution>0.001</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.0</stddev>
-          </noise>
-        </ray>
-        <plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_laser.so">
-          <topicName>${topic}</topicName>
-          <frameName>${name}</frameName>
-          <min_range>${min_range}</min_range>
-          <max_range>${max_range}</max_range>
-          <gaussianNoise>${noise}</gaussianNoise>
-        </plugin>
-      </sensor>
-    </gazebo>
-
-  </xacro:macro>
-</robot>
diff --git a/eufs_description/sensors/VLP-16R.urdf.xacro b/eufs_description/sensors/VLP-16R.urdf.xacro
deleted file mode 100644
index 255b204df287e15a6fc5a7e07caf3f7e0bf71bf3..0000000000000000000000000000000000000000
--- a/eufs_description/sensors/VLP-16R.urdf.xacro
+++ /dev/null
@@ -1,101 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="VLP-16">
-  <xacro:property name="M_PI" value="3.1415926535897931" />
-  <xacro:macro name="VLP-16R" params="*origin parent:=base_footprint name:=velodyne topic:=/velodyne_points hz:=6 lasers:=5 samples:=1200 collision_range:=0.3 min_range:=0.6 max_range:=130.0 noise:=0.008 min_angle:=-2 max_angle:=2">
-
-    <joint name="${name}_base_mount_joint" type="fixed">
-      <xacro:insert_block name="origin" />
-      <parent link="${parent}"/>
-      <child link="${name}_base_link"/>
-    </joint>
-
-    <link name="${name}_base_link">
-      <inertial>
-        <mass value="0.83"/>
-        <origin xyz="0 0 0.03585"/>
-        <inertia ixx="${(0.83 * (3.0*0.0516*0.0516 + 0.0717*0.0717)) / 12.0}" ixy="0" ixz="0"
-          iyy="${(0.83 * (3.0*0.0516*0.0516 + 0.0717*0.0717)) / 12.0}" iyz="0"
-          izz="${0.5 * 0.83 * (0.0516*0.0516)}"/>
-      </inertial>
-      <visual>
-        <geometry>
-          <mesh filename="package://eufs_description/meshes/VLP16_base_1.dae" />
-        </geometry>
-      </visual>
-      <visual>
-        <geometry>
-          <mesh filename="package://eufs_description/meshes/VLP16_base_2.dae" />
-        </geometry>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0.03585"/>
-        <geometry>
-          <cylinder radius="0.0516" length="0.0717"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${name}_base_scan_joint" type="fixed" >
-      <origin xyz="0 0 0.0377" rpy="0 0 0" />
-      <parent link="${name}_base_link" />
-      <child link="${name}"/>
-    </joint>
-
-    <link name="${name}">
-      <inertial>
-        <mass value="0.01"/>
-        <origin xyz="0 0 0"/>
-        <inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
-      </inertial>
-      <visual>
-        <origin xyz="0 0 -0.0377" />
-        <geometry>
-          <mesh filename="package://eufs_description/meshes/VLP16_scan.dae" />
-        </geometry>
-      </visual>
-    </link>
-
-    <!-- Gazebo requires the velodyne_gazebo_plugins package -->
-    <gazebo reference="${name}">
-      <sensor type="ray" name="${name}-VLP16">
-        <pose>0 0 0 0 0 0</pose>
-        <visualize>false</visualize>
-        <update_rate>${hz}</update_rate>
-        <ray>
-          <scan>
-            <horizontal>
-              <samples>${samples}</samples>
-              <resolution>1</resolution>
-              <min_angle>${min_angle}</min_angle>
-              <max_angle>${max_angle}</max_angle>
-            </horizontal>
-            <vertical>
-              <samples>${lasers}</samples>
-              <resolution>1</resolution>
-              <min_angle>-${7.0*M_PI/180.0}</min_angle>
-              <max_angle> ${1.0*M_PI/180.0}</max_angle>
-            </vertical>
-          </scan>
-          <range>
-            <min>${collision_range}</min>
-            <max>${max_range+1}</max>
-            <resolution>0.001</resolution>
-          </range>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.0</stddev>
-          </noise>
-        </ray>
-        <plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_laser.so">
-          <topicName>${topic}</topicName>
-          <frameName>${name}</frameName>
-          <min_range>${min_range}</min_range>
-          <max_range>${max_range}</max_range>
-          <gaussianNoise>${noise}</gaussianNoise>
-        </plugin>
-      </sensor>
-    </gazebo>
-
-  </xacro:macro>
-</robot>
diff --git a/eufs_description/sensors/all_sensors.urdf.xacro b/eufs_description/sensors/all_sensors.urdf.xacro
deleted file mode 100755
index 6caa9728391888499a97f723b301b78b60feae28..0000000000000000000000000000000000000000
--- a/eufs_description/sensors/all_sensors.urdf.xacro
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0"?>
-<robot name="all_sensors" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <!-- This file unifies all sensors that can be used on simulation, defined as xacro:macros -->
-
-  <!-- GPS -->
-  <xacro:include filename="$(find eufs_description)/sensors/gps.urdf.xacro"/>
-
-  <!-- Hokuyo utm30lx -->
-  <xacro:include filename="$(find eufs_description)/sensors/hokuyo_utm30lx.urdf.xacro"/>
-
-  <!-- Velodyne VLP-16 -->
-  <xacro:include filename="$(find eufs_description)/sensors/VLP-16.urdf.xacro"/>
-  <xacro:include filename="$(find eufs_description)/sensors/VLP-16R.urdf.xacro"/>
-
-  <!-- Imu -->
-  <xacro:include filename="$(find eufs_description)/sensors/imu.urdf.xacro"/>
-
-  <!-- Imu hector -->
-  <xacro:include filename="$(find eufs_description)/sensors/imu_hector_plugin.urdf.xacro"/>
-
-  <!-- Kinect -->
-  <xacro:include filename="$(find eufs_description)/sensors/kinect.urdf.xacro"/>
-
-  <!-- KinectV2 -->
-  <xacro:include filename="$(find eufs_description)/sensors/kinectv2.urdf.xacro"/>
-
-  <!-- Pointgrey Bumblebee -->
-  <xacro:include filename="$(find eufs_description)/sensors/pointgrey_bumblebee2.urdf.xacro"/>
-
-  <!-- ZED Stereo camera -->
-  <xacro:include filename="$(find eufs_description)/sensors/zed.urdf.xacro"/>
-  
-</robot>
\ No newline at end of file
diff --git a/eufs_description/sensors/gps.urdf.xacro b/eufs_description/sensors/gps.urdf.xacro
deleted file mode 100755
index 3bfc6ef7e1cd9cb9fda84df723cff15083f432c9..0000000000000000000000000000000000000000
--- a/eufs_description/sensors/gps.urdf.xacro
+++ /dev/null
@@ -1,58 +0,0 @@
-<?xml version="1.0"?>
-<robot name="sensor_gps" xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="sensor_gps" params="prefix parent *origin">
-        <!-- ANTENNA GPS -->
-        <joint name="${prefix}_joint" type="fixed">
-            <axis xyz="0 1 0"/>
-            <xacro:insert_block name="origin"/>
-            <parent link="${parent}"/>
-            <child link="${prefix}_base_link"/>
-        </joint>
-        <link name="${prefix}_base_link">
-            <inertial>
-                <mass value="0.001"/>
-                <origin rpy="0 0 0" xyz="0 0 0"/>
-                <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
-            </inertial>
-            <visual>
-                <origin rpy="0 0 0" xyz="0 0 0"/>
-                <material name="gps_color">
-                    <color rgba="1 1 1 1"/>
-                </material>
-                <geometry>
-                    <mesh filename="package://eufs_description/meshes/antenna_3GO16.stl" scale="1.0 1.0 1.0"/>
-                </geometry>
-            </visual>
-            <collision>
-                <origin rpy="0 0 0" xyz="0 0 0"/>
-                <geometry>
-                    <mesh filename="package://eufs_description/meshes/antenna_3GO16.stl" scale="1.0 1.0 1.0"/>
-                </geometry>
-            </collision>
-        </link>
-        <gazebo reference="${prefix}_base_link">
-            <material>Gazebo/White</material>
-            <gravity>true</gravity>
-        </gazebo>
-        <gazebo>
-            <plugin filename="libhector_gazebo_ros_gps.so" name="${prefix}_controller">
-                <alwaysOn>1</alwaysOn>
-                <updateRate>10</updateRate>
-                <bodyName>${prefix}_base_link</bodyName>
-                <!-- must be the link of the gps device, not the base_link or base_footprint -->
-                <frameId>${prefix}_base_link</frameId>
-                <topicName>gps</topicName>
-                <!-- Appleton Tower coordinates -->
-                <referenceLatitude>55.944400</referenceLatitude>
-                <referenceLongitude>-3.18629</referenceLongitude>
-                <!-- To set heading in ENU orientation (degrees) -->
-                <referenceHeading>90</referenceHeading>
-                <velocityTopicName>gps_velocity</velocityTopicName>
-                <drift>0.0 0.0 0.0</drift>
-                <gaussianNoise>0 0 0</gaussianNoise>
-                <velocityDrift>0 0 0</velocityDrift>
-                <velocityGaussianNoise>0 0 0</velocityGaussianNoise>
-            </plugin>
-        </gazebo>
-    </xacro:macro>
-</robot>
diff --git a/eufs_description/sensors/gps_with_mast.urdf.xacro b/eufs_description/sensors/gps_with_mast.urdf.xacro
deleted file mode 100755
index da89eb851c0dbef1f84aa25feae88291cc0ec82e..0000000000000000000000000000000000000000
--- a/eufs_description/sensors/gps_with_mast.urdf.xacro
+++ /dev/null
@@ -1,95 +0,0 @@
-<?xml version="1.0"?>
-<robot name="sensor_gps_with_mast" xmlns:xacro="http://www.ros.org/wiki/xacro">
-	<xacro:property name="mast_height" value="0.5"/>
-	<xacro:property name="mast_radius" value="0.010"/>
-	<xacro:macro name="sensor_gps_with_mast" params="prefix parent *origin">
-		<!-- MAST OF THE ANTENNA GPS -->
-		<joint name="${prefix}_joint" type="fixed">
-			<axis xyz="0 1 0"/>
-			<xacro:insert_block name="origin"/>
-			<parent link="${parent}"/>
-			<child link="${prefix}_mast_base_link"/>
-		</joint>
-		<link name="${prefix}_mast_base_link">
-			<inertial>
-				<mass value="0.001"/>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
-			</inertial>
-			<visual>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<material name="mast_color">
-					<color rgba="0.1 0.1 0.1 1"/>
-				</material>
-				<geometry>
-					<cylinder length="${mast_height}" radius="${mast_radius}"/>
-				</geometry>
-			</visual>
-			<collision>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<geometry>
-					<cylinder length="${mast_height}" radius="${mast_radius}"/>
-				</geometry>
-			</collision>
-		</link>
-		<joint name="${prefix}_mast_joint" type="fixed">
-			<axis xyz="0 1 0"/>
-			<parent link="${prefix}_mast_base_link"/>
-			<child link="${prefix}_link"/>
-			<origin rpy="0 0 0" xyz="0 0 ${mast_height/2.0}"/>
-		</joint>
-		<gazebo reference="${prefix}_mast_base_link">
-			<material>Gazebo/Black</material>
-			<gravity>true</gravity>
-		</gazebo>
-		<!-- ANTENNA GPS -->
-		<link name="${prefix}_link">
-			<inertial>
-				<mass value="0.001"/>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
-			</inertial>
-			<visual>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<material name="gps_color">
-					<color rgba="1 1 1 1"/>
-				</material>
-				<geometry>
-					<mesh filename="package://eufs_description/meshes/antenna_3GO16.stl" scale="1.0 1.0 1.0"/>
-				</geometry>
-			</visual>
-			<collision>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<geometry>
-					<mesh filename="package://uufsa_sensors/meshes/antenna_3GO16.stl" scale="1.0 1.0 1.0"/>
-				</geometry>
-			</collision>
-		</link>
-		<gazebo reference="${prefix}_link">
-			<material>Gazebo/White</material>
-			<gravity>true</gravity>
-		</gazebo>
-		<gazebo>
-			<plugin filename="libhector_gazebo_ros_gps.so" name="${prefix}_controller">
-				<alwaysOn>1</alwaysOn>
-				<updateRate>5</updateRate>
-				<bodyName>${prefix}_link</bodyName>
-				<!-- must be the link of the gps device, not the base_link or base_footprint -->
-				<frameId>${prefix}_link</frameId>
-				<!-- which frame_id would be on the published message -->
-				<topicName>fix</topicName>
-                <!-- Appleton Tower coordinates -->
-                <referenceLatitude>55.944400</referenceLatitude>
-                <referenceLongitude>-3.18629</referenceLongitude>
-				<!-- To set heading in ENU orientation (degrees) -->
-				<referenceHeading>90</referenceHeading>
-				<velocityTopicName>fix_velocity</velocityTopicName>
-				<drift>0.0 0.0 0.0</drift>
-				<gaussianNoise>0.1 0.1 0.1</gaussianNoise>
-				<velocityDrift>0.00001 0.00001 0.00001</velocityDrift>
-				<velocityGaussianNoise>0.00001 0.00001 0.00001</velocityGaussianNoise>
-				<ignoreTfPrefix>1</ignoreTfPrefix>
-			</plugin>
-		</gazebo>
-	</xacro:macro>
-</robot>
\ No newline at end of file
diff --git a/eufs_description/sensors/hokuyo_utm30lx.urdf.xacro b/eufs_description/sensors/hokuyo_utm30lx.urdf.xacro
deleted file mode 100755
index 253ef1118fa7c75416e5c98ae551d136f8fd6ea6..0000000000000000000000000000000000000000
--- a/eufs_description/sensors/hokuyo_utm30lx.urdf.xacro
+++ /dev/null
@@ -1,68 +0,0 @@
-<?xml version="1.0"?>
-<robot name="sensor_hokuyo_utm30lx" xmlns:xacro="http://www.ros.org/wiki/xacro">
-	<xacro:macro name="sensor_hokuyo_utm30lx" params="prefix:=-eufs parent:=base_link prefix_topic:=eufs *origin min_angle:=-2.35 max_angle:=2.35">
-		<joint name="${prefix}_base_joint" type="fixed">
-			<!-- FRONT MOUNT  -->
-			<!-- origin xyz="0.29 0 0.1" -->
-			<!-- TOP MOUNT -->
-			<!-- origin xyz="0.0 0.0 0.325"-->
-			<xacro:insert_block name="origin"/>
-			<parent link="${parent}"/>
-			<child link="${prefix}_base_link"/>
-		</joint>
-		<link name="${prefix}_base_link">
-			<visual>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<geometry>
-					<mesh filename="package://eufs_description/meshes/hokuyo_utm_30lx.dae"/>
-				</geometry>
-			</visual>
-			<inertial>
-				<mass value="1e-5"/>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
-			</inertial>
-		</link>
-		<link name="${prefix}_link"/>
-		<joint name="${prefix}_joint" type="fixed">
-			<parent link="${prefix}_base_link"/>
-			<child link="${prefix}_link"/>
-			<origin rpy="0 0 0" xyz="0.00 0 0.055"/>
-		</joint>
-		<!-- Hokuyo sensor for simulation -->
-		<sensor_hokuyo_utm_gazebo/>
-	</xacro:macro>
-	<xacro:macro name="sensor_hokuyo_utm_gazebo">
-		<gazebo reference="${prefix}_link">
-			<sensor name="${prefix}_sensor" type="ray">
-				<pose>0 0 0 0 0 0</pose>
-				<visualize>true</visualize>
-				<update_rate>30</update_rate>
-				<ray>
-					<scan>
-						<horizontal>
-							<samples>1081</samples>
-							<resolution>1</resolution>
-							<min_angle>${min_angle}</min_angle>
-							<max_angle>${max_angle}</max_angle>
-						</horizontal>
-					</scan>
-					<range>
-						<min>0.10</min>
-						<max>30.0</max>
-						<resolution>0.01</resolution>
-					</range>
-					<noise>
-						<type>gaussian</type>
-						<mean>0.0</mean>
-						<stddev>0.01</stddev>
-					</noise>
-				</ray>
-				<plugin filename="libgazebo_ros_laser.so" name="${prefix}_controller">
-					<topicName>${prefix_topic}/scan</topicName>
-					<frameName>/${prefix}_link</frameName>
-				</plugin>
-			</sensor>
-		</gazebo>
-	</xacro:macro>
-</robot>
\ No newline at end of file
diff --git a/eufs_description/sensors/imu.urdf.xacro b/eufs_description/sensors/imu.urdf.xacro
deleted file mode 100755
index ae0551af3d2381bd4778933a0154cc8dfc883a8f..0000000000000000000000000000000000000000
--- a/eufs_description/sensors/imu.urdf.xacro
+++ /dev/null
@@ -1,41 +0,0 @@
-<?xml version="1.0"?>
-<robot name="sensor_imu" xmlns:xacro="http://www.ros.org/wiki/xacro">
-	<xacro:macro name="sensor_imu" params="prefix parent *origin">
-		<joint name="${prefix}_base_joint" type="fixed">
-			<axis xyz="1 0 0"/>
-			<xacro:insert_block name="origin"/>
-			<parent link="${parent}"/>
-			<child link="${prefix}_base_link"/>
-		</joint>
-		<link name="${prefix}_base_link">
-			<inertial>
-				<mass value="0.001"/>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
-			</inertial>
-			<visual>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<geometry>
-					<box size="0.001 0.001 0.001"/>
-				</geometry>
-			</visual>
-			<collision>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<geometry>
-					<box size=".001 .001 .001"/>
-				</geometry>
-			</collision>
-		</link>
-		<gazebo>
-                        <plugin filename="libhector_gazebo_ros_imu.so" name="${prefix}_controller">
-				<alwaysOn>true</alwaysOn>
-				<bodyName>${prefix}_base_link</bodyName>
-				<topicName>${prefix}</topicName>
-				<serviceName>${prefix}_service</serviceName>
-				<gaussianNoise>0.00</gaussianNoise>
-				<updateRate>1000.0</updateRate>
-                                <accelOffset>0.0 0.0 -9.81</accelOffset>
-			</plugin>
-		</gazebo>
-	</xacro:macro>
-</robot>
diff --git a/eufs_description/sensors/imu_hector_plugin.urdf.xacro b/eufs_description/sensors/imu_hector_plugin.urdf.xacro
deleted file mode 100755
index 1b3ee3523b546c22a610d1033c34fe177a627a39..0000000000000000000000000000000000000000
--- a/eufs_description/sensors/imu_hector_plugin.urdf.xacro
+++ /dev/null
@@ -1,51 +0,0 @@
-<?xml version="1.0"?>
-<robot name="sensor_imu" xmlns:xacro="http://www.ros.org/wiki/xacro">
-	<xacro:macro name="sensor_imu_hector" params="prefix parent *origin">
-		<joint name="${prefix}_joint" type="fixed">
-			<axis xyz="1 0 0"/>
-			<!--origin xyz="0 0 0.2825"/-->
-			<xacro:insert_block name="origin"/>
-			<parent link="${parent}"/>
-			<child link="${prefix}_link"/>
-		</joint>
-		<link name="${prefix}_link">
-			<inertial>
-				<mass value="0.001"/>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001"/>
-			</inertial>
-			<visual>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<geometry>
-					<box size="0.001 0.001 0.001"/>
-				</geometry>
-			</visual>
-			<collision>
-				<origin rpy="0 0 0" xyz="0 0 0"/>
-				<geometry>
-					<box size=".001 .001 .001"/>
-				</geometry>
-			</collision>
-		</link>
-		<gazebo>
-			<plugin filename="libhector_gazebo_ros_imu.so" name="${prefix}_controller">
-				<alwaysOn>true</alwaysOn>
-				<topicName>imu/data</topicName>
-				<serviceName>${prefix}imu/service</serviceName>
-				<bodyName>${prefix}_link</bodyName>
-				<updateRate>50.0</updateRate>
-				<gaussianNoise>0.005</gaussianNoise>
-				<!-- orientation parameters -->
-				<yawOffset>0.0</yawOffset>
-				<yawDrift>0.02</yawDrift>
-				<yawGaussianNoise>0.01</yawGaussianNoise>
-				<rateOffset>0.0 0.0 0.0</rateOffset>
-				<rateDrift>0.002 0.002 0.002</rateDrift>
-				<rateGaussianNoise>0.001 0.001 0.001</rateGaussianNoise>
-				<accelOffset>0.0 0.0 0.0</accelOffset>
-				<accelDrift>0.005 0.005 0.005</accelDrift>
-				<accelGaussianNoise>0.005 0.005 0.005</accelGaussianNoise>
-			</plugin>
-		</gazebo>
-	</xacro:macro>
-</robot>
\ No newline at end of file
diff --git a/eufs_description/sensors/kinect.urdf.xacro b/eufs_description/sensors/kinect.urdf.xacro
deleted file mode 100755
index d6d54da9c8e95461c4928c37e042804010fd9ed9..0000000000000000000000000000000000000000
--- a/eufs_description/sensors/kinect.urdf.xacro
+++ /dev/null
@@ -1,128 +0,0 @@
-<?xml version="1.0"?>
-<robot name="sensor_kinect" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:property name="M_PI" value="3.1415926535897931"/>
-  <xacro:property name="cam_px" value="-0.087"/>
-  <xacro:property name="cam_py" value="-0.0125"/>
-  <xacro:property name="cam_pz" value="0.2870"/>
-  <xacro:property name="cam_or" value="0"/>
-  <xacro:property name="cam_op" value="0"/>
-  <xacro:property name="cam_oy" value="0"/>
-  <xacro:macro name="sensor_kinect" params="prefix parent *origin">
-    <joint name="${prefix}_rgb_joint" type="fixed">
-      <xacro:insert_block name="origin"/>
-      <parent link="${parent}"/>
-      <child link="${prefix}_rgb_base_link"/>
-    </joint>
-    <link name="${prefix}_rgb_base_link">
-      <inertial>
-        <mass value="0.001"/>
-        <origin xyz="0 0 0"/>
-        <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
-      </inertial>
-    </link>
-    <joint name="${prefix}_rgb_optical_joint" type="fixed">
-      <origin rpy="${-M_PI/2} 0 ${-M_PI/2}" xyz="0 0 0"/>
-      <parent link="${prefix}_rgb_base_link"/>
-      <child link="${prefix}_rgb_optical_link"/>
-    </joint>
-    <link name="${prefix}_rgb_optical_link">
-      <inertial>
-        <mass value="0.001"/>
-        <origin xyz="0 0 0"/>
-        <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
-      </inertial>
-    </link>
-    <joint name="${prefix}_joint" type="fixed">
-      <origin rpy="0 0 0" xyz="-0.031 ${-cam_py} -0.016"/>
-      <parent link="${prefix}_rgb_base_link"/>
-      <child link="${prefix}_link"/>
-    </joint>
-    <link name="${prefix}_link">
-      <visual>
-        <origin rpy="0 0 ${M_PI/2}" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="package://eufs_description/meshes/kinect.dae"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
-        <geometry>
-          <box size="0.07271 0.27794 0.073"/>
-        </geometry>
-      </collision>
-      <inertial>
-        <mass value="0.001"/>
-        <origin xyz="0 0 0"/>
-        <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
-      </inertial>
-    </link>
-    <!-- The fixed joints & links below are usually published by static_transformers launched by the OpenNi launch 
-       files. However, for Gazebo simulation we need them, so we add them here.
-       (Hence, don't publish them additionally!) -->
-    <joint name="${prefix}_depth_joint" type="fixed">
-      <origin rpy="0 0 0" xyz="0 ${2 * -cam_py} 0"/>
-      <parent link="${prefix}_rgb_base_link"/>
-      <child link="${prefix}_depth_link"/>
-    </joint>
-    <link name="${prefix}_depth_link">
-      <inertial>
-        <mass value="0.001"/>
-        <origin xyz="0 0 0"/>
-        <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
-      </inertial>
-    </link>
-    <joint name="${prefix}_depth_optical_joint" type="fixed">
-      <origin rpy="${-M_PI/2} 0 ${-M_PI/2}" xyz="0 0 0"/>
-      <parent link="${prefix}_depth_link"/>
-      <child link="${prefix}_depth_optical_link"/>
-    </joint>
-    <link name="${prefix}_depth_optical_link">
-      <inertial>
-        <mass value="0.001"/>
-        <origin xyz="0 0 0"/>
-        <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
-      </inertial>
-    </link>
-    <!-- Kinect sensor for simulation -->
-    <sensor_kinect_gazebo/>
-  </xacro:macro>
-  <xacro:macro name="sensor_kinect_gazebo">
-    <gazebo reference="${prefix}_link">
-      <sensor name="${prefix}_sensor" type="depth">
-        <always_on>true</always_on>
-        <update_rate>20.0</update_rate>
-        <camera>
-          <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
-          <image>
-            <format>R8G8B8</format>
-            <width>640</width>
-            <height>480</height>
-          </image>
-          <clip>
-            <near>0.05</near>
-            <far>8.0</far>
-          </clip>
-        </camera>
-        <plugin filename="libgazebo_ros_openni_kinect.so" name="${prefix}_controller">
-          <cameraName>${prefix}</cameraName>
-          <alwaysOn>true</alwaysOn>
-          <updateRate>10</updateRate>
-          <imageTopicName>rgb/image_raw</imageTopicName>
-          <depthImageTopicName>depth/image_raw</depthImageTopicName>
-          <pointCloudTopicName>depth/points</pointCloudTopicName>
-          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
-          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
-          <frameName>/${prefix}_depth_optical_link</frameName>
-          <baseline>0.1</baseline>
-          <distortion_k1>0.0</distortion_k1>
-          <distortion_k2>0.0</distortion_k2>
-          <distortion_k3>0.0</distortion_k3>
-          <distortion_t1>0.0</distortion_t1>
-          <distortion_t2>0.0</distortion_t2>
-          <pointCloudCutoff>0.4</pointCloudCutoff>
-          <pointCloudCutoffMax>5.0</pointCloudCutoffMax>
-        </plugin>
-      </sensor>
-    </gazebo>
-  </xacro:macro>
-</robot>
\ No newline at end of file
diff --git a/eufs_description/sensors/kinectv2.urdf.xacro b/eufs_description/sensors/kinectv2.urdf.xacro
deleted file mode 100755
index 32720a82e45424326aaa11510cc34df6478e9e37..0000000000000000000000000000000000000000
--- a/eufs_description/sensors/kinectv2.urdf.xacro
+++ /dev/null
@@ -1,174 +0,0 @@
-<?xml version="1.0"?>
-<robot name="sensor_kinectv2" xmlns:xacro="http://www.ros.org/wiki/xacro">
-    
-  <xacro:property name="M_PI" value="3.1415926535897931" />
-    <xacro:property name="cam_px" value="-0.087" />
-    <xacro:property name="cam_py" value="-0.0125" />
-    <xacro:property name="cam_pz" value="0.2870" />
-    <xacro:property name="cam_or" value="0" />
-    <xacro:property name="cam_op" value="0" />
-    <xacro:property name="cam_oy" value="0" />
-
-
-  <xacro:macro name="sensor_kinectv2" params="prefix parent base:=true *origin">
-
-    <joint name="${prefix}_rgb_joint" type="fixed">
-      <xacro:insert_block name="origin" />
-      <parent link="${parent}"/>
-      <child link="${prefix}_rgb_base_link" />
-    </joint>
-    <link name="${prefix}_rgb_base_link">
-      <inertial>
-        <mass value="0.001" />
-        <origin xyz="0 0 0" />
-        <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
-                 iyy="0.0001" iyz="0.0"
-                 izz="0.0001" />
-      </inertial>
-    </link>
-    
-    
-    <joint name="${prefix}_rgb_optical_joint" type="fixed">
-      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
-      <parent link="${prefix}_rgb_base_link" />
-      <child link="${prefix}_rgb_optical_link" />
-    </joint>
-    <link name="${prefix}_rgb_optical_link">
-      <inertial>
-        <mass value="0.001" />
-        <origin xyz="0 0 0" />
-        <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
-                 iyy="0.0001" iyz="0.0"
-                 izz="0.0001" />
-      </inertial>
-    </link>
-
-  <joint name="${prefix}_joint" type="fixed">
-    <!--<origin xyz="-0.031 ${-cam_py} -0.016" rpy="0 0 0"/>--> <!-- with base -->
-    <xacro:if value="${base}">
-        <origin xyz="-0.031 ${-cam_py} -0.016" rpy="0 0 0"/>
-    </xacro:if>
-    <xacro:unless value="${base}">
-        <origin xyz="-0.031 ${-cam_py} -0.016" rpy="0 0 0"/>
-    </xacro:unless>
-
-    <parent link="${prefix}_rgb_base_link"/>
-    <child link="${prefix}_link"/>
-  </joint>  
-    <link name="${prefix}_link">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}"/>
-      <geometry>
-        <xacro:if value="${base}">
-          <mesh filename="package://eufs_description/meshes/kinectv2.dae"/>
-        </xacro:if>
-        <xacro:unless value="${base}">
-          <mesh filename="package://eufs_description/meshes/kinectv2_nobase.dae"/>
-        </xacro:unless>
-      </geometry>
-    </visual>
-    <!-- with base -->
-    <collision>
-      <xacro:if value="${base}">
-        <origin xyz="-0.015 0.0 0.03225" rpy="0 0 0"/>
-        <geometry>
-          <box size="0.0943 0.25 0.0645"/>
-        </geometry>
-      </xacro:if>
-      <xacro:unless value="${base}">
-        <origin xyz="-0.015 0.0 0.020" rpy="0 0 0"/>
-        <geometry>
-          <box size="0.0943 0.25 0.045"/>
-        </geometry>
-      </xacro:unless>
-    </collision>
-    <inertial>
-      <mass value="0.001" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
-               iyy="0.0001" iyz="0.0"
-               izz="0.0001" />
-    </inertial>
-  </link>
-      
-  <!-- The fixed joints & links below are usually published by static_transformers launched by the OpenNi launch 
-       files. However, for Gazebo simulation we need them, so we add them here.
-       (Hence, don't publish them additionally!) -->
-    <joint name="${prefix}_depth_joint" type="fixed">
-      <origin xyz="0 ${2 * -cam_py} 0" rpy="0 0 0" />
-      <parent link="${prefix}_rgb_base_link" />
-      <child link="${prefix}_depth_link" />
-    </joint>
-    <link name="${prefix}_depth_link">
-    <inertial>
-      <mass value="0.001" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
-               iyy="0.0001" iyz="0.0"
-               izz="0.0001" />
-    </inertial>
-    </link>
-    <joint name="${prefix}_depth_optical_joint" type="fixed">
-      <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
-      <parent link="${prefix}_depth_link" />
-      <child link="${prefix}_depth_optical_link" />
-    </joint>
-    <link name="${prefix}_depth_optical_link">
-    <inertial>
-      <mass value="0.001" />
-      <origin xyz="0 0 0" />
-      <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
-               iyy="0.0001" iyz="0.0"
-               izz="0.0001" />
-    </inertial>
-    </link>
-    
-        <!-- Kinect sensor for simulation -->
-      <sensor_kinectv2_gazebo/>
-  
-  </xacro:macro>
-
-
-  <xacro:macro name="sensor_kinectv2_gazebo">
-  
-    <gazebo reference="${prefix}_link">  
-      <sensor type="depth" name="${prefix}_sensor">
-        <always_on>true</always_on>
-        <update_rate>20.0</update_rate>
-        <camera>
-          <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
-          <image>
-            <format>R8G8B8</format>
-            <width>640</width>
-            <height>480</height>
-          </image>
-          <clip>
-            <near>0.05</near>
-            <far>8.0</far>
-          </clip>
-        </camera>
-        <plugin name="${prefix}_controller" filename="libgazebo_ros_openni_kinect.so">
-          <cameraName>${prefix}</cameraName>
-          <alwaysOn>true</alwaysOn>
-          <updateRate>10</updateRate>
-          <imageTopicName>rgb/image_raw</imageTopicName>
-          <depthImageTopicName>depth/image_raw</depthImageTopicName>
-          <pointCloudTopicName>depth/points</pointCloudTopicName>
-          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
-          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
-          <frameName>/${prefix}_depth_optical_link</frameName>
-          <baseline>0.1</baseline>
-          <distortion_k1>0.0</distortion_k1>
-          <distortion_k2>0.0</distortion_k2>
-          <distortion_k3>0.0</distortion_k3>
-          <distortion_t1>0.0</distortion_t1>
-          <distortion_t2>0.0</distortion_t2>
-          <pointCloudCutoff>0.4</pointCloudCutoff>
-          <pointCloudCutoffMax>5.0</pointCloudCutoffMax>
-        </plugin>
-      </sensor>
-    </gazebo>
-  
-  </xacro:macro>
-  
-</robot>
diff --git a/eufs_description/sensors/pointgrey_bumblebee2.urdf.xacro b/eufs_description/sensors/pointgrey_bumblebee2.urdf.xacro
deleted file mode 100755
index 129f39e96921b0857824c19e9d0117f67f58ec0e..0000000000000000000000000000000000000000
--- a/eufs_description/sensors/pointgrey_bumblebee2.urdf.xacro
+++ /dev/null
@@ -1,161 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <xacro:macro name="stereo_camera"
-    params="prefix fps baseline hfov width height format near far frame name">
-
-    <gazebo reference="${prefix}_frame">
-      <sensor type="multicamera" name="stereo_camera">
-        <update_rate>${fps}</update_rate>
-        <camera name="left">
-          <pose>0 0 0 0 -1.5707 1.5707</pose>
-          <horizontal_fov>${hfov}</horizontal_fov>
-          <image>
-            <width>${width}</width>
-            <height>${height}</height>
-            <format>${format}</format>
-          </image>
-          <clip>
-            <near>${near}</near>
-            <far>${far}</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-        <camera name="right">
-          <pose>${baseline} 0 0 0 -1.5707 1.5707</pose>
-          <horizontal_fov>${hfov}</horizontal_fov>
-          <image>
-            <width>${width}</width>
-            <height>${height}</height>
-            <format>${format}</format>
-          </image>
-          <clip>
-            <near>${near}</near>
-            <far>${far}</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-        <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
-          <alwaysOn>true</alwaysOn>
-          <cameraName>${prefix}</cameraName>
-          <imageTopicName>image_raw_bee</imageTopicName>
-          <cameraInfoTopicName>camera_info_bee</cameraInfoTopicName>
-          <frameName>/${prefix}_frame</frameName>
-          <hackBaseline>${baseline}</hackBaseline>
-          <!-- NOTE: Distortion is currently unused -->
-          <distortionK1>0.0</distortionK1>
-          <distortionK2>0.0</distortionK2>
-          <distortionK3>0.0</distortionK3>
-          <distortionT1>0.0</distortionT1>
-          <distortionT2>0.0</distortionT2>
-          <ignoreTfPrefix>1</ignoreTfPrefix>
-        </plugin>
-      </sensor>
-    </gazebo>
-  </xacro:macro>
-
-  <xacro:macro name="pointgrey_bumblebee2"
-    params="prefix hfov format:=R8G8B8 near:=0.5 far:=300 high_res:=false frame">
-
-    <link name="${prefix}_base_link">
-      <visual>
-        <origin xyz="0 0 0" rpy="-1.5707 0 -1.5707"/>
-        <geometry>
-          <mesh filename="package://eufs_description/meshes/pointgrey_bumblebee2.dae"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <box size="0.04740 0.157 0.036"/>
-        </geometry>
-      </collision>
-      <inertial>
-        <mass value="0.342" />
-        <inertia
-          ixx="${1/12*0.342*(0.036*0.036 + 0.0474*0.0474)}" ixy="0" ixz="0"
-          iyy="${1/12*0.342*(0.157*0.157 + 0.0474*0.0474)}" iyz="0"
-          izz="${1/12*0.342*(0.157*0.157 + 0.036*0.036)}" />
-      </inertial>
-    </link>
-
-    <link name="${prefix}_optical_link">
-      <inertial>
-        <mass value="1E-5" />
-        <inertia
-          ixx="1E-10" ixy="0" ixz="0"
-          iyy="1E-10" iyz="0"
-          izz="1E-10" />
-      </inertial>
-    </link>
-
-    <joint name="${frame}_optical_joint" type="fixed">
-      <origin xyz="0 0 0" rpy="-1.570796 0 -1.570796" />
-      <parent link="${prefix}_base_link" />
-      <child link="${prefix}_optical_link" />
-    </joint>
-
-    <xacro:if value="${high_res}">
-      <xacro:stereo_camera
-        frame="${prefix}_optical_link"
-        name="${prefix}"
-        hfov="${hfov}"
-        baseline="0.120"
-        fps="20"
-        width="1024"
-        height="768"
-        format="${format}"
-        near="${near}"
-        far="${far}"
-        prefix="${prefix}"/>
-    </xacro:if>
-
-    <xacro:unless value="${high_res}">
-      <xacro:stereo_camera
-        frame="${prefix}_optical_link"
-        name="${prefix}"
-        hfov="${hfov}"
-        baseline="0.120"
-        fps="48"
-        width="640"
-        height="480"
-        format="${format}"
-        near="${near}"
-        far="${far}"/>
-    </xacro:unless>
-  </xacro:macro>
-
-  <xacro:macro name="BB2-03S2C-25" params="prefix:=bumblebee" >
-    <pointgrey_bumblebee2 prefix="${prefix}" hfov="1.69296937443" />
-  </xacro:macro>
-
-  <xacro:macro name="BB2-03S2C-38" params="prefix:=bumblebee" >
-    <pointgrey_bumblebee2 prefix="${prefix}" hfov="1.15191730632" />
-  </xacro:macro>
-
-  <xacro:macro name="BB2-03S2C-60" params="prefix=bumblebee" >
-    <pointgrey_bumblebee2 prefix="${prefix}" hfov="0.75049157835" />
-  </xacro:macro>
-
-  <xacro:macro name="BB2-08S2C-25" params="frame:=bumblebee name:=bumblebee" >
-    <pointgrey_bumblebee2 prefix="${prefix}" hfov="1.69296937443" high_res="true" />
-  </xacro:macro>
-
-  <xacro:macro name="BB2-08S2C-38" params="frame:=bumblebee name:=bumblebee" >
-    <pointgrey_bumblebee2 prefix="${prefix}" hfov="1.15191730632" high_res="true" />
-  </xacro:macro>
-
-  <xacro:macro name="BB2-08S2C-60" params="name prefix frame" >
-    <pointgrey_bumblebee2 prefix="${prefix}" frame="${frame}" hfov="0.75049157835" high_res="true" />
-  </xacro:macro>
-
-
-</robot>
diff --git a/eufs_description/sensors/zed.urdf.xacro b/eufs_description/sensors/zed.urdf.xacro
deleted file mode 100644
index c998d74f51c89dc26ba5358a226c70eb89bbdf0e..0000000000000000000000000000000000000000
--- a/eufs_description/sensors/zed.urdf.xacro
+++ /dev/null
@@ -1,169 +0,0 @@
-<?xml version="1.0"?>
-<robot name="zed_camera" 
-  xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <xacro:macro name="zed_camera" params="prefix parent *origin">
-
-    <joint name="${prefix}_base_joint" type="fixed">
-      <axis xyz="1 0 0"/>
-      <xacro:insert_block name="origin"/>
-      <parent link="${parent}"/>
-      <child link="${prefix}_center"/>
-    </joint>
-
-
-    <link name="${prefix}_center">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <mesh filename="package://eufs_description/meshes/zed.dae" />
-        </geometry>
-        <material name="light_grey">
-          <color rgba="0.8 0.8 0.8 0.8"/>
-        </material>
-      </visual>
-    </link>
-
-
-    <!-- Left and right frames -->
-    <link name="${prefix}_left_camera"/>
-
-    <link name="${prefix}_right_camera"/>
-
-    <link name="${prefix}_left_camera_optical"/>
-
-    <link name="${prefix}_right_camera_optical"/>
-
-    <joint name="${prefix}_left_camera_joint" type="fixed">
-      <parent link="${prefix}_center"/>
-      <child link="${prefix}_left_camera"/>
-      <origin xyz="0 0.06 0" rpy="0 0 0" />
-    </joint>
-
-    <joint name="${prefix}_right_camera_joint" type="fixed">
-      <parent link="${prefix}_center"/>
-      <child link="${prefix}_right_camera"/>
-      <origin xyz="0 -0.06 0" rpy="0 0 0" />
-    </joint>
-
-    <joint name="left_camera_optical_joint" type="fixed">
-      <origin xyz="0 0 0" rpy="0.0 0.0 0.0" />
-      <parent link="${prefix}_left_camera" />
-      <child link="${prefix}_left_camera_optical"/>
-    </joint>
-
-    <joint name="right_camera_optical_joint" type="fixed">
-      <origin xyz="0 0 0" rpy="0.0 0.0 0.0" />
-      <parent link="${prefix}_right_camera" />
-      <child link="${prefix}_right_camera_optical"/>
-    </joint>
-
-    <!-- depth frame -->
-    <link name="${prefix}_depth_camera"/>
-
-    <joint name="${prefix}_depth_camera" type="fixed">
-      <parent link="${prefix}_center"/>
-      <child link="${prefix}_depth_camera"/>
-      <origin xyz="0 0.06 0" rpy="-${0.5*pi} 0 -${0.5*pi}" />
-    </joint>
-
-
-    <gazebo reference="${prefix}_left_camera_optical">
-      <sensor type="multicamera" name="stereo_camera">
-        <!-- see MultiSenseSLPlugin.h for available modes -->
-        <update_rate>60.0</update_rate>
-        <camera name="${prefix}_left">
-          <pose>0 0.06 0 0 0 0</pose>
-          <horizontal_fov>1.91986</horizontal_fov>
-          <image>
-            <width>1280</width>
-            <height>720</height>
-            <format>B8G8R8</format>
-          </image>
-          <clip>
-            <near>0.5</near>
-            <far>20</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-
-        <camera name="${prefix}_right">
-          <pose>0 -0.12 0 0 0 0</pose>
-          <horizontal_fov>1.91986</horizontal_fov>
-          <image>
-            <width>1280</width>
-            <height>720</height>
-            <format>B8G8R8</format>
-          </image>
-          <clip>
-            <near>0.5</near>
-            <far>20</far>
-          </clip>
-          <noise>
-            <type>gaussian</type>
-            <mean>0.0</mean>
-            <stddev>0.007</stddev>
-          </noise>
-        </camera>
-
-        <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
-          <alwaysOn>true</alwaysOn>
-          <updateRate>60.0</updateRate>
-          <leftCamera>${prefix}_left</leftCamera>
-          <rightCamera>${prefix}_right</rightCamera>
-          <cameraName>${prefix}</cameraName>
-          <imageTopicName>image_rect_color</imageTopicName>
-          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
-          <frameName>${prefix}_left_camera_optical</frameName>
-          <hackBaseline>0.120</hackBaseline>
-          <distortionK1>0.0</distortionK1>
-          <distortionK2>0.0</distortionK2>
-          <distortionK3>0.0</distortionK3>
-          <distortionT1>0.0</distortionT1>
-          <distortionT2>0.0</distortionT2>
-        </plugin>
-      </sensor>
-
-      <!-- Depth simulation -->
-      <sensor name="stereo_depth" type="depth">
-        <always_on>true</always_on>
-        <update_rate>60.0</update_rate>
-        <camera>
-          <horizontal_fov>1.91986</horizontal_fov>
-          <image>
-            <width>1280</width>
-            <height>720</height>
-            <format>B8G8R8</format>
-          </image>
-          <clip>
-            <near>0.5</near>
-            <far>20.0</far>
-          </clip>
-        </camera>
-        <plugin filename="libgazebo_ros_openni_kinect.so" name="${prefix}_controller">
-          <cameraName>${prefix}</cameraName>
-          <alwaysOn>true</alwaysOn>
-          <updateRate>60.0</updateRate>
-          <imageTopicName>dont_use</imageTopicName>
-          <depthImageTopicName>depth/depth_registered</depthImageTopicName>
-          <pointCloudTopicName>point_cloud/cloud_registered</pointCloudTopicName>
-          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
-          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
-          <frameName>${prefix}_depth_camera</frameName>
-          <baseline>0.12</baseline>
-          <distortion_k1>0.0</distortion_k1>
-          <distortion_k2>0.0</distortion_k2>
-          <distortion_k3>0.0</distortion_k3>
-          <distortion_t1>0.0</distortion_t1>
-          <distortion_t2>0.0</distortion_t2>
-          <pointCloudCutoff>0.5</pointCloudCutoff>
-          <pointCloudCutoffMax>20.0</pointCloudCutoffMax>
-        </plugin>
-      </sensor>
-    </gazebo>
-  </xacro:macro>
-</robot>
\ No newline at end of file
diff --git a/eufs_description/urdf/ads-dv_base.urdf.xacro b/eufs_description/urdf/ads-dv_base.urdf.xacro
deleted file mode 100644
index 8fdbaf33f629f843773de6ba921e1848ff016cbd..0000000000000000000000000000000000000000
--- a/eufs_description/urdf/ads-dv_base.urdf.xacro
+++ /dev/null
@@ -1,66 +0,0 @@
-<?xml version="1.0"?>
-<robot name="eufs" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:arg name="publish_tf" default="false"/>
-
-  <xacro:include filename="$(find eufs_description)/urdf/eufs_base.gazebo.xacro">
-    <arg name="publish_tf" value="$(arg publish_tf)"/>
-  </xacro:include>
-
-  <xacro:macro name="eufs_base" params="name publish_bf hq">
-
-  <!-- Robot mechanical and motor parameters -->
-  <xacro:property name="PI" value="3.1415926535897931"/>
-  <xacro:property name="wheel_width" value="0.175" />
-  <!-- <xacro:property name="clearance" value="${tire_dia/2.0}" /> -->
-  <xacro:property name="clearance" value="0.0" />
-
-
-  <!-- BASE FOOTPRINT -->
-  <link name="base_footprint">
-    <visual>
-      <origin xyz="0 0 ${clearance}" rpy="0 0 0" />  <!-- height is the clearance -->
-        <geometry>
-          <mesh filename="package://eufs_description/meshes/ads-dv.dae"/>
-        </geometry>
-    </visual>
-    <inertial>
-      <mass value="125.0" />
-      <origin xyz="0 0 0" />
-      <inertia  ixx="16.3"
-                ixy="0.004"
-                ixz="0.0"
-                iyy="33.6"
-                iyz="0.0"
-                izz="47.9" />
-    </inertial>
-    <collision>
-      <origin xyz="0 0 ${clearance}" rpy="0 0 0" />  <!-- height is the clearance -->
-      <geometry>
-        <mesh filename="package://eufs_description/meshes/ads-dv.dae"/>
-      </geometry>
-    </collision>
-  </link>
-
-  <link name="odom_ground_truth">
-    <collision>
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1e-5" />
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
-    </inertial>
-  </link>
-
-  <joint name="odom_ground_truth_joint" type="fixed">
-    <axis xyz="0 0 0" />
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <parent link="base_footprint"/>
-    <child link="odom_ground_truth"/>
-  </joint>
-
-
-  </xacro:macro>
-</robot>
diff --git a/eufs_description/urdf/eufs_base.gazebo.xacro b/eufs_description/urdf/eufs_base.gazebo.xacro
deleted file mode 100644
index 7085f5323bc1f19a9af46b29bb5d8dce7e86bdb8..0000000000000000000000000000000000000000
--- a/eufs_description/urdf/eufs_base.gazebo.xacro
+++ /dev/null
@@ -1,58 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:arg name="publish_tf" default="false"/>
-  <xacro:arg name="simulate_perception" default="false"/>
-
-  <!-- ROS control plugin which controls all actuators in the simulation
-  This effectively looks in the namespace of the robot, finds the controller
-  interfaces based on a .yaml file (eufs_gazebo/config/eufs_control.yaml) -->
-  <xacro:macro name="ros_control">
-    <gazebo>
-      <plugin name="ros_control" filename="libgazebo_ros_control.so">
-        <robotNamespace>/eufs</robotNamespace>
-        <robotParam>robot_description</robotParam>
-        <controlPeriod>0.001</controlPeriod>
-        <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
-        <legacyModeNS>true</legacyModeNS>
-      </plugin>
-    </gazebo>
-  </xacro:macro>
-
-  <!-- Custom ROS plugin to simulate ground truth state in simulation.
-  This node publishes nav_msgs/Odometry and eufs_msgs/CarState messages
-  with added noise via parameters below. This node can additionally publish
-  a transfrom from referenceFrame to robotFrame -->
-  <gazebo>
-    <plugin name="state_ground_truth" filename="libgazebo_state_ground_truth.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>15.0</updateRate>
-      <referenceFrame>map</referenceFrame>
-      <robotFrame>base_footprint</robotFrame>
-      <publishTransform>$(arg publish_tf)</publishTransform>
-      <odometryTopicName>/ground_truth/odom</odometryTopicName>
-      <stateTopicName>/ground_truth/state</stateTopicName>
-      <positionNoise>0.0 0.0 0.0</positionNoise>
-      <orientationNoise>0.0 0.0 0.0</orientationNoise>
-      <linearVelocityNoise>0.0 0.0 0.0</linearVelocityNoise>
-      <angularVelocityNoise>0.0 0.0 0.0</angularVelocityNoise>
-      <linearAccelerationNoise>0.0 0.0 0.0</linearAccelerationNoise>
-    </plugin>
-  </gazebo>
-
-  <gazebo>
-    <plugin name="cone_ground_truth" filename="libgazebo_cone_ground_truth.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>25.0</updateRate>
-      <viewDistance>15</viewDistance>
-      <fov>1.91986</fov>
-      <coneFrame>base_footprint</coneFrame>
-      <groundTruthConesTopicName>/ground_truth/cones</groundTruthConesTopicName>
-      <groundTruthConeMarkersTopicName>/ground_truth/cones/viz</groundTruthConeMarkersTopicName>
-      <simulatePerception>$(arg simulate_perception)</simulatePerception>
-      <perceptionConesTopicName>/fusion/cones</perceptionConesTopicName>
-      <perceptionConeMarkersTopicName>/fusion/cones/viz</perceptionConeMarkersTopicName>
-      <perceptionNoise>0.0 0.0 0.0</perceptionNoise>
-    </plugin>
-  </gazebo>
-
-</robot>
diff --git a/eufs_description/urdf/eufs_base.urdf.xacro b/eufs_description/urdf/eufs_base.urdf.xacro
deleted file mode 100644
index 19f904b10b6137338f4f0ea28e15f377d2f750c9..0000000000000000000000000000000000000000
--- a/eufs_description/urdf/eufs_base.urdf.xacro
+++ /dev/null
@@ -1,84 +0,0 @@
-<?xml version="1.0"?>
-<robot name="eufs" xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <xacro:arg name="publish_tf" default="false"/>
-
-  <xacro:include filename="$(find eufs_description)/urdf/eufs_base.gazebo.xacro">
-    <arg name="publish_tf" value="$(arg publish_tf)"/>
-  </xacro:include>
-
-  <xacro:macro name="eufs_base" params="name publish_bf hq clearance">
-
-  <!-- Robot mechanical and motor parameters -->
-  <xacro:property name="PI" value="3.1415926535897931"/>
-  <xacro:property name="wheel_width" value="0.175" />
-
-  <!-- BASE FOOTPRINT -->
-  <xacro:if value="${publish_bf}">
-    <link name="base_footprint">
-      <visual>
-          <origin xyz="0 0 0" rpy="0 0 0" />
-          <geometry>
-             <box size="0.001 0.001 0.001" />
-          </geometry>
-      </visual>
-    </link>
-
-    <joint name="base_footprint_joint" type="fixed">
-      <origin xyz="0 0 ${clearance}" rpy="0 0 0" />  <!-- height is the clearance -->
-      <parent link="base_footprint"/>
-      <child link="base_link" />
-    </joint>
-  </xacro:if>
-
-  <!-- BASE_LINK -->
-  <link name="base_link">
-    <inertial>
-      <mass value="125.0" />
-      <origin xyz="0 0 0" />
-      <inertia  ixx="1.391" ixy="0.004"  ixz="0.0"  iyy="6.853"  iyz="0.0"  izz="6.125" />
-    </inertial>
-    <visual>
-       <origin xyz="0 0 0" rpy="0 0 0" />
-       <xacro:if value="${hq}">
-       <geometry>
-	     <mesh filename="package://eufs_description/meshes/chassis.dae"/>
-       </geometry>
-       </xacro:if>
-       <xacro:unless value="${hq}">
-       <geometry>
-	     <mesh filename="package://eufs_description/meshes/chassis.dae"/>
-       </geometry>
-       </xacro:unless>
-    </visual>
-    <collision>
-       <origin xyz="0 0 0" rpy="0 0 0 " />
-       <geometry>
-         <mesh filename="package://eufs_description/meshes/chassis_collision.dae"/>
-       </geometry>
-    </collision>
-  </link>
-  	
-  <link name="odom_ground_truth">
-    <collision>
-      <geometry>
-        <box size="0.1 0.1 0.1"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1e-5" />
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
-    </inertial>
-  </link>
-
-  <joint name="odom_ground_truth_joint" type="fixed">
-    <axis xyz="0 0 0" />
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="odom_ground_truth"/>
-  </joint>
-
-
-  </xacro:macro>
-</robot>
diff --git a/eufs_description/urdf/suspension_wheel.urdf.xacro b/eufs_description/urdf/suspension_wheel.urdf.xacro
deleted file mode 100644
index a453fd0294ec2c6f4696c8d19c83db5ff335250a..0000000000000000000000000000000000000000
--- a/eufs_description/urdf/suspension_wheel.urdf.xacro
+++ /dev/null
@@ -1,239 +0,0 @@
-<?xml version="1.0"?>
-<robot name="wheel" xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-<!--
-ADS-DV Specifications as given by IMechE:
-WHEELBASE         :1530mm
-FRONT TRACK       :1201mm
-REAR TRACK        :1201mm
-OVERALL WIDTH     :1430mm
-OVERALL LENGTH    :2814.6mm
-STATIC CASTER     :6 deg
-STATIC CAMBER     :2 deg
-TYRES             : SAE FORMULA STUDENT AVON 7.2/20.0-13
-DRIVEN WHEELS     :4WD
-DIFFERENTIALS     :OPEN DIFF -->
-
-  <!-- hub_dia and tire_dia are the diameters of the hub and tire,
-       respectively. hex_hub_depth is the distance that the hex hub is
-       inset from the outer edge of the tire. It is set so that each wheel
-       is a "zero offset" wheel. hex_hub_depth = tire_width / 2 -
-       axle_length. -->
-  <xacro:property name="hub_dia" value="0.08"/>
-  <xacro:property name="tire_dia" value="0.505"/>
-  <xacro:property name="tire_width" value="0.2"/>
-
-  <xacro:property name="hex_hub_depth" value="0.120"/> <!-- or +0.072 -->
-  <xacro:property name="wheel_mass" value="10.0"/>   <!-- check -->
-
-  <!-- hex_hub_dist is the distance between left and right hex hubs when
-       the shock absorbers are fully extended. axle_length is the distance
-       from a U joint to the corresponding hex hub. wheel_travel is the
-       vertical wheel travel. -->
-  <xacro:property name="wheelbase" value="1.530"/>
-  <xacro:property name="hex_hub_dist" value="1.201"/>  <!-- track/width of the car -->
-  <xacro:property name="axle_length" value="0.120"/>
-  <xacro:property name="wheel_travel" value="0.05"/>
-  <xacro:property name="shock_z_offset" value="0.05"/>
-
-  <!-- Degree-to-radian conversions -->
-  <xacro:property name="degrees_45" value="0.785398163"/>
-  <xacro:property name="degrees_90" value="1.57079633"/>
-  <xacro:property name="degrees_180" value="3.14159265"/>
-
-  <!-- shock_eff_limit is 2 * ((shock_stroke / 2) * shock_spring_constant) N. -->
-  <xacro:property name="shock_eff_limit" value="50"/>
-  <xacro:property name="shock_vel_limit" value="500"/>
-
-  <xacro:property name="wheel_joint_damping" value="0.01" />
-  <xacro:property name="wheel_joint_friction" value="0.1" />
-
-  <xacro:property name="suspension_joint_damping" value="0.01" />
-  <xacro:property name="suspension_joint_friction" value="0.1" />
-
-
-
-<!--          max_speed = 100mph = 44.704 m/s
-       axle_vel_limit = (2 * pi) * (max_speed / (pi * tire_dia)) =
-          2*44.704/0.505 = 177.03 rad/s   -->
-
-
-  <!-- axle eff limit = 2 * stall_torque
-       as a function of the max gradient (15%) with overall max payload (600Kg) * wheel_radius
-       (calculating this way, it should be divided by 2 if 2 motors are used)
-       axle_eff_limit = 204.95 / 2 N m = ~102.5 -->
-  <!-- xacro:property name="axle_eff_limit" value="102.5"/ -->
-  <xacro:property name="axle_eff_limit" value="60"/>
-  <!-- max_speed = 33 Km/h = 9.17 m/s
-       axle_vel_limit = (2 * pi) * (max_speed / (pi * tire_dia)) =  39.02 rad/s -->
-  <xacro:property name="axle_vel_limit" value="177.03"/>
-
-  <!-- Servo_stall_torque of the direction axis in Nm. servo_no_load_speed is
-       measured in rad/s. -->
-  <xacro:property name="servo_stall_torque" value="50"/>  <!-- check -->
-  <xacro:property name="servo_no_load_speed" value="25"/> <!-- check -->
-
-  <!-- Inertia of a thick-walled cylindrical tube with open ends.
-       Empirically validated in simulation. Tweaked until the car
-       could stay in place without drifting. -->
-  <xacro:macro name="wheel_inertia"
-               params="mass">
-    <inertial>
-      <mass value="${mass}"/>
-      <inertia ixx="0.25"
-               ixy="0"
-               ixz="0"
-               iyy="0.3"
-               iyz="0"
-               izz="0.25"/>
-    </inertial>
-  </xacro:macro>
-
-  <!-- Null inertial element. This is needed to make the model work with Gazebo. -->
-  <xacro:macro name="null_inertial">
-    <inertial>
-      <mass value="0.001"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-  </xacro:macro>
-
-  <!-- Shock absorber -->
-  <xacro:macro name="shock"
-               params="lr_prefix fr_prefix lr_reflect fr_reflect child">
-
-    <joint name="${lr_prefix}_${fr_prefix}_shock" type="prismatic">
-      <parent link="base_footprint"/>
-      <child link="${child}"/>
-
-      <origin xyz="${fr_reflect * wheelbase / 2}
-                   ${lr_reflect * ((hex_hub_dist / 2) - axle_length)}
-                   ${-wheel_travel}"/>
-      <axis xyz="0 0 -1"/>
-      <limit lower="${-wheel_travel / 2}" upper="${wheel_travel / 2}"
-             effort="${shock_eff_limit}" velocity="${shock_vel_limit}"/>
-      <joint_properties damping="${suspension_joint_damping}" friction="{suspension_joint_friction}"/>
-    </joint>
-
-    <transmission name="${lr_prefix}_${fr_prefix}_shock_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${lr_prefix}_${fr_prefix}_shock">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${lr_prefix}_${fr_prefix}_shock_act">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-  </xacro:macro>
-
-  <!-- The "wheel" macro defines an axle carrier, axle, and wheel. -->
-  <xacro:macro name="wheel" params="lr_prefix fr_prefix lr_reflect">
-
-    <link name="${lr_prefix}_${fr_prefix}_axle_carrier">
-      <xacro:null_inertial/>
-    </link>
-
-    <!-- The left and right axles have the same axis so that identical
-         rotation values cause the wheels to rotate in the same direction. -->
-    <joint name="${lr_prefix}_${fr_prefix}_axle" type="continuous">
-      <parent link="${lr_prefix}_${fr_prefix}_axle_carrier"/>
-      <child link="${lr_prefix}_${fr_prefix}_wheel"/>
-      <origin rpy="${degrees_90} 0 ${degrees_180}"/>
-      <axis xyz="0 0 -1"/>
-      <limit effort="${axle_eff_limit}" velocity="${axle_vel_limit}"/>
-      <joint_properties damping="${wheel_joint_damping}" friction="{wheel_joint_friction}"/>
-    </joint>
-
-
-    <transmission name="${lr_prefix}_${fr_prefix}_axle_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${lr_prefix}_${fr_prefix}_axle">
-        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${lr_prefix}_${fr_prefix}_axle_act">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-    <gazebo reference="${lr_prefix}_${fr_prefix}_axle_carrier">
-      <material>Gazebo/Black</material>
-    </gazebo>
-
-
-    <link name="${lr_prefix}_${fr_prefix}_wheel">
-      <visual>
-        <origin xyz="0
-                     0
-                     ${lr_reflect * (axle_length - (tire_width / 2 - hex_hub_depth))}"/>
-        <geometry>
-          <cylinder radius="${tire_dia / 2}" length="${tire_width}"/>
-        </geometry>
-        <material name="tire_mat"/>
-      </visual>
-
-      <collision>
-        <origin xyz="0
-                     0
-                     ${lr_reflect * (axle_length - (tire_width / 2 - hex_hub_depth))}"/>
-        <geometry>
-          <cylinder radius="${tire_dia / 2}" length="${tire_width}"/>
-        </geometry>
-      </collision>
-
-      <xacro:wheel_inertia mass="${wheel_mass}"/>
-    </link>
-
-    <gazebo reference="${lr_prefix}_${fr_prefix}_wheel">
-      <material>Gazebo/Black</material>
-    </gazebo>
-  </xacro:macro>
-
-
-  <!-- Front wheel -->
-  <xacro:macro name="front_wheel"
-               params="lr_prefix fr_prefix lr_reflect fr_reflect">
-    <xacro:shock lr_prefix="${lr_prefix}" fr_prefix="${fr_prefix}"
-                 lr_reflect="${lr_reflect}" fr_reflect="${fr_reflect}"
-                 child="${lr_prefix}_steering_link"/>
-
-    <link name="${lr_prefix}_steering_link">
-      <xacro:null_inertial/>
-    </link>
-
-    <joint name="${lr_prefix}_steering_joint" type="revolute">
-      <parent link="${lr_prefix}_steering_link"/>
-      <child link="${lr_prefix}_${fr_prefix}_axle_carrier"/>
-      <axis xyz="0 0 1"/>
-      <limit lower="${-degrees_45}" upper="${degrees_45}"
-             effort="${servo_stall_torque}" velocity="${servo_no_load_speed}"/>
-    </joint>
-    <transmission name="${lr_prefix}_steering_trans">
-      <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${lr_prefix}_steering_joint">
-        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      </joint>
-      <actuator name="${lr_prefix}_steering_act">
-        <mechanicalReduction>1</mechanicalReduction>
-      </actuator>
-    </transmission>
-
-    <gazebo reference="${lr_prefix}_steering_link">
-      <material>Gazebo/Black</material>
-    </gazebo>
-
-    <xacro:wheel lr_prefix="${lr_prefix}" fr_prefix="${fr_prefix}"
-                 lr_reflect="${lr_reflect}"/>
-  </xacro:macro>
-
-  <!-- Rear wheel -->
-  <xacro:macro name="rear_wheel"
-               params="lr_prefix fr_prefix lr_reflect fr_reflect">
-    <xacro:shock lr_prefix="${lr_prefix}" fr_prefix="${fr_prefix}"
-                 lr_reflect="${lr_reflect}" fr_reflect="${fr_reflect}"
-                 child="${lr_prefix}_${fr_prefix}_axle_carrier"/>
-    <xacro:wheel lr_prefix="${lr_prefix}" fr_prefix="${fr_prefix}"
-                 lr_reflect="${lr_reflect}"/>
-  </xacro:macro>
-
-
- </robot>
diff --git a/eufs_gazebo/CMakeLists.txt b/eufs_gazebo/CMakeLists.txt
deleted file mode 100644
index 24717b6744b39e7eb7416b8a4b8f7bb2028b20d2..0000000000000000000000000000000000000000
--- a/eufs_gazebo/CMakeLists.txt
+++ /dev/null
@@ -1,39 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(eufs_gazebo)
-
-find_package(catkin REQUIRED COMPONENTS
-  gazebo_ros
-  eufs_description
-  ros_can_sim
-  eufs_msgs
-  roscpp
-  rospy
-  std_msgs
-  std_srvs
-  tf
-  roslint
-)
-
-catkin_package()
-
-install(DIRECTORY launch/
-   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-   FILES_MATCHING PATTERN "*.launch" PATTERN "*.machine" PATTERN "*.yaml" PATTERN "*.urdf"
-)
-
-install(DIRECTORY config/
-   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
-   FILES_MATCHING PATTERN "*.yaml"
-)
-
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-)
-
-#############
-## Roslint ##
-#############
-
-roslint_python()
-# roslint_cpp() # removed as there currently is no cpp in this package
-
diff --git a/eufs_gazebo/README.md b/eufs_gazebo/README.md
deleted file mode 100644
index a543276f0bf0e99d75a91000225ac44d2bf2e071..0000000000000000000000000000000000000000
--- a/eufs_gazebo/README.md
+++ /dev/null
@@ -1,15 +0,0 @@
-# eufs_gazebo
-This is the main simulation package which contains the simulation model of the car an several environments.
-
-## Launches
-
-- `acceleration.launch` - Launches a simulation of the acceleration event at competition. 50m straight track.
-- `big_track.launch` - Launches a simulation of a relatively big artificially created track (100x100m).
-- `empty.launch` - Launches a simulation which only has the car without anything else.
-- `eufs_control.launch` - Launches the joint controller for the robot. This is also included in all other simulation launches. Without this the car can't move.
-- `skidpad.launch` - Launches a simulation of the skidpad event at competition. It's quite literally a figuire of 8.
-- `small_track.launch` - Launches a simulation of an artificially created small track. Better run this if you don't have a good performing computing.
-- `sprint17.launch` - Launches a simulation of the 2017 FSUK sprint event. This is the biggest simulation by far and will probably wreck your computer. Also nobody has bothered so far to colour code the cones on it.
-
-## Notes
-- If you are running a low-power computer or a VM, it's best to run only `small_track.launch` as the other sims will most likely kill your computer.
diff --git a/eufs_gazebo/config/eufs_control.yaml b/eufs_gazebo/config/eufs_control.yaml
deleted file mode 100644
index b892369ababd9fce287be8dc0beab2603ea4075c..0000000000000000000000000000000000000000
--- a/eufs_gazebo/config/eufs_control.yaml
+++ /dev/null
@@ -1,58 +0,0 @@
-eufs:
-  left_front_shock_controller:
-    type: effort_controllers/JointEffortController
-    joint: left_front_shock
-    pid: {p: 500.0, i: 10.0, d: 100.0}
-  
-  left_steering_joint_controller:
-    type: effort_controllers/JointPositionController
-    joint: left_steering_joint
-    pid: {p: 500.0, i: 10.0, d: 100.0}
-    
-  #traction
-  left_front_axle_controller:
-    type: velocity_controllers/JointVelocityController
-    joint: left_front_axle
-    pid: {p: 1500.0, i: 100.0, d: 750.0}
-     
-  right_front_shock_controller:
-    type: effort_controllers/JointEffortController
-    joint: right_front_shock
-    pid: {p: 500.0, i: 10.0, d: 500.0}
-
-  right_steering_joint_controller:
-    type: effort_controllers/JointPositionController
-    joint: right_steering_joint
-    pid: {p: 500.0, i: 10.0, d: 100.0}
-    
-  #traction
-  right_front_axle_controller:
-    type: velocity_controllers/JointVelocityController
-    joint: right_front_axle
-    pid: {p: 1500.0, i: 100.0, d: 750.0}
-
-  left_rear_shock_controller:
-    type: effort_controllers/JointEffortController
-    joint: left_rear_shock
-    pid: {p: 500.0, i: 10.0, d: 100.0}
-
-  # traction
-  left_rear_axle_controller:
-    type: velocity_controllers/JointVelocityController
-    joint: left_rear_axle
-    pid: {p: 1500.0, i: 100.0, d: 750.0}
-    
-  right_rear_shock_controller:
-    type: effort_controllers/JointEffortController
-    joint: right_rear_shock
-    pid: {p: 500.0, i: 10.0, d: 100.0}
-
-  # traction
-  right_rear_axle_controller:
-    type: velocity_controllers/JointVelocityController
-    joint: right_rear_axle
-    pid: {p: 1500.0, i: 100.0, d: 750.0}
-        
-  joint_read_state_controller:
-    type: joint_state_controller/JointStateController 
-    publish_rate: 100.0
diff --git a/eufs_gazebo/config/eufs_sim.perspective b/eufs_gazebo/config/eufs_sim.perspective
deleted file mode 100644
index 33ffd2d63b7a0ecf7b9274ab9ab1e9998d2fd4c7..0000000000000000000000000000000000000000
--- a/eufs_gazebo/config/eufs_sim.perspective
+++ /dev/null
@@ -1,448 +0,0 @@
-{
-  "keys": {},
-  "groups": {
-    "pluginmanager": {
-      "keys": {
-        "running-plugins": {
-          "type": "repr",
-          "repr": "{u'ros_can_sim/ros_can_sim_gui': [1], u'rqt_robot_steering/RobotSteering': [1]}"
-        }
-      },
-      "groups": {
-        "plugin__rqt_robot_steering__RobotSteering__1": {
-          "keys": {},
-          "groups": {
-            "dock_widget__RobotSteeringUi": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "True"
-                },
-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'Robot Steering'"
-                }
-              },
-              "groups": {}
-            },
-            "plugin": {
-              "keys": {
-                "topic": {
-                  "type": "repr",
-                  "repr": "u'/cmd_vel'"
-                },
-                "vx_min": {
-                  "type": "repr",
-                  "repr": "-1.0"
-                },
-                "vw_min": {
-                  "type": "repr",
-                  "repr": "-3.0"
-                },
-                "vw_max": {
-                  "type": "repr",
-                  "repr": "3.0"
-                },
-                "vx_max": {
-                  "type": "repr",
-                  "repr": "1.0"
-                }
-              },
-              "groups": {}
-            }
-          }
-        },
-        "plugin__rqt_reconfigure__Param__1": {
-          "keys": {},
-          "groups": {
-            "dock_widget___plugincontainer_top_widget": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'Dynamic Reconfigure'"
-                }
-              },
-              "groups": {}
-            },
-            "plugin": {
-              "keys": {
-                "splitter": {
-                  "type": "repr(QByteArray.hex)",
-                  "repr(QByteArray.hex)": "QtCore.QByteArray('000000ff0000000100000002000000ae0000006401ffffffff010000000100')",
-                  "pretty-print": "         d     "
-                },
-                "_splitter": {
-                  "type": "repr(QByteArray.hex)",
-                  "repr(QByteArray.hex)": "QtCore.QByteArray('000000ff00000001000000020000012c000000640100000009010000000200')",
-                  "pretty-print": "       , d     "
-                }
-              },
-              "groups": {}
-            }
-          }
-        },
-        "plugin__rqt_logger_level__LoggerLevel__1": {
-          "keys": {},
-          "groups": {
-            "dock_widget__LoggerLevelWidget": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'Logger Level'"
-                }
-              },
-              "groups": {}
-            }
-          }
-        },
-        "plugin__rqt_image_view__ImageView__1": {
-          "keys": {},
-          "groups": {
-            "dock_widget__ImageViewWidget": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'Image View'"
-                }
-              },
-              "groups": {}
-            },
-            "plugin": {
-              "keys": {
-                "max_range": {
-                  "type": "repr",
-                  "repr": "u'10'"
-                },
-                "rotate": {
-                  "type": "repr",
-                  "repr": "u'0'"
-                },
-                "smooth_image": {
-                  "type": "repr",
-                  "repr": "u'false'"
-                },
-                "mouse_pub_topic": {
-                  "type": "repr",
-                  "repr": "u'/zed/depth/depth_registered/compressedDepth_mouse_left'"
-                },
-                "num_gridlines": {
-                  "type": "repr",
-                  "repr": "u'0'"
-                },
-                "toolbar_hidden": {
-                  "type": "repr",
-                  "repr": "u'false'"
-                },
-                "zoom1": {
-                  "type": "repr",
-                  "repr": "u'false'"
-                },
-                "dynamic_range": {
-                  "type": "repr",
-                  "repr": "u'false'"
-                },
-                "topic": {
-                  "type": "repr",
-                  "repr": "u'/zed/depth/depth_registered/compressedDepth'"
-                },
-                "publish_click_location": {
-                  "type": "repr",
-                  "repr": "u'false'"
-                }
-              },
-              "groups": {}
-            }
-          }
-        },
-        "plugin__rqt_graph__RosGraph__1": {
-          "keys": {},
-          "groups": {
-            "dock_widget__RosGraphUi": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'Node Graph'"
-                }
-              },
-              "groups": {}
-            },
-            "plugin": {
-              "keys": {
-                "graph_type_combo_box_index": {
-                  "type": "repr",
-                  "repr": "u'0'"
-                },
-                "topic_filter_line_edit_text": {
-                  "type": "repr",
-                  "repr": "u'/'"
-                },
-                "filter_line_edit_text": {
-                  "type": "repr",
-                  "repr": "u'/'"
-                },
-                "highlight_connections_check_box_state": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "unreachable_check_box_state": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "actionlib_check_box_state": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "quiet_check_box_state": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "dead_sinks_check_box_state": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "leaf_topics_check_box_state": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "namespace_cluster_check_box_state": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "auto_fit_graph_check_box_state": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                }
-              },
-              "groups": {}
-            }
-          }
-        },
-        "plugin__ros_can_sim__ros_can_sim_gui__1": {
-          "keys": {},
-          "groups": {
-            "dock_widget__RosCanSimUi": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "True"
-                },
-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'ros_can GUI'"
-                }
-              },
-              "groups": {}
-            }
-          }
-        },
-        "plugin__eufs_launcher__EUFS Launcher__1": {
-          "keys": {},
-          "groups": {
-            "dock_widget__EufsLauncherUI": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'EUFS Launcher'"
-                }
-              },
-              "groups": {}
-            }
-          }
-        },
-        "plugin__rqt_publisher__Publisher__1": {
-          "keys": {},
-          "groups": {
-            "dock_widget__PublisherWidget": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'Message Publisher'"
-                }
-              },
-              "groups": {}
-            },
-            "plugin": {
-              "keys": {
-                "publishers": {
-                  "type": "repr",
-                  "repr": "u'[]'"
-                }
-              },
-              "groups": {}
-            }
-          }
-        },
-        "plugin__rqt_topic__TopicPlugin__1": {
-          "keys": {},
-          "groups": {
-            "plugin": {
-              "keys": {
-                "tree_widget_header_state": {
-                  "type": "repr(QByteArray.hex)",
-                  "repr(QByteArray.hex)": "QtCore.QByteArray('000000ff000000000000000100000000000000000100000000000000000000000000000000000003a1000000050101000100000000000000000500000064ffffffff000000810000000300000005000001a30000000100000003000000fe0000000100000003000000670000000100000003000000350000000100000003000000640000000100000003000003e800')",
-                  "pretty-print": "                              d                     g     5     d      "
-                }
-              },
-              "groups": {}
-            },
-            "dock_widget__TopicWidget": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'Topic Monitor'"
-                }
-              },
-              "groups": {}
-            }
-          }
-        },
-        "plugin__robot_control__ros_can_sim_gui__1": {
-          "keys": {},
-          "groups": {
-            "dock_widget__RosCanSimUi": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'ros can control'"
-                }
-              },
-              "groups": {}
-            }
-          }
-        },
-        "plugin__rqt_tf_tree__RosTfTree__1": {
-          "keys": {},
-          "groups": {
-            "dock_widget__RosTfTreeUi": {
-              "keys": {
-                "dockable": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "parent": {
-                  "type": "repr",
-                  "repr": "None"
-                },
-                "dock_widget_title": {
-                  "type": "repr",
-                  "repr": "u'TF Tree'"
-                }
-              },
-              "groups": {}
-            },
-            "plugin": {
-              "keys": {
-                "highlight_connections_check_box_state": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                },
-                "auto_fit_graph_check_box_state": {
-                  "type": "repr",
-                  "repr": "u'true'"
-                }
-              },
-              "groups": {}
-            }
-          }
-        }
-      }
-    },
-    "mainwindow": {
-      "keys": {
-        "geometry": {
-          "type": "repr(QByteArray.hex)",
-          "repr(QByteArray.hex)": "QtCore.QByteArray('01d9d0cb000200000000010e0000024800000350000003f80000010f000002600000034f000003f700000001000000000556')",
-          "pretty-print": "       H P     ` O      V"
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-        }
-      },
-      "groups": {
-        "toolbar_areas": {
-          "keys": {
-            "MinimizedDockWidgetsToolbar": {
-              "type": "repr",
-              "repr": "8"
-            }
-          },
-          "groups": {}
-        }
-      }
-    }
-  }
-}
\ No newline at end of file
diff --git a/eufs_gazebo/launch/acceleration.launch b/eufs_gazebo/launch/acceleration.launch
deleted file mode 100644
index 628c8d56d6c41ed098056199547cdef298aa041b..0000000000000000000000000000000000000000
--- a/eufs_gazebo/launch/acceleration.launch
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- roslaunch arguments -->
-  <env name="GAZEBO_MODEL_PATH" value="$(find eufs_description)"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="$(find eufs_description)"/>
-  <arg name="namespace" default="eufs"/>
-  <arg name="debug" default="false"/>
-  <arg name="gui" default="true"/>
-  <arg name="cmd_timeout" default="0.5"/>
-
-  <!-- Vehicle pose -->
-  <arg name="x" default="-53.0"/>
-  <arg name="y" default="0.0"/>
-  <arg name="z" default="0.1"/>
-  <arg name="roll" default="0.0"/>
-  <arg name="pitch" default="0.0"/>
-  <arg name="yaw" default="0.0"/>
-  
-  <!-- Control Method Argument -->
-  <arg name="controlMethod" default="speed"/>
-  <arg name="show_rqt_gui" default="true"/>
-  <arg name="publish_gt_tf" default="false"/>
-  <arg name="launch_group" default="default"/>
-
-  <!-- eufs_control launch file -->
-  <include file="$(find eufs_gazebo)/launch/eufs_control.launch"/>
-
-  <!-- Gazebo -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find eufs_gazebo)/worlds/acceleration.world"/>
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="gui" value="$(arg gui)"/>
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="headless" value="false"/>
-  </include>
-
-  <!--Launch car & controller.-->
-  <include file="$(find eufs_gazebo)/launch/load_car.launch">
-    <arg name="namespace" value="$(arg namespace)"/>
-    <arg name="x" default="$(arg x)"/>
-    <arg name="y" default="$(arg y)"/>
-    <arg name="z" default="$(arg z)"/>
-    <arg name="roll" default="$(arg roll)"/>
-    <arg name="pitch" default="$(arg pitch)"/>
-    <arg name="yaw" default="$(arg yaw)"/>
-    <arg name="controlMethod" default="$(arg controlMethod)"/>
-    <arg name="show_rqt_gui" default="$(arg show_rqt_gui)"/>
-    <arg name="cmd_timeout" value="$(arg cmd_timeout)"/>
-    <arg name="publish_gt_tf" value="$(arg publish_gt_tf)"/>
-    <arg name="launch_group" default="$(arg launch_group)"/>
-  </include>
-
-</launch>
diff --git a/eufs_gazebo/launch/big_track.launch b/eufs_gazebo/launch/big_track.launch
deleted file mode 100644
index 2b980e8f86e098c4e072d9ff4671aa0d4fc9ea80..0000000000000000000000000000000000000000
--- a/eufs_gazebo/launch/big_track.launch
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- roslaunch arguments -->
-  <env name="GAZEBO_MODEL_PATH" value="$(find eufs_description)"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="$(find eufs_description)"/>
-  <arg name="namespace" default="eufs"/>
-  <arg name="debug" default="false"/>
-  <arg name="gui" default="true"/>
-  <arg name="cmd_timeout" default="0.5"/>
-
-  <!-- Vehicle pose -->
-  <arg name="x" default="-33"/>
-  <arg name="y" default="30"/>
-  <arg name="z" default="0.1"/>
-  <arg name="roll" default="0.0"/>
-  <arg name="pitch" default="0.0"/>
-  <arg name="yaw" default="0.0"/>
-
-  <!-- Control Method Argument -->
-  <arg name="controlMethod" default="speed"/>
-  <arg name="show_rqt_gui" default="true"/>
-  <arg name="publish_gt_tf" default="false"/>
-  <arg name="launch_group" default="default"/>
-
-  <!-- eufs_control launch file -->
-  <include file="$(find eufs_gazebo)/launch/eufs_control.launch"/>
-
-  <!-- Gazebo -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find eufs_gazebo)/worlds/big_track.world"/>
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="gui" value="$(arg gui)"/>
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="headless" value="false"/>
-  </include>
-
-  <!--Launch car & controller.-->
-  <include file="$(find eufs_gazebo)/launch/load_car.launch">
-    <arg name="namespace" value="$(arg namespace)"/>
-    <arg name="x" default="$(arg x)"/>
-    <arg name="y" default="$(arg y)"/>
-    <arg name="z" default="$(arg z)"/>
-    <arg name="roll" default="$(arg roll)"/>
-    <arg name="pitch" default="$(arg pitch)"/>
-    <arg name="yaw" default="$(arg yaw)"/>
-    <arg name="controlMethod" default="$(arg controlMethod)"/>
-    <arg name="show_rqt_gui" default="$(arg show_rqt_gui)"/>
-    <arg name="cmd_timeout" value="$(arg cmd_timeout)"/>
-    <arg name="publish_gt_tf" value="$(arg publish_gt_tf)"/>
-    <arg name="launch_group" default="$(arg launch_group)"/>
-  </include>
-
-</launch>
diff --git a/eufs_gazebo/launch/blacklist.txt b/eufs_gazebo/launch/blacklist.txt
deleted file mode 100644
index 34b3d336fe753958ee547effc3a3887b5aadda1a..0000000000000000000000000000000000000000
--- a/eufs_gazebo/launch/blacklist.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-# Put things in here to remove them from the launcher
-blacklist.txt
-actually_load_car_torque.launch
-load_car_torque.launch
-eufs_control.launch
-load_car.launch
-sprint17.launch
-sbg_raw_data_simulator.launch
diff --git a/eufs_gazebo/launch/empty.launch b/eufs_gazebo/launch/empty.launch
deleted file mode 100644
index cabb45affeff59db2e849a52c11bd2fcb1bf6f6f..0000000000000000000000000000000000000000
--- a/eufs_gazebo/launch/empty.launch
+++ /dev/null
@@ -1,54 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- roslaunch arguments -->
-  <env name="GAZEBO_MODEL_PATH" value="$(find eufs_description)"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="$(find eufs_description)"/>
-  <arg name="namespace" default="eufs"/>
-  <arg name="debug" default="false"/>
-  <arg name="gui" default="true"/>
-  <arg name="cmd_timeout" default="0.5"/>
-  <arg name="verbose" default="true"/>
-
-  <!-- Vehicle pose -->
-  <arg name="x" default="0"/>
-  <arg name="y" default="0"/>
-  <arg name="z" default="0"/>
-  <arg name="roll" default="0"/>
-  <arg name="pitch" default="0"/>
-  <arg name="yaw" default="0"/>
-
-  <!-- Control Method Argument -->
-  <arg name="controlMethod" default="speed"/>
-  <arg name="show_rqt_gui" default="true"/>
-  <arg name="publish_gt_tf" default="false"/>
-
-  <!-- eufs_control launch file -->
-  <include file="$(find eufs_gazebo)/launch/eufs_control.launch"/>
-
-  <!-- Gazebo -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="gui" value="$(arg gui)"/>
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="headless" value="false"/>
-    <arg name="verbose" value="$(arg verbose)"/>
-  </include>
-
-  <!--Launch car & controller.-->
-  <include file="$(find eufs_gazebo)/launch/load_car.launch">
-    <arg name="namespace" value="$(arg namespace)"/>
-    <arg name="x" default="$(arg x)"/>
-    <arg name="y" default="$(arg y)"/>
-    <arg name="z" default="$(arg z)"/>
-    <arg name="roll" default="$(arg roll)"/>
-    <arg name="pitch" default="$(arg pitch)"/>
-    <arg name="yaw" default="$(arg yaw)"/>
-    <arg name="controlMethod" default="$(arg controlMethod)"/>
-    <arg name="show_rqt_gui" default="$(arg show_rqt_gui)"/>
-    <arg name="cmd_timeout" value="$(arg cmd_timeout)"/>
-    <arg name="publish_gt_tf" value="$(arg publish_gt_tf)"/>
-  </include>
-
-</launch>
diff --git a/eufs_gazebo/launch/eufs_control.launch b/eufs_gazebo/launch/eufs_control.launch
deleted file mode 100644
index 71633c81ad5e7600c7a27be1ff9c9734fd7f9cb4..0000000000000000000000000000000000000000
--- a/eufs_gazebo/launch/eufs_control.launch
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- load the controllers -->
-  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" ns="/eufs" args="--namespace=/eufs
-					  left_front_shock_controller
-					  left_steering_joint_controller
-					  left_front_axle_controller
-					  right_front_shock_controller
-					  right_steering_joint_controller
-					  right_front_axle_controller
-					  left_rear_shock_controller
-					  left_rear_axle_controller
-					  right_rear_shock_controller
-					  right_rear_axle_controller
-					  joint_read_state_controller
-                      "/>
-
-  <!-- Load joint controller configurations from YAML file to parameter server -->
-  <rosparam file="$(find eufs_gazebo)/config/eufs_control.yaml" command="load"/>
-
-  <!-- once the joint_state is published, run the robot_state_publisher, the namespace has to be adapted --> 
-  <!-- convert joint states to TF transforms for rviz, etc -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
-    respawn="false" output="screen">
-    <remap from="/joint_states" to="/eufs/joint_states" />
-  </node>
-
-</launch>
-
diff --git a/eufs_gazebo/launch/load_car.launch b/eufs_gazebo/launch/load_car.launch
deleted file mode 100644
index 12b23f1b00a7dba4054aa0800bcbc92a3d2d5196..0000000000000000000000000000000000000000
--- a/eufs_gazebo/launch/load_car.launch
+++ /dev/null
@@ -1,76 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- roslaunch arguments -->
-  <arg name="namespace" default=""/>
-  <arg name="cmd_timeout" default="0.5"/>
-  <arg name="publish_gt_tf" default="false"/>
-
-  <!-- Vehicle pose -->
-  <arg name="x" default="0"/>
-  <arg name="y" default="0"/>
-  <arg name="z" default="0.3"/>
-  <arg name="roll" default="0.0"/>
-  <arg name="pitch" default="0.0"/>
-  <arg name="yaw" default="0.0"/>
-
-  <!-- Control Method Argument -->
-  <arg name="controlMethod" default="speed"/>
-  <arg name="show_rqt_gui" default="true"/>
-  <arg name="launch_group" default="default" />
-
-  <!-- Load the URDF into the ROS Parameter Server -->
-  <group if="$(eval arg('controlMethod')=='speed')">
-
-    <group if="$(eval arg('launch_group')=='no_perception')">
-      <param command="$(find xacro)/xacro --inorder '$(find eufs_description)/robots/ads-dv.urdf.xacro' publish_tf:=$(arg publish_gt_tf) simulate_perception:=true" name="robot_description"/>
-    </group>
-    <group unless="$(eval arg('launch_group')=='no_perception')">
-      <param command="$(find xacro)/xacro --inorder '$(find eufs_description)/robots/ads-dv.urdf.xacro' publish_tf:=$(arg publish_gt_tf) simulate_perception:=false" name="robot_description"/>
-    </group>
-
-    <!-- start ros_can_sim node -->
-    <include file="$(find ros_can_sim)/launch/ros_can_sim.launch"/>
-
-    <!--start twist to ackermannDrive converter for robot steering plugin -->
-    <node pkg="ros_can_sim" name="twist_to_ackermannDrive" type="twist_to_ackermannDrive.py" args="twistToAckermannDrive:=eufsa_control/teleop_vel_out"/>
-
-    <!-- start rqt robot steering module -->
-    <group if="$(eval arg('show_rqt_gui'))">
-      <node name="eufs_sim_rqt" pkg="rqt_gui" type="rqt_gui" respawn="false" output="screen" args="--perspective-file $(find eufs_gazebo)/config/eufs_sim.perspective"/>
-    </group>
-
-  </group>
-  <group if="$(eval arg('controlMethod')=='torque')">
-
-    <param command="$(find xacro)/xacro '$(find eufs_description)/robots/ads-dv-torque.urdf.xacro' --inorder" name="robot_description"/>
-
-    <!-- Control the steering, axle, and shock absorber joints. -->
-    <node name="ackermann_controller" pkg="ros_can_sim" type="ackermann_controller.py" output="screen">
-      <param name="cmd_timeout" value="$(arg cmd_timeout)"/>
-
-      <param name="vehicle_prefix" value=""/>
-      <!--Namespaces really need to be cleaned up, we're not consistent and it's a mess >:( -->
-      <!--<param name="vehicle_prefix" value="$(arg namespace)"/>-->
-
-      <rosparam file="$(find ros_can_sim)/config/ackermann_controller.yaml" command="load"/>
-      <rosparam param="driveCommandProirities" command="load" file="$(find ros_can_sim)/config/driveCommandPriorities.yaml"/>
-    </node>
-
-    <!--start twist to ackermannDrive converter for robot steering plugin -->
-    <node pkg="ros_can_sim" name="twist_to_driveCommand2" type="twist_to_driveCommand2.py" output="screen"/>
-
-    <!-- start rqt GUI with control and ros_can interface -->
-    <node name="eufs_sim_rqt" pkg="rqt_gui" type="rqt_gui" respawn="false" output="screen" args="--perspective-file $(find eufs_gazebo)/config/eufs_sim.perspective"/>
-
-  </group>
-
-  <node name="spawn_platform" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model $(arg namespace)
-              -gazebo_namespace /gazebo
-              -x $(arg x) -y $(arg y) -z $(arg z)
-              -R $(arg roll) -P $(arg pitch) -Y $(arg yaw)"/>
-
-  <!-- load joint controllers -->
-  <!--<node name="controller_spawner" pkg="controller_manager" type="spawner" args="$(find ros_can_sim)/config/joint_controller.yaml"/>-->
-
-</launch>
diff --git a/eufs_gazebo/launch/monster.launch b/eufs_gazebo/launch/monster.launch
deleted file mode 100644
index 6ab061348a4e92c2903da0404854d5aa9f34262e..0000000000000000000000000000000000000000
--- a/eufs_gazebo/launch/monster.launch
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- roslaunch arguments -->
-  <env name="GAZEBO_MODEL_PATH" value="$(find eufs_description)"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="$(find eufs_description)"/>
-  <arg name="namespace" default="eufs"/>
-  <arg name="debug" default="false"/>
-  <arg name="gui" default="true"/>
-  <arg name="cmd_timeout" default="0.5"/>
-
-  <!-- Vehicle pose -->
-  <arg name="x" default="31"/>
-  <arg name="y" default="-30"/>
-  <arg name="z" default="0.1"/>
-  <arg name="roll" default="0.0"/>
-  <arg name="pitch" default="0.0"/>
-  <arg name="yaw" default="0.766845450876"/>
-
-  <!-- Control Method Argument -->
-  <arg name="controlMethod" default="speed"/>
-  <arg name="show_rqt_gui" default="true"/>
-  <arg name="publish_gt_tf" default="false"/>
-  <arg name="launch_group" default="default"/>
-
-  <!-- eufs_control launch file -->
-  <include file="$(find eufs_gazebo)/launch/eufs_control.launch"/>
-
-  <!-- Gazebo -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find eufs_gazebo)/worlds/monster.world"/>
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="gui" value="$(arg gui)"/>
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="headless" value="false"/>
-  </include>
-
-  <!--Launch car & controller.-->
-  <include file="$(find eufs_gazebo)/launch/load_car.launch">
-    <arg name="namespace" value="$(arg namespace)"/>
-    <arg name="x" default="$(arg x)"/>
-    <arg name="y" default="$(arg y)"/>
-    <arg name="z" default="$(arg z)"/>
-    <arg name="roll" default="$(arg roll)"/>
-    <arg name="pitch" default="$(arg pitch)"/>
-    <arg name="yaw" default="$(arg yaw)"/>
-    <arg name="controlMethod" default="$(arg controlMethod)"/>
-    <arg name="show_rqt_gui" default="$(arg show_rqt_gui)"/>
-    <arg name="cmd_timeout" value="$(arg cmd_timeout)"/>
-    <arg name="publish_gt_tf" value="$(arg publish_gt_tf)"/>
-    <arg name="launch_group" default="$(arg launch_group)"/>
-  </include>
-
-</launch>
diff --git a/eufs_gazebo/launch/rand.launch b/eufs_gazebo/launch/rand.launch
deleted file mode 100644
index 5ca8fc0cb0702ae601c542a50e4546b35e976622..0000000000000000000000000000000000000000
--- a/eufs_gazebo/launch/rand.launch
+++ /dev/null
@@ -1,60 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  
-  <!-- roslaunch arguments -->
-  <env name="GAZEBO_MODEL_PATH" value="$(find eufs_description)"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="$(find eufs_description)"/>
-  <arg name="namespace" default="eufs"/>
-  <arg name="debug" default="false"/>
-  <arg name="gui" default="true"/>
-  <arg name="cmd_timeout" default="0.5"/>
-  
-  <!-- Vehicle pose -->
-  <arg name="x" default="16"/>
-  <arg name="y" default="70"/>
-  <arg name="z" default="0.1"/>
-  <arg name="roll" default="0.0"/>
-  <arg name="pitch" default="0.0"/>
-  <arg name="yaw" default="0.0"/>
-  
-  <!-- Control Method Argument -->
-  <arg name="controlMethod" default="speed"/>
-  <arg name="show_rqt_gui" default="true"/>
-  <arg name="publish_gt_tf" default="false"/>
-
-  <!-- eufs_control launch file -->
-  <include file="$(find eufs_gazebo)/launch/eufs_control.launch"/>
-
-  <!-- Gazebo -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-        <arg name="world_name" value="$(find eufs_gazebo)/worlds/rand.world"/>
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="gui" value="$(arg gui)"/>
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="headless" value="false"/>
-  </include>
-
-  <!--Launch car & controller.-->
-  <include file="$(find eufs_gazebo)/launch/load_car.launch">
-     <arg name="namespace" value="$(arg namespace)"/>
-     <arg name="x" default="$(arg x)"/>
-     <arg name="y" default="$(arg y)"/>
-     <arg name="z" default="$(arg z)"/>
-     <arg name="roll" default="$(arg roll)"/>
-     <arg name="pitch" default="$(arg pitch)"/>
-     <arg name="yaw" default="$(arg yaw)"/>
-     <arg name="controlMethod" default="$(arg controlMethod)"/>
-     <arg name="cmd_timeout" value="$(arg cmd_timeout)"/>
-     <arg name="publish_gt_tf" value="$(arg publish_gt_tf)"/>
-  </include>
-
-  <node name="cone_ground_truth" pkg="eufs_gazebo" type="cone_ground_truth.py" output="screen">
-    <param name="view_distance" value="15"/>
-    <param name="track_path" value="$(find eufs_gazebo)/tracks/rand.csv"/>
-    <param name="x_init" value="$(arg x)"/>
-    <param name="y_init" value="$(arg y)"/>
-    <param name="yaw_init" value="$(arg yaw)"/>
-  </node>
-  
-</launch>
diff --git a/eufs_gazebo/launch/rand_CT.launch b/eufs_gazebo/launch/rand_CT.launch
deleted file mode 100644
index eee56cabba25908297acf53c1d5900e226220add..0000000000000000000000000000000000000000
--- a/eufs_gazebo/launch/rand_CT.launch
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- roslaunch arguments -->
-  <env name="GAZEBO_MODEL_PATH" value="$(find eufs_description)"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="$(find eufs_description)"/>
-  <arg name="namespace" default="eufs"/>
-  <arg name="debug" default="false"/>
-  <arg name="gui" default="true"/>
-  <arg name="cmd_timeout" default="0.5"/>
-
-  <!-- Vehicle pose -->
-  <arg name="x" default="4"/>
-  <arg name="y" default="50"/>
-  <arg name="z" default="0.1"/>
-  <arg name="roll" default="0.0"/>
-  <arg name="pitch" default="0.0"/>
-  <arg name="yaw" default="5.88739410673"/>
-
-  <!-- Control Method Argument -->
-  <arg name="controlMethod" default="speed"/>
-  <arg name="show_rqt_gui" default="true"/>
-  <arg name="publish_gt_tf" default="false"/>
-  <arg name="launch_group" default="default"/>
-
-  <!-- eufs_control launch file -->
-  <include file="$(find eufs_gazebo)/launch/eufs_control.launch"/>
-
-  <!-- Gazebo -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find eufs_gazebo)/worlds/rand_CT.world"/>
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="gui" value="$(arg gui)"/>
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="headless" value="false"/>
-  </include>
-
-  <!--Launch car & controller.-->
-  <include file="$(find eufs_gazebo)/launch/load_car.launch">
-    <arg name="namespace" value="$(arg namespace)"/>
-    <arg name="x" default="$(arg x)"/>
-    <arg name="y" default="$(arg y)"/>
-    <arg name="z" default="$(arg z)"/>
-    <arg name="roll" default="$(arg roll)"/>
-    <arg name="pitch" default="$(arg pitch)"/>
-    <arg name="yaw" default="$(arg yaw)"/>
-    <arg name="controlMethod" default="$(arg controlMethod)"/>
-    <arg name="show_rqt_gui" default="$(arg show_rqt_gui)"/>
-    <arg name="cmd_timeout" value="$(arg cmd_timeout)"/>
-    <arg name="publish_gt_tf" value="$(arg publish_gt_tf)"/>
-    <arg name="launch_group" default="$(arg launch_group)"/>
-  </include>
-
-</launch>
diff --git a/eufs_gazebo/launch/sbg_raw_data_simulator.launch b/eufs_gazebo/launch/sbg_raw_data_simulator.launch
deleted file mode 100644
index 2cb81067cb767511aa9b840c157ed91daaee9295..0000000000000000000000000000000000000000
--- a/eufs_gazebo/launch/sbg_raw_data_simulator.launch
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="_imu_hz" default="200"/>
-  <arg name="_gps_hz" default="5" />
-  <node name="sbg_raw_data_simulator" 
-          pkg="eufs_gazebo" type="sbg_raw_data_simulator.py" output="screen">
-      <param name="_imu_hz" value="$(arg _imu_hz)"/>
-      <param name="_gps_hz" value="$(arg _gps_hz)"/>
-  </node>
-
-
-</launch>
-
diff --git a/eufs_gazebo/launch/skidpad.launch b/eufs_gazebo/launch/skidpad.launch
deleted file mode 100644
index 45d99e817c3153494bfb9fe59a5205ec074aead9..0000000000000000000000000000000000000000
--- a/eufs_gazebo/launch/skidpad.launch
+++ /dev/null
@@ -1,60 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  
-  <!-- roslaunch arguments -->
-  <env name="GAZEBO_MODEL_PATH" value="$(find eufs_description)"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="$(find eufs_description)"/>
-  <arg name="namespace" default="eufs"/>
-  <arg name="debug" default="false"/>
-  <arg name="gui" default="true"/>
-  <arg name="cmd_timeout" default="0.5"/>
-  
-  <!-- Vehicle pose -->
-  <arg name="x" default="-21"/>
-  <arg name="y" default="-40"/>
-  <arg name="z" default="0.1"/>
-  <arg name="roll" default="0.0"/>
-  <arg name="pitch" default="0.0"/>
-  <arg name="yaw" default="0.989478001131"/>
-  
-  <!-- Control Method Argument -->
-  <arg name="controlMethod" default="speed"/>
-  <arg name="show_rqt_gui" default="true"/>
-  <arg name="publish_gt_tf" default="false"/>
-
-  <!-- eufs_control launch file -->
-  <include file="$(find eufs_gazebo)/launch/eufs_control.launch"/>
-
-  <!-- Gazebo -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-        <arg name="world_name" value="$(find eufs_gazebo)/worlds/skidpad.world"/>
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="gui" value="$(arg gui)"/>
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="headless" value="false"/>
-  </include>
-
-  <!--Launch car & controller.-->
-  <include file="$(find eufs_gazebo)/launch/load_car.launch">
-     <arg name="namespace" value="$(arg namespace)"/>
-     <arg name="x" default="$(arg x)"/>
-     <arg name="y" default="$(arg y)"/>
-     <arg name="z" default="$(arg z)"/>
-     <arg name="roll" default="$(arg roll)"/>
-     <arg name="pitch" default="$(arg pitch)"/>
-     <arg name="yaw" default="$(arg yaw)"/>
-     <arg name="controlMethod" default="$(arg controlMethod)"/>
-     <arg name="cmd_timeout" value="$(arg cmd_timeout)"/>
-     <arg name="publish_gt_tf" value="$(arg publish_gt_tf)"/>
-  </include>
-
-  <node name="cone_ground_truth" pkg="eufs_gazebo" type="cone_ground_truth.py" output="screen">
-    <param name="view_distance" value="15"/>
-    <param name="track_path" value="$(find eufs_gazebo)/tracks/skidpad.csv"/>
-    <param name="x_init" value="$(arg x)"/>
-    <param name="y_init" value="$(arg y)"/>
-    <param name="yaw_init" value="$(arg yaw)"/>
-  </node>
-  
-</launch>
diff --git a/eufs_gazebo/launch/small_track.launch b/eufs_gazebo/launch/small_track.launch
deleted file mode 100644
index 9f2ad324df07dbbe09f28adf27310dc808c4fbe3..0000000000000000000000000000000000000000
--- a/eufs_gazebo/launch/small_track.launch
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- roslaunch arguments -->
-  <env name="GAZEBO_MODEL_PATH" value="$(find eufs_description)"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="$(find eufs_description)"/>
-  <arg name="namespace" default="eufs"/>
-  <arg name="debug" default="false"/>
-  <arg name="gui" default="true"/>
-  <arg name="cmd_timeout" default="0.5"/>
-
-  <!-- Vehicle pose -->
-  <arg name="x" default="-13.0"/>
-  <arg name="y" default="10.3"/>
-  <arg name="z" default="0.1"/>
-  <arg name="roll" default="0.0"/>
-  <arg name="pitch" default="0.0"/>
-  <arg name="yaw" default="0.0"/>
-
-  <!-- Control Method Argument -->
-  <arg name="controlMethod" default="speed"/>
-  <arg name="show_rqt_gui" default="true"/>
-  <arg name="publish_gt_tf" default="false"/>
-  <arg name="launch_group" default="default"/>
-
-  <!-- eufs_control launch file -->
-  <include file="$(find eufs_gazebo)/launch/eufs_control.launch"/>
-
-  <!-- Gazebo -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find eufs_gazebo)/worlds/small_track.world"/>
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="gui" value="$(arg gui)"/>
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="headless" value="false"/>
-  </include>
-
-  <!--Launch car & controller.-->
-  <include file="$(find eufs_gazebo)/launch/load_car.launch">
-    <arg name="namespace" value="$(arg namespace)"/>
-    <arg name="x" default="$(arg x)"/>
-    <arg name="y" default="$(arg y)"/>
-    <arg name="z" default="$(arg z)"/>
-    <arg name="roll" default="$(arg roll)"/>
-    <arg name="pitch" default="$(arg pitch)"/>
-    <arg name="yaw" default="$(arg yaw)"/>
-    <arg name="controlMethod" default="$(arg controlMethod)"/>
-    <arg name="show_rqt_gui" default="$(arg show_rqt_gui)"/>
-    <arg name="cmd_timeout" value="$(arg cmd_timeout)"/>
-    <arg name="publish_gt_tf" value="$(arg publish_gt_tf)"/>
-    <arg name="launch_group" default="$(arg launch_group)"/>
-  </include>
-
-</launch>
diff --git a/eufs_gazebo/nodes/sbg_raw_data_simulator.py b/eufs_gazebo/nodes/sbg_raw_data_simulator.py
deleted file mode 100755
index 19be61dcdeb3108a98cc60ec48f0e99c323fc529..0000000000000000000000000000000000000000
--- a/eufs_gazebo/nodes/sbg_raw_data_simulator.py
+++ /dev/null
@@ -1,181 +0,0 @@
-#!/usr/bin/env python
-
-"""
-sbg_raw_data_simulator.py
-
-Simulates the raw data (no ekf) from the sbg
-
-It outputs messages the following messages:
-
-`/imu/nav_sat_fix` (of type `sensor_msgs/NavSatFix`)
-`/imu/data`    (of type `sensor_msgs/Imu`)
-
-"""
-
-import numpy as np
-import math
-import rospy
-import tf
-from sensor_msgs.msg import NavSatFix, Imu
-from tf.transformations import *
-
-
-class SbgRawDataSimulator(object):
-
-    def __init__(self, namespace='sbg_raw_data_simulator'):
-        """
-        Initialize the publishers and subscribes to necessary channels
-
-        `self.gps` mimics the gps data of the sbg
-        `self.imu` mimics the imu data of the sbg
-
-        Raw imu simulator parameters in: eufs_description/sensors/imu.urdf.xacro
-        Raw gps simulator parameters in: eufs_description/sensors/gps.urdf.xacro
-
-        Parameters:
-                _imu_hz: the hz at which to broadcast the imu data, note that this
-                        has implications for accuracy as the noise models are affected by
-                        sample rate!
-                _gps_hz: the hz at which to broadcast the gps data, has no accuracy implications
-
-        Highly recommended to read the wiki
-        https://www.wiki.ed.ac.uk/display/EUF/SBG+Sensor+Simulation
-        to understand why the noise is produced the way it is.
-        """
-
-        rospy.init_node("sbg_raw_data_simulator", anonymous=True)
-
-        # Create persistent messages
-        self.imu_msg = Imu()
-        self.gps_msg = NavSatFix()
-
-        # Create bias error accumulator, only relevant for the imu
-        self.imu_angular_velocity_bias = [0, 0, 0]
-
-        # Don't publish anything if not received messages yet
-        self.got_imu = False
-        self.got_gps = False
-
-        # Latitude & longitude to meters
-        # Approximations about Edinburgh 55.950191, -3.187566
-        # Values represent distance you have to travel to equal 1 meter.
-        self.latitude_approx = 0.000018
-        self.longitude_approx = 0.000016
-
-        # Publish at fixed rates
-        self.IMU_PUBLISH_RATE_HZ = rospy.get_param("~imu_hz", default=200)
-        self.GPS_PUBLISH_RATE_HZ = rospy.get_param("~gps_hz", default=5)
-        self.gps = rospy.Publisher("/imu/nav_sat_fix", NavSatFix, queue_size=1)
-        self.imu = rospy.Publisher("/imu/data",    Imu,  queue_size=1)
-        rospy.Timer(
-            rospy.Duration(1.0 / self.IMU_PUBLISH_RATE_HZ),
-            lambda x: self.imu.publish(self.imu_msg) if self.got_imu and self.got_gps else None
-        )
-        rospy.Timer(
-            rospy.Duration(1.0 / self.GPS_PUBLISH_RATE_HZ),
-            lambda x: self.gps.publish(self.gps_msg) if self.got_imu and self.got_gps else None
-        )
-
-        # Set calculated standard distribution information
-        # check https://www.wiki.ed.ac.uk/display/EUF/SBG+Sensor+Simulation
-        # for method and reasons.
-        # Note that we had trouble calculating bias constant so for now we're using
-        # the white noise constant for bias as well.
-        self.imu_angular_velocity_white_noise_std = math.sqrt(0.00000625*self.IMU_PUBLISH_RATE_HZ)
-        self.imu_angular_velocity_bias_std = math.sqrt(
-            1.476 * math.pow(10, -13) / self.IMU_PUBLISH_RATE_HZ
-        )
-        self.imu_linear_acceleration_white_noise_std = math.sqrt(0.000000312*self.IMU_PUBLISH_RATE_HZ)
-        self.gps_position_white_noise_std = math.sqrt(39.4)
-
-        # Subscribe to channels
-        self.imu_sub = rospy.Subscriber("/imu", Imu, self.imu_receiver)
-        self.gps_sub = rospy.Subscriber("/gps", NavSatFix, self.gps_receiver)
-
-    def imu_receiver(self, msg):
-        """Receives gazebo's simulated imu and converts it to sbg-style SbgImuData format"""
-        self.got_imu = True
-
-        # First we add noise to angular velocity
-        ang_vel = [msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z]
-        for i in (0, 1, 2):
-            # Add white noise errors
-            ang_vel[i] += np.random.normal(0, self.imu_angular_velocity_white_noise_std)
-
-            # Add accumulation errors
-            self.imu_angular_velocity_bias[i] += np.random.normal(
-                0,
-                self.imu_angular_velocity_bias_std
-            )
-            ang_vel[i] += self.imu_angular_velocity_bias[i]
-        msg.angular_velocity.x = ang_vel[0]
-        msg.angular_velocity.y = ang_vel[1]
-        msg.angular_velocity.z = ang_vel[2]
-
-        # Add variances to diagonals of covariance matrix
-        diagonal = (
-            self.imu_angular_velocity_white_noise_std * self.imu_angular_velocity_white_noise_std
-        )
-        msg.angular_velocity_covariance = (
-            diagonal, 0, 0,
-            0, diagonal, 0,
-            0, 0, diagonal,
-        )
-
-        # Now we add noise to linear acceleration
-        lin_acc = [msg.linear_acceleration.x, msg.linear_acceleration.y, msg.linear_acceleration.z]
-        for i in (0, 1, 2):
-            # Add white noise errors
-            lin_acc[i] += np.random.normal(0, self.imu_linear_acceleration_white_noise_std)
-
-        msg.linear_acceleration.x = lin_acc[0]
-        msg.linear_acceleration.y = lin_acc[1]
-        msg.linear_acceleration.z = lin_acc[2] - 9.81
-
-        # Add variances to diagonals of covariance matrix
-        diagonal = (
-            self.imu_linear_acceleration_white_noise_std * self.imu_linear_acceleration_white_noise_std
-        )
-        msg.linear_acceleration_covariance = (
-            diagonal, 0, 0,
-            0, diagonal, 0,
-            0, 0, diagonal,
-        )
-
-        # Replace orientation values with error value (9999) as
-        # we want to calculate them ourselves.
-        msg.orientation.x = 9999
-        msg.orientation.y = 9999
-        msg.orientation.z = 9999
-        msg.orientation.w = 9999
-
-        self.imu_msg = msg
-
-    def gps_receiver(self, msg):
-        """Receives gazebo's simulated gps and saves it (already in right format)"""
-        self.got_gps = True
-
-        # We only need to add white noise
-        msg.latitude += (
-            np.random.normal(0, self.gps_position_white_noise_std) * self.latitude_approx
-        )
-        msg.longitude += (
-            np.random.normal(0, self.gps_position_white_noise_std) * self.longitude_approx
-        )
-
-        # Add variances to diagonals of covariance matrix
-        diagonal = (
-            self.gps_position_white_noise_std * self.gps_position_white_noise_std
-        )
-        msg.position_covariance = (
-            diagonal, 0, 0,
-            0, diagonal, 0,
-            0, 0, diagonal,
-        )
-
-        self.gps_msg = msg
-
-
-if __name__ == "__main__":
-    sbg_raw_data_simulator = SbgRawDataSimulator()
-    rospy.spin()
diff --git a/eufs_gazebo/package.xml b/eufs_gazebo/package.xml
deleted file mode 100644
index 9381d38380c86f8efaa12a2170320d69ab54565a..0000000000000000000000000000000000000000
--- a/eufs_gazebo/package.xml
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-    <name>eufs_gazebo</name>
-    <version>0.0.0</version>
-    <description>The eufs_gazebo package</description>
-
-    <maintainer email="ignat.m.georgiev@gmail.com">Ignat Georgiev</maintainer>
-    <maintainer email="loizoustephanos@gmail.com">Stephanos Loizou</maintainer>
-    <maintainer email="olliejday@gmail.com">Oliver Day</maintainer>
-
-    <license>MIT</license>
-
-    <url type="website">http://eufs.co</url>
-    <url type="repository">https://gitlab.com/eufs/eufs_sim</url>
-    <url type="bugtracker">https://gitlab.com/eufs/eufs_sim/issues</url>
-
-    <buildtool_depend>catkin</buildtool_depend>
-
-    <build_depend>roslint</build_depend>
-
-    <depend>gazebo_ros</depend>
-    <depend>eufs_description</depend>
-    <depend>ros_can_sim</depend>
-    <depend>eufs_msgs</depend>
-    <depend>controller_manager</depend>
-    <depend>velodyne_simulator</depend>
-    <depend>effort_controllers</depend>
-    <depend>velocity_controllers</depend>
-    <depend>joint_state_controller</depend>
-    <depend>gazebo_ros_control</depend>
-    <depend>roscpp</depend>
-    <depend>rospy</depend>
-    <depend>std_msgs</depend>
-    <depend>std_srvs</depend>
-    <depend>tf</depend>
-    <depend>python-scipy</depend>
-    <depend>python-pandas</depend>
-    <depend>python-numpy</depend>
-    <depend>python-matplotlib</depend>
-
-    <export>
-        <gazebo_ros gazebo_plugin_path="${prefix}/plugins" gazebo_model_path="${prefix}/.." />
-    </export>
-
-</package>
diff --git a/eufs_gazebo/plugins/libTireFrictionPlugin.so b/eufs_gazebo/plugins/libTireFrictionPlugin.so
deleted file mode 100755
index 8822c20ce3b4a74a564a9cdd64d1ef20bf2bcf0d..0000000000000000000000000000000000000000
Binary files a/eufs_gazebo/plugins/libTireFrictionPlugin.so and /dev/null differ
diff --git a/eufs_gazebo/randgen_imgs/alien_face.png b/eufs_gazebo/randgen_imgs/alien_face.png
deleted file mode 100644
index 464fea22d2dbed8fb0606cb1b03eafd099c511d3..0000000000000000000000000000000000000000
Binary files a/eufs_gazebo/randgen_imgs/alien_face.png and /dev/null differ
diff --git a/eufs_gazebo/randgen_imgs/bezier_fish.png b/eufs_gazebo/randgen_imgs/bezier_fish.png
deleted file mode 100644
index b367c3fe18c40a3fa5ace0c5ce12005c1a8d3771..0000000000000000000000000000000000000000
Binary files a/eufs_gazebo/randgen_imgs/bezier_fish.png and /dev/null differ
diff --git a/eufs_gazebo/randgen_imgs/devils_comb.png b/eufs_gazebo/randgen_imgs/devils_comb.png
deleted file mode 100644
index 4e7bdf4419c151f9e2cd3f485d69fbd2358a4a44..0000000000000000000000000000000000000000
Binary files a/eufs_gazebo/randgen_imgs/devils_comb.png and /dev/null differ
diff --git a/eufs_gazebo/randgen_imgs/hungry_person.png b/eufs_gazebo/randgen_imgs/hungry_person.png
deleted file mode 100644
index cf1175698d161027ddbffdf66351ec4bad560e5b..0000000000000000000000000000000000000000
Binary files a/eufs_gazebo/randgen_imgs/hungry_person.png and /dev/null differ
diff --git a/eufs_gazebo/randgen_imgs/rand.png b/eufs_gazebo/randgen_imgs/rand.png
deleted file mode 100644
index f6bc49b1aa0bddf116c853b76989d1713e72b91c..0000000000000000000000000000000000000000
Binary files a/eufs_gazebo/randgen_imgs/rand.png and /dev/null differ
diff --git a/eufs_gazebo/randgen_imgs/randgen_example.png b/eufs_gazebo/randgen_imgs/randgen_example.png
deleted file mode 100644
index 703908888a13dd8cc173a5a8dd2611242ca8af16..0000000000000000000000000000000000000000
Binary files a/eufs_gazebo/randgen_imgs/randgen_example.png and /dev/null differ
diff --git a/eufs_gazebo/randgen_imgs/skidpad.png b/eufs_gazebo/randgen_imgs/skidpad.png
deleted file mode 100644
index f4517976d37a4468a634ad7bc1c819de61840173..0000000000000000000000000000000000000000
Binary files a/eufs_gazebo/randgen_imgs/skidpad.png and /dev/null differ
diff --git a/eufs_gazebo/tracks/acceleration.csv b/eufs_gazebo/tracks/acceleration.csv
deleted file mode 100644
index fa2ab7e6392ff5823a88ab659b0f86d84360bf12..0000000000000000000000000000000000000000
--- a/eufs_gazebo/tracks/acceleration.csv
+++ /dev/null
@@ -1,48 +0,0 @@
-tag,x,y,direction
-blue,-45.0,1.5,0.0
-blue,-40.0,1.5,0.0
-blue,-35.0,1.5,0.0
-blue,-30.0,1.5,0.0
-blue,-25.0,1.5,0.0
-blue,-20.0,1.5,0.0
-blue,-15.0,1.5,0.0
-blue,-10.0,1.5,0.0
-blue,-5.0,1.5,0.0
-blue,0.0,1.5,0.0
-blue,5.0,1.5,0.0
-blue,10.0,1.5,0.0
-blue,15.0,1.5,0.0
-blue,20.0,1.5,0.0
-yellow,-45.0,-1.5,0.0
-yellow,-40.0,-1.5,0.0
-yellow,-35.0,-1.5,0.0
-yellow,-30.0,-1.5,0.0
-yellow,-25.0,-1.5,0.0
-yellow,-20.0,-1.5,0.0
-yellow,-15.0,-1.5,0.0
-yellow,-10.0,-1.5,0.0
-yellow,-5.0,-1.5,0.0
-yellow,0.0,-1.5,0.0
-yellow,5.0,-1.5,0.0
-yellow,10.0,-1.5,0.0
-yellow,15.0,-1.5,0.0
-yellow,20.0,-1.5,0.0
-big_orange,-50.0,1.5,0.0
-big_orange,-50.0,-1.5,0.0
-big_orange,-50.5,1.5,0.0
-big_orange,-50.5,-1.5,0.0
-big_orange,25.0,1.5,0.0
-big_orange,25.0,-1.5,0.0
-orange,30.0,1.5,0.0
-orange,30.0,-1.5,0.0
-orange,35.0,1.5,0.0
-orange,35.0,-1.5,0.0
-orange,40.0,1.5,0.0
-orange,40.0,-1.5,0.0
-orange,45.0,1.5,0.0
-orange,45.0,-1.5,0.0
-orange,50.0,1.5,0.0
-orange,50.0,-1.5,0.0
-orange,50.0,0.75,0.0
-orange,50.0,-0.75,0.0
-car_start,0.0,0.0,0.0
diff --git a/eufs_gazebo/tracks/big_track.csv b/eufs_gazebo/tracks/big_track.csv
deleted file mode 100644
index c91c2a66b967906b29283b6e112702307d4b0d0f..0000000000000000000000000000000000000000
--- a/eufs_gazebo/tracks/big_track.csv
+++ /dev/null
@@ -1,282 +0,0 @@
-tag,x,y,direction
-blue,-40.0,0.0,0
-blue,-38.0,-2.0,0
-blue,-35.0,-3.0,0
-blue,-34.0,-4.0,0
-blue,-32.0,-4.0,0
-blue,-31.0,-5.0,0
-blue,-30.0,-5.0,0
-blue,-29.0,-6.0,0
-blue,-29.0,-7.0,0
-blue,-28.0,-8.0,0
-blue,-25.0,-11.0,0
-blue,-22.0,-12.0,0
-blue,-19.0,-12.0,0
-blue,-16.0,-12.0,0
-blue,-14.0,-12.0,0
-blue,-13.0,-12.0,0
-blue,-12.0,-13.0,0
-blue,-11.0,-15.0,0
-blue,-9.0,-18.0,0
-blue,-7.0,-20.0,0
-blue,-5.0,-22.0,0
-blue,-2.0,-25.0,0
-blue,0.0,-28.0,0
-blue,3.0,-30.0,0
-blue,5.0,-32.0,0
-blue,7.0,-33.0,0
-blue,7.0,-35.0,0
-blue,9.0,-36.0,0
-blue,11.0,-36.0,0
-blue,13.0,-36.0,0
-blue,15.0,-36.0,0
-blue,17.0,-36.0,0
-blue,19.0,-34.0,0
-blue,20.0,-32.0,0
-blue,23.0,-33.0,0
-blue,24.0,-34.0,0
-blue,25.0,-37.0,0
-blue,28.0,-39.0,0
-blue,31.0,-40.0,0
-blue,34.0,-40.0,0
-blue,38.0,-40.0,0
-blue,42.0,-39.0,0
-blue,45.0,-36.0,0
-blue,47.0,-33.0,0
-blue,49.0,-30.0,0
-blue,51.0,-27.0,0
-blue,53.0,-23.0,0
-blue,51.0,-21.0,0
-blue,52.0,-18.0,0
-blue,52.0,-16.0,0
-blue,54.0,-14.0,0
-blue,55.0,-11.0,0
-blue,55.0,-9.0,0
-blue,53.0,-6.0,0
-blue,51.0,-5.0,0
-blue,49.0,-2.0,0
-blue,48.0,-1.0,0
-blue,47.0,2.0,0
-blue,47.0,4.0,0
-blue,46.0,8.0,0
-blue,44.0,12.0,0
-blue,41.0,16.0,0
-blue,38.0,19.0,0
-blue,36.0,20.0,0
-blue,32.0,22.0,0
-blue,29.0,24.0,0
-blue,25.0,26.0,0
-blue,21.0,28.0,0
-blue,17.0,30.0,0
-blue,14.0,32.0,0
-blue,10.0,34.0,0
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diff --git a/eufs_gazebo/tracks/monster.csv b/eufs_gazebo/tracks/monster.csv
deleted file mode 100644
index 5c4e9d1f6802714faf6f4dcae04586d17ec9e26a..0000000000000000000000000000000000000000
--- a/eufs_gazebo/tracks/monster.csv
+++ /dev/null
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diff --git a/eufs_gazebo/tracks/rand.csv b/eufs_gazebo/tracks/rand.csv
deleted file mode 100644
index 0baa0a794b1857ceb481286f84a7434897e45799..0000000000000000000000000000000000000000
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deleted file mode 100644
index a3c97e523047cfae6cbca6440a41fcc2e6f8a5b8..0000000000000000000000000000000000000000
--- a/eufs_gazebo/tracks/rand_CT.csv
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-midpoint,67.0,49.0,0
-midpoint,61.0,50.0,0
-midpoint,54.5,49.5,0
-midpoint,48.0,49.0,0
-midpoint,42.0,48.0,0
-midpoint,35.0,48.0,0
-midpoint,29.0,47.0,0
-midpoint,22.0,47.0,0
-midpoint,16.0,46.0,0
-midpoint,10.0,47.5,0
-midpoint,-4.5,53.0,0
-midpoint,-7.5,54.5,0
-midpoint,-13.5,56.0,0
-midpoint,-20.0,55.5,0
-midpoint,-23.0,54.5,0
-midpoint,-27.5,50.0,0
-midpoint,-28.5,47.0,0
-midpoint,-29.5,41.0,0
-midpoint,-29.0,38.0,0
-midpoint,-25.0,31.5,0
-midpoint,-22.5,29.5,0
-midpoint,-21.0,29.0,0
-midpoint,-15.0,24.5,0
-midpoint,-10.5,16.5,0
-midpoint,-10.0,10.0,0
-midpoint,-11.5,4.0,0
-midpoint,-19.5,-3.5,0
-midpoint,-23.5,-8.5,0
-midpoint,-28.5,-12.5,0
-midpoint,-32.5,-17.5,0
-midpoint,-34.5,-20.0,0
-midpoint,-35.0,-26.5,0
-inactive_noise,-38.0,-24.0,0
-inactive_noise,-38.0,41.0,0
-inactive_noise,-38.0,54.0,0
-inactive_noise,-35.0,38.0,0
-inactive_noise,-34.0,-5.0,0
-inactive_noise,-34.0,58.0,0
-inactive_noise,-33.0,42.0,0
-inactive_noise,-31.0,-22.0,0
-inactive_noise,-31.0,11.0,0
-inactive_noise,-30.0,27.0,0
-inactive_noise,-29.0,14.0,0
-inactive_noise,-26.0,46.0,0
-inactive_noise,-25.0,4.0,0
-inactive_noise,-25.0,47.0,0
-inactive_noise,-23.0,-15.0,0
-inactive_noise,-23.0,22.0,0
-inactive_noise,-23.0,61.0,0
-inactive_noise,-21.0,-9.0,0
-inactive_noise,-20.0,-19.0,0
-inactive_noise,-20.0,-13.0,0
-inactive_noise,-20.0,13.0,0
-inactive_noise,-17.0,-12.0,0
-inactive_noise,-15.0,36.0,0
-inactive_noise,-14.0,12.0,0
-inactive_noise,-14.0,45.0,0
-inactive_noise,-12.0,34.0,0
-inactive_noise,-11.0,-18.0,0
-inactive_noise,-11.0,59.0,0
-inactive_noise,-10.0,28.0,0
-inactive_noise,-9.0,-37.0,0
-inactive_noise,-9.0,-32.0,0
-inactive_noise,-9.0,-19.0,0
-inactive_noise,-9.0,1.0,0
-inactive_noise,-7.0,49.0,0
-inactive_noise,-6.0,21.0,0
-inactive_noise,-3.0,-7.0,0
-inactive_noise,-3.0,11.0,0
-inactive_noise,-3.0,38.0,0
-inactive_noise,-1.0,12.0,0
-inactive_noise,0.0,16.0,0
-inactive_noise,1.0,27.0,0
-inactive_noise,1.0,62.0,0
-inactive_noise,2.0,27.0,0
-inactive_noise,6.0,38.0,0
-inactive_noise,7.0,40.0,0
-inactive_noise,7.0,43.0,0
-inactive_noise,9.0,42.0,0
-inactive_noise,9.0,57.0,0
-inactive_noise,10.0,-5.0,0
-inactive_noise,14.0,-3.0,0
-inactive_noise,14.0,21.0,0
-inactive_noise,14.0,24.0,0
-inactive_noise,16.0,39.0,0
-inactive_noise,17.0,23.0,0
-inactive_noise,17.0,31.0,0
-inactive_noise,17.0,52.0,0
-inactive_noise,18.0,31.0,0
-inactive_noise,18.0,60.0,0
-inactive_noise,19.0,-26.0,0
-inactive_noise,22.0,43.0,0
-inactive_noise,22.0,63.0,0
-inactive_noise,24.0,-40.0,0
-inactive_noise,24.0,42.0,0
-inactive_noise,24.0,43.0,0
-inactive_noise,25.0,57.0,0
-inactive_noise,26.0,55.0,0
-inactive_noise,28.0,-1.0,0
-inactive_noise,30.0,63.0,0
-inactive_noise,34.0,-38.0,0
-inactive_noise,34.0,20.0,0
-inactive_noise,35.0,18.0,0
-inactive_noise,35.0,31.0,0
-inactive_noise,38.0,-21.0,0
-inactive_noise,38.0,10.0,0
-inactive_noise,38.0,20.0,0
-inactive_noise,39.0,66.0,0
-inactive_noise,40.0,25.0,0
-inactive_noise,41.0,18.0,0
-inactive_noise,42.0,0.0,0
-inactive_noise,43.0,56.0,0
-inactive_noise,45.0,3.0,0
-inactive_noise,46.0,3.0,0
-inactive_noise,47.0,-17.0,0
-inactive_noise,49.0,-18.0,0
-inactive_noise,49.0,18.0,0
-inactive_noise,50.0,-39.0,0
-inactive_noise,50.0,-10.0,0
-inactive_noise,50.0,29.0,0
-inactive_noise,51.0,-18.0,0
-inactive_noise,52.0,4.0,0
-inactive_noise,52.0,20.0,0
-inactive_noise,54.0,29.0,0
-inactive_noise,54.0,41.0,0
-inactive_noise,56.0,-34.0,0
-inactive_noise,59.0,-17.0,0
-inactive_noise,59.0,2.0,0
-inactive_noise,60.0,25.0,0
-inactive_noise,60.0,29.0,0
-inactive_noise,62.0,40.0,0
-inactive_noise,63.0,-22.0,0
-inactive_noise,63.0,-1.0,0
-inactive_noise,65.0,-6.0,0
-inactive_noise,68.0,28.0,0
-inactive_noise,69.0,-33.0,0
-inactive_noise,70.0,-34.0,0
-inactive_noise,71.0,-2.0,0
-inactive_noise,72.0,24.0,0
-inactive_noise,73.0,-39.0,0
-inactive_noise,73.0,-22.0,0
-inactive_noise,73.0,6.0,0
-inactive_noise,74.0,16.0,0
-inactive_noise,75.0,38.0,0
-inactive_noise,76.0,52.0,0
-inactive_noise,78.0,-20.0,0
-inactive_noise,79.0,-2.0,0
-inactive_noise,81.0,-30.0,0
-inactive_noise,81.0,24.0,0
-inactive_noise,81.0,35.0,0
-inactive_noise,89.0,-36.0,0
-inactive_noise,89.0,55.0,0
-car_start,4,50,5.88739410673
diff --git a/eufs_gazebo/tracks/skidpad.csv b/eufs_gazebo/tracks/skidpad.csv
deleted file mode 100644
index 1dd132258256784214280ee39cd706b9ef0be5ca..0000000000000000000000000000000000000000
--- a/eufs_gazebo/tracks/skidpad.csv
+++ /dev/null
@@ -1,83 +0,0 @@
-tag,x,y,direction
-blue,-37.0,-28.0,0
-blue,-37.0,-26.0,0
-blue,-37.0,-24.0,0
-blue,-35.0,-31.0,0
-blue,-35.0,-21.0,0
-blue,-33.0,-33.0,0
-blue,-33.0,-19.0,0
-blue,-30.0,-33.0,0
-blue,-30.0,-19.0,0
-blue,-27.0,-33.0,0
-blue,-27.0,-19.0,0
-blue,-24.0,-31.0,0
-blue,-24.0,-21.0,0
-blue,-23.0,-28.0,0
-blue,-23.0,-24.0,0
-blue,-22.0,-26.0,0
-blue,-20.0,-33.0,0
-blue,-20.0,-19.0,0
-blue,-16.0,-35.0,0
-blue,-16.0,-17.0,0
-blue,-12.0,-36.0,0
-blue,-12.0,-16.0,0
-blue,-8.0,-35.0,0
-blue,-8.0,-17.0,0
-blue,-5.0,-33.0,0
-blue,-5.0,-19.0,0
-blue,-2.0,-30.0,0
-blue,-2.0,-26.0,0
-blue,-2.0,-22.0,0
-yellow,-40.0,-30.0,0
-yellow,-40.0,-26.0,0
-yellow,-40.0,-22.0,0
-yellow,-37.0,-33.0,0
-yellow,-37.0,-19.0,0
-yellow,-34.0,-35.0,0
-yellow,-34.0,-17.0,0
-yellow,-30.0,-36.0,0
-yellow,-30.0,-16.0,0
-yellow,-26.0,-35.0,0
-yellow,-26.0,-17.0,0
-yellow,-22.0,-33.0,0
-yellow,-22.0,-19.0,0
-yellow,-20.0,-26.0,0
-yellow,-19.0,-28.0,0
-yellow,-19.0,-24.0,0
-yellow,-18.0,-31.0,0
-yellow,-18.0,-21.0,0
-yellow,-15.0,-33.0,0
-yellow,-15.0,-19.0,0
-yellow,-12.0,-33.0,0
-yellow,-12.0,-19.0,0
-yellow,-9.0,-33.0,0
-yellow,-9.0,-19.0,0
-yellow,-7.0,-31.0,0
-yellow,-7.0,-21.0,0
-yellow,-5.0,-28.0,0
-yellow,-5.0,-26.0,0
-yellow,-5.0,-24.0,0
-big_orange,-22.0,-27.0,0
-big_orange,-22.0,-25.0,0
-big_orange,-20.0,-27.0,0
-big_orange,-20.0,-25.0,0
-orange,-22.0,-37.0,0
-orange,-22.0,-35.0,0
-orange,-22.0,-17.0,0
-orange,-22.0,-15.0,0
-orange,-22.0,-13.0,0
-orange,-22.0,-11.0,0
-orange,-22.0,-9.0,0
-orange,-22.0,-7.0,0
-orange,-22.0,-5.0,0
-orange,-21.0,-5.0,0
-orange,-20.0,-37.0,0
-orange,-20.0,-35.0,0
-orange,-20.0,-17.0,0
-orange,-20.0,-15.0,0
-orange,-20.0,-13.0,0
-orange,-20.0,-11.0,0
-orange,-20.0,-9.0,0
-orange,-20.0,-7.0,0
-orange,-20.0,-5.0,0
-car_start,-21,-40,0.989478001131
diff --git a/eufs_gazebo/tracks/small_track.csv b/eufs_gazebo/tracks/small_track.csv
deleted file mode 100644
index d58ae63288b76ddb88dbdee1d595d1badcadb829..0000000000000000000000000000000000000000
--- a/eufs_gazebo/tracks/small_track.csv
+++ /dev/null
@@ -1,113 +0,0 @@
-tag,x,y,direction
-blue,-16.7219,9.56934,0
-blue,-15.1864,11.7137,0
-blue,-12.7553,12.49,0
-blue,-6.89062,13.0757,0
-blue,-4.06552,13.3637,0
-blue,-0.131239,13.3125,0
-blue,3.50416,13.7245,0
-blue,7.13676,14.727,0
-blue,9.62956,15.8379,0
-blue,12.492,17.0404,0
-blue,15.1389,16.5025,0
-blue,17.5221,15.3812,0
-blue,19.5034,13.6361,0
-blue,20.8922,11.7012,0
-blue,21.4761,8.79574,0
-blue,20.9992,5.27662,0
-blue,19.9925,2.24053,0
-blue,19.0983,0.0,0
-blue,17.1824,-3.23994,0
-blue,14.2831,-5.26437,0
-blue,11.114,-6.74408,0
-blue,8.25363,-8.53889,0
-blue,5.06185,-10.1551,0
-blue,1.42086,-11.9634,0
-blue,-2.4975,-14.0305,0
-blue,-5.74864,-16.1217,0
-blue,-9.34841,-17.1551,0
-blue,-12.2114,-16.6459,0
-blue,-14.4625,-14.9249,0
-blue,-16.2427,-13.276,0
-blue,-18.1431,-11.086,0
-blue,-18.6174,-7.56085,0
-blue,-18.9382,-5.15509,0
-blue,-18.5558,-2.56017,0
-blue,-18.1206,0.0,0
-blue,-17.7841,3.04246,0
-blue,-17.8432,6.27091,0
-blue,-16.7219,9.56934,0
-yellow,-12.2184,7.60803,0
-yellow,-13.3455,5.78808,0
-yellow,-13.3478,3.05712,0
-yellow,-13.6087,0.0,0
-yellow,-14.0043,-2.62998,0
-yellow,-14.1575,-5.77329,0
-yellow,-13.9298,-8.98291,0
-yellow,-12.0338,-11.6718,0
-yellow,-9.76388,-12.7081,0
-yellow,-7.57043,-12.1125,0
-yellow,-5.18123,-10.5555,0
-yellow,-1.97969,-8.56329,0
-yellow,1.78774,-6.66723,0
-yellow,4.65159,-5.15509,0
-yellow,7.26282,-3.9408,0
-yellow,9.41953,-2.84739,0
-yellow,12.0732,-1.43122,0
-yellow,13.6765,0.0,0
-yellow,15.106,1.5027,0
-yellow,15.876,3.47906,0
-yellow,16.7063,6.10772,0
-yellow,16.6054,9.12035,0
-yellow,14.9652,11.2833,0
-yellow,12.9655,11.8014,0
-yellow,10.4312,10.799,0
-yellow,7.14787,9.92656,0
-yellow,3.5151,8.6968,0
-yellow,-0.059759,8.37591,0
-yellow,-4.01695,8.50322,0
-yellow,-6.90998,8.44454,0
-yellow,-12.2184,7.60803,0
-big_orange,-9.61314,13.0,0
-big_orange,-9.99934,12.989,0
-big_orange,-9.62148,8.39323,0
-big_orange,-9.98667,8.39348,0
-midpoint,-14.47015,8.588685,0
-midpoint,-13.7024,9.660865,0
-midpoint,-12.48685,10.049015,0
-midpoint,-15.594349999999999,6.029495,0
-midpoint,-15.565949999999999,3.04979,0
-midpoint,-15.864650000000001,0.0,0
-midpoint,-16.280050000000003,-2.595075,0
-midpoint,-16.54785,-5.46419,0
-midpoint,-16.38745,-6.667070000000001,0
-midpoint,-16.036450000000002,-10.034455000000001,0
-midpoint,-14.13825,-12.4739,0
-midpoint,-13.248149999999999,-13.29835,0
-midpoint,-10.987639999999999,-14.677,0
-midpoint,-9.556145,-14.9316,0
-midpoint,-6.659535,-14.1171,0
-midpoint,-3.839365,-12.293,0
-midpoint,-0.27941499999999997,-10.263345000000001,0
-midpoint,3.424795,-8.411165,0
-midpoint,7.7582249999999995,-6.239845,0
-midpoint,10.266765,-4.7957350000000005,0
-midpoint,13.178149999999999,-3.347795,0
-midpoint,15.429450000000001,-1.61997,0
-midpoint,17.102149999999998,0.75135,0
-midpoint,17.93425,2.859795,0
-midpoint,18.85275,5.69217,0
-midpoint,19.04075,8.958045,0
-midpoint,18.7488,10.410775000000001,0
-midpoint,17.234299999999998,12.459700000000002,0
-midpoint,16.24365,13.33225,0
-midpoint,14.0522,14.15195,0
-midpoint,12.728750000000002,14.4209,0
-midpoint,10.030380000000001,13.318449999999999,0
-midpoint,7.142315,12.32678,0
-midpoint,3.50963,11.210650000000001,0
-midpoint,-0.095499,10.844204999999999,0
-midpoint,-4.041235,10.93346,0
-midpoint,-6.9003,10.76012,0
-midpoint,-14.47015,8.588685,0
-car_start,-13.0,10.3,0.0
diff --git a/eufs_gazebo/tracks/track_gen.py b/eufs_gazebo/tracks/track_gen.py
deleted file mode 100755
index c6c23dc101b80dfc2a7e0b15de404de2e82b02cb..0000000000000000000000000000000000000000
--- a/eufs_gazebo/tracks/track_gen.py
+++ /dev/null
@@ -1,521 +0,0 @@
-#!/usr/bin/env python
-
-"""track_gen.py
-
-Script which generates CSV files from SDF Gazebo track models
-CSV files consist of type of cones and their x and y positions
-these CSV files are later intended to be used as input to a
-ground truth cone publisher in simulation
-"""
-
-import numpy as np
-import pandas as pd
-import matplotlib.pyplot as plt
-import xml.etree.ElementTree as ET
-from xml.etree.ElementTree import Element, SubElement, tostring
-from scipy import interpolate
-from scipy.spatial import cKDTree
-from xml.dom import minidom
-import argparse
-import os
-import rospkg
-import rospy
-
-
-class Track:
-    def __init__(self):
-        self.midpoints = None
-        self.mid_track = None
-        self.blue_cones = None
-        self.blue_track = None
-        self.yellow_cones = None
-        self.yellow_track = None
-        self.big_orange_cones = None
-        self.orange_cones = None
-        self.active_noise = None
-        self.inactive_noise = None
-
-        # Car data in the format of ("car_start", x, y, yaw)
-        # It can be left as ("car_start", 0, 0, 0), only relevant when fed into track_gen through
-        # `eufs_launcher/ConversionTools`
-        # as in that case it needs to preserve car data so that the conversion is fully bijective.
-        self.car_start_data = ("car_start", 0.0, 0.0, 0.0)
-
-    def load_csv(self, file_path):
-        """Loads CSV file of cone location data and store it in the class.
-        CSV file must have a 1 line header and then each row should have
-        the format tag, x, y where tag is either "big", "blue", "orange" or "big_orange"
-
-        Args:
-            file_path (str): the path to the CSV file to load
-
-        Returns:
-            Nothing
-        """
-
-        if file_path.find(".csv") == -1:
-            print("Please give me a .csv file. Exitting")
-            return
-
-        data = pd.read_csv(file_path, names=["tag", "x", "y", "direction"], skiprows=1)
-        self.blue_cones = np.array(data[data.tag == "blue"][["x", "y"]])
-        self.car = np.array(data[data.tag == "car_start"][["x", "y", "direction"]])
-        self.yellow_cones = np.array(data[data.tag == "yellow"][["x", "y"]])
-        self.big_orange_cones = np.array(data[data.tag == "big_orange"][["x", "y"]])
-        self.orange_cones = np.array(data[data.tag == "orange"][["x", "y"]])
-
-    def load_sdf(self, file_path):
-        """Loads a Gazebo model .SDF file and identify cones in it
-        based on their mesh tag. Store as elements of the class.
-
-        Args:
-            file_path (str): the path to the SDF file to load
-
-        Returns:
-            Nothing
-        """
-
-        if file_path.find(".sdf") == -1:
-            print("Please give me a .sdf file. Exiting")
-            return
-
-        root = ET.parse(file_path).getroot()
-        blue = []
-        yellow = []
-        orange = []
-        big_orange = []
-        active_noise = []
-        inactive_noise = []
-
-        # iterate over all links of the model
-        if len(root[0].findall("link")) != 0:
-            for child in root[0].iter("link"):
-                pose = child.find("pose").text.split(" ")[0:2]
-                mesh_str = child.find("visual")[0][0][0].text.split("/")[-1].split(".")[0]
-                # indentify cones by the name of their mesh
-                if "cone_blue" == mesh_str:
-                    blue.append(pose)
-                elif "cone_yellow" == mesh_str:
-                    yellow.append(pose)
-                elif "cone_big" == mesh_str:
-                    big_orange.append(pose)
-                elif "cone" == mesh_str:
-                    orange.append(pose)
-                else:
-                    active_noise.append(pose)
-
-        # handle hidden links
-        if len(root[0].findall("ghostlink")) != 0:
-            for child in root[0].iter("ghostlink"):
-                pose = child.find("pose").text.split(" ")[0:2]
-                inactive_noise.append(pose)
-
-        # handle includes
-        if len(root[0].findall("include")) != 0:
-            for child in root[0].iter("include"):
-                pose = child.find("pose").text.split(" ")[0:2]
-                mesh_str = child.find("uri").text.split("/")[-1].split(".")[0]
-
-                # indentify cones by the name of their mesh
-                if "blue_cone" == mesh_str:
-                    blue.append(pose)
-                elif "yellow_cone" == mesh_str:
-                    yellow.append(pose)
-                elif "big_cone" == mesh_str:
-                    big_orange.append(pose)
-                elif "orange_cone" == mesh_str:
-                    orange.append(pose)
-
-        # convert all lists to numpy as arrays for efficiency
-        if len(blue) != 0:
-            self.blue_cones = np.array(blue, dtype="float64")
-        else:
-            print("WARNING: No blue cones found")
-
-        if len(yellow) != 0:
-            self.yellow_cones = np.array(yellow, dtype="float64")
-        else:
-            print("WARNING: No yellow cones found")
-
-        if len(big_orange) != 0:
-            self.big_orange_cones = np.array(big_orange, dtype="float64")
-        else:
-            print("No big orange cones found")
-
-        if len(orange) != 0:
-            self.orange_cones = np.array(orange, dtype="float64")
-        else:
-            print("No orange cones found")
-
-        if len(active_noise) != 0:
-            self.active_noise = np.array(active_noise, dtype="float64")
-
-        if len(inactive_noise) != 0:
-            self.inactive_noise = np.array(inactive_noise, dtype="float64")
-
-    def generate_tracks(self):
-        """Generates blue, yellow and centerline tracks for the course
-        and saves them within the class
-
-        Args:
-            None
-
-        Returns:
-            None
-        """
-
-        # Deal with blue cones
-        if self.blue_cones.size is not None:
-            self.blue_cones = self.order_points(self.blue_cones)
-            self.blue_track = self.smoothLine(self.blue_cones)
-        else:
-            print("Warning: no blue cones")
-
-        # Deal with yellow cones
-        if self.yellow_cones.size is not None:
-            self.yellow_cones = self.order_points(self.yellow_cones)
-            self.yellow_track = self.smoothLine(self.yellow_cones)
-        else:
-            print("Warning: no yellow cones")
-
-        # Deal with midline
-        if self.midpoints.size is not None:
-            self.midpoints = self.order_points(self.midpoints)
-            self.midline = self.smoothLine(self.midpoints)
-        else:
-            print("Warning: no midpoints")
-
-    def generate_midpoints(self, _plot=False):
-        """Generates track midpoints based on blue and yellow cones
-
-        Args:
-            file_path (str): the path to the SDF file to load
-
-        Returns:
-            Nothing
-        """
-        assert self.blue_cones is not None or len(self.yellow_cones) != 0
-        assert self.yellow_cones is not None or len(self.yellow_cones) != 0
-
-        midpoints = []
-
-        for blue_cone in self.blue_cones:
-            closest_cone, closest_dist = self.find_closest(blue_cone, self.yellow_cones)
-            midpoints.append([(closest_cone[0] + blue_cone[0]) / 2, (closest_cone[1] + blue_cone[1]) / 2])
-
-        if _plot:
-            for blue_cone in self.blue_cones:
-                closest_cone, closest_dist = self.find_closest(blue_cone, self.yellow_cones)
-                self.plot_line(i, blue_cone)
-                plt.plot((closest_cone[0] + blue_cone[0]) / 2, (closest_cone[1] + blue_cone[1]) / 2, 'bo')
-
-            plt.show()
-
-        self.midpoints = np.array(midpoints)
-
-        return midpoints
-
-    def plot_track(self):
-        """Plot track in 2D with colours
-
-        Args:
-            None
-
-        Returns:
-            Nothing
-        """
-        fig, ax = plt.subplots()
-        ax.set_xlim((-50, 50))
-        ax.set_ylim((-50, 50))
-
-        # Deal with blue cones
-        if self.blue_cones.size is not None:
-            plt.scatter(self.blue_cones[:, 0], self.blue_cones[:, 1], c="b", alpha="0.5")
-
-            if self.blue_track is not None:
-                plt.plot(self.blue_track[:, 0], self.blue_track[:, 1], "b-")
-        else:
-            print("Warning: no blue/blue cones")
-
-        # Deal with yellow cones
-        if self.yellow_cones.size is not None:
-            plt.scatter(self.yellow_cones[:, 0], self.yellow_cones[:, 1], c="y", alpha="0.5")
-
-            if self.yellow_track is not None:
-                plt.plot(self.yellow_track[:, 0], self.yellow_track[:, 1], "y-")
-        else:
-            print("Warning: no yellow/yellow cones")
-
-        if self.big_orange_cones is not None:
-            plt.scatter(self.big_orange_cones[:, 0], self.big_orange_cones[:, 1], c="r", alpha="0.5")
-        else:
-            print("Warning: no big cones")
-
-        if self.midpoints is not None:
-            plt.scatter(self.midpoints[:, 0], self.midpoints[:, 1], c="g")
-
-            if self.midline is not None:
-                plt.plot(self.midline[:, 0], self.midline[:, 1], "g-")
-
-        plt.axis('equal')
-        plt.grid()
-        plt.savefig("img/track.pdf")
-        plt.show()
-
-    def save_csv(self, filename, hdr=None):
-        """Save track as a csv file along with tags: blue, yellow or big
-
-        Args:
-            file_path (str): the name and path of the file to save
-            hdr (str): header of the CSV file
-
-        Returns:
-            Nothing
-        """
-
-        if filename.find(".csv") == -1:
-            filename = filename + ".csv"
-
-        df = pd.DataFrame(columns=["tag", "x", "y", "direction"])
-
-        # assuming there always are blue and yellow cones
-        df["x"] = np.hstack((self.blue_cones[:, 0], self.yellow_cones[:, 0]))
-        df["y"] = np.hstack((self.blue_cones[:, 1], self.yellow_cones[:, 1]))
-        df["tag"].iloc[:] = "blue"
-        df["tag"].iloc[-self.yellow_cones.shape[0]:] = "yellow"
-
-        if self.big_orange_cones is not None:
-            empty = pd.DataFrame(np.nan, index=np.arange(self.big_orange_cones.shape[0]), columns=["tag", "x", "y"])
-            df = df.append(empty)
-            df["x"] = np.hstack((df["x"].dropna().values, self.big_orange_cones[:, 0]))
-            df["y"] = np.hstack((df["y"].dropna().values, self.big_orange_cones[:, 1]))
-            df["tag"].iloc[-self.big_orange_cones.shape[0]:] = "big_orange"
-
-        if self.orange_cones is not None:
-            empty = pd.DataFrame(np.nan, index=np.arange(self.orange_cones.shape[0]), columns=["tag", "x", "y"])
-            df = df.append(empty)
-            df["x"] = np.hstack((df["x"].dropna().values, self.orange_cones[:, 0]))
-            df["y"] = np.hstack((df["y"].dropna().values, self.orange_cones[:, 1]))
-            df["tag"].iloc[-self.orange_cones.shape[0]:] = "orange"
-
-        if self.midpoints is not None:
-            empty = pd.DataFrame(np.nan, index=np.arange(self.midpoints.shape[0]), columns=["tag", "x", "y"])
-            df = df.append(empty)
-            df["x"] = np.hstack((df["x"].dropna().values, self.midpoints[:, 0]))
-            df["y"] = np.hstack((df["y"].dropna().values, self.midpoints[:, 1]))
-            df["tag"].iloc[-self.midpoints.shape[0]:] = "midpoint"
-
-        if self.active_noise is not None:
-            empty = pd.DataFrame(np.nan, index=np.arange(self.active_noise.shape[0]), columns=["tag", "x", "y"])
-            df = df.append(empty)
-            df["x"] = np.hstack((df["x"].dropna().values, self.active_noise[:, 0]))
-            df["y"] = np.hstack((df["y"].dropna().values, self.active_noise[:, 1]))
-            df["tag"].iloc[-self.active_noise.shape[0]:] = "active_noise"
-
-        if self.inactive_noise is not None:
-            empty = pd.DataFrame(np.nan, index=np.arange(self.inactive_noise.shape[0]), columns=["tag", "x", "y"])
-            df = df.append(empty)
-            df["x"] = np.hstack((df["x"].dropna().values, self.inactive_noise[:, 0]))
-            df["y"] = np.hstack((df["y"].dropna().values, self.inactive_noise[:, 1]))
-            df["tag"].iloc[-self.inactive_noise.shape[0]:] = "inactive_noise"
-
-        # Add car data (always ("car_start",0,0,0) unless this file is called from ConversionTools))
-        cardf = pd.DataFrame([self.car_start_data], columns=["tag", "x", "y", "direction"])
-        df["direction"] = 0
-        df = df.append(cardf)
-
-        df.to_csv(filename, index=False, columns=["tag", "x", "y", "direction"])
-        print("Succesfully saved to csv")
-
-    def save_sdf(self, model_name):
-        cone_meshes = {"yellow": "model://models/yellow_cone",
-                       "blue": "model://models/blue_cone",
-                       "big": "model://models/big_cone",
-                       "orange": "model://models/cone"}
-
-        root = Element("sdf")
-        root.set("version", "1.6")
-        model = SubElement(root, "model")
-        model.set("name", model_name)
-
-        # deal with blue cones
-        for i, each in enumerate(self.blue_cones):
-            include = SubElement(model, "include")
-            uri = SubElement(include, "uri")
-            uri.text = cone_meshes["blue"]
-            pose = SubElement(include, "pose")
-            pose.text = str(each[0]) + " " + str(each[1]) + " 0 0 0 0"
-            name = SubElement(include, "name")
-            name.text = "blue_cone_" + str(i)
-
-        # deal with yellow cones
-        for i, each in enumerate(self.yellow_cones):
-            include = SubElement(model, "include")
-            uri = SubElement(include, "uri")
-            uri.text = cone_meshes["yellow"]
-            pose = SubElement(include, "pose")
-            pose.text = str(each[0]) + " " + str(each[1]) + " 0 0 0 0"
-            name = SubElement(include, "name")
-            name.text = "yellow_cone_" + str(i)
-
-        # deal with big cones
-        for i, each in enumerate(self.big_orange_cones):
-            include = SubElement(model, "include")
-            uri = SubElement(include, "uri")
-            uri.text = cone_meshes["big"]
-            pose = SubElement(include, "pose")
-            pose.text = str(each[0]) + " " + str(each[1]) + " 0 0 0 0"
-            name = SubElement(include, "name")
-            name.text = "big_cone_" + str(i)
-
-        tree = ET.ElementTree(root)
-
-        xmlstr = minidom.parseString(ET.tostring(root)).toprettyxml(indent="   ")
-
-        with open("model.sdf", "w") as f:
-            f.write(xmlstr)
-        print("Created SDF file successfully!")
-
-    def remove_point(self, p, ps):
-        """Removes a point from a numpy array
-
-        Args:
-            p (2D-point): point to remove
-            ps (2D numpy array): points to remove from
-
-        Returns:
-            Numpy array with point p removed
-        """
-        points = []
-        for point in ps:
-            if list(p) != list(point):
-                points.append(point)
-        return np.array(points)
-
-    def find_closest(self, p, ps):
-        """Find the closes point to p from points ps
-
-        Args:
-            p (2D-point): source point
-            ps (2D numpy array): array of target points
-
-        Returns:
-            [x,y] of the closest point
-            distance to the closest point
-        """
-        # drop the point if in points
-        points = self.remove_point(p, ps)
-        dist_2 = np.sum((points - p)**2, axis=1)
-        return points[np.argmin(dist_2), :], np.min(dist_2)
-
-    def plot_line(self, a, b, marker_style="ro-"):
-        plt.plot([a[0], b[0]], [a[1], b[1]], marker_style)
-
-    # Smooth the line ana generated nice and uniform waypoints
-    def smoothLine(self, points, mul=5):
-        """Centerline is 2xN (x y coordinates of midpoints) np array
-            close_track (Connect first and last point)
-            track limit track widtd
-        """
-        tck, u = interpolate.splprep(points.T, u=None, s=1.0, per=True)
-        linargs = np.linspace(u.min(), u.max(), mul * points.shape[0])
-        x_i, y_i = interpolate.splev(linargs, tck)
-        output = np.array((x_i, y_i)).T
-        return output
-
-    def order_points(self, points):
-        """Order points based on closest next point
-
-        Args:
-            points (2D numpy array): points to order
-
-        Returns:
-            Numpy array with point p removed
-        """
-        ordered = []
-        current_point = points[0]
-        points = points[1:]
-        ordered.append(current_point)
-
-        while points.shape[0] is not 0:
-            closest_cone, closest_dist = self.find_closest(current_point, points)
-            ordered.append(closest_cone)
-            points = self.remove_point(closest_cone, points)
-            current_point = closest_cone
-
-        ordered.append(current_point)
-        return np.array(ordered)
-
-    def rotate_origin_only(self, xy, radians):
-        """Only rotate a point around the origin (0, 0)."""
-        x = xy[:, 0]
-        y = xy[:, 1]
-        xx = x * np.cos(radians) + y * np.sin(radians)
-        yy = -x * np.sin(radians) + y * np.cos(radians)
-
-        out = np.vstack((xx, yy))
-        return out.T
-
-    @staticmethod
-    def runConverter(track_name,
-                     midpoints=False,
-                     car_start_data=("car_start", 0.0, 0.0, 0.0),
-                     conversion_suffix=""):
-        """
-        Creates a csv from the sdf passed in (through track_name)
-
-        track_name:        The name (not path) of the folder of the sdf for the track.
-                           For example, if you desire a csv for the track with sdf stored
-                           in YourTrack/model.sdf, then track_name should be "YourTrack".
-
-        midpoints:         A boolean, when true the csv will also be populated with data
-                           about the midpoints of cones in the track
-
-        car_start_data:    Information about the start location of the car, as it
-                           cannot be gleaned from the sdf.  It is used to preserve
-                           information so that csvs can be converted back to .launches,
-                           and is not necessary if you do not desire that functionality.
-
-        conversion_suffix: This string will be appended to the end of track_name when
-                           naming the csv file.  It is useful if there may already be
-                           a csv file for the track and for whatever reason you do not
-                           desire to overwrite it.
-        """
-        track_path = os.path.join(rospkg.RosPack().get_path('eufs_description'), "models",
-                                  track_name, "model.sdf")
-
-        # check if eufs_description exists
-        try:
-            assert os.path.isdir(rospkg.RosPack().get_path('eufs_description'))
-        except:
-            raise(AssertionError(("Can't find eufs_description directory."
-                  "it is in the same location as eufs_gazebo!")))
-
-        # check if requested track exists
-        try:
-            assert os.path.exists(track_path)
-        except:
-            raise(AssertionError(("Can't find track called {} make sure that it is"
-                  "within eufs_description/models/".format(track_name))))
-
-        track = Track()
-        track.car_start_data = car_start_data
-        track.load_sdf(track_path)
-        if midpoints:
-            track.generate_midpoints()
-            track.generate_tracks()
-        track.save_csv(os.path.join(rospkg.RosPack().get_path('eufs_gazebo'), "tracks", track_name+conversion_suffix))
-
-if __name__ == "__main__":
-    # Just a heads up, you can run this with a gui by running the launcher:
-    # `roslaunch eufs_launcher eufs_launcher.launch`
-    # And using the "Conversion Tools" section.
-    parser = argparse.ArgumentParser(description="Generates a CSV file of cone\
-                                     locations based on the SDF Gazebo models")
-    parser.add_argument('track_name', metavar='track_name', type=str,
-                        help="the name of the Gazebo model track")
-    parser.add_argument('--midpoints', metavar='midpoints', type=bool, default=False,
-                        help="If true, midpoints will be generated and saved in the CSV")
-
-    args = parser.parse_args()
-    runConverter(args.track_name, args.midpoints)
diff --git a/eufs_gazebo/tracks/track_gen.pyc b/eufs_gazebo/tracks/track_gen.pyc
deleted file mode 100644
index e3b2476779625b33a1e62231124fd6fa7e4ed377..0000000000000000000000000000000000000000
Binary files a/eufs_gazebo/tracks/track_gen.pyc and /dev/null differ
diff --git a/eufs_gazebo/worlds/acceleration.world b/eufs_gazebo/worlds/acceleration.world
deleted file mode 100644
index d125a54aac11b4a5215f6ef28796a0a4d4938331..0000000000000000000000000000000000000000
--- a/eufs_gazebo/worlds/acceleration.world
+++ /dev/null
@@ -1,48 +0,0 @@
-<sdf version='1.6'>
-  <world name='default'>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>-40 40 20 0 0.667643 -1</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <!-- WORLD SETTINGS -->
-    <scene>
-      <sky>
-        <clouds>
-          <speed>3</speed>
-        </clouds>
-      </sky>
-      <ambient>1.0 1.0 1.0 1.0</ambient>
-      <shadows>false</shadows>
-    </scene>
-
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.1 0.1 0.1 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.5 -1</direction>
-    </light>
-
-    <!-- MODELS -->
-    <include>
-      <uri>model://models/ground_plane</uri>
-      <pose>0.0 0.0 0.0 0 0 0</pose>
-    </include>
-
-    <include>
-      <uri>model://models/acceleration</uri>
-      <pose>0 0 0.5 0 0 0</pose>
-    </include>
-
-  </world>
-</sdf>
diff --git a/eufs_gazebo/worlds/big_track.world b/eufs_gazebo/worlds/big_track.world
deleted file mode 100644
index 5233045ed131707846d8ac3642147b16650816bd..0000000000000000000000000000000000000000
--- a/eufs_gazebo/worlds/big_track.world
+++ /dev/null
@@ -1,48 +0,0 @@
-<sdf version='1.6'>
-  <world name='big_track'>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>-40 40 20 0 0.667643 -1</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <!-- WORLD SETTINGS -->
-    <scene>
-      <sky>
-        <clouds>
-          <speed>3</speed>
-        </clouds>
-      </sky>
-      <ambient>1.0 1.0 1.0 1.0</ambient>
-      <shadows>false</shadows>
-    </scene>
-
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.1 0.1 0.1 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.5 -1</direction>
-    </light>
-
-    <!-- MODELS -->
-    <include>
-      <uri>model://models/ground_plane</uri>
-      <pose>0.0 0.0 0.0 0 0 0</pose>
-    </include>
-
-    <include>
-      <uri>model://models/big_track</uri>
-      <pose>0 0 0.5 0 0 0</pose>
-    </include>
-
-  </world>
-</sdf>
diff --git a/eufs_gazebo/worlds/monster.world b/eufs_gazebo/worlds/monster.world
deleted file mode 100644
index 67026b83c2d5382a22321a9409defcc8acb361e4..0000000000000000000000000000000000000000
--- a/eufs_gazebo/worlds/monster.world
+++ /dev/null
@@ -1,48 +0,0 @@
-<sdf version='1.6'>
-  <world name='monster'>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>-40 40 20 0 0.667643 -1</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <!-- WORLD SETTINGS -->
-    <scene>
-      <sky>
-        <clouds>
-          <speed>3</speed>
-        </clouds>
-      </sky>
-      <ambient>1.0 1.0 1.0 1.0</ambient>
-      <shadows>false</shadows>
-    </scene>
-
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.1 0.1 0.1 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.5 -1</direction>
-    </light>
-
-    <!-- MODELS -->
-    <include>
-      <uri>model://models/ground_plane</uri>
-      <pose>0.0 0.0 0.0 0 0 0</pose>
-    </include>
-
-    <include>
-      <uri>model://models/monster</uri>
-      <pose>0 0 0.5 0 0 0</pose>
-    </include>
-
-  </world>
-</sdf>
diff --git a/eufs_gazebo/worlds/noisy_small_track.world b/eufs_gazebo/worlds/noisy_small_track.world
deleted file mode 100644
index 7dec43047fae24192507f9339543a5e2ac34b450..0000000000000000000000000000000000000000
--- a/eufs_gazebo/worlds/noisy_small_track.world
+++ /dev/null
@@ -1,5391 +0,0 @@
-<sdf version='1.6'>
-  <world name='default'>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>-57.1412 56.6155 57.3972 0 0.667643 -1</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>3</speed>
-        </clouds>
-      </sky>
-      <ambient>1 1 1 1</ambient>
-      <shadows>0</shadows>
-      <background>0.7 0.7 0.7 1</background>
-    </scene>
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.1 0.1 0.1 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.5 -1</direction>
-    </light>
-    <model name='ground_plane'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision'>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>120 120</size>
-            </plane>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>120 120</size>
-            </plane>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://materials/gazebo.material</uri>
-              <name>Gazebo/Asphalt</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <kinematic>0</kinematic>
-        <gravity>1</gravity>
-      </link>
-      <pose frame=''>0 0 0 0 -0 0</pose>
-    </model>
-    <model name='small_track'>
-      <link name='link_0'>
-        <pose frame=''>-17.0129 9.72719 0.079001 0 -0 0</pose>
-        <collision name='collision'>
-          <geometry>
-            <mesh>
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-        <visual name='right_front_wheel_visual'>
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-      <joint name='right_rear_shock' type='prismatic'>
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-      <joint name='right_rear_axle' type='revolute'>
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-        <link name='link_0_clone_9'>
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-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 -9.8 0 -0 0</acceleration>
-          <wrench>0 0 -9.8 0 -0 0</wrench>
-        </link>
-      </model>
-      <light name='sun'>
-        <pose frame=''>0 0 10 0 -0 0</pose>
-      </light>
-    </state>
-  </world>
-</sdf>
diff --git a/eufs_gazebo/worlds/rand.world b/eufs_gazebo/worlds/rand.world
deleted file mode 100644
index b8613cdf960f82e7d1f4f6b9fb801a80b7ddfc0c..0000000000000000000000000000000000000000
--- a/eufs_gazebo/worlds/rand.world
+++ /dev/null
@@ -1,48 +0,0 @@
-<sdf version='1.6'>
-  <world name='rand'>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>-40 40 20 0 0.667643 -1</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <!-- WORLD SETTINGS -->
-    <scene>
-      <sky>
-        <clouds>
-          <speed>3</speed>
-        </clouds>
-      </sky>
-      <ambient>1.0 1.0 1.0 1.0</ambient>
-      <shadows>false</shadows>
-    </scene>
-
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.1 0.1 0.1 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.5 -1</direction>
-    </light>
-
-    <!-- MODELS -->
-    <include>
-      <uri>model://models/ground_plane</uri>
-      <pose>0.0 0.0 0.0 0 0 0</pose>
-    </include>
-
-    <include>
-      <uri>model://models/rand</uri>
-      <pose>0 0 0.5 0 0 0</pose>
-    </include>
-
-  </world>
-</sdf>
diff --git a/eufs_gazebo/worlds/rand_CT.world b/eufs_gazebo/worlds/rand_CT.world
deleted file mode 100644
index b570ece6bf3dc924443e5424894a8ba3b7acb9e0..0000000000000000000000000000000000000000
--- a/eufs_gazebo/worlds/rand_CT.world
+++ /dev/null
@@ -1,48 +0,0 @@
-<sdf version='1.6'>
-  <world name='rand_CT'>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>-40 40 20 0 0.667643 -1</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <!-- WORLD SETTINGS -->
-    <scene>
-      <sky>
-        <clouds>
-          <speed>3</speed>
-        </clouds>
-      </sky>
-      <ambient>1.0 1.0 1.0 1.0</ambient>
-      <shadows>false</shadows>
-    </scene>
-
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.1 0.1 0.1 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.5 -1</direction>
-    </light>
-
-    <!-- MODELS -->
-    <include>
-      <uri>model://models/ground_plane</uri>
-      <pose>0.0 0.0 0.0 0 0 0</pose>
-    </include>
-
-    <include>
-      <uri>model://models/rand_CT</uri>
-      <pose>0 0 0.5 0 0 0</pose>
-    </include>
-
-  </world>
-</sdf>
diff --git a/eufs_gazebo/worlds/skidpad.world b/eufs_gazebo/worlds/skidpad.world
deleted file mode 100644
index ca901b5a4d199d4f2d1487162b53a29e1ccc86f0..0000000000000000000000000000000000000000
--- a/eufs_gazebo/worlds/skidpad.world
+++ /dev/null
@@ -1,48 +0,0 @@
-<sdf version='1.6'>
-  <world name='skidpad'>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>-40 40 20 0 0.667643 -1</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <!-- WORLD SETTINGS -->
-    <scene>
-      <sky>
-        <clouds>
-          <speed>3</speed>
-        </clouds>
-      </sky>
-      <ambient>1.0 1.0 1.0 1.0</ambient>
-      <shadows>false</shadows>
-    </scene>
-
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.1 0.1 0.1 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.5 -1</direction>
-    </light>
-
-    <!-- MODELS -->
-    <include>
-      <uri>model://models/ground_plane</uri>
-      <pose>0.0 0.0 0.0 0 0 0</pose>
-    </include>
-
-    <include>
-      <uri>model://models/skidpad</uri>
-      <pose>0 0 0.5 0 0 0</pose>
-    </include>
-
-  </world>
-</sdf>
diff --git a/eufs_gazebo/worlds/small_track.world b/eufs_gazebo/worlds/small_track.world
deleted file mode 100644
index 6d66257f6100d5c8dfc0eab4e0232793197ac649..0000000000000000000000000000000000000000
--- a/eufs_gazebo/worlds/small_track.world
+++ /dev/null
@@ -1,48 +0,0 @@
-<sdf version='1.6'>
-  <world name='default'>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>-40 40 20 0 0.667643 -1</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <!-- WORLD SETTINGS -->
-    <scene>
-      <sky>
-        <clouds>
-          <speed>3</speed>
-        </clouds>
-      </sky>
-      <ambient>1.0 1.0 1.0 1.0</ambient>
-      <shadows>false</shadows>
-    </scene>
-
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.1 0.1 0.1 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.5 -1</direction>
-    </light>
-
-    <!-- MODELS -->
-    <include>
-      <uri>model://models/ground_plane</uri>
-      <pose>0.0 0.0 0.0 0 0 0</pose>
-    </include>
-
-    <include>
-      <uri>model://models/small_track</uri>
-      <pose>0 0 0.5 0 0 0</pose>
-    </include>
-
-  </world>
-</sdf>
diff --git a/eufs_gazebo_plugins/CMakeLists.txt b/eufs_gazebo_plugins/CMakeLists.txt
deleted file mode 100644
index cadbeae2e54673b98508b10d7006e72f804b7912..0000000000000000000000000000000000000000
--- a/eufs_gazebo_plugins/CMakeLists.txt
+++ /dev/null
@@ -1,73 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(eufs_gazebo_plugins)
-
-add_compile_options(-std=c++11)
-
-find_package(catkin REQUIRED COMPONENTS
-        gazebo_dev
-        message_generation
-        gazebo_msgs
-        roscpp
-        nodelet
-        geometry_msgs
-        nav_msgs
-        eufs_msgs
-        tf2_ros
-        )
-
-find_package(Boost REQUIRED COMPONENTS thread)
-find_package(gazebo REQUIRED)
-
-include_directories(include
-        ${catkin_INCLUDE_DIRS}
-        ${GAZEBO_INCLUDE_DIRS}
-        ${SDFormat_INCLUDE_DIRS}
-        ${OGRE_INCLUDE_DIRS}
-        ${Boost_INCLUDE_DIRS})
-
-link_directories(
-        ${catkin_LIBRARY_DIRS}
-        ${OGRE_LIBRARY_DIRS}
-        ${OGRE-Terrain_LIBRARY_DIRS}
-        ${OGRE-Paging_LIBRARY_DIRS})
-
-catkin_package(
-        INCLUDE_DIRS include
-        LIBRARIES gazebo_state_ground_truth
-        CATKIN_DEPENDS
-        message_runtime
-        gazebo_msgs
-        roscpp
-        nodelet
-        geometry_msgs
-        nav_msgs
-        eufs_msgs
-        tf2_ros
-)
-
-# Add plugins
-add_library(gazebo_state_ground_truth src/gazebo_state_ground_truth.cpp)
-target_include_directories(gazebo_state_ground_truth PUBLIC include ${CMAKE_SOURCE_DIR} ${catkin_LIBRARY_DIRS})
-target_link_libraries(gazebo_state_ground_truth ${GAZEBO_LIBRARIES} ${IGNITION-MSGS_LIBRARIES} ${catkin_LIBRARIES} ${OGRE_LIBRARY})
-
-install(TARGETS gazebo_state_ground_truth
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
-add_library(gazebo_cone_ground_truth src/gazebo_cone_ground_truth.cpp)
-target_include_directories(gazebo_cone_ground_truth PUBLIC include ${CMAKE_SOURCE_DIR} ${catkin_LIBRARY_DIRS})
-target_link_libraries(gazebo_cone_ground_truth ${GAZEBO_LIBRARIES} ${IGNITION-MSGS_LIBRARIES} ${catkin_LIBRARIES} ${OGRE_LIBRARY})
-
-install(TARGETS gazebo_cone_ground_truth
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
-# Tests
-# These need to be run with -j1 flag because gazebo can't be run
-# in parallel.
-#if (CATKIN_ENABLE_TESTING)
-#    find_package(rostest REQUIRED)
-#    # TODO
-#endif ()
\ No newline at end of file
diff --git a/eufs_gazebo_plugins/README.md b/eufs_gazebo_plugins/README.md
deleted file mode 100644
index 3c9b9af546b3d003010d1292ec2bbb18d3163320..0000000000000000000000000000000000000000
--- a/eufs_gazebo_plugins/README.md
+++ /dev/null
@@ -1,94 +0,0 @@
-
-# eufs_gazebo_plugins
-
-This is the main simulation package which contains the simulation model of the car an several environments.
-
-## Plugins
-
-### gazebo_state_ground_truth
-
-Provides ground truth state in simulation in the form of `nav_msgs/Odometry` and  
-`eufs_msgs/CarState`. Additionally can publish transform.
-
-#### Parameters
-
-| Name | Type | Default | Purpose |
-| ----- | ---- |  ------ | ------- |
-| `alwaysOn`                | bool      | true      | Should Gazebo always invoke this plugin?  |
-| `updateRate`              | float     | 0.0       | The rate at which this plugin publishes data. Default is as fast as possible. |
-| `referenceFrame`          | string    | -         | Required parameter. The tf frame in which to publish data. |
-| `robotFrame`              | string    | -         | Required parameter. The tf frame of the robot. |
-| `odometryTopicName`       | string    | -         | Required parameter. The topic in which to publish the nav_msgs/Odometry message. |
-| `stateTopicName`          | string    | -         | Required parameter. The topic in which to publish the eufs_msgs/CarState message. |
-| `positionNoise`           | double[3] | `[0,0,0]` | Position noise. Inducted in the position fields and in the covariance. |
-| `orientationNoise`        | double[3] | `[0,0,0]` |  |
-| `linearVelocityNoise`     | double[3] | `[0,0,0]` |  |
-| `angularVelocityNoise`    | double[3] | `[0,0,0]` |  |
-| `linearAccelerationNoise` | double[3] | `[0,0,0]` |  |
-
-#### Example usage
-
-This has to be inserted inside a robot URDF
-
-```xml
-  <gazebo>
-    <plugin name="state_ground_truth" filename="libgazebo_state_ground_truth.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>200.0</updateRate>
-      <referenceFrame>map</referenceFrame>
-      <robotFrame>base_footprint</robotFrame>
-      <publishTransform>$(arg publish_tf)</publishTransform>
-      <odometryTopicName>/ground_truth/odom</odometryTopicName>
-      <stateTopicName>/ground_truth/state</stateTopicName>
-      <positionNoise>0.0 0.0 0.0</positionNoise>
-      <orientationNoise>0.0 0.0 0.0</orientationNoise>
-      <linearVelocityNoise>0.0 0.0 0.0</linearVelocityNoise>
-      <angularVelocityNoise>0.0 0.0 0.0</angularVelocityNoise>
-      <linearAccelerationNoise>0.0 0.0 0.0</linearAccelerationNoise>
-    </plugin>
-  </gazebo>
-```
-
-### gazebo_cone_ground_truth
-
-Provides ground truth cones in simulation in the form of `eufs_msgs/ConeArray`.
-
-Can also simulate the perception stack by publishing cones with noise.
-
-#### Parameters
-
-| Name | Type | Default | Purpose |
-| ----- | ---- |  ------ | ------- |
-| `alwaysOn`                        | bool      | true                     | Should Gazebo always invoke this plugin?  |
-| `updateRate`                      | float     | 0.0                      | The rate at which this plugin publishes data. Default is as fast as possible. |
-| `viewDistance`                    | float     | 15.0                     | Distance from the car within which cones will be published |
-| `fov`                             | float     | 1.91986                  | Angle in front of the car within which the cones will be published |
-| `coneFrame`                       | string    | base_footprint           | The tf frame in which to publish data. |
-| `groundTruthConesTopicName`       | string    | -                        | Required parameter. The topic in which to publish the eufs_msgs/CarState message. |
-| `groundTruthConeMarkersTopicName` | string    | -                        | Required parameter. The topic in which to publish the eufs_msgs/CarState message. |
-| `simulatePerception`              | bool      | $arg simulate_perception | Should cones be published to the perception cones topic |
-| `perceptionConesTopicName`        | string    | -                        | Required parameter. The topic in which to publish the eufs_msgs/CarState message. |
-| `perceptionConeMarkersTopicName`  | string    | -                        | Required parameter. The topic in which to publish the eufs_msgs/CarState message. |
-| `perceptionNoise`                 | double[3] | `[0.2,0.2,0]`            | Noise of the cones published to the perception cones topic |
-
-#### Example usage
-
-This has to be inserted inside a robot URDF
-
-```xml
-  <gazebo>
-    <plugin name="cone_ground_truth" filename="libgazebo_cone_ground_truth.so">
-      <alwaysOn>true</alwaysOn>
-      <updateRate>25.0</updateRate>
-      <viewDistance>15</viewDistance>
-      <fov>1.91986</fov>
-      <coneFrame>base_footprint</coneFrame>
-      <groundTruthConesTopicName>/ground_truth/cones</groundTruthConesTopicName>
-      <groundTruthConeMarkersTopicName>/ground_truth/cones/viz</groundTruthConeMarkersTopicName>
-      <simulatePerception>$(arg simulate_perception)</simulatePerception>
-      <perceptionConesTopicName>/fusion/cones</perceptionConesTopicName>
-      <perceptionConeMarkersTopicName>/fusion/cones/viz</perceptionConeMarkersTopicName>
-      <perceptionNoise>0.2 0.2 0.0</perceptionNoise>
-    </plugin>
-  </gazebo>
-```
\ No newline at end of file
diff --git a/eufs_gazebo_plugins/include/eufs_gazebo_plugins/gazebo_cone_ground_truth.h b/eufs_gazebo_plugins/include/eufs_gazebo_plugins/gazebo_cone_ground_truth.h
deleted file mode 100644
index 0f993dcf21f2fe1c29f5c27509f56f0ad5404959..0000000000000000000000000000000000000000
--- a/eufs_gazebo_plugins/include/eufs_gazebo_plugins/gazebo_cone_ground_truth.h
+++ /dev/null
@@ -1,141 +0,0 @@
-/*MIT License
-*
-* Copyright (c) 2019 Edinburgh University Formula Student (EUFS)
-*
-* Permission is hereby granted, free of charge, to any person obtaining a copy
-*         of this software and associated documentation files (the "Software"), to deal
-* in the Software without restriction, including without limitation the rights
-*         to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-*         copies of the Software, and to permit persons to whom the Software is
-* furnished to do so, subject to the following conditions:
-*
-* The above copyright notice and this permission notice shall be included in all
-*         copies or substantial portions of the Software.
-*
-* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-*         AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-* SOFTWARE.*/
-
-/**
- * @file gazebo_cone_ground_truth.h
- * @author Niklas Burggraaff <s1902977@ed.ac.uk>
- * @date Mar 10, 2020
- * @copyright 2020 Edinburgh University Formula Student (EUFS)
- * @brief ground truth cone Gazebo plugin
- *
- * @details Provides ground truth cones in simulation in the form of `eufs_msgs/ConeArray`.
- * Can also simulate the perception stack by publishing cones with noise.
- **/
-
-
-#ifndef EUFS_SIM_GAZEBO_CONE_GROUND_TRUTH_H
-#define EUFS_SIM_GAZEBO_CONE_GROUND_TRUTH_H
-
-#include <math.h>
-
-#include <boost/thread.hpp>
-#include <boost/thread/mutex.hpp>
-
-#include <gazebo/gazebo.hh>
-#include <gazebo/physics/World.hh>
-#include <gazebo/physics/Model.hh>
-#include <gazebo/physics/Link.hh>
-#include <gazebo/common/Events.hh>
-
-#include <ros/ros.h>
-
-#include <eufs_msgs/ConeArray.h>
-#include <eufs_msgs/PointArray.h>
-#include <eufs_msgs/CarState.h>
-#include <geometry_msgs/Point.h>
-#include <visualization_msgs/Marker.h>
-#include <visualization_msgs/MarkerArray.h>
-
-
-namespace gazebo {
-
-  class GazeboConeGroundTruth : public ModelPlugin {
-
-  public:
-
-    enum ConeType {
-      blue, yellow, orange, big_orange
-    };
-
-    GazeboConeGroundTruth();
-
-    // Gazebo plugin functions
-
-    void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
-
-    void UpdateChild();
-
-    // Getting the cone arrays
-    eufs_msgs::ConeArray getConeArrayMessage();
-
-    void addConeToConeArray(eufs_msgs::ConeArray &ground_truth_cone_array, physics::LinkPtr link);
-
-    void processCones(std::vector <geometry_msgs::Point> &points);
-
-    GazeboConeGroundTruth::ConeType getConeType(physics::LinkPtr link);
-
-    // Getting the cone marker array
-    visualization_msgs::MarkerArray getConeMarkerArrayMessage(eufs_msgs::ConeArray &cone_array_message);
-
-    int addConeMarkers(std::vector <visualization_msgs::Marker> &marker_array, int marker_id,
-                       std::vector <geometry_msgs::Point> cones, float red, float green, float blue, bool big);
-
-    // Add noise to the cone arrays
-    eufs_msgs::ConeArray getConeArrayMessageWithNoise(eufs_msgs::ConeArray &ground_truth_cone_array_message, ignition::math::Vector3d noise);
-
-    void addNoiseToConeArray(std::vector<geometry_msgs::Point> &cone_array, ignition::math::Vector3d noise);
-
-    double GaussianKernel(double mu, double sigma);
-
-      // Helper function for parameters
-    bool getBoolParameter(sdf::ElementPtr _sdf, const char* element, bool default_value, const char* default_description);
-    double getDoubleParameter(sdf::ElementPtr _sdf, const char* element, double default_value, const char* default_description);
-    std::string getStringParameter(sdf::ElementPtr _sdf, const char* element, std::string default_value, const char* default_description);
-    ignition::math::Vector3d getVector3dParameter(sdf::ElementPtr _sdf, const char* element, ignition::math::Vector3d default_value, const char* default_description);
-
-    // Publishers
-    ros::Publisher ground_truth_cone_pub_;
-    ros::Publisher ground_truth_cone_marker_pub_;
-
-    ros::Publisher perception_cone_pub_;
-    ros::Publisher perception_cone_marker_pub_;
-
-    // Gazebo variables
-    physics::ModelPtr track_model;
-    physics::LinkPtr car_link;
-    ignition::math::Pose3d car_pos;
-
-    // Parameters
-
-    double view_distance;
-    double fov;
-
-    double update_rate_;
-    ros::Time time_last_published;
-
-    std::string cone_frame_;
-
-    bool simulate_perception_;
-
-    ignition::math::Vector3d perception_noise_;
-
-    // Required ROS gazebo plugin variables
-    event::ConnectionPtr update_connection_;
-
-    ros::NodeHandle *rosnode_;
-
-    unsigned int seed;
-
-  };
-}
-
-#endif //EUFS_SIM_GAZEBO_CONE_GROUND_TRUTH_H
diff --git a/eufs_gazebo_plugins/include/eufs_gazebo_plugins/gazebo_state_ground_truth.hpp b/eufs_gazebo_plugins/include/eufs_gazebo_plugins/gazebo_state_ground_truth.hpp
deleted file mode 100644
index 5f0d3c6918f116184a6424c343f98c2a41d7a847..0000000000000000000000000000000000000000
--- a/eufs_gazebo_plugins/include/eufs_gazebo_plugins/gazebo_state_ground_truth.hpp
+++ /dev/null
@@ -1,192 +0,0 @@
-/*MIT License
-*
-* Copyright (c) 2019 Edinburgh University Formula Student (EUFS)
-*
-* Permission is hereby granted, free of charge, to any person obtaining a copy
-*         of this software and associated documentation files (the "Software"), to deal
-* in the Software without restriction, including without limitation the rights
-*         to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-*         copies of the Software, and to permit persons to whom the Software is
-* furnished to do so, subject to the following conditions:
-*
-* The above copyright notice and this permission notice shall be included in all
-*         copies or substantial portions of the Software.
-*
-* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-*         AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-* SOFTWARE.*/
-
-/**
- * @file gazebo_state_ground_truth.h
- * @author Ignat Georgiev <ignat.m.georgiev@gmail.com>
- * @date Dec 05, 2019
- * @copyright 2019 Edinburgh University Formula Student (EUFS)
- * @brief ground truth state Gazebo plugin
- *
- * @details Provides ground truth state in simulation in the form of nav_msgs/Odometry and
- * eufs_msgs/CarState. Additionally can publish transform.
- **/
-
-#ifndef GAZEBO_STATE_GROUND_TRUTH
-#define GAZEBO_STATE_GROUND_TRUTH
-
-#include <boost/thread.hpp>
-#include <boost/thread/mutex.hpp>
-
-#include <ros/ros.h>
-#include <nav_msgs/Odometry.h>
-#include <eufs_msgs/CarState.h>
-#include <geometry_msgs/TransformStamped.h>
-#include <tf2/convert.h>
-#include <tf2_ros/transform_broadcaster.h>
-
-#include <ros/callback_queue.h>
-#include <ros/advertise_options.h>
-
-#include <gazebo/physics/physics.hh>
-#include <gazebo/transport/TransportTypes.hh>
-#include <gazebo/common/Time.hh>
-#include <gazebo/common/Plugin.hh>
-#include <gazebo/common/Events.hh>
-
-#include <gazebo_plugins/PubQueue.h>
-
-namespace gazebo {
-
-/**
-* @class GazeboStateGroundTruth
-* @brief Provides ground truth state in simulation in the form of nav_msgs/Odometry and
-* eufs_msgs/CarState. Additionally can publish transform.
-*/
-class GazeboStateGroundTruth : public ModelPlugin {
-
- public:
-  GazeboStateGroundTruth();     /// @brief Construction
-  virtual ~GazeboStateGroundTruth();    /// @brief Destructor
-
-  /// @brief Load the controller (i.e. plugin)
-  void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
-
- protected:
-  /// @brief Update the controller (i.e. plugin). This is called periodically by Gazebo
-  virtual void UpdateChild();
-
- private:
-  /// @brief for setting ROS name space
-  std::string robot_namespace_;
-
-  /// @brief Control rate
-  double update_rate_;
-
-  /// @brief Pointer to the update event connection
-  event::ConnectionPtr update_connection_;
-
-  /// @brief ROS publish multi queue, prevents publish() blocking
-  PubMultiQueue pmq;
-
-  /// @brief the Gazeo world we're operating in
-  physics::WorldPtr world_;
-
-  /// @brief the model to which this plugin points
-  physics::ModelPtr model_;
-
-  /// @brief The link of the robot
-  physics::LinkPtr robot_link_;
-  std::string robot_link_name_;
-
-  /// @brief The frame in which to publish data
-  physics::LinkPtr reference_link_;
-
-  /// @brief pointer to ros node. In gazebo all plugins operate under the same node
-  ros::NodeHandle *rosnode_;
-
-  /// @brief nav_msgs/Odometry publisher
-  ros::Publisher odom_pub_;
-
-  /// @brief eufs_msgs/CarState publisher
-  ros::Publisher state_pub_;
-
-  /// \brief topic name for nav_msgs/Odometry
-  std::string odom_topic_name_;
-
-  /// \brief topic name for eufs_msgs/CarState
-  std::string state_topic_name_;
-
-  /// @brief queue for nav_msgs/Odometry messages
-  PubQueue<nav_msgs::Odometry>::Ptr odom_pub_queue_;
-
-  /// @brief queue for eufs_msgs/CarState messages
-  PubQueue<eufs_msgs::CarState>::Ptr state_pub_queue_;
-
-  /// @brief message to be published. Private variable to save computation.
-  nav_msgs::Odometry odom_msg_;
-
-  /// @brief message to be published. Private variable to save computation.
-  eufs_msgs::CarState state_msg_;
-
-  /// @brief queues for messages to be publishes
-  ros::CallbackQueue odom_queue_, state_queue_;
-
-  /// @brief threads for publishing messages
-  boost::thread odom_queue_thread_, state_queue_thread_;
-
-  // Noise parameters
-  std::vector<double> position_noise_;
-  std::vector<double> orientation_noise_;
-  std::vector<double> orientation_quat_noise_;
-  std::vector<double> linear_velocity_noise_;
-  std::vector<double> angular_velocity_noise_;
-  std::vector<double> linear_acceleration_noise_;
-
-  /// @brief reference frame transform name, should match link name
-  std::string frame_name_;
-
-  /// @brief if true publishes transform
-  bool publish_tf_;
-
-  tf2_ros::TransformBroadcaster tf_broadcaster_;
-
-  /// @brief Offset for initialising the plugin
-  bool got_offset_;
-  ignition::math::Pose3d offset_;
-
-  /// @brief mutex to lock access to fields used in message callbacks
-  boost::mutex lock;
-
-  /// @brief save last_time
-  common::Time last_time_;
-
-  // Phyiscal properties from the simulation
-  ignition::math::Vector3d last_vpos_;
-  ignition::math::Vector3d last_veul_;
-  ignition::math::Vector3d apos_;
-  ignition::math::Vector3d aeul_;
-  ignition::math::Vector3d last_frame_vpos_;
-  ignition::math::Vector3d last_frame_veul_;
-  ignition::math::Vector3d frame_apos_;
-  ignition::math::Vector3d frame_aeul_;
-
-  /// @brief Random seed
-  unsigned int seed;
-
-  /// @brief Gaussian noise generator
-  double GaussianKernel(double mu, double sigma);
-
-  /// @brief Publishes a transfrom derived from the nav_msgs/Odometry input
-  void PublishTransform(const nav_msgs::Odometry &odom_msg);
-
-  /// @brief Converts an euler orientation to quaternion
-  std::vector<double> ToQuaternion(std::vector<double> &euler);
-
-  /// @brief Threaded queue to publish nav_msgs/Odometry messages
-  void OdomQueueThread();
-
-  /// @brief Threaded queue to publish eufs_msgs/CarState messages
-  void StateQueueThread();
-};
-}
-#endif
\ No newline at end of file
diff --git a/eufs_gazebo_plugins/package.xml b/eufs_gazebo_plugins/package.xml
deleted file mode 100644
index dd9be9530cdf83e8ababd36c052a9656961771bd..0000000000000000000000000000000000000000
--- a/eufs_gazebo_plugins/package.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-    <name>eufs_gazebo_plugins</name>
-    <version>1.0.0</version>
-    <description>Gazebo plugins for Formula Student simulations</description>
-
-    <maintainer email="info@eufs.co">EUFS</maintainer>
-    <license>MIT</license>
-    <author>EUFS</author>
-
-    <buildtool_depend>catkin</buildtool_depend>
-
-    <depend>gazebo_dev</depend>
-    <depend>gazebo_msgs</depend>
-    <depend>gazebo_plugins</depend>
-    <depend>geometry_msgs</depend>
-    <depend>roscpp</depend>
-    <depend>nodelet</depend>
-    <depend>nav_msgs</depend>
-    <depend>eufs_msgs</depend>
-    <depend>tf2_ros</depend>
-    <depend>std_msgs</depend>
-
-    <build_depend>message_generation</build_depend>
-    <exec_depend>message_runtime</exec_depend>
-
-    <test_depend>rostest</test_depend>
-
-</package>
\ No newline at end of file
diff --git a/eufs_gazebo_plugins/src/gazebo_cone_ground_truth.cpp b/eufs_gazebo_plugins/src/gazebo_cone_ground_truth.cpp
deleted file mode 100644
index 11632d12619c691f5e6a6cd1ba1eabdf347b0e9a..0000000000000000000000000000000000000000
--- a/eufs_gazebo_plugins/src/gazebo_cone_ground_truth.cpp
+++ /dev/null
@@ -1,391 +0,0 @@
-/*MIT License
-*
-* Copyright (c) 2019 Edinburgh University Formula Student (EUFS)
-*
-* Permission is hereby granted, free of charge, to any person obtaining a copy
-*         of this software and associated documentation files (the "Software"), to deal
-* in the Software without restriction, including without limitation the rights
-*         to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-*         copies of the Software, and to permit persons to whom the Software is
-* furnished to do so, subject to the following conditions:
-*
-* The above copyright notice and this permission notice shall be included in all
-*         copies or substantial portions of the Software.
-*
-* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-*         AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-* SOFTWARE.*/
-
-/**
- * @file gazebo_cone_ground_truth.cpp
- * @author Niklas Burggraaff <s1902977@ed.ac.uk>
- * @date Mar 10, 2020
- * @copyright 2020 Edinburgh University Formula Student (EUFS)
- * @brief ground truth cone Gazebo plugin
- *
- * @details Provides ground truth cones in simulation in the form of `eufs_msgs/ConeArray`.
- * Can also simulate the perception stack by publishing cones with noise.
- **/
-
-#include "../include/eufs_gazebo_plugins/gazebo_cone_ground_truth.h"
-
-namespace gazebo {
-
-  GZ_REGISTER_MODEL_PLUGIN(GazeboConeGroundTruth)
-
-  GazeboConeGroundTruth::GazeboConeGroundTruth() {
-    this->seed = 0;
-  }
-
-  // Gazebo plugin functions
-
-  void GazeboConeGroundTruth::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) {
-#if GAZEBO_MAJOR_VERSION >= 8
-    this->track_model = _parent->GetWorld()->ModelByName("track");
-#else
-    this->track_model = _parent->GetWorld()->GetModel("track");
-#endif
-    this->car_link = _parent->GetLink("base_footprint");
-
-    this->update_rate_ = getDoubleParameter(_sdf, "updateRate", 0, "0.0 (as fast as possible)");
-
-    this->view_distance = getDoubleParameter(_sdf, "viewDistance", 15, "15");
-    this->fov = getDoubleParameter(_sdf, "fov", 1.91986, "1.91986  (120 degrees)");
-
-    this->cone_frame_ = getStringParameter(_sdf, "coneFrame", "base_footprint", "base_footprint");
-
-    this->simulate_perception_ = getBoolParameter(_sdf, "simulatePerception", false, "false");
-
-    this->perception_noise_ = getVector3dParameter(_sdf, "perceptionNoise", {0.0, 0.0, 0.0}, "0.0, 0.0, 0.0 (no noise)");
-
-    this->rosnode_ = new ros::NodeHandle("");
-
-    // Setup the publishers
-
-    // Ground truth cone publisher
-    if (!_sdf->HasElement("groundTruthConesTopicName")) {
-      ROS_FATAL_NAMED("state_ground_truth", "state_ground_truth plugin missing <groundTruthConesTopicName>, cannot proceed");
-      return;
-    } else {
-      std::string topic_name_ = _sdf->GetElement("groundTruthConesTopicName")->Get<std::string>();
-      this->ground_truth_cone_pub_ = this->rosnode_->advertise<eufs_msgs::ConeArray>(topic_name_, 1);
-    }
-
-    // Ground truth cone marker publisher
-    if (!_sdf->HasElement("groundTruthConeMarkersTopicName")) {
-      ROS_FATAL_NAMED("state_ground_truth", "state_ground_truth plugin missing <groundTruthConeMarkersTopicName>, cannot proceed");
-      return;
-    } else {
-      std::string topic_name_ = _sdf->GetElement("groundTruthConeMarkersTopicName")->Get<std::string>();
-      this->ground_truth_cone_marker_pub_ = this->rosnode_->advertise<visualization_msgs::MarkerArray>(topic_name_, 1);
-    }
-
-    if (simulate_perception_) {
-      // Camera cone publisher
-      if (!_sdf->HasElement("perceptionConesTopicName")) {
-        ROS_FATAL_NAMED("state_ground_truth",
-                        "state_ground_truth plugin missing <perceptionConesTopicName>, cannot proceed");
-        return;
-      } else {
-        std::string topic_name_ = _sdf->GetElement("perceptionConesTopicName")->Get<std::string>();
-        this->perception_cone_pub_ = this->rosnode_->advertise<eufs_msgs::ConeArray>(topic_name_, 1);
-      }
-
-      // Camera cone marker publisher
-      if (!_sdf->HasElement("perceptionConeMarkersTopicName")) {
-        ROS_FATAL_NAMED("state_ground_truth",
-                        "state_ground_truth plugin missing <perceptionConeMarkersTopicName>, cannot proceed");
-        return;
-      } else {
-        std::string topic_name_ = _sdf->GetElement("perceptionConeMarkersTopicName")->Get<std::string>();
-        this->perception_cone_marker_pub_ = this->rosnode_->advertise<visualization_msgs::MarkerArray>(topic_name_, 1);
-      }
-    }
-
-    this->update_connection_ = event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboConeGroundTruth::UpdateChild, this));
-  }
-
-  void GazeboConeGroundTruth::UpdateChild() {
-    // Check if it is time to pubilsh new data
-    if (ros::Time::now().toSec() - time_last_published.toSec() < (1.0 / this->update_rate_)) {
-      return;
-    }
-
-    // Update the time (This is here so that the time to publish all the messages does not affect the update rate)
-    this->time_last_published = ros::Time::now();
-
-    // Check if there is a reason to publish the data
-    if (this->ground_truth_cone_pub_.getNumSubscribers() == 0 && this->ground_truth_cone_marker_pub_.getNumSubscribers() == 0
-        && this->perception_cone_pub_.getNumSubscribers() == 0 && this->perception_cone_marker_pub_.getNumSubscribers() == 0) {
-      ROS_DEBUG_NAMED("cone_ground_truth", "Nobody is listening to cone_ground_truth. Doing nothing");
-      return;
-    }
-
-#if GAZEBO_MAJOR_VERSION >= 8
-    this->car_pos = this->car_link->WorldPose();
-#else
-    this->car_pos = this->car_link->GetWorldPose().Ign();
-#endif
-
-    eufs_msgs::ConeArray ground_truth_cone_array_message;
-
-    // Publish the ground truth if it has subscribers
-    if (this->ground_truth_cone_pub_.getNumSubscribers() > 0 || this->ground_truth_cone_marker_pub_.getNumSubscribers() > 0) {
-      ground_truth_cone_array_message = getConeArrayMessage();
-      visualization_msgs::MarkerArray ground_truth_cone_marker_array_message = getConeMarkerArrayMessage(ground_truth_cone_array_message);
-
-      this->ground_truth_cone_pub_.publish(ground_truth_cone_array_message);
-      this->ground_truth_cone_marker_pub_.publish(ground_truth_cone_marker_array_message);
-    } else if (this->simulate_perception_ && (this->perception_cone_pub_.getNumSubscribers() > 0 || this->perception_cone_marker_pub_.getNumSubscribers() > 0)) {
-      ground_truth_cone_array_message = getConeArrayMessage();
-    }
-
-    // Publish the simulated perception cones if it has subscribers
-    if (this->simulate_perception_ && (this->perception_cone_pub_.getNumSubscribers() > 0 || this->perception_cone_marker_pub_.getNumSubscribers() > 0)) {
-      eufs_msgs::ConeArray perception_cone_array_message = getConeArrayMessageWithNoise(ground_truth_cone_array_message, perception_noise_);
-      visualization_msgs::MarkerArray perception_cone_marker_array_message = getConeMarkerArrayMessage(perception_cone_array_message);
-
-      this->perception_cone_pub_.publish(perception_cone_array_message);
-      this->perception_cone_marker_pub_.publish(perception_cone_marker_array_message);
-    }
-  }
-
-  // Getting the cone arrays
-
-  eufs_msgs::ConeArray GazeboConeGroundTruth::getConeArrayMessage() {
-    eufs_msgs::ConeArray ground_truth_cone_array_message;
-
-    physics::Link_V links = this->track_model->GetLinks();
-    for (unsigned int i = 0; i < links.size(); i++) {
-      addConeToConeArray(ground_truth_cone_array_message, links[i]);
-    }
-
-    processCones(ground_truth_cone_array_message.blue_cones);
-    processCones(ground_truth_cone_array_message.yellow_cones);
-    processCones(ground_truth_cone_array_message.orange_cones);
-    processCones(ground_truth_cone_array_message.big_orange_cones);
-
-    ground_truth_cone_array_message.header.frame_id = "/" + this->cone_frame_;
-    ground_truth_cone_array_message.header.stamp = ros::Time::now();
-
-    return ground_truth_cone_array_message;
-  }
-
-  void GazeboConeGroundTruth::addConeToConeArray(eufs_msgs::ConeArray &ground_truth_cone_array, physics::LinkPtr link) {
-    geometry_msgs::Point point;
-
-#if GAZEBO_MAJOR_VERSION >= 8
-    point.x = link->WorldPose().Pos().X();
-    point.y = link->WorldPose().Pos().Y();
-#else
-    point.x = link->GetWorldPose().Ign().Pos().X();
-    point.y = link->GetWorldPose().Ign().Pos().Y();
-#endif
-    point.z = 0;
-
-    ConeType cone_type = this->getConeType(link);
-
-    switch (cone_type) {
-      case ConeType::blue:
-        ground_truth_cone_array.blue_cones.push_back(point);
-        break;
-      case ConeType::yellow:
-        ground_truth_cone_array.yellow_cones.push_back(point);
-        break;
-      case ConeType::orange:
-        ground_truth_cone_array.orange_cones.push_back(point);
-        break;
-      case ConeType::big_orange:
-        ground_truth_cone_array.big_orange_cones.push_back(point);
-        break;
-    }
-  }
-
-  void GazeboConeGroundTruth::processCones(std::vector<geometry_msgs::Point> &points) {
-    std::vector<geometry_msgs::Point> points_in_view;
-
-    for (unsigned int i = 0; i < points.size(); i++) {
-      // Translate the position of the cone to be based on the car
-      float x = points[i].x - this->car_pos.Pos().X();
-      float y = points[i].y - this->car_pos.Pos().Y();
-
-      // If the cone is withing viewing distance
-      if ((x * x) + (y * y) < (view_distance * view_distance)) {
-        float yaw = this->car_pos.Rot().Yaw();
-
-        // Rotate the points using the yaw of the car (x and y are the other way around)
-        points[i].y = (cos(yaw) * y) - (sin(yaw) * x);
-        points[i].x = (sin(yaw) * y) + (cos(yaw) * x);
-
-        // Angle between the direction of the car and the cone
-        float angle = atan2(points[i].y, points[i].x);
-
-        // If the cone is inside the field of view
-        if (abs(angle) < (this->fov / 2)) {
-          points_in_view.push_back(points[i]);
-        }
-      }
-    }
-
-    points = points_in_view;
-  }
-
-  GazeboConeGroundTruth::ConeType GazeboConeGroundTruth::getConeType(physics::LinkPtr link) {
-    std::string link_name = link->GetName();
-
-    if (link_name.substr(0, 9) == "blue_cone") {
-      return ConeType::blue;
-    }
-    if (link_name.substr(0, 11) == "yellow_cone") {
-      return ConeType::yellow;
-    }
-    if (link_name.substr(0, 11) == "orange_cone") {
-      return ConeType::orange;
-    }
-    if (link_name.substr(0, 8) == "big_cone") {
-      return ConeType::big_orange;
-    }
-
-    ROS_ERROR("Unknown link in model: %s", link_name.c_str());
-  }
-
-  // Getting the cone marker array
-
-  visualization_msgs::MarkerArray GazeboConeGroundTruth::getConeMarkerArrayMessage(eufs_msgs::ConeArray &ground_truth_cone_array_message) {
-    visualization_msgs::MarkerArray ground_truth_cone_marker_array;
-
-    int marker_id = 0;
-    marker_id = addConeMarkers(ground_truth_cone_marker_array.markers, marker_id, ground_truth_cone_array_message.blue_cones, 0.2, 0.2, 1, false);
-    marker_id = addConeMarkers(ground_truth_cone_marker_array.markers, marker_id, ground_truth_cone_array_message.yellow_cones, 1, 1, 0, false);
-    marker_id = addConeMarkers(ground_truth_cone_marker_array.markers, marker_id, ground_truth_cone_array_message.orange_cones, 1, 0.549, 0, false);
-    marker_id = addConeMarkers(ground_truth_cone_marker_array.markers, marker_id, ground_truth_cone_array_message.big_orange_cones, 1, 0.271, 0, true);
-
-    return ground_truth_cone_marker_array;
-  }
-
-  int GazeboConeGroundTruth::addConeMarkers(std::vector<visualization_msgs::Marker> &marker_array, int marker_id, std::vector<geometry_msgs::Point> cones, float red, float green, float blue, bool big) {
-    int id = marker_id;
-    for (int i = 0; i < cones.size(); i++) {
-      visualization_msgs::Marker marker;
-
-      marker.header.stamp = ros::Time::now();
-      marker.header.frame_id = "/base_footprint";
-
-      marker.id = id;
-
-      marker.type = marker.MESH_RESOURCE;
-      marker.action = marker.ADD;
-
-      marker.pose.position.x = cones[i].x;
-      marker.pose.position.y = cones[i].y;
-
-      marker.scale.x = 1.5;
-      marker.scale.y = 1.5;
-      marker.scale.z = 1.5;
-
-      if (big) {
-        marker.mesh_resource = "package://eufs_description/meshes/cone_big.dae";
-      } else {
-        marker.mesh_resource = "package://eufs_description/meshes/cone.dae";
-      }
-
-      marker.color.r = red;
-      marker.color.g = green;
-      marker.color.b = blue;
-      marker.color.a = 1.0;
-
-      marker.lifetime = ros::Duration(0.2);
-
-      marker_array.push_back(marker);
-
-      id++;
-    }
-    return id;
-  }
-
-
-  // Add noise to the cone arrays
-  eufs_msgs::ConeArray GazeboConeGroundTruth::getConeArrayMessageWithNoise(eufs_msgs::ConeArray &ground_truth_cone_array_message, ignition::math::Vector3d noise) {
-    eufs_msgs::ConeArray cone_array_message_with_noise = ground_truth_cone_array_message;
-
-    addNoiseToConeArray(cone_array_message_with_noise.blue_cones, noise);
-    addNoiseToConeArray(cone_array_message_with_noise.yellow_cones, noise);
-    addNoiseToConeArray(cone_array_message_with_noise.orange_cones, noise);
-    addNoiseToConeArray(cone_array_message_with_noise.big_orange_cones, noise);
-
-    cone_array_message_with_noise.header.frame_id = "/" + this->cone_frame_;
-    cone_array_message_with_noise.header.stamp = ros::Time::now();
-
-    return cone_array_message_with_noise;
-  }
-
-  void GazeboConeGroundTruth::addNoiseToConeArray(std::vector<geometry_msgs::Point> &cone_array, ignition::math::Vector3d noise) {
-    for (unsigned int i = 0; i < cone_array.size(); i++) {
-      cone_array[i].x += GaussianKernel(0, noise.X());
-      cone_array[i].y += GaussianKernel(0, noise.Y());
-    }
-  }
-
-  double GazeboConeGroundTruth::GaussianKernel(double mu, double sigma) {
-    // using Box-Muller transform to generate two independent standard
-    // normally distributed normal variables see wikipedia
-
-    // normalized uniform random variable
-    double U = static_cast<double>(rand_r(&this->seed)) /
-               static_cast<double>(RAND_MAX);
-
-    // normalized uniform random variable
-    double V = static_cast<double>(rand_r(&this->seed)) /
-               static_cast<double>(RAND_MAX);
-
-    double X = sqrt(-2.0 * ::log(U)) * cos(2.0 * M_PI * V);
-    // double Y = sqrt(-2.0 * ::log(U)) * sin(2.0*M_PI * V);
-
-    // there are 2 indep. vars, we'll just use X
-    // scale to our mu and sigma
-    X = sigma * X + mu;
-    return X;
-  }
-
-  // Helper function for parameters
-  bool GazeboConeGroundTruth::getBoolParameter(sdf::ElementPtr _sdf, const char* element, bool default_value, const char* default_description) {
-    if (!_sdf->HasElement(element)) {
-      ROS_DEBUG_NAMED("cone_ground_truth", "state_ground_truth plugin missing <%s>, defaults to %s", element, default_description);
-      return default_value;
-    } else {
-      return  _sdf->GetElement(element)->Get<bool>();
-    }
-  }
-
-  double GazeboConeGroundTruth::getDoubleParameter(sdf::ElementPtr _sdf, const char* element, double default_value, const char* default_description) {
-    if (!_sdf->HasElement(element)) {
-      ROS_DEBUG_NAMED("cone_ground_truth", "state_ground_truth plugin missing <%s>, defaults to %s", element, default_description);
-      return default_value;
-    } else {
-      return  _sdf->GetElement(element)->Get<double>();
-    }
-  }
-
-  std::string GazeboConeGroundTruth::getStringParameter(sdf::ElementPtr _sdf, const char* element, std::string default_value, const char* default_description) {
-    if (!_sdf->HasElement(element)) {
-      ROS_DEBUG_NAMED("cone_ground_truth", "state_ground_truth plugin missing <%s>, defaults to %s", element, default_description);
-      return default_value;
-    } else {
-      return  _sdf->GetElement(element)->Get<std::string>();
-    }
-  }
-
-  ignition::math::Vector3d GazeboConeGroundTruth::getVector3dParameter(sdf::ElementPtr _sdf, const char* element, ignition::math::Vector3d default_value, const char* default_description) {
-    if (!_sdf->HasElement(element)) {
-      ROS_DEBUG_NAMED("cone_ground_truth", "state_ground_truth plugin missing <%s>, defaults to %s", element, default_description);
-      return default_value;
-    } else {
-      return  _sdf->GetElement(element)->Get<ignition::math::Vector3d>();
-    }
-  }
-
-}
\ No newline at end of file
diff --git a/eufs_gazebo_plugins/src/gazebo_state_ground_truth.cpp b/eufs_gazebo_plugins/src/gazebo_state_ground_truth.cpp
deleted file mode 100644
index b1435a231758a24057a442f31a661f7a003a33f3..0000000000000000000000000000000000000000
--- a/eufs_gazebo_plugins/src/gazebo_state_ground_truth.cpp
+++ /dev/null
@@ -1,526 +0,0 @@
-/*MIT License
-*
-* Copyright (c) 2019 Edinburgh University Formula Student (EUFS)
-*
-* Permission is hereby granted, free of charge, to any person obtaining a copy
-*         of this software and associated documentation files (the "Software"), to deal
-* in the Software without restriction, including without limitation the rights
-*         to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-*         copies of the Software, and to permit persons to whom the Software is
-* furnished to do so, subject to the following conditions:
-*
-* The above copyright notice and this permission notice shall be included in all
-*         copies or substantial portions of the Software.
-*
-* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-*         AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-* SOFTWARE.*/
-
-/**
- * @file gazebo_state_ground_truth.cpp
- * @author Ignat Georgiev <ignat.m.georgiev@gmail.com>
- * @date Dec 05, 2019
- * @copyright 2019 Edinburgh University Formula Student (EUFS)
- * @brief ground truth state Gazebo plugin
- *
- * @details Provides ground truth state in simulation in the form of nav_msgs/Odometry and
- * eufs_msgs/CarState. Additionally can publish transform.
- **/
-
-#include "eufs_gazebo_plugins/gazebo_state_ground_truth.hpp"
-
-namespace gazebo {
-GZ_REGISTER_MODEL_PLUGIN(GazeboStateGroundTruth);
-
-GazeboStateGroundTruth::GazeboStateGroundTruth() {
-  this->seed = 0;
-}
-
-GazeboStateGroundTruth::~GazeboStateGroundTruth() {
-  this->update_connection_.reset();
-  this->rosnode_->shutdown();
-  this->odom_queue_.clear();
-  this->odom_queue_.disable();
-  this->odom_queue_thread_.join();
-  this->state_queue_.clear();
-  this->state_queue_.disable();
-  this->state_queue_thread_.join();
-  delete this->rosnode_;
-}
-
-void GazeboStateGroundTruth::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) {
-  // Get the world name.
-  this->world_ = _parent->GetWorld();
-  this->model_ = _parent;
-
-  // load parameters
-  this->robot_namespace_ = "";
-  if (_sdf->HasElement("robotNamespace"))
-    this->robot_namespace_ =
-        _sdf->GetElement("robotNamespace")->Get<std::string>() + "/";
-
-  if (!_sdf->HasElement("robotFrame")) {
-    ROS_FATAL_NAMED("state_ground_truth", "state_ground_truth plugin missing <robotFrame>, cannot proceed");
-    return;
-  } else
-    this->robot_link_name_ = _sdf->GetElement("robotFrame")->Get<std::string>();
-
-  this->robot_link_ = _parent->GetLink(this->robot_link_name_);
-  if (!this->robot_link_) {
-    ROS_FATAL_NAMED("state_ground_truth", "state_ground_truth plugin error: robotFrame: %s does not exist\n",
-                    this->robot_link_name_.c_str());
-    return;
-  }
-
-  if (!_sdf->HasElement("referenceFrame")) {
-    ROS_DEBUG_NAMED("state_ground_truth", "state_ground_truth plugin missing <referenceFrame>, defaults to map");
-    this->frame_name_ = "map";
-  } else
-    this->frame_name_ = _sdf->GetElement("referenceFrame")->Get<std::string>();
-
-  if (!_sdf->HasElement("publishTransform")) {
-    ROS_DEBUG_NAMED("state_ground_truth", "state_ground_truth plugin missing <publishTransform>, defaults to false");
-    this->publish_tf_ = false;
-  } else
-    this->publish_tf_ = _sdf->GetElement("publishTransform")->Get<bool>();
-
-  if (!_sdf->HasElement("odometryTopicName")) {
-    ROS_FATAL_NAMED("state_ground_truth", "state_ground_truth plugin missing <odometryTopicName>, cannot proceed");
-    return;
-  } else
-    this->odom_topic_name_ = _sdf->GetElement("odometryTopicName")->Get<std::string>();
-
-  if (!_sdf->HasElement("stateTopicName")) {
-    ROS_FATAL_NAMED("state_ground_truth", "state_ground_truth plugin missing <carStateTopicName>, cannot proceed");
-    return;
-  } else
-    this->state_topic_name_ = _sdf->GetElement("stateTopicName")->Get<std::string>();
-
-  if (!_sdf->HasElement("positionNoise")) {
-    ROS_DEBUG_NAMED("state_ground_truth",
-                    "state_ground_truth plugin missing <positionNoise>, defaults to 0.0, 0.0, 0.0");
-    this->position_noise_ = {0.0, 0.0, 0.0};
-  } else {
-    auto temp = _sdf->GetElement("positionNoise")->Get<ignition::math::Vector3d>();
-    this->position_noise_ = {temp.X(), temp.Y(), temp.Z()};
-  }
-
-  if (this->position_noise_.size() != 3)
-    ROS_FATAL_NAMED("state_ground_truth", "positionNoise parameter vector is not of size 3");
-
-  if (!_sdf->HasElement("orientationNoise")) {
-    ROS_DEBUG_NAMED("state_ground_truth",
-                    "state_ground_truth plugin missing <orientationNoise>, defaults to 0.0, 0.0, 0.0");
-    this->orientation_noise_ = {0.0, 0.0, 0.0};
-  } else {
-    auto temp = _sdf->GetElement("orientationNoise")->Get<ignition::math::Vector3d>();
-    this->orientation_noise_ = {temp.X(), temp.Y(), temp.Z()};
-  }
-
-  if (this->orientation_noise_.size() != 3)
-    ROS_FATAL_NAMED("state_ground_truth", "orientationNoise parameter vector is not of size 3");
-
-  // convert orientation to quaternion
-  this->orientation_quat_noise_ = this->ToQuaternion(this->orientation_noise_);
-
-  if (!_sdf->HasElement("linearVelocityNoise")) {
-    ROS_DEBUG_NAMED("state_ground_truth",
-                    "state_ground_truth plugin missing <linearVelocityNoise>, defaults to 0.0, 0.0, 0.0");
-    this->linear_velocity_noise_ = {0.0, 0.0, 0.0};
-  } else {
-    auto temp = _sdf->GetElement("linearVelocityNoise")->Get<ignition::math::Vector3d>();
-    this->linear_velocity_noise_ = {temp.X(), temp.Y(), temp.Z()};
-  }
-
-  if (this->linear_velocity_noise_.size() != 3)
-    ROS_FATAL_NAMED("state_ground_truth", "linearVelocityNoise parameter vector is not of size 3");
-
-  if (!_sdf->HasElement("angularVelocityNoise")) {
-    ROS_DEBUG_NAMED("state_ground_truth",
-                    "state_ground_truth plugin missing <angularVelocityNoise>, defaults to 0.0, 0.0, 0.0");
-    this->angular_velocity_noise_ = {0.0, 0.0, 0.0};
-  } else {
-    auto temp = _sdf->GetElement("angularVelocityNoise")->Get<ignition::math::Vector3d>();
-    this->angular_velocity_noise_ = {temp.X(), temp.Y(), temp.Z()};
-  }
-
-  if (this->angular_velocity_noise_.size() != 3)
-    ROS_FATAL_NAMED("state_ground_truth", "angularVelocityNoise parameter vector is not of size 3");
-
-  if (!_sdf->HasElement("linearAccelerationNoise")) {
-    ROS_DEBUG_NAMED("state_ground_truth",
-                    "state_ground_truth plugin missing <linearAccelerationNoise>, defaults to 0.0, 0.0, 0.0");
-    this->linear_acceleration_noise_ = {0.0, 0.0, 0.0};
-  } else {
-    auto temp = _sdf->GetElement("linearAccelerationNoise")->Get<ignition::math::Vector3d>();
-    this->linear_acceleration_noise_ = {temp.X(), temp.Y(), temp.Z()};
-  }
-
-  if (this->linear_acceleration_noise_.size() != 3)
-    ROS_FATAL_NAMED("state_ground_truth", "linearAccelerationNoise parameter vector is not of size 3");
-
-  if (!_sdf->HasElement("updateRate")) {
-    ROS_DEBUG_NAMED("state_ground_truth", "state_ground_truth plugin missing <updateRate>, defaults to 0.0"
-                                          " (as fast as possible)");
-    this->update_rate_ = 0;
-  } else
-    this->update_rate_ = _sdf->GetElement("updateRate")->Get<double>();
-
-  // Initialise the static fields of publishes messages
-  this->odom_msg_.header.frame_id = this->frame_name_;
-  this->odom_msg_.child_frame_id = this->robot_link_name_;
-  this->state_msg_.header.frame_id = this->frame_name_;
-  this->state_msg_.child_frame_id = this->robot_link_name_;
-
-  // Make sure the ROS node for Gazebo has already been initialized
-  if (!ros::isInitialized()) {
-    ROS_FATAL_STREAM_NAMED("state_ground_truth",
-                           "A ROS node for Gazebo has not been initialized, unable to load plugin. "
-                               << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
-    return;
-  }
-
-  this->rosnode_ = new ros::NodeHandle(this->robot_namespace_);
-
-  // publish multi queue
-  this->pmq.startServiceThread();
-
-  // resolve tf prefix
-  std::string prefix;
-  this->rosnode_->getParam(std::string("tf_prefix"), prefix);
-
-  if (this->odom_topic_name_ != "" && this->state_topic_name_ != "") {
-    this->odom_pub_queue_ = this->pmq.addPub<nav_msgs::Odometry>();
-    this->state_pub_queue_ = this->pmq.addPub<eufs_msgs::CarState>();
-    this->odom_pub_ = this->rosnode_->advertise<nav_msgs::Odometry>(this->odom_topic_name_, 1);
-    this->state_pub_ = this->rosnode_->advertise<eufs_msgs::CarState>(this->state_topic_name_, 1);
-  }
-
-#if GAZEBO_MAJOR_VERSION >= 8
-  this->last_time_ = this->world_->SimTime();
-#else
-  this->last_time_ = this->world_->GetSimTime();
-#endif
-  // initialize body
-#if GAZEBO_MAJOR_VERSION >= 8
-  this->last_vpos_ = this->robot_link_->WorldLinearVel();
-  this->last_veul_ = this->robot_link_->WorldAngularVel();
-#else
-  this->last_vpos_ = this->robot_link_->GetWorldLinearVel().Ign();
-  this->last_veul_ = this->robot_link_->GetWorldAngularVel().Ign();
-#endif
-  this->apos_ = 0;
-  this->aeul_ = 0;
-
-  // if frameName specified is "/world", "world", "/map" or "map" report
-  // back inertial values in the gazebo world
-  if (this->frame_name_ != "/world" &&
-      this->frame_name_ != "world" &&
-      this->frame_name_ != "/map" &&
-      this->frame_name_ != "map") {
-    this->reference_link_ = this->model_->GetLink(this->frame_name_);
-    if (!this->reference_link_) {
-      ROS_ERROR_NAMED("state_ground_truth", "state_ground_truth plugin: frameName: %s does not exist, will"
-                                            " not publish pose\n", this->frame_name_.c_str());
-      return;
-    }
-  }
-
-  // init reference frame state
-  if (this->reference_link_) {
-    ROS_DEBUG_NAMED("state_ground_truth", "got body %s", this->reference_link_->GetName().c_str());
-    this->frame_apos_ = 0;
-    this->frame_aeul_ = 0;
-#if GAZEBO_MAJOR_VERSION >= 8
-    this->last_frame_vpos_ = this->reference_link_->WorldLinearVel();
-    this->last_frame_veul_ = this->reference_link_->WorldAngularVel();
-#else
-    this->last_frame_vpos_ = this->reference_link_->GetWorldLinearVel().Ign();
-    this->last_frame_veul_ = this->reference_link_->GetWorldAngularVel().Ign();
-#endif
-  }
-
-  // start custom queue for p3d
-  this->odom_queue_thread_ = boost::thread(
-      boost::bind(&GazeboStateGroundTruth::OdomQueueThread, this));
-
-  this->state_queue_thread_ = boost::thread(
-      boost::bind(&GazeboStateGroundTruth::StateQueueThread, this));
-
-  // New Mechanism for Updating every World Cycle
-  // Listen to the update event. This event is broadcast every
-  // simulation iteration.
-  this->update_connection_ = event::Events::ConnectWorldUpdateBegin(
-      boost::bind(&GazeboStateGroundTruth::UpdateChild, this));
-}
-
-// Update the controller
-void GazeboStateGroundTruth::UpdateChild() {
-
-  if (!this->robot_link_)
-    return;
-
-  if (!this->got_offset_) {
-    // init reference position (aka. offset)
-#if GAZEBO_MAJOR_VERSION >= 8
-    this->offset_ = this->robot_link_->WorldPose();
-#else
-    this->offset_ = this->robot_link_->GetWorldPose().Ign();
-#endif
-    ROS_DEBUG_NAMED("state_ground_truth",
-                    "Got starting offset %f %f %f",
-                    this->offset_.Pos()[0],
-                    this->offset_.Pos()[1],
-                    this->offset_.Pos()[2]);
-    this->got_offset_ = true;
-  }
-
-#if GAZEBO_MAJOR_VERSION >= 8
-  common::Time cur_time = this->world_->SimTime();
-#else
-  common::Time cur_time = this->world_->GetSimTime();
-#endif
-
-  if (cur_time < this->last_time_) {
-    ROS_WARN_NAMED("p3d", "Negative update time difference detected.");
-    this->last_time_ = cur_time;
-  }
-
-  // rate control
-  if (this->update_rate_ > 0 &&
-      (cur_time - this->last_time_).Double() < (1.0 / this->update_rate_))
-    return;
-
-  if (this->odom_pub_.getNumSubscribers() > 0 || this->state_pub_.getNumSubscribers() > 0 || this->publish_tf_) {
-    // differentiate to get accelerations
-    double tmp_dt = cur_time.Double() - this->last_time_.Double();
-    if (tmp_dt != 0) {
-      this->lock.lock();
-
-      if (this->odom_topic_name_ != "") {
-        // copy data into pose message
-        this->odom_msg_.header.stamp.nsec = cur_time.nsec;
-        this->odom_msg_.header.stamp.sec = cur_time.sec;
-
-        ignition::math::Pose3d pose, frame_pose;
-        ignition::math::Vector3d frame_vpos;
-        ignition::math::Vector3d frame_veul;
-
-        // get inertial Rates
-        // Get Pose/Orientation
-#if GAZEBO_MAJOR_VERSION >= 8
-        ignition::math::Vector3d vpos = this->robot_link_->WorldLinearVel();
-        ignition::math::Vector3d veul = this->robot_link_->WorldAngularVel();
-        pose = this->robot_link_->WorldPose();
-#else
-        ignition::math::Vector3d vpos = this->robot_link_->GetWorldLinearVel().Ign();
-        ignition::math::Vector3d veul = this->robot_link_->GetWorldAngularVel().Ign();
-        pose = this->robot_link_->GetWorldPose().Ign();
-#endif
-
-        // Apply Reference Frame
-        if (this->reference_link_) {
-          // convert to relative pose, rates
-#if GAZEBO_MAJOR_VERSION >= 8
-          frame_pose = this->reference_link_->WorldPose();
-          frame_vpos = this->reference_link_->WorldLinearVel();
-          frame_veul = this->reference_link_->WorldAngularVel();
-#else
-          frame_pose = this->reference_link_->GetWorldPose().Ign();
-          frame_vpos = this->reference_link_->GetWorldLinearVel().Ign();
-          frame_veul = this->reference_link_->GetWorldAngularVel().Ign();
-#endif
-          pose.Pos() = pose.Pos() - frame_pose.Pos();
-          pose.Pos() = frame_pose.Rot().RotateVectorReverse(pose.Pos());
-          pose.Rot() *= frame_pose.Rot().Inverse();
-
-          vpos = frame_pose.Rot().RotateVector(vpos - frame_vpos);
-          veul = frame_pose.Rot().RotateVector(veul - frame_veul);
-        }
-
-        // Apply Constant Offsets
-        pose -= this->offset_;
-
-        // compute accelerations
-        this->apos_ = (this->last_vpos_ - vpos) / tmp_dt;
-        this->aeul_ = (this->last_veul_ - veul) / tmp_dt;
-        this->last_vpos_ = vpos;
-        this->last_veul_ = veul;
-
-        this->frame_apos_ = (this->last_frame_vpos_ - frame_vpos) / tmp_dt;
-        this->frame_aeul_ = (this->last_frame_veul_ - frame_veul) / tmp_dt;
-        this->last_frame_vpos_ = frame_vpos;
-        this->last_frame_veul_ = frame_veul;
-
-        // Create nav_msgs/Odometry . It is always needed
-        this->odom_msg_.pose.pose.position.x = pose.Pos().X() + this->GaussianKernel(0, this->position_noise_[0]);
-        this->odom_msg_.pose.pose.position.y = pose.Pos().Y() + this->GaussianKernel(0, this->position_noise_[1]);
-        this->odom_msg_.pose.pose.position.z = pose.Pos().Z() + this->GaussianKernel(0, this->position_noise_[2]);
-
-        this->odom_msg_.pose.pose.orientation.x = pose.Rot().X() + this->GaussianKernel(0, this->orientation_noise_[0]);
-        this->odom_msg_.pose.pose.orientation.y = pose.Rot().Y() + this->GaussianKernel(0, this->orientation_noise_[1]);
-        this->odom_msg_.pose.pose.orientation.z = pose.Rot().Z() + this->GaussianKernel(0, this->orientation_noise_[2]);
-        this->odom_msg_.pose.pose.orientation.w = pose.Rot().W() + this->GaussianKernel(0, this->orientation_noise_[3]);
-
-        this->odom_msg_.twist.twist.linear.x = vpos.X() +
-            this->GaussianKernel(0, this->linear_velocity_noise_[0]);
-        this->odom_msg_.twist.twist.linear.y = vpos.Y() +
-            this->GaussianKernel(0, this->linear_velocity_noise_[1]);
-        this->odom_msg_.twist.twist.linear.z = vpos.Z() +
-            this->GaussianKernel(0, this->linear_velocity_noise_[2]);
-        this->odom_msg_.twist.twist.angular.x = veul.X() +
-            this->GaussianKernel(0, this->angular_velocity_noise_[0]);
-        this->odom_msg_.twist.twist.angular.y = veul.Y() +
-            this->GaussianKernel(0, this->angular_velocity_noise_[1]);
-        this->odom_msg_.twist.twist.angular.z = veul.Z() +
-            this->GaussianKernel(0, this->angular_velocity_noise_[2]);
-
-        // now rotate linear velocities to correct orientation
-        auto q0 = this->odom_msg_.pose.pose.orientation.w;
-        auto q1 = this->odom_msg_.pose.pose.orientation.x;
-        auto q2 = this->odom_msg_.pose.pose.orientation.y;
-        auto q3 = this->odom_msg_.pose.pose.orientation.z;
-        auto yaw = atan2(2 * q1 * q2 + 2 * q0 * q3, q1 * q1 + q0 * q0 - q3 * q3 - q2 * q2);
-        auto new_x_vel =
-            cos(yaw) * this->odom_msg_.twist.twist.linear.x + sin(yaw) * this->odom_msg_.twist.twist.linear.y;
-        auto new_y_vel =
-            -sin(yaw) * this->odom_msg_.twist.twist.linear.x + cos(yaw) * this->odom_msg_.twist.twist.linear.y;
-        this->odom_msg_.twist.twist.linear.x = new_x_vel;
-        this->odom_msg_.twist.twist.linear.y = new_y_vel;
-
-        // fill in covariance matrix
-        this->odom_msg_.pose.covariance[0] = pow(this->position_noise_[0], 2);
-        this->odom_msg_.pose.covariance[7] = pow(this->position_noise_[1], 2);
-        this->odom_msg_.pose.covariance[14] = pow(this->position_noise_[2], 2);
-        this->odom_msg_.pose.covariance[21] = pow(this->orientation_noise_[1], 2);
-        this->odom_msg_.pose.covariance[28] = pow(this->orientation_noise_[1], 2);
-        this->odom_msg_.pose.covariance[35] = pow(this->orientation_noise_[2], 2);
-
-        this->odom_msg_.twist.covariance[0] = pow(this->linear_velocity_noise_[0], 2);
-        this->odom_msg_.twist.covariance[7] = pow(this->linear_velocity_noise_[1], 2);
-        this->odom_msg_.twist.covariance[14] = pow(this->linear_velocity_noise_[2], 2);
-        this->odom_msg_.twist.covariance[21] = pow(this->angular_velocity_noise_[0], 2);
-        this->odom_msg_.twist.covariance[28] = pow(this->angular_velocity_noise_[1], 2);
-        this->odom_msg_.twist.covariance[35] = pow(this->angular_velocity_noise_[2], 2);
-
-        // publish Odometry message only if necessary
-        if (this->odom_pub_.getNumSubscribers() > 0)
-          this->odom_pub_queue_->push(this->odom_msg_, this->odom_pub_);
-
-        // Now make a eufs_msgs/CarState message if necessary
-        if (this->state_pub_.getNumSubscribers() > 0) {
-          this->state_msg_.header.stamp = this->odom_msg_.header.stamp;
-          this->state_msg_.pose = this->odom_msg_.pose;
-          this->state_msg_.twist = this->odom_msg_.twist;
-
-          // Handle accelerations
-          this->state_msg_.linear_acceleration.x =
-              this->apos_.X() + this->GaussianKernel(0, this->linear_acceleration_noise_[0]);
-          this->state_msg_.linear_acceleration.y =
-              this->apos_.Y() + this->GaussianKernel(0, this->linear_acceleration_noise_[1]);
-          this->state_msg_.linear_acceleration.z =
-              this->apos_.Z() + this->GaussianKernel(0, this->linear_acceleration_noise_[2]);
-          this->state_msg_.linear_acceleration_covariance[0] = pow(this->linear_acceleration_noise_[0], 2);
-          this->state_msg_.linear_acceleration_covariance[4] = pow(this->linear_acceleration_noise_[1], 2);
-          this->state_msg_.linear_acceleration_covariance[8] = pow(this->linear_acceleration_noise_[2], 2);
-
-          // Calculate slip angle
-          this->state_msg_.slip_angle =
-              -atan2(this->state_msg_.twist.twist.linear.y, this->state_msg_.twist.twist.linear.x);
-
-          // Battery charge is currently not simulated so just put in incorrect values
-          this->state_msg_.state_of_charge = 99999;
-
-          // publish to ros
-          this->state_pub_queue_->push(this->state_msg_, this->state_pub_);
-        }
-
-        if (publish_tf_) {
-          this->PublishTransform(this->odom_msg_);
-        }
-      }
-
-      this->lock.unlock();
-
-      // save last time stamp
-      this->last_time_ = cur_time;
-    }
-  }
-}
-
-double GazeboStateGroundTruth::GaussianKernel(double mu, double sigma) {
-  // using Box-Muller transform to generate two independent standard
-  // normally distributed normal variables see wikipedia
-
-  // normalized uniform random variable
-  double U = static_cast<double>(rand_r(&this->seed)) /
-      static_cast<double>(RAND_MAX);
-
-
-  // normalized uniform random variable
-  double V = static_cast<double>(rand_r(&this->seed)) /
-      static_cast<double>(RAND_MAX);
-
-  double X = sqrt(-2.0 * ::log(U)) * cos(2.0 * M_PI * V);
-  // double Y = sqrt(-2.0 * ::log(U)) * sin(2.0*M_PI * V);
-
-  // there are 2 indep. vars, we'll just use X
-  // scale to our mu and sigma
-  X = sigma * X + mu;
-  return X;
-}
-
-void GazeboStateGroundTruth::PublishTransform(const nav_msgs::Odometry &odom_msg) {
-  geometry_msgs::TransformStamped transform;
-  transform.header = odom_msg.header;
-  transform.child_frame_id = odom_msg.child_frame_id;
-  transform.transform.translation.x = odom_msg.pose.pose.position.x;
-  transform.transform.translation.y = odom_msg.pose.pose.position.y;
-  transform.transform.translation.z = odom_msg.pose.pose.position.z;
-  transform.transform.rotation.x = odom_msg.pose.pose.orientation.x;
-  transform.transform.rotation.y = odom_msg.pose.pose.orientation.y;
-  transform.transform.rotation.z = odom_msg.pose.pose.orientation.z;
-  transform.transform.rotation.w = odom_msg.pose.pose.orientation.w;
-  this->tf_broadcaster_.sendTransform(transform);
-}
-
-std::vector<double> GazeboStateGroundTruth::ToQuaternion(std::vector<double> &euler) {
-  // Abbreviations for the various angular functions
-  double cy = cos(euler[0] * 0.5);
-  double sy = sin(euler[0] * 0.5);
-  double cp = cos(euler[1] * 0.5);
-  double sp = sin(euler[1] * 0.5);
-  double cr = cos(euler[2] * 0.5);
-  double sr = sin(euler[2] * 0.5);
-
-  std::vector<double> q;
-  q.reserve(4);
-  q[0] = cy * cp * cr + sy * sp * sr;
-  q[1] = cy * cp * sr - sy * sp * cr;
-  q[2] = sy * cp * sr + cy * sp * cr;
-  q[3] = sy * cp * cr - cy * sp * sr;
-
-  return q;
-}
-
-void GazeboStateGroundTruth::OdomQueueThread() {
-  static const double timeout = 0.01;
-
-  while (this->rosnode_->ok()) {
-    this->odom_queue_.callAvailable(ros::WallDuration(timeout));
-  }
-}
-
-void GazeboStateGroundTruth::StateQueueThread() {
-  static const double timeout = 0.01;
-
-  while (this->rosnode_->ok()) {
-    this->state_queue_.callAvailable(ros::WallDuration(timeout));
-  }
-}
-
-}
\ No newline at end of file
diff --git a/eufs_launcher/CMakeLists.txt b/eufs_launcher/CMakeLists.txt
deleted file mode 100644
index c43c3d70f94e43082e0a42d38381b591e9693889..0000000000000000000000000000000000000000
--- a/eufs_launcher/CMakeLists.txt
+++ /dev/null
@@ -1,52 +0,0 @@
-add_compile_options(-std=c++11)
-cmake_minimum_required(VERSION 2.8.3)
-project(eufs_launcher)
-
-find_package(Boost REQUIRED)
-# Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  gazebo_ros
-  roslint
-)
-
-# Depend on system install of Gazebo
-find_package(gazebo REQUIRED)
-
-catkin_python_setup()
-
-link_directories(${GAZEBO_LIBRARY_DIRS})
-include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})
-
-catkin_package(
-  DEPENDS
-    roscpp
-    gazebo_ros
-)
-
-install(PROGRAMS scripts/rqt_eufs_launcher.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-install(PROGRAMS scripts/rqt_eufs_sketcher.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-install(DIRECTORY
-  resource
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
-install(FILES
-  plugin.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
-#############
-## Roslint ##
-#############
-
-roslint_python()
-
-# Uncomment the line below when C++ files are added to this package
-# roslint_cpp()
diff --git a/eufs_launcher/README.md b/eufs_launcher/README.md
deleted file mode 100644
index 5fd5a642a24a6c0620d9a3f993148f7c3ead62a6..0000000000000000000000000000000000000000
--- a/eufs_launcher/README.md
+++ /dev/null
@@ -1,86 +0,0 @@
-# EUFS GUI Launcher
-
-The information here can be found at the [team wiki](https://gitlab.com/eufs/resources/wikis/Simulator/Image-To-Track-Conversion), which will be kept up-to-date.
-
-## How To Use
-
-Basic instructions can be found in the main repository README.  Here lie the advanced usage notes.
-
-### Editing the GUI's UI
-
-If you don't like the layout, in `eufs_launcher/resource` there exists a file `Launcher.ui`.
-If you want to do basic layout editing, it should be self explanatory how to edit this file.
-If you want to add whole new options on startup, you will want to direct yourself to `eufs_launcher/src/eufs_launcher/LauncherModule.py`,
-but if you're at that point, you might as well just get in touch with the simulation team and let them handle it.
-
-### Image-to-Track
-
-#### Relevant Locations
-
-Images are expected to be in the `eufs_gazebo/randgen_imgs` folder in `.png` format.
-
-When creating a track from an image, the launcher creates files based on templates found in `eufs_launcher/resource` - 
-editing them will change the resultant track.
-
-#### Creating One's Own Image
-
-[Take a look at minimalist.png for an example of an image using only the necessary colors]
-
-At this time, the convertor only looks at these specific pixel types [given in RGBA]:
-
-```
-Yellow Cones: (255,0,255,255) "Magenta" [Yellow was already taken]
-Blue Cones: (0,0,255,255) "Blue"
-Car: (0,255,0,a) "Green"
-Noise: (0,255,255,255) "Cyan"
-Background: (255,255,255,255) "White"
-```
-
-All colors not listed here will be treated as `Background`
-
-However the image generator also outputs images with other colors - here is a full list from `LauncherModule.py`:
-
-```
-self.noisecolor = (0,255,255,255)       #cyan
-self.bgcolor = (255,255,255,255)        #white
-self.conecolor = (255,0,255,255)        #magenta
-self.conecolor2 = (0,0,255,255)         #blue
-self.carcolor = (0,255,0,255)           #green
-self.trackcenter = (0,0,0,255)          #black
-self.trackinner = (255,0,0,255)         #red
-self.trackouter = (255,255,0,255)       #yellow
-```
-
-Future updates to the image converter may decide to make use of additional data using these colors, 
-so although they are not currently used it may be worth adding them to your `.png`s for future-proofing 
-(you can see how they are used by taking a look at `rand.png`, which is the output file for randomly generated images).
-
-The car color can have any "a" from 1 to 255 (note: NOT 0) - it is converted into an angle:
-```2*math.pi*((x-1)/254.0)```
-which will be the direction the front of the car is facing.
-
-#### The Generated Track
-
-When loading an image with name `[name].png`, the launcher will create files `[name].launch` and `[name].world` in their relevant eufs_gazebo folders.
-It will also create a folder `[name]` in `eufs_description/models`, which has two files in it, `model.sdf` and `model.config`.
-If any of these files already exist, it will overwrite!  This is by design - loading the same image will give the same track, with the exception
-of the precise placement of noise objects which depend on the noise level selected in the gui and also random chance (unless at max or min noise).
-So if you want to save the precise noise data (which will be in the aforementioned `model.sdf`) then you should copy that file before loading the image again.
-
-Note that this all applies to the file `rand.png` as well, which is the output for random track generation!
-
-#### Noise
-
-Noise is represented by `cyan` on an image.  Randomly generated images will have approximately 1% of the image covered with noise. 
-(more precisely, each pixel not between cones has a 1% chance of being noise).  The GUI's noise slider has no effect on pixel placement
-in randomly generated images.
-
-When the launcher reads an image file and converts it into a track, then it takes into account the noise slider.  
-If the noise slider is x% full, then every noise pixel has an x% chance of being realized in the final product.
-(so at 0% there is no noise and at 100% every noise pixel has a noise object on it).
-
-Noise objects are chosen from `eufs_launcher/resource/noiseFiles.txt` - feel free to add your own and edit the weights!
-Full instructions are how to do so are inside the file itself.
-You may wish to add a completely new model - for that, you need a .dae file to be placed in `eufs_description/meshes`.  If you have Blender,
-these are easy to procure - Blender has an export-to-.dae option!  Even if you don't know how to use Blender to create objects, many people
-online have free resources for Blender, so you can load those up and then export.
diff --git a/eufs_launcher/launch/eufs_launcher.launch b/eufs_launcher/launch/eufs_launcher.launch
deleted file mode 100755
index 4012eac0cb56bb0af23aebd1f3f5e3fcad0395b0..0000000000000000000000000000000000000000
--- a/eufs_launcher/launch/eufs_launcher.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  
- <node name="eufs_launcher" pkg="eufs_launcher" type="eufs_launcher"/>
-
-</launch>
diff --git a/eufs_launcher/package.xml b/eufs_launcher/package.xml
deleted file mode 100644
index 902fb5c8fcb52dd9c66348b1bc7b04a697873636..0000000000000000000000000000000000000000
--- a/eufs_launcher/package.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-    <name>eufs_launcher</name>
-    <version>0.0.0</version>
-    <description>The package that launches and links everything together</description>
-
-    <maintainer email="e.bailey.andrew@gmail.com">Bailey Andrew</maintainer>
-
-    <license>MIT</license>
-
-    <buildtool_depend>catkin</buildtool_depend>
-
-    <build_depend>roslint</build_depend>
-
-    <depend>gazebo_ros</depend>
-    <depend>roscpp</depend>
-    <depend>rqt_gui_cpp</depend>
-    <depend>eufs_gazebo</depend>
-
-    <export>
-        <gazebo_ros plugin_path='${prefix}/lib' gazebo_media_path='${prefix}' />
-        <rqt_gui plugin="${prefix}/plugin.xml"/>
-    </export>
-</package>
diff --git a/eufs_launcher/plugin.xml b/eufs_launcher/plugin.xml
deleted file mode 100644
index 1b21f5d67c29d9213ad67992eec6c971e81126e9..0000000000000000000000000000000000000000
--- a/eufs_launcher/plugin.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<library path="src">
-  <class name="EUFS Launcher" type="eufs_launcher.LauncherModule.EufsLauncher" base_class_type="rqt_gui_py::Plugin">
-    <description>
-      The launching interface
-    </description>
-    <qtgui>
-      <!-- optional grouping...
-      <group>
-        <label>Group</label>
-      </group>
-      <group>
-        <label>Subgroup</label>
-      </group>
-      -->
-      <label>EUFS GUI Launcher</label>
-      <icon type="theme">system-help</icon>
-      <statustip>EUFS GUI Launcher.</statustip>
-    </qtgui>
-  </class>
-</library>
diff --git a/eufs_launcher/resource/Launcher.ui b/eufs_launcher/resource/Launcher.ui
deleted file mode 100644
index f22b58a32eb3155d53efe20952dfd400588c5d62..0000000000000000000000000000000000000000
--- a/eufs_launcher/resource/Launcher.ui
+++ /dev/null
@@ -1,1284 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>EUFS Launcher</class>
- <widget class="QWidget" name="EUFS Launcher">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>800</width>
-    <height>300</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>EUFS Launcher</string>
-  </property>
-
-  <!--Drop-Down Box: Options added in code, impossible in a .ui file.-->
-  <!--This handles track selection.-->
-  <widget class="QLabel" name="TrackLabel">
-   <property name="geometry">
-    <rect>
-     <x>60</x>
-     <y>50</y>
-     <width>50</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Track: </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="WhichTrack">
-   <property name="geometry">
-    <rect>
-     <x>90</x>
-     <y>50</y>
-     <width>250</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- Basic launcher! -->
-  <widget class="QLabel" name="BasicLauncherLabel">
-   <property name="geometry">
-    <rect>
-     <x>140</x>
-     <y>10</y>
-     <width>200</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Basic Launcher</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>14</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="BasicLauncherSubLabel">
-   <property name="geometry">
-    <rect>
-     <x>60</x>
-     <y>25</y>
-     <width>400</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Launches one of our fixed tracks, great for reproducability!</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>8</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!--Actual Launch Button-->
-  <widget class="QPushButton" name="LaunchButton">
-   <property name="geometry">
-    <rect>
-     <x>130</x>
-     <y>80</y>
-     <width>170</width>
-     <height>100</height>
-    </rect>
-   </property>
-   <property name="text" >
-      <string>Launch!</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- Launcher Parameters! -->
-  <widget class="QLabel" name="LauncherParametersLabel">
-   <property name="geometry">
-    <rect>
-     <x>520</x>
-     <y>10</y>
-     <width>200</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Launcher Parameters</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>14</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="LauncherParametersSubLabel">
-   <property name="geometry">
-    <rect>
-     <x>525</x>
-     <y>25</y>
-     <width>200</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>For customizing your experience!</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>8</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!--Radio Buttons-->
-  <!--To toggle between torque and speed controls.-->
-  <!--If you add a new buttonGroup, don't forget to add it to the bottom of the file.-->
-  <widget class="QLabel" name="NoiseLabel">
-    <property name="geometry">
-       <rect>
-         <x>500</x>
-         <y>50</y>
-         <width>150</width>
-         <height>30</height>
-       </rect>
-    </property>
-    <property name="text">
-      <string>Control Method:</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QRadioButton" name="SpeedRadio">
-    <property name="geometry">
-      <rect>
-        <x>490</x>
-        <y>70</y>
-        <width>100</width>
-        <height>30</height>
-      </rect>
-    </property>
-    <property name="maximumSize">
-      <size>
-        <width>16777215</width>
-        <height>40</height>
-      </size>
-    </property>
-    <property name="layoutDirection">
-      <enum>Qt::LeftToRight</enum>
-    </property>
-    <property name="text">
-      <string>Speed</string>
-    </property>
-    <property name="checked">
-      <bool>true</bool>
-    </property>
-    <attribute name="buttonGroup">
-      <string>SpeedOrTorque</string>
-    </attribute>
-     <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QRadioButton" name="TorqueRadio">
-    <property name="geometry">
-      <rect>
-        <x>490</x>
-        <y>90</y>
-        <width>120</width>
-        <height>30</height>
-      </rect>
-    </property>
-    <property name="maximumSize">
-      <size>
-        <width>16777215</width>
-        <height>40</height>
-      </size>
-    </property>
-    <property name="text">
-      <string>Torque (Experimental!)</string>
-    </property>
-    <attribute name="buttonGroup">
-      <string>SpeedOrTorque</string>
-    </attribute>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!--Visualisator Launcher-->
-  <widget class="QCheckBox" name="VisualisatorCheckbox">
-  <property name="geometry">
-      <rect>
-        <x>610</x>
-        <y>70</y>
-        <width>150</width>
-        <height>30</height>
-      </rect>
-    </property>
-    <property name="text" >
-      <string>Launch LIDAR Visualisator</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!--Perception Launcher-->
-  <widget class="QCheckBox" name="PerceptionCheckbox">
-  <property name="geometry">
-      <rect>
-        <x>610</x>
-        <y>85</y>
-        <width>150</width>
-        <height>30</height>
-      </rect>
-    </property>
-    <property name="text" >
-      <string>Launch Perception Stack</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!--Gazebo Gui Launcher-->
-  <widget class="QCheckBox" name="GazeboGuiCheckbox">
-  <property name="geometry">
-      <rect>
-        <x>610</x>
-        <y>100</y>
-        <width>150</width>
-        <height>30</height>
-      </rect>
-    </property>
-    <property name="text" >
-      <string>Launch Gazebo Gui</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-
-  <!--Ground truth transformr-->
-  <widget class="QCheckBox" name="GroundTruthTransform">
-  <property name="geometry">
-      <rect>
-        <x>610</x>
-        <y>115</y>
-        <width>150</width>
-        <height>30</height>
-      </rect>
-    </property>
-    <property name="text" >
-      <string>Use Ground Truth TF</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="GeneratorParametersLabel">
-   <property name="geometry">
-    <rect>
-     <x>510</x>
-     <y>150</y>
-     <width>200</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Generation Parameters</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>14</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="GeneratorParametersSubLabel">
-   <property name="geometry">
-    <rect>
-     <x>490</x>
-     <y>165</y>
-     <width>400</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Create and customize your own random tracks!</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>8</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- Generation Parameters -->
-  <widget class="QLabel" name="Label_MIN_STRAIGHT">
-   <property name="geometry">
-    <rect>
-     <x>440</x>
-     <y>180</y>
-     <width>100</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>MIN_STRAIGHT (###): </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QSlider" name="Param_MIN_STRAIGHT">
-   <property name="geometry">
-    <rect>
-     <x>535</x>
-     <y>180</y>
-     <width>60</width>
-     <height>30</height>
-    </rect>
-   </property>
-   <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="Label_MAX_STRAIGHT">
-   <property name="geometry">
-    <rect>
-     <x>440</x>
-     <y>200</y>
-     <width>100</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>MAX_STRAIGHT (###): </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QSlider" name="Param_MAX_STRAIGHT">
-   <property name="geometry">
-    <rect>
-     <x>535</x>
-     <y>200</y>
-     <width>60</width>
-     <height>30</height>
-    </rect>
-   </property>
-   <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="Label_MIN_CTURN">
-   <property name="geometry">
-    <rect>
-     <x>440</x>
-     <y>220</y>
-     <width>100</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>MIN_CTURN (###): </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QSlider" name="Param_MIN_CTURN">
-   <property name="geometry">
-    <rect>
-     <x>535</x>
-     <y>220</y>
-     <width>60</width>
-     <height>30</height>
-    </rect>
-   </property>
-   <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="Label_MAX_CTURN">
-   <property name="geometry">
-    <rect>
-     <x>440</x>
-     <y>240</y>
-     <width>100</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>MAX_CTURN (###): </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QSlider" name="Param_MAX_CTURN">
-   <property name="geometry">
-    <rect>
-     <x>535</x>
-     <y>240</y>
-     <width>60</width>
-     <height>30</height>
-    </rect>
-   </property>
-   <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="Label_MIN_HAIRPIN">
-   <property name="geometry">
-    <rect>
-     <x>610</x>
-     <y>180</y>
-     <width>100</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>MIN_HAIRPIN (###): </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QSlider" name="Param_MIN_HAIRPIN">
-   <property name="geometry">
-    <rect>
-     <x>705</x>
-     <y>180</y>
-     <width>60</width>
-     <height>30</height>
-    </rect>
-   </property>
-   <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="Label_MAX_HAIRPIN">
-   <property name="geometry">
-    <rect>
-     <x>610</x>
-     <y>200</y>
-     <width>100</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>MAX_HAIRPIN (###): </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QSlider" name="Param_MAX_HAIRPIN">
-   <property name="geometry">
-    <rect>
-     <x>705</x>
-     <y>200</y>
-     <width>60</width>
-     <height>30</height>
-    </rect>
-   </property>
-   <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="Label_HAIRPIN_PAIRS">
-   <property name="geometry">
-    <rect>
-     <x>610</x>
-     <y>220</y>
-     <width>100</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>HAIRPIN_PAIRS (###): </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QSlider" name="Param_HAIRPIN_PAIRS">
-   <property name="geometry">
-    <rect>
-     <x>705</x>
-     <y>220</y>
-     <width>60</width>
-     <height>30</height>
-    </rect>
-   </property>
-   <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="Label_MAX_LENGTH">
-   <property name="geometry">
-    <rect>
-     <x>610</x>
-     <y>240</y>
-     <width>100</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>MAX_LENGTH (###): </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QSlider" name="Param_MAX_LENGTH">
-   <property name="geometry">
-    <rect>
-     <x>705</x>
-     <y>240</y>
-     <width>60</width>
-     <height>30</height>
-    </rect>
-   </property>
-   <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QLabel" name="Label_TRACK_WIDTH">
-   <property name="geometry">
-    <rect>
-     <x>430</x>
-     <y>350</y>
-     <width>100</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>MAX_LENGTH (###): </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QSlider" name="Param_TRACK_WIDTH">
-   <property name="geometry">
-    <rect>
-     <x>430</x>
-     <y>368</y>
-     <width>70</width>
-     <height>20</height>
-    </rect>
-   </property>
-   <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!--Generate Button-->
-  <widget class="QPushButton" name="GenerateButton">
-   <property name="geometry">
-    <rect>
-     <x>530</x>
-     <y>300</y>
-     <width>170</width>
-     <height>100</height>
-    </rect>
-   </property>
-   <property name="text" >
-      <string>Generate Random Track</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>5</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!--Drop-Down Box: Options added in code, impossible in a .ui file.-->
-  <!--This handles preset selection.-->
-  <widget class="QLabel" name="PresetLabel">
-   <property name="geometry">
-    <rect>
-     <x>470</x>
-     <y>270</y>
-     <width>50</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Preset: </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="WhichPreset">
-   <property name="geometry">
-    <rect>
-     <x>500</x>
-     <y>270</y>
-     <width>250</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!--Lax Generation Button -->
-  <widget class="QCheckBox" name="LaxCheckBox">
-  <property name="geometry">
-      <rect>
-        <x>430</x>
-        <y>300</y>
-        <width>100</width>
-        <height>30</height>
-      </rect>
-    </property>
-    <property name="text" >
-      <string>Lax Generation</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!--Full Stack for Trackgen Button -->
-  <widget class="QCheckBox" name="FullStackTrackGenButton">
-  <property name="geometry">
-      <rect>
-        <x>430</x>
-        <y>330</y>
-        <width>100</width>
-        <height>30</height>
-      </rect>
-    </property>
-    <property name="text" >
-      <string>Full Stack</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
- 
-
-  <!-- Image launcher! -->
-  <widget class="QLabel" name="ImageLauncherLabel">
-   <property name="geometry">
-    <rect>
-     <x>130</x>
-     <y>210</y>
-     <width>200</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Image Launcher</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>14</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="ImageLauncherSubLabel">
-   <property name="geometry">
-    <rect>
-     <x>55</x>
-     <y>225</y>
-     <width>310</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Launches a track image - great for introducing random noise!</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>8</pointsize>
-       </font>
-   </property>
-  </widget>
-
-
-  <!--Load From Image Button-->
-  <widget class="QPushButton" name="LoadFromImageButton">
-   <property name="geometry">
-    <rect>
-     <x>130</x>
-     <y>300</y>
-     <width>170</width>
-     <height>100</height>
-    </rect>
-   </property>
-   <property name="text" >
-      <string>Load Track From Image</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!--Full Stack for Image Button -->
-  <widget class="QCheckBox" name="FullStackImageButton">
-  <property name="geometry">
-      <rect>
-        <x>60</x>
-        <y>300</y>
-        <width>100</width>
-        <height>30</height>
-      </rect>
-    </property>
-    <property name="text" >
-      <string>Full Stack</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- Image Sketcher! -->
-  <widget class="QPushButton" name="SketcherButton">
-   <property name="geometry">
-    <rect>
-     <x>60</x>
-     <y>330</y>
-     <width>50</width>
-     <height>30</height>
-    </rect>
-   </property>
-   <property name="text" >
-      <string>Draw!</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!--Slider-->
-  <!--This handles terrain noise generation-->
-  <widget class="QLabel" name="NoiseLabel">
-   <property name="geometry">
-    <rect>
-     <x>60</x>
-     <y>240</y>
-     <width>50</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Noise:</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QSlider" name="Noisiness">
-   <property name="geometry">
-    <rect>
-     <x>90</x>
-     <y>240</y>
-     <width>250</width>
-     <height>30</height>
-    </rect>
-   </property>
-   <property name="orientation">
-      <enum>Qt::Horizontal</enum>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!--Drop-Down Box: Options added in code, impossible in a .ui file.-->
-  <!--This handles image selection.-->
-  <widget class="QLabel" name="ImageLabel">
-   <property name="geometry">
-    <rect>
-     <x>60</x>
-     <y>270</y>
-     <width>50</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Image: </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="WhichImage">
-   <property name="geometry">
-    <rect>
-     <x>90</x>
-     <y>270</y>
-     <width>250</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- Conversion tools! -->
-  <widget class="QLabel" name="ConversionToolsLabel">
-   <property name="geometry">
-    <rect>
-     <x>890</x>
-     <y>10</y>
-     <width>200</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Conversion Tools</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>14</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="ConversionToolsSubLabel">
-   <property name="geometry">
-    <rect>
-     <x>850</x>
-     <y>25</y>
-     <width>300</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Tools to quickly change and parse file formats.</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>8</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- From and To -->
-  <widget class="QLabel" name="ConvertFromLabel">
-   <property name="geometry">
-    <rect>
-     <x>820</x>
-     <y>60</y>
-     <width>50</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>From: </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="ConvertFrom">
-   <property name="geometry">
-    <rect>
-     <x>850</x>
-     <y>60</y>
-     <width>100</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="ConvertToLabel">
-   <property name="geometry">
-    <rect>
-     <x>980</x>
-     <y>60</y>
-     <width>50</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>To: </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="ConvertTo">
-   <property name="geometry">
-    <rect>
-     <x>1000</x>
-     <y>60</y>
-     <width>100</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- File select for conversion -->
-  <widget class="QLabel" name="FileForConversionLabel">
-   <property name="geometry">
-    <rect>
-     <x>820</x>
-     <y>90</y>
-     <width>50</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Filename: </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QComboBox" name="FileForConversion">
-   <property name="geometry">
-    <rect>
-     <x>860</x>
-     <y>90</y>
-     <width>230</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- Actual Convert Button! -->
-  <widget class="QPushButton" name="ConvertButton">
-   <property name="geometry">
-    <rect>
-     <x>890</x>
-     <y>120</y>
-     <width>170</width>
-     <height>100</height>
-    </rect>
-   </property>
-   <property name="text" >
-      <string>Convert</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-
-  <!-- Midpoints Button -->
-  <widget class="QCheckBox" name="MidpointBox">
-  <property name="geometry">
-      <rect>
-        <x>820</x>
-        <y>120</y>
-        <width>80</width>
-        <height>30</height>
-      </rect>
-    </property>
-    <property name="text" >
-      <string>Midpoints</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- Suffix Button -->
-  <widget class="QCheckBox" name="SuffixBox">
-  <property name="geometry">
-      <rect>
-        <x>820</x>
-        <y>150</y>
-        <width>80</width>
-        <height>30</height>
-      </rect>
-    </property>
-    <property name="text" >
-      <string>Suffix</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <widget class="QLabel" name="RenameFileHeader">
-   <property name="geometry">
-    <rect>
-     <x>890</x>
-     <y>240</y>
-     <width>200</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Copy: ####</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>11</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- Rename file -->
-  <widget class="QLabel" name="RenameFileLable">
-   <property name="geometry">
-    <rect>
-     <x>820</x>
-     <y>270</y>
-     <width>90</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Create copy called: </string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-  <widget class="QLineEdit" name="RenameFileTextbox">
-   <property name="geometry">
-    <rect>
-     <x>910</x>
-     <y>270</y>
-     <width>200</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- Actual Rename Button! -->
-  <widget class="QPushButton" name="RenameButton">
-   <property name="geometry">
-    <rect>
-     <x>890</x>
-     <y>300</y>
-     <width>170</width>
-     <height>100</height>
-    </rect>
-   </property>
-   <property name="text" >
-      <string>Copy</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- Full Stack Button -->
-  <widget class="QCheckBox" name="FullStackCopyButton">
-  <property name="geometry">
-      <rect>
-        <x>820</x>
-        <y>300</y>
-        <width>80</width>
-        <height>30</height>
-      </rect>
-    </property>
-    <property name="text" >
-      <string>Full Stack</string>
-    </property>
-    <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-  <!-- User Feedback Label -->
-  <widget class="QLabel" name="UserFeedbackLabel">
-   <property name="geometry">
-    <rect>
-     <x>10</x>
-     <y>400</y>
-     <width>800</width>
-     <height>27</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Welcome to the launcher!  I'm Launchella, your wonderful assistant.</string>
-   </property>
-   <property name="font">
-       <font>
-            <pointsize>7</pointsize>
-       </font>
-   </property>
-  </widget>
-
-
-
-
- </widget>
- <resources/>
- <connections/>
- <buttongroups>
-   <buttongroup name="SpeedOrTorque"/>
- </buttongroups>
-</ui>
diff --git a/eufs_launcher/resource/noiseFiles.txt b/eufs_launcher/resource/noiseFiles.txt
deleted file mode 100644
index a469a365df4b47bcb5108b2c840d8fe9011b91f9..0000000000000000000000000000000000000000
--- a/eufs_launcher/resource/noiseFiles.txt
+++ /dev/null
@@ -1,18 +0,0 @@
-Tree model grabbed from here:
-https://free3d.com/3d-model/realistic-tree-pack-3-trees-95419.html
-Cube and Monkey models I made using Blender defaults and exporting them
-
-How this file works: noise generator will generate a random number 0-99 "x"
-It will then go line-by-line on this file and select the first model that
-has a weight less than x.  Nothing sophisticated, but it does add some randomness
-to the process.  Make sure to always have the last line be weighted at least 100!
-(If not it will default to NoiseCube, no biggy, but still...)
-
-If you want to 'inactivate' a model, just set its weight to 0 or put it behind a model
-with higher weight.
-
-If gazebo refuses to load, its likely that the meshes don't exist (it halts without error message :/)
-
-$===$
-20|model://eufs_description/meshes/MonkeyNoise.dae
-100|model://eufs_description/meshes/NoiseCube.dae
diff --git a/eufs_launcher/resource/randgen_launch_template b/eufs_launcher/resource/randgen_launch_template
deleted file mode 100644
index f01ccce0999278829d0e68a10546263fd42ad581..0000000000000000000000000000000000000000
--- a/eufs_launcher/resource/randgen_launch_template
+++ /dev/null
@@ -1,60 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  
-  <!-- roslaunch arguments -->
-  <env name="GAZEBO_MODEL_PATH" value="$(find eufs_description)"/>
-  <env name="GAZEBO_RESOURCE_PATH" value="$(find eufs_description)"/>
-  <arg name="namespace" default="eufs"/>
-  <arg name="debug" default="false"/>
-  <arg name="gui" default="true"/>
-  <arg name="cmd_timeout" default="0.5"/>
-  
-  <!-- Vehicle pose -->
-  <arg name="x" default="%PLACEX%"/>
-  <arg name="y" default="%PLACEY%"/>
-  <arg name="z" default="0.1"/>
-  <arg name="roll" default="0.0"/>
-  <arg name="pitch" default="0.0"/>
-  <arg name="yaw" default="%PLACEROTATION%"/>
-  
-  <!-- Control Method Argument -->
-  <arg name="controlMethod" default="speed"/>
-  <arg name="show_rqt_gui" default="true"/>
-  <arg name="publish_gt_tf" default="false"/>
-
-  <!-- eufs_control launch file -->
-  <include file="$(find eufs_gazebo)/launch/eufs_control.launch"/>
-
-  <!-- Gazebo -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-        <arg name="world_name" value="$(find eufs_gazebo)/worlds/%FILLNAME%.world"/>
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="gui" value="$(arg gui)"/>
-    <arg name="paused" value="false"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="headless" value="false"/>
-  </include>
-
-  <!--Launch car & controller.-->
-  <include file="$(find eufs_gazebo)/launch/load_car.launch">
-     <arg name="namespace" value="$(arg namespace)"/>
-     <arg name="x" default="$(arg x)"/>
-     <arg name="y" default="$(arg y)"/>
-     <arg name="z" default="$(arg z)"/>
-     <arg name="roll" default="$(arg roll)"/>
-     <arg name="pitch" default="$(arg pitch)"/>
-     <arg name="yaw" default="$(arg yaw)"/>
-     <arg name="controlMethod" default="$(arg controlMethod)"/>
-     <arg name="cmd_timeout" value="$(arg cmd_timeout)"/>
-     <arg name="publish_gt_tf" value="$(arg publish_gt_tf)"/>
-  </include>
-
-  <node name="cone_ground_truth" pkg="eufs_gazebo" type="cone_ground_truth.py" output="screen">
-    <param name="view_distance" value="15"/>
-    <param name="track_path" value="$(find eufs_gazebo)/tracks/%FILLNAME%.csv"/>
-    <param name="x_init" value="$(arg x)"/>
-    <param name="y_init" value="$(arg y)"/>
-    <param name="yaw_init" value="$(arg yaw)"/>
-  </node>
-  
-</launch>
diff --git a/eufs_launcher/resource/randgen_model_template/model.config b/eufs_launcher/resource/randgen_model_template/model.config
deleted file mode 100644
index 0e62479ad7749ae23bf006b6ed74e77599b561b1..0000000000000000000000000000000000000000
--- a/eufs_launcher/resource/randgen_model_template/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>%FILLNAME%</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name>Bailey Andrew</name>
-        <email>e.bailey.andrew@gmail.com</email>
-    </author>
-    <description>Randomly generated track</description>
-</model>
diff --git a/eufs_launcher/resource/randgen_model_template/model.sdf b/eufs_launcher/resource/randgen_model_template/model.sdf
deleted file mode 100644
index 5f15ac8f56c99696e4ed48bb537a5e212d603964..0000000000000000000000000000000000000000
--- a/eufs_launcher/resource/randgen_model_template/model.sdf
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.6'>
-  <model name='%FILLNAME%'>
-    %FILLDATA%
-    <static>0</static>
-    <allow_auto_disable>1</allow_auto_disable>
-  </model>
-</sdf>
-$===$
-    <link name='link_0_clone_%LINKNUM%'>
-      <pose frame=''>%PLACEX% %PLACEY% 0.15 0 -0 0</pose>
-      %FILLCOLLISION%
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>%MODELNAME%</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-$===$
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>%MODELNAME%</uri>
-          </mesh>
-        </geometry>
-      </collision>
-$===$
-      <collision name="collision">
-        <geometry>
-          <mesh>
-            <uri>model://eufs_description/meshes/NoiseCube.dae</uri>
-          </mesh>
-        </geometry>
-      </collision>
-$===$
-    <ghostlink name='link_0_clone_%LINKNUM%'>
-      <pose frame=''>%PLACEX% %PLACEY% 0.15 0 -0 0</pose>
-      %FILLCOLLISION%
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>%MODELNAME%</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </ghostlink>
diff --git a/eufs_launcher/resource/randgen_world_template b/eufs_launcher/resource/randgen_world_template
deleted file mode 100644
index 1fba0b38f998d4c15452742e10a6733d5a119d2f..0000000000000000000000000000000000000000
--- a/eufs_launcher/resource/randgen_world_template
+++ /dev/null
@@ -1,48 +0,0 @@
-<sdf version='1.6'>
-  <world name='%FILLNAME%'>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose frame=''>-40 40 20 0 0.667643 -1</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <!-- WORLD SETTINGS -->
-    <scene>
-      <sky>
-        <clouds>
-          <speed>3</speed>
-        </clouds>
-      </sky>
-      <ambient>1.0 1.0 1.0 1.0</ambient>
-      <shadows>false</shadows>
-    </scene>
-
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.1 0.1 0.1 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.5 -1</direction>
-    </light>
-
-    <!-- MODELS -->
-    <include>
-      <uri>model://models/ground_plane</uri>
-      <pose>0.0 0.0 0.0 0 0 0</pose>
-    </include>
-
-    <include>
-      <uri>model://models/%FILLNAME%</uri>
-      <pose>0 0 0.5 0 0 0</pose>
-    </include>
-
-  </world>
-</sdf>
diff --git a/eufs_launcher/scripts/eufs_launcher b/eufs_launcher/scripts/eufs_launcher
deleted file mode 100755
index 166deded396a445ae3bb81069aab32c88eb72ace..0000000000000000000000000000000000000000
--- a/eufs_launcher/scripts/eufs_launcher
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env python
-
-import sys
-
-from eufs_launcher import LauncherModule
-from rqt_gui.main import Main
-
-plugin = 'eufs_launcher'
-main = Main(filename=plugin)
-sys.exit(main.main(standalone=plugin))
diff --git a/eufs_launcher/setup.py b/eufs_launcher/setup.py
deleted file mode 100644
index 62ae853a746cbe996d493ebf30d9f5b1b3b0242d..0000000000000000000000000000000000000000
--- a/eufs_launcher/setup.py
+++ /dev/null
@@ -1,9 +0,0 @@
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
-
-d = generate_distutils_setup(
-    packages=['eufs_launcher'],
-    package_dir={'': 'src'},
-)
-
-setup(**d)
diff --git a/eufs_launcher/src/eufs_launcher/ConversionTools.py b/eufs_launcher/src/eufs_launcher/ConversionTools.py
deleted file mode 100644
index 91a8b3c44af16625ec3c0bf181cf3fd7948d944d..0000000000000000000000000000000000000000
--- a/eufs_launcher/src/eufs_launcher/ConversionTools.py
+++ /dev/null
@@ -1,1228 +0,0 @@
-from PIL import Image
-from PIL import ImageDraw
-import math
-from LauncherUtilities import (calculate_tangent_angle,
-                               get_points_from_component_list,
-                               compactify_points)
-from random import randrange, uniform
-import os
-import rospkg
-import rospy
-import sys
-import pandas as pd
-sys.path.insert(1, os.path.join(rospkg.RosPack().get_path('eufs_gazebo'), 'tracks'))  # nopep8
-from track_gen import Track
-from TrackGenerator import (
-        compactify_points, cone_start, CONE_INNER, CONE_OUTER, CONE_ORANGE, CONE_START
-)
-from TrackGenerator import get_cone_function
-
-
-# Here are all the track formats we care about:
-# .launch (well, we actually want the model data, not the .launch, but we'll treat it as wanting the .launch)
-#                (since the end user shouldn't have to care about the distinction)
-# .png
-# .csv
-# raw_data ("xys",this will be hidden from the user as it is only used to convert into .pngs)
-# raw_data may also be "comps", which is the output of TrackGenerator
-class ConversionTools:
-        def __init__():
-                pass
-
-        # Define colors for track gen and image reading
-        noise_color = (0, 255, 255, 255)                 # cyan
-        background_color = (255, 255, 255, 255)          # white
-        inner_cone_color = (255, 0, 255, 255)            # magenta, for yellow cones (oops...)
-        outer_cone_color = (0, 0, 255, 255)              # blue, for blue cones
-        car_color = (0, 255, 0, 255)                     # green
-        track_center_color = (0, 0, 0, 255)              # black
-        track_inner_color = (255, 0, 0, 255)             # red
-        track_outer_color = (255, 255, 0, 255)           # yellow
-        orange_cone_color = (255, 165, 0, 255)           # orange, for orange cones
-        big_orange_cone_color = (127, 80, 0, 255)        # dark orange, for big orange cones
-
-        double_orange_cone_color = (200, 100, 0, 255)    # for double-orange-cones
-
-        # Other various retained parameters
-        link_num = -1
-        TRACKIMG_VERSION_NUM = 1
-
-        # Metadata corner variables
-        TOP_LEFT = "Top Left"
-        BOTTOM_LEFT = "Bottom Left"
-        TOP_RIGHT = "Top Right"
-        BOTTOM_RIGHT = "Bottom Right"
-
-        #########################################################
-        #              Handle Track Image Metadata              #
-        #########################################################
-
-        @staticmethod
-        def get_metadata_pixel(x, y, corner, pixels, size):
-                """
-                Returns the metadata pixel (x,y,corner)'s value.
-
-                x: x position within the corner
-                y: y position within the corner
-                corner: which corner of the image we are in
-                pixels: pixels of the image
-                size: size of the image
-                """
-
-                x_out, y_out = ConversionTools.get_metadata_pixel_location(x, y, corner, size)
-                return pixels[x_out, y_out]
-
-        @staticmethod
-        def get_metadata_pixel_location(x, y, corner, size):
-                """Returns the metadata pixel (x,y,corner)'s location on the actual image."""
-                width = size[0]
-                height = size[1]
-                if corner == ConversionTools.TOP_LEFT:
-                        return (x, y)
-                elif corner == ConversionTools.BOTTOM_LEFT:
-                        return (x, height - 6 + y)
-                elif corner == ConversionTools.TOP_RIGHT:
-                        return (width - 6 + x, y)
-                elif corner == ConversionTools.BOTTOM_RIGHT:
-                        return (width - 6 + x, height - 6 + y)
-                else:
-                        rospy.logerr("Error, not a valid corner!  Typo?: " + corner)
-                        return None
-
-        @staticmethod
-        def get_raw_metadata(pixel_value):
-                """
-                This function converts metadata as outlined in the
-                specification for Track Images on the team wiki
-                It assumes that handling of the cases (255,255,255,255) and (r,g,b,0)
-                are done outside this function.
-
-                pixel_value: the (r,g,b,a) value of the pixel
-
-                """
-                (r, g, b, a) = pixel_value
-                return a - 1 + (b - 1) * 254 + (g - 1) * 254**2 + (r - 1) * 254**3
-
-        @staticmethod
-        def unget_raw_metadata(metadata):
-                """Undoes the process of get_raw_metadata()"""
-                a = metadata % 254
-                metadata = (metadata - a) // 254
-                b = metadata % 254
-                metadata = (metadata - b) // 254
-                g = metadata % 254
-                r = (metadata - g) // 254
-
-                return (r + 1, g + 1, b + 1, a + 1)
-
-        @staticmethod
-        def convert_scale_metadata(pixel_values):
-                """
-                This function converts the data obtained from
-                scale metadata pixels into actual scale information
-                Output range is from 0.0001 to 100.
-                """
-
-                primary_pixel = pixel_values[0]
-                secondary_pixel = pixel_values[1]
-
-                # Check for default pixel values
-                if (primary_pixel == (255, 255, 255, 255) and
-                   secondary_pixel == (255, 255, 255, 255)):
-                        return 1
-
-                metadata = ConversionTools.get_raw_metadata(primary_pixel)
-
-                # Want to linearly transform the metadata, a range from 0 to 254**4-1,
-                # to the range 0.0001 to 100
-                return metadata / (254**4 - 1.0) * (100 - 0.0001) + 0.0001
-
-        @staticmethod
-        def deconvert_scale_metadata(data):
-                """
-                This function converts a raw_ scale value into a
-                list of metadata pixels needed to replicate it.
-                First in list is the primary metadata pixel, second in list is the secondary
-                """
-
-                metadata = int((data - 0.0001) / (100 - 0.0001) * (254**4 - 1))
-                primary_pixel = ConversionTools.unget_raw_metadata(metadata)
-                secondary_pixel = (255, 255, 255, 255)
-                return [primary_pixel, secondary_pixel]
-
-        @staticmethod
-        def convert_version_metadata(pixel_values):
-                """
-                This function converts the data obtained from
-                scale metadata pixels into actual scale information
-                Output range is from 0 to 254**4-1
-                """
-                primary_pixel = pixel_values[0]
-                if primary_pixel == (255, 255, 255, 255):
-                    return 0
-                metadata = ConversionTools.get_raw_metadata(primary_pixel)
-                return metadata
-
-        @staticmethod
-        def deconvert_version_metadata(data):
-                """This function is the reverse transformation as convert_version_metadata"""
-                return [ConversionTools.unget_raw_metadata(data)]
-
-        #########################################################
-        #                Main Conversion Method                 #
-        #########################################################
-
-        @staticmethod
-        def convert(cfrom, cto, which_file, params={}, conversion_suffix=""):
-                """
-                Will convert which_file of filetype cfrom to filetype cto with
-                filename which_file+conversion_suffix
-
-                cfrom:      Type to convert from (xys, png, launch, csv) [should be a string]
-                cto:        Type to convert to   (png, launch, csv)      [should be a string]
-
-                which_file: The file to be converted - should be a full filepath.
-
-                params:     Additional parameters that may be necessary.
-                            These will depend on conversion type, so check the docstrings of
-                            the specific desired conversion function for full information.
-
-                conversion_suffix: A suffix appended to the filename of the output file.
-
-                If converted to an image, it will return that image in case the function caller
-                desires to do any displaying of the result (otherwise it returns None)
-                """
-
-                if cfrom == "xys" and cto == "png":
-                    return ConversionTools.xys_to_png(
-                            which_file,
-                            params,
-                            conversion_suffix
-                    )
-                elif cfrom == "comps" and cto == "png":
-                    return ConversionTools.comps_to_png(
-                            which_file,
-                            params,
-                            conversion_suffix
-                    )
-                elif cfrom == "png" and cto == "launch":
-                    return ConversionTools.png_to_launch(
-                            which_file,
-                            params,
-                            conversion_suffix
-                    )
-                elif cfrom == "png" and cto == "csv":
-                    ConversionTools.png_to_launch(
-                            which_file,
-                            params,
-                            conversion_suffix
-                    )
-                    new_file_array = which_file.split("/")
-                    new_file_array[-2] = "launch"
-                    which_file = "/".join(new_file_array)
-                    return ConversionTools.launch_to_csv(
-                             which_file[:-4]+conversion_suffix+".launch",
-                             params,
-                             conversion_suffix=""
-                    )
-                elif cfrom == "launch" and cto == "csv":
-                    return ConversionTools.launch_to_csv(
-                             which_file,
-                             params,
-                             conversion_suffix
-                    )
-                elif cfrom == "launch" and cto == "png":
-                    ConversionTools.launch_to_csv(
-                             which_file,
-                             params,
-                             conversion_suffix
-                    )
-                    new_file_array = which_file.split("/")
-                    new_file_array[-2] = "tracks"
-                    which_file = "/".join(new_file_array)
-                    return ConversionTools.csv_to_png(
-                             which_file[:-7]+conversion_suffix+".csv",
-                             params,
-                             conversion_suffix=""
-                    )
-                elif cfrom == "csv" and cto == "launch":
-                    ConversionTools.csv_to_png(
-                             which_file,
-                             params,
-                             conversion_suffix
-                    )
-                    new_file_array = which_file.split("/")
-                    new_file_array[-2] = "randgen_imgs"
-                    which_file = "/".join(new_file_array)
-                    return ConversionTools.png_to_launch(
-                             which_file[:-4]+conversion_suffix+".png",
-                             params,
-                             conversion_suffix=""
-                    )
-                elif cfrom == "csv" and cto == "png":
-                    return ConversionTools.csv_to_png(
-                             which_file,
-                             params,
-                             conversion_suffix
-                    )
-                elif cto == "ALL" or cto == "all":
-                    # If something tries to convert to itself it just gets ignored
-                    ConversionTools.convert(cfrom, "launch", which_file, params, conversion_suffix)
-                    ConversionTools.convert(cfrom, "csv", which_file, params, conversion_suffix)
-                    return ConversionTools.convert(
-                               cfrom,
-                               "png",
-                               which_file,
-                               params,
-                               conversion_suffix
-                    )
-                return None
-
-        @staticmethod
-        def comps_to_png(which_file, params, conversion_suffix=""):
-                """
-                Converts raw track generator output to png.
-
-                which_file:            Output filename
-                params["track data"]:  The track generator data
-                conversion_suffix:     Additional suffix to append to the output filename.
-
-                Should be called within a GeneratorContext context manager.
-                """
-
-                GENERATED_FILENAME = which_file + conversion_suffix
-
-                # Unpack
-                (components, twidth, theight) = params["track data"]
-
-                xys = compactify_points([
-                        (int(x[0]), int(x[1])) for x
-                        in get_points_from_component_list(components)
-                ])
-
-                # Create image to hold data
-                im = Image.new('RGBA', (twidth, theight), (0, 0, 0, 0))
-                draw = ImageDraw.Draw(im)
-
-                # Draw background:
-                bounding_poly = [
-                                 (0, 0),
-                                 (twidth, 0),
-                                 (twidth, theight),
-                                 (0, theight),
-                                 (0, 0)
-                ]
-                draw.polygon(bounding_poly, fill='white')
-
-                # Draw thick track with colored layers
-                draw.line(xys, fill=ConversionTools.track_outer_color, width=5)
-                draw.line(xys, fill=ConversionTools.track_inner_color, width=3)
-                draw.line(xys, fill=ConversionTools.track_center_color)
-
-                pixels = im.load()
-
-                # We want to calculate direction of car position
-                sx = xys[0][0]
-                sy = xys[0][1]
-                ex = xys[1][0]
-                ey = xys[1][1]
-
-                # So we calculate the angle that the car is facing (the yaw)
-                angle = math.atan2(ey - sy, ex - sx)
-                if angle < 0:
-                        # Angle is on range [-pi,pi] but we want [0,2pi]
-                        # So if it is less than 0, pop it onto the correct range.
-                        angle += 2 * math.pi
-
-                # We convert angles to range [1,255] rather than [0,255]
-                # As if it is 0 then, since it is stored as an alpha value,
-                # optimization techniques for storage may be used by the png
-                # file format to set the whole pixel to some standard value,
-                # such as (0,0,0,0), which is decidedly not what we want as
-                # the rgb values still matter.
-                yaw_pixel_value = int(angle / (2 * math.pi) * 254 + 1)
-                if yaw_pixel_value > 255:
-                    yaw_pixel_value = 255
-                if yaw_pixel_value < 1:
-                    yaw_pixel_value = 1
-
-                # Draw car
-                color_for_car = ConversionTools.car_color[:3]+(yaw_pixel_value,)
-                draw.line([xys[0], xys[0]], fill=color_for_car)
-
-                # Now we want to make all pixels bordering the track become magenta (255,0,255) -
-                # this will be our 'cone' color
-                # To find pixel boardering track, simply find white pixel adjacent to
-                # a non-white non-magenta pixle
-                # We will also want to make it such that cones are about 4-6
-                # away from eachother euclideanly
-
-                def is_track(c):
-                        return (c == ConversionTools.track_outer_color or
-                                c == ConversionTools.track_inner_color or
-                                c == ConversionTools.track_center_color)
-
-                cone_locs = []
-                for idx, tup in enumerate(components):
-                        (name, points) = tup
-                        if idx == 0:
-                                cone_locs.extend(cone_start(points))
-                        else:
-                                cone_locs.extend(
-                                        get_cone_function(name)(points, prev_points=cone_locs)
-                                )
-
-                for px, py, color in cone_locs:
-                        if color is CONE_INNER:
-                                true_color = ConversionTools.inner_cone_color
-                        elif color is CONE_OUTER:
-                                true_color = ConversionTools.outer_cone_color
-                        elif color is CONE_ORANGE:
-                                true_color = ConversionTools.orange_cone_color
-                        elif color is CONE_START:
-                                true_color = (
-                                        # Double cones need angle information
-                                        ConversionTools.double_orange_cone_color[:3] + (yaw_pixel_value,)
-                                )
-
-                        # Only allow orange cones to be placed on the track
-                        if (not is_track(pixels[int(px), int(py)]) or color is CONE_ORANGE):
-                                pixels[int(px), int(py)] = true_color
-
-                # Finally, we just need to place noise.
-                # At maximal noise, the track should be about 1% covered.
-
-                for i in range(im.size[0]):
-                        for j in range(im.size[1]):
-                                # Don't add noise in margin
-                                if i < 5 or j < 5 or i >= im.size[0] - 5 or j >= im.size[0] - 5:
-                                        continue
-                                if pixels[i, j] == ConversionTools.background_color:
-                                        # Only 1% should be covered with noise
-                                        if uniform(0, 100) < 1:
-                                                pixels[i, j] = ConversionTools.noise_color
-
-                # Add margins (as specified by the file format)
-                margin = 5
-                im2 = Image.new(
-                                'RGBA',
-                                (twidth + 2 * margin, theight + 2 * margin),
-                                (255, 255, 255, 255)
-                )
-                pixels2 = im2.load()
-                for x in range(im.size[0]):
-                        for y in range(im.size[1]):
-                                pixels2[x + margin, y + margin] = pixels[x, y]
-
-                # And tag it with the version number
-                loc = ConversionTools.get_metadata_pixel_location(
-                                            4,
-                                            4,
-                                            ConversionTools.BOTTOM_RIGHT,
-                                            im2.size
-                )
-                pixels2[loc[0], loc[1]] = ConversionTools.deconvert_version_metadata(
-                                             ConversionTools.TRACKIMG_VERSION_NUM
-                )[0]
-
-                im2.save(
-                        os.path.join(rospkg.RosPack().get_path('eufs_gazebo'),
-                                     'randgen_imgs/'+GENERATED_FILENAME+'.png')
-                )
-                return im
-
-        @staticmethod
-        def xys_to_png(which_file, params, conversion_suffix=""):
-                """
-                Converts xys format to png.
-
-                which_file:            Output filename
-                params["point list"]:  Tuple of: list of points, image width, image height
-                params["track width"]: distance from center of track to cones.
-                                        is optional - if not provided, should be called
-                                        within a GeneratorContext context manager.
-                conversion_suffix:     Additional suffix to append to the output filename.
-
-                Should be called within a GeneratorContext context manager.
-                """
-
-                GENERATED_FILENAME = which_file + conversion_suffix
-
-                # Unpack
-                (xys, twidth, theight) = params["point list"]
-
-                # Create image to hold data
-                im = Image.new('RGBA', (twidth, theight), (0, 0, 0, 0))
-                draw = ImageDraw.Draw(im)
-
-                # Draw background:
-                bounding_poly = [
-                                 (0, 0),
-                                 (twidth, 0),
-                                 (twidth, theight),
-                                 (0, theight),
-                                 (0, 0)
-                ]
-                draw.polygon(bounding_poly, fill='white')
-
-                # Draw thick track with colored layers
-                draw.line(xys, fill=ConversionTools.track_outer_color, width=5)
-                draw.line(xys, fill=ConversionTools.track_inner_color, width=3)
-                draw.line(xys, fill=ConversionTools.track_center_color)
-
-                pixels = im.load()
-
-                # We want to calculate direction of car position
-                sx = xys[0][0]
-                sy = xys[0][1]
-                ex = xys[1][0]
-                ey = xys[1][1]
-
-                # So we calculate the angle that the car is facing (the yaw)
-                angle = math.atan2(ey - sy, ex - sx)
-                if angle < 0:
-                        # Angle is on range [-pi,pi] but we want [0,2pi]
-                        # So if it is less than 0, pop it onto the correct range.
-                        angle += 2 * math.pi
-
-                # We convert angles to range [1,255] rather than [0,255]
-                # As if it is 0 then, since it is stored as an alpha value,
-                # optimization techniques for storage may be used by the png
-                # file format to set the whole pixel to some standard value,
-                # such as (0,0,0,0), which is decidedly not what we want as
-                # the rgb values still matter.
-                yaw_pixel_value = int(angle / (2 * math.pi) * 254 + 1)
-                if yaw_pixel_value > 255:
-                    yaw_pixel_value = 255
-                if yaw_pixel_value < 1:
-                    yaw_pixel_value = 1
-
-                # Draw car
-                color_for_car = ConversionTools.car_color[:3]+(yaw_pixel_value,)
-                draw.line([xys[0], xys[0]], fill=color_for_car)
-
-                # Now we want to make all pixels bordering the track become magenta (255,0,255) -
-                # this will be our 'cone' color
-                # To find pixel boardering track, simply find white pixel adjacent to
-                # a non-white non-magenta pixle
-                # We will also want to make it such that cones are about 4-6
-                # away from eachother euclideanly
-
-                def is_track(c):
-                        return (c == ConversionTools.track_outer_color or
-                                c == ConversionTools.track_inner_color or
-                                c == ConversionTools.track_center_color)
-
-                if "track width" in params:
-                        cone_locs = cone_start(
-                                xys,
-                                width=params["track width"]
-                        )
-                else:
-                        cone_locs = cone_start(xys)
-
-                for px, py, color in cone_locs:
-                        if color is CONE_INNER:
-                                true_color = ConversionTools.inner_cone_color
-                        elif color is CONE_OUTER:
-                                true_color = ConversionTools.outer_cone_color
-                        elif color is CONE_ORANGE:
-                                true_color = ConversionTools.orange_cone_color
-                        elif color is CONE_START:
-                                true_color = (
-                                        # Double cones need angle information
-                                        ConversionTools.double_orange_cone_color[:3] + (yaw_pixel_value,)
-                                )
-                        if (not is_track(pixels[int(px), int(py)])):
-                                pixels[int(px), int(py)] = true_color
-
-                # Finally, we just need to place noise.
-                # At maximal noise, the track should be about 1% covered.
-
-                for i in range(im.size[0]):
-                        for j in range(im.size[1]):
-                                # Don't add noise in margin
-                                if i < 5 or j < 5 or i >= im.size[0] - 5 or j >= im.size[0] - 5:
-                                        continue
-                                if pixels[i, j] == ConversionTools.background_color:
-                                        # Only 1% should be covered with noise
-                                        if uniform(0, 100) < 1:
-                                                pixels[i, j] = ConversionTools.noise_color
-
-                # Add margins (as specified by the file format)
-                margin = 5
-                im2 = Image.new(
-                                'RGBA',
-                                (twidth + 2 * margin, theight + 2 * margin),
-                                (255, 255, 255, 255)
-                )
-                pixels2 = im2.load()
-                for x in range(im.size[0]):
-                        for y in range(im.size[1]):
-                                pixels2[x + margin, y + margin] = pixels[x, y]
-
-                # And tag it with the version number
-                loc = ConversionTools.get_metadata_pixel_location(
-                                            4,
-                                            4,
-                                            ConversionTools.BOTTOM_RIGHT,
-                                            im2.size
-                )
-                pixels2[loc[0], loc[1]] = ConversionTools.deconvert_version_metadata(
-                                             ConversionTools.TRACKIMG_VERSION_NUM
-                )[0]
-
-                im2.save(
-                        os.path.join(rospkg.RosPack().get_path('eufs_gazebo'),
-                                     'randgen_imgs/'+GENERATED_FILENAME+'.png')
-                )
-                return im
-
-        @staticmethod
-        def png_to_launch(which_file, params, conversion_suffix=""):
-                """
-                Converts a .png to a .launch with .world, model.sdf, model.config files.
-
-                which_file:        The name of the png file to convert
-                                   example: rand.png
-
-                params["noise"]:   Percentage of noise to activate
-
-                conversion_suffix: Something to append to the output filename
-                                   So if it is "foo", rand.png becomes randfoo.launch.
-
-                This is a multistep process - we need:
-                        to put %FILENAME%.launch in eufs_gazebo/launch
-                        to put %FILENAME%.world in eufs_gazebo/world
-                        to put %FILENAME%/model.config and %FILENAME%/model.sdf
-                                 in eufs_description/models
-
-                Our template files are stored in eufs_launcher/resource as:
-                        randgen_launch_template
-                        randgen_world_template
-                        randgen_model_template/model.config
-                        randgen_model_template/model.sdf
-                """
-                GENERATED_FILENAME = which_file.split('/')[-1][:-4]+conversion_suffix
-                im = Image.open(which_file)
-                noise_level = params["noise"]
-                pixels = im.load()
-
-                # Let's get the scale metadata from the png:
-                # scale_data will represent how big a pixel is in meters^2
-                scale_data = ConversionTools.convert_scale_metadata([
-                        ConversionTools.get_metadata_pixel(
-                                                           0,
-                                                           0,
-                                                           ConversionTools.TOP_LEFT,
-                                                           pixels,
-                                                           im.size
-                        ),
-                        ConversionTools.get_metadata_pixel(
-                                                           1,
-                                                           0,
-                                                           ConversionTools.TOP_LEFT,
-                                                           pixels,
-                                                           im.size
-                        )
-                ])
-
-                # Let's also get the version number - we don't need it,
-                # but in the future if breaking changes are made to the
-                # Track Image specification then it will become important.
-                loc = ConversionTools.get_metadata_pixel_location(
-                                                                  4,
-                                                                  4,
-                                                                  ConversionTools.BOTTOM_RIGHT,
-                                                                  im.size
-                )
-                version_number = ConversionTools.convert_version_metadata([pixels[loc[0], loc[1]]])
-
-                # Let's start filling in the .launch template:
-                launch_template_file = os.path.join(
-                                                    rospkg.RosPack().get_path('eufs_launcher'),
-                                                    'resource/randgen_launch_template'
-                )
-                launch_template = open(launch_template_file, "r")
-
-                # .launches need to point to .worlds and model files of the same name,
-                # so here we are pasting in copies of the relevant filename.
-                launch_merged = "".join(launch_template)
-                launch_merged = GENERATED_FILENAME.join(launch_merged.split("%FILLNAME%"))
-
-                # These are helper functions to convert pixel data, such as coordinates,
-                # into raw numerical data for the .launch file.
-                def x_coord_transform(x):
-                        return x - 50
-
-                def y_coord_transform(y):
-                        return y - 50
-
-                def is_car_color(x):
-                        return x[:-1] == ConversionTools.car_color[:-1]
-
-                def rotation_transform(x):
-                        return 2 * math.pi * ((x - 1) / 254.0)
-
-                # Find the car's position
-                for i in range(im.size[0]):
-                        for j in range(im.size[1]):
-                                p = pixels[i, j]
-                                if is_car_color(p):
-                                        # Get x data
-                                        x_pos = x_coord_transform(i * scale_data)
-                                        split_x_data = launch_merged.split("%PLACEX%")
-                                        launch_merged = str(x_pos).join(split_x_data)
-
-                                        # Get y data
-                                        y_pos = y_coord_transform(j * scale_data)
-                                        split_y_data = launch_merged.split("%PLACEY%")
-                                        launch_merged = str(y_pos).join(split_y_data)
-
-                                        # Get rotation data
-                                        rot_info = rotation_transform(p[3])
-                                        split_rot_data = launch_merged.split("%PLACEROTATION%")
-                                        launch_merged = str(rot_info).join(split_rot_data)
-
-                # Here we write out to our launch file.
-                launch_out_filename = 'launch/'+GENERATED_FILENAME+".launch"
-                launch_out_filepath = os.path.join(
-                                                   rospkg.RosPack().get_path('eufs_gazebo'),
-                                                   launch_out_filename
-                )
-                launch_out = open(launch_out_filepath, "w")
-                launch_out.write(launch_merged)
-                launch_out.close()
-
-                # And now we start the template for the .world:
-                world_template_filepath = os.path.join(
-                                              rospkg.RosPack().get_path('eufs_launcher'),
-                                              'resource/randgen_world_template'
-                )
-                world_template = open(world_template_filepath, "r")
-
-                # The world file needs to point to the correct model folder,
-                # which conveniently has the same name as the world file itself.
-                world_merged = "".join(world_template)
-                world_merged = GENERATED_FILENAME.join(world_merged.split("%FILLNAME%"))
-
-                # And now we write out.
-                world_out_filepath = os.path.join(
-                                                  rospkg.RosPack().get_path('eufs_gazebo'),
-                                                  'worlds',
-                                                  GENERATED_FILENAME+".world"
-                )
-                world_out = open(world_out_filepath, "w")
-                world_out.write(world_merged)
-                world_out.close()
-
-                # And now we work on making the model folder:
-                # First we create the folder itself
-                folder_path = os.path.join(
-                                           rospkg.RosPack().get_path('eufs_description'),
-                                           'models',
-                                           GENERATED_FILENAME
-                )
-
-                # If the folder does not exist, which is usual, create it.
-                # If the folder does exist, it gets automatically overridden
-                # by the rest of this function - this behavior is intended.
-                if not os.path.exists(folder_path):
-                        os.mkdir(folder_path)
-
-                # Now let's do the .config
-                config_template_filepath = os.path.join(
-                                                   rospkg.RosPack().get_path('eufs_launcher'),
-                                                   'resource/randgen_model_template/model.config'
-                )
-                config_template = open(config_template_filepath, "r")
-
-                # Let the config file know the name of the track it represents
-                config_merged = "".join(config_template)
-                config_merged = GENERATED_FILENAME.join(config_merged.split("%FILLNAME%"))
-
-                # Write out the config data
-                config_out_filepath = os.path.join(
-                                                   rospkg.RosPack().get_path('eufs_description'),
-                                                   'models',
-                                                   GENERATED_FILENAME,
-                                                   "model.config"
-                )
-                config_out = open(config_out_filepath, "w")
-                config_out.write(config_merged)
-                config_out.close()
-
-                # Now we create the .sdf
-                # This is fairly intensive
-                sdf_template_filepath = os.path.join(
-                                                     rospkg.RosPack().get_path('eufs_launcher'),
-                                                     'resource/randgen_model_template/model.sdf'
-                )
-                sdf_template = open(sdf_template_filepath, "r")
-                sdf_merged = "".join(sdf_template)
-                sdf_split_again = sdf_merged.split("$===$")
-
-                # sdf_split_again list contents:
-                #        0: Main body of sdf file
-                #        1: Outline of noise mesh visual data
-                #        2: Outline of noise mesh collision data
-                #        3: Noisecube collision data, meant for noise as
-                #            a low-complexity collision to prevent falling out the world
-                #        4: Outline of noise mesh visual data for innactive noise
-
-                # Here we break up sdf_split_again into its constituent parts
-                # At the end of this process we will have:
-                #        sdf_main:                  The global template for the sdf
-                #        sdf_model:                 The template for cone and noise models
-                #        sdf_model_with_collisions: Similar to sdf_model, but with collision data.
-                #
-                # And the corresponding sdf_ghost_model and sdf_ghost_model_with_collisions
-                # which store inactive (hidden) models.
-                sdf_main = sdf_split_again[0]
-                sdf_split_along_collisions = sdf_split_again[1].split("%FILLCOLLISION%")
-                sdf_split_along_ghost_collisions = sdf_split_again[4].split("%FILLCOLLISION%")
-                sdf_model = sdf_split_again[3].join(sdf_split_along_collisions)
-                sdf_model_with_collisions = sdf_split_again[2].join(sdf_split_along_collisions)
-                sdf_ghost_model = sdf_split_again[3].join(sdf_split_along_ghost_collisions)
-                sdf_ghost_model_with_collisions = sdf_split_again[2].join(sdf_split_along_ghost_collisions)
-
-                # Let the sdf file know which launch file it represents.
-                sdf_main = GENERATED_FILENAME.join(sdf_main.split("%FILLNAME%"))
-
-                # Set up a helper function for calculating model data for cones
-                collision_template = sdf_model_with_collisions.split("%MODELNAME%")
-
-                def join_cone_model_data(cone_type):
-                        cone_string = "model://eufs_description/meshes/"+cone_type+".dae"
-                        return cone_string.join(collision_template)
-
-                # Calculate model data for cones
-                sdf_blue_cone_model = join_cone_model_data("cone_blue")
-                sdf_yellow_cone_model = join_cone_model_data("cone_yellow")
-                sdf_orange_cone_model = join_cone_model_data("cone")
-                sdf_big_orange_cone_model = join_cone_model_data("cone_big")
-
-                # Now let's load in the noise priorities
-                noise_priority_file = os.path.join(
-                                                   rospkg.RosPack().get_path('eufs_launcher'),
-                                                   'resource/noiseFiles.txt'
-                )
-                noise_files = open(noise_priority_file, "r")
-                noise_files = ("".join(noise_files)).split("$===$")[1].strip().split("\n")
-                noise_weightings_ = [line.split("|") for line in noise_files]
-                noise_weightings = [(float(line[0]), line[1]) for line in noise_weightings_]
-
-                # This function will choose a noise model according to weightings
-                # given in the resource/noiseFiles.txt file.
-                def get_random_noise_model():
-                        randval = uniform(0, 100)
-                        for a in noise_weightings:
-                                if a[0] > randval:
-                                        return a[1]
-                        return "model://eufs_description/meshes/NoiseCube.dae"
-
-                # Let's place all the models!
-                # We'll keep track of how many we've placed
-                # so that we can give each a unique name.
-                ConversionTools.link_num = -1
-
-                def put_model_at_position(mod, x, y):
-                        """
-                        mod: model template to be placed
-                        x,y: x and y positions for mod
-
-                        returns model template with x,y, and link_num inserted.
-                        """
-                        ConversionTools.link_num += 1
-                        link_str = str(ConversionTools.link_num)
-                        x_str = str(x_coord_transform(x))
-                        y_str = str(y_coord_transform(y))
-                        mod_with_y = y_str.join(mod.split("%PLACEY%"))
-                        mod_with_x = x_str.join(mod_with_y.split("%PLACEX%"))
-                        mod_with_link = link_str.join(mod_with_x.split("%link_num%"))
-                        return mod_with_link
-
-                sdf_allmodels = ""
-
-                def expand_allmodels(allmods, mod, x, y):
-                        """
-                        Takes in a model and a pixel location,
-                        converts the pixel location to a raw location,
-                        and places the model inside sdf_allmodels
-                        """
-                        mod_at_p = put_model_at_position(mod, x * scale_data, y * scale_data)
-                        return allmods + "\n" + mod_at_p
-
-                def doubly_expand_allmodels(allmods, mod, x, y, yaw):
-                        """
-                        Takes in a model and a pixel location,
-                        converts the pixel location to a raw location,
-                        and places the model inside sdf_allmodels
-
-                        Unlike expand_allmodels, it also takes in an angle and will place
-                        a second model near the first but slightly offset in the direction
-                        of the yaw angle parameter.
-
-                        Used to place the double cones in the beginning.
-                        """
-
-                        # Determines how close the two models are.  Smaller means closer.
-                        closeness_parameter = scale_data * 0.7
-
-                        direction_vector = (
-                                math.cos(yaw) * 0.5 * closeness_parameter,
-                                math.sin(yaw) * 0.5 * closeness_parameter
-                        )
-
-                        mod_at_p1 = put_model_at_position(
-                                mod,
-                                x * scale_data + direction_vector[0],
-                                y * scale_data + direction_vector[1]
-                        )
-
-                        mod_at_p2 = put_model_at_position(
-                                mod,
-                                x * scale_data - direction_vector[0],
-                                y * scale_data - direction_vector[1]
-                        )
-
-                        return allmods + "\n" + mod_at_p1 + "\n" + mod_at_p2
-
-                def get_random_noise_template(mod_with_collisions):
-                        """
-                        Gets a template for an arbitrary noise model
-                        """
-                        return get_random_noise_model().join(
-                                      mod_with_collisions.split("%MODELNAME%")
-                        )
-
-                # Add all models into a template
-                color_to_model = {
-                        ConversionTools.inner_cone_color: sdf_yellow_cone_model,
-                        ConversionTools.outer_cone_color: sdf_blue_cone_model,
-                        ConversionTools.orange_cone_color: sdf_orange_cone_model,
-                        ConversionTools.big_orange_cone_color: sdf_big_orange_cone_model
-
-                }
-                for i in range(im.size[0]):
-                        for j in range(im.size[1]):
-                                p = pixels[i, j]
-                                if p == ConversionTools.noise_color:
-                                        if uniform(0, 1) < noise_level:
-                                                # Noise should be placed
-                                                sdf_noisemodel = get_random_noise_template(
-                                                                   sdf_model_with_collisions
-                                                )
-                                                sdf_allmodels = expand_allmodels(
-                                                                       sdf_allmodels,
-                                                                       sdf_noisemodel,
-                                                                       i,
-                                                                       j
-                                                )
-                                        else:
-                                                # Noise exists but not active
-                                                sdf_noisemodel = get_random_noise_template(
-                                                                   sdf_ghost_model_with_collisions
-                                                )
-                                                sdf_allmodels = expand_allmodels(
-                                                                       sdf_allmodels,
-                                                                       sdf_noisemodel,
-                                                                       i,
-                                                                       j
-                                                )
-                                elif p in color_to_model:
-                                        # Normal cones.
-                                        sdf_allmodels = expand_allmodels(
-                                                            sdf_allmodels,
-                                                            color_to_model[p],
-                                                            i,
-                                                            j
-                                        )
-                                elif p[:3] == ConversionTools.double_orange_cone_color[:3]:
-                                        # Double cones!  Need to make use of yaw values.
-
-                                        # Convert from alpha value to angle
-                                        model_yaw = ((p[3] - 1) / 254) * (2 * math.pi)
-
-                                        sdf_allmodels = doubly_expand_allmodels(
-                                                            sdf_allmodels,
-                                                            sdf_big_orange_cone_model,
-                                                            i,
-                                                            j,
-                                                            model_yaw
-                                        )
-
-                # Splice the sdf file back together.
-                sdf_main = sdf_allmodels.join(sdf_main.split("%FILLDATA%"))
-
-                # Write it out.
-                sdf_out_filepath = os.path.join(
-                                                rospkg.RosPack().get_path('eufs_description'),
-                                                'models',
-                                                GENERATED_FILENAME,
-                                                "model.sdf"
-                )
-                sdf_out = open(sdf_out_filepath, "w")
-                sdf_out.write(sdf_main)
-                sdf_out.close()
-
-        @staticmethod
-        def launch_to_csv(which_file, params, conversion_suffix=""):
-                """
-                Converts a .launch to a .csv
-
-                which_file:          The name of the launch file to convert
-                                     example: rand.launch
-
-                params["midpoints"]: True if csv should contain midpoint info
-
-                conversion_suffix:   Something to append to the output filename
-                                     So if it is "foo", rand.png becomes randfoo.launch.
-                """
-
-                filename = which_file.split("/")[-1].split(".")[0]
-                car_data_reader = open(which_file)
-                car_data = car_data_reader.read()
-                car_data_reader.close()
-                car_x = car_data.split("<arg name=\"x\" default=\"")[1].split("\"")[0]
-                car_y = car_data.split("<arg name=\"y\" default=\"")[1].split("\"")[0]
-                car_yaw = car_data.split("<arg name=\"yaw\" default=\"")[1].split("\"")[0]
-                midpoints = False
-                if "midpoints" in params:
-                        midpoints = params["midpoints"]
-                Track.runConverter(
-                                   filename,
-                                   midpoints=midpoints,
-                                   car_start_data=("car_start", car_x, car_y, car_yaw),
-                                   conversion_suffix=conversion_suffix
-                )
-
-        @staticmethod
-        def csv_to_png(which_file, params, conversion_suffix=""):
-                """
-                Converts a .csv to a .png
-
-                which_file:        The name of the csv file to convert
-                                   example: rand.csv
-
-                params:            A dictionary of optional parameters.
-                                   None are used at this time, but it is listed in the
-                                   function signature to have a consistent signature for all
-                                   the methods of the form a_to_b().
-
-                conversion_suffix: Something to append to the output filename
-                                   So if it is "foo", rand.png becomes randfoo.launch.
-
-                """
-
-                filename = which_file.split("/")[-1].split(".")[0]+conversion_suffix
-
-                # We are going to open up the csv, read through all the lines,
-                # and round down the point to an integer after taking into account
-                # the scale factor of the csv and potentially scaling accordingly
-                # to avoid massive images.
-                # (While preserving cone color).
-
-                # First, we read in the csv data into a dataframe
-                df = pd.read_csv(which_file)
-                blue_cones = df[df['tag'] == "blue"]
-                yellow_cones = df[df['tag'] == "yellow"]
-                orange_cones = df[df['tag'] == "orange"]
-                big_orange_cones = df[df['tag'] == "big_orange"]
-                active_noise = df[df['tag'] == "active_noise"]
-                inactive_noise = df[df['tag'] == "inactive_noise"]
-                car_location = df[df['tag'] == "car_start"]
-
-                # Here we parse the data and get a full list of all relevant info of the cones
-                # and the car (type,x,y,yaw)
-                raw_blue = []
-                raw_yellow = []
-                raw_orange = []
-                raw_big_orange = []
-                raw_noise = []
-                raw_car_location = (0, 0, 0, 0)
-                for bluecone in blue_cones.itertuples():
-                        x = (bluecone[2])
-                        y = (bluecone[3])
-                        raw_blue.append(("blue", x, y, 0))
-
-                for yellowcone in yellow_cones.itertuples():
-                        x = (yellowcone[2])
-                        y = (yellowcone[3])
-                        raw_yellow.append(("yellow", x, y, 0))
-
-                for orangecone in orange_cones.itertuples():
-                        x = (orangecone[2])
-                        y = (orangecone[3])
-                        raw_orange.append(("orange", x, y, 0))
-
-                for big_orangecone in big_orange_cones.itertuples():
-                        x = (big_orangecone[2])
-                        y = (big_orangecone[3])
-                        raw_big_orange.append(("big_orange", x, y, 0))
-
-                for noise in active_noise.itertuples():
-                        x = (noise[2])
-                        y = (noise[3])
-                        raw_noise.append(("noise", x, y, 0))
-
-                for noise in inactive_noise.itertuples():
-                        x = (noise[2])
-                        y = (noise[3])
-                        raw_noise.append(("noise", x, y, 0))
-
-                for c in car_location.itertuples():
-                        raw_car_location = ("car", c[2], c[3], c[4])
-
-                all_cones = (raw_blue +
-                             raw_yellow +
-                             raw_orange +
-                             raw_big_orange +
-                             raw_noise +
-                             [raw_car_location])
-
-                # Here we convert all positions to positive
-                min_x = 100000
-                min_y = 100000
-                max_x = -100000
-                max_y = -100000
-                for cone in all_cones:
-                        if cone[1] < min_x:
-                                min_x = cone[1]
-                        if cone[2] < min_y:
-                                min_y = cone[2]
-                        if cone[1] > max_x:
-                                max_x = cone[1]
-                        if cone[2] > max_y:
-                                max_y = cone[2]
-
-                # Here we figure out the track scaling by calculating
-                # the average smallest distance between cones
-                total_x_distance = 0
-                total_y_distance = 0
-                for cone1 in all_cones:
-                        closest_x = 10000
-                        closest_y = 10000
-                        for cone2 in all_cones:
-                                if cone1 == cone2:
-                                    continue
-                                dx = abs(cone1[1] - cone2[1])
-                                dy = abs(cone1[2] - cone2[2])
-                                if dx < closest_x:
-                                    closest_x = dx
-                                if dy < closest_y:
-                                    closest_y = dy
-                        total_x_distance += closest_x
-                        total_y_distance += closest_y
-
-                # Our scale will strive to preserve distances when possible.
-                scale_desired = max(total_x_distance, total_y_distance)/(len(all_cones)-1)
-                if scale_desired < 0.0001:
-                    scale_desired = 0.0001  # Clamp scale to allowed values
-                if scale_desired > 100:
-                    scale_desired = 100
-                scale_metadata = ConversionTools.deconvert_scale_metadata(scale_desired)
-
-                # Now we store the scaled information inside final_cones/
-                final_cones = []
-                twidth = int((max_x - min_x + 20) / scale_desired)
-                theight = int((max_y - min_y + 20) / scale_desired)
-                car_x = int((raw_car_location[1] - min_x + 10) / scale_desired)
-                car_y = int((raw_car_location[2] - min_y + 10) / scale_desired)
-                for cone in all_cones:
-                        new_x = int((cone[1] - min_x + 10) / scale_desired)
-                        new_y = int((cone[2] - min_y + 10) / scale_desired)
-                        final_cones.append((cone[0], new_x, new_y))
-
-                # Start drawing the track
-                im = Image.new('RGBA', (twidth, theight), (0, 0, 0, 0))
-                draw = ImageDraw.Draw(im)
-
-                # Convert data to image format
-                draw.polygon(
-                             [(0, 0), (twidth, 0), (twidth, theight), (0, theight), (0, 0)],
-                             fill='white'
-                )
-
-                # Now we are placing the pixels of our output image
-                pixels = im.load()
-
-                def get_cone_color(cone_name):
-                        if cone_name == "yellow":
-                            return ConversionTools.inner_cone_color
-                        elif cone_name == "blue":
-                            return ConversionTools.outer_cone_color
-                        elif cone_name == "orange":
-                            return ConversionTools.orange_cone_color
-                        elif cone_name == "big_orange":
-                            return ConversionTools.big_orange_cone_color
-                        elif cone_name == "noise":
-                            return ConversionTools.noise_color
-                        return ConversionTools.inner_cone_color
-
-                # Place the cone pixels
-                for cone in final_cones:
-                    pixels[cone[1], cone[2]] = get_cone_color(cone[0])
-
-                # Calculate the car's yaw's corresponding alpha value
-                yaw_pixel_value = int(raw_car_location[3] / (2 * math.pi) * 254 + 1)
-                if yaw_pixel_value > 255:
-                    yaw_pixel_value = 255
-                if yaw_pixel_value < 1:
-                    yaw_pixel_value = 1
-
-                # Finally, add the car
-                pixels[car_x, car_y] = (
-                                        ConversionTools.car_color[0],
-                                        ConversionTools.car_color[1],
-                                        ConversionTools.car_color[2],
-                                        yaw_pixel_value
-                )
-
-                # Add scale metadata:
-                loc = ConversionTools.get_metadata_pixel_location(
-                                                                  0,
-                                                                  0,
-                                                                  ConversionTools.TOP_LEFT,
-                                                                  im.size
-                )
-                pixels[loc[0], loc[1]] = scale_metadata[0]
-                loc = ConversionTools.get_metadata_pixel_location(
-                                                                  1,
-                                                                  0,
-                                                                  ConversionTools.TOP_LEFT,
-                                                                  im.size
-                )
-                pixels[loc[0], loc[1]] = scale_metadata[1]
-
-                # Add versioning metadata
-                loc = ConversionTools.get_metadata_pixel_location(
-                                                                  4,
-                                                                  4,
-                                                                  ConversionTools.BOTTOM_RIGHT,
-                                                                  im.size
-                )
-                pixels[loc[0], loc[1]] = ConversionTools.deconvert_version_metadata(
-                                             ConversionTools.TRACKIMG_VERSION_NUM
-                )[0]
-
-                # Save the image:
-                output_path = os.path.join(
-                                           rospkg.RosPack().get_path('eufs_gazebo'),
-                                           'randgen_imgs/' + filename + '.png'
-                )
-                im.save(output_path)
-                return im
-
-        #########################################################
-        #                        Copying                        #
-        #########################################################
-
-        @staticmethod
-        def copy_file(fr, to):
-                reader = open(fr, 'r')
-                writer = open(to, 'w')
-                data = reader.read()
-                writer.write(data)
-                reader.close()
-                writer.close()
diff --git a/eufs_launcher/src/eufs_launcher/ConversionTools.pyc b/eufs_launcher/src/eufs_launcher/ConversionTools.pyc
deleted file mode 100644
index 965676cb472932c7eb52de2b842ead9718bdb4c5..0000000000000000000000000000000000000000
Binary files a/eufs_launcher/src/eufs_launcher/ConversionTools.pyc and /dev/null differ
diff --git a/eufs_launcher/src/eufs_launcher/LauncherModule.py b/eufs_launcher/src/eufs_launcher/LauncherModule.py
deleted file mode 100644
index 746d3ec0b7aee9b4ef7552adf15cc73488253cfa..0000000000000000000000000000000000000000
--- a/eufs_launcher/src/eufs_launcher/LauncherModule.py
+++ /dev/null
@@ -1,961 +0,0 @@
-import os
-import rospy
-import rospkg
-import roslaunch
-import rosnode
-import math
-import time
-
-from qt_gui.plugin import Plugin
-from python_qt_binding import loadUi
-from python_qt_binding.QtWidgets import (QWidget, QComboBox, QPushButton, QSlider, QRadioButton, QCheckBox, QMainWindow,
-                                         QLabel, QLineEdit, QApplication)
-
-from os import listdir
-from os.path import isfile, join
-
-from subprocess import Popen
-
-from PIL import Image
-from PIL import ImageDraw
-from random import randrange, uniform
-
-from TrackGenerator import TrackGenerator as Generator
-from TrackGenerator import GeneratorContext
-
-from ConversionTools import ConversionTools as Converter
-
-
-class EufsLauncher(Plugin):
-
-        def __init__(self, context):
-                """
-                This function handles loading the launcher GUI
-                and all the setting-up of the values and buttons displayed.
-                """
-                super(EufsLauncher, self).__init__(context)
-
-                # Give QObjects reasonable names
-                self.setObjectName('EufsLauncher')
-
-                # Process standalone plugin command-line arguments
-                from argparse import ArgumentParser
-                parser = ArgumentParser()
-                # Add argument(s) to the parser.
-                parser.add_argument("-q", "--quiet", action="store_true",
-                                    dest="quiet",
-                                    help="Put plugin in silent mode")
-                args, unknowns = parser.parse_known_args(context.argv())
-                if not args.quiet:
-                        print 'arguments: ', args
-                        print 'unknowns: ', unknowns
-
-                # Create QWidget
-                self._widget = QWidget()
-
-                # Get path to UI file which should be in the "resource" folder of this package
-                self.main_ui_file = os.path.join(
-                                                 rospkg.RosPack().get_path('eufs_launcher'),
-                                                 'resource',
-                                                 'Launcher.ui'
-                )
-                self.sketcher_ui_file = os.path.join(
-                                                 rospkg.RosPack().get_path('eufs_launcher'),
-                                                 'resource',
-                                                 'Sketcher.ui'
-                )
-
-                # Extend the widget with all attributes and children from UI file
-                loadUi(self.main_ui_file, self._widget)
-
-                # Give QObjects reasonable names
-                self._widget.setObjectName('EufsLauncherUI')
-
-                # Show _widget.windowTitle on left-top of each plugin (when
-                # it's set in _widget). This is useful when you open multiple
-                # plugins at once. Also if you open multiple instances of your
-                # plugin at once, these lines add number to make it easy to
-                # tell from pane to pane.
-                if context.serial_number() > 1:
-                        the_title = (self._widget.windowTitle() + (' (%d)' % context.serial_number()))
-                        self._widget.setWindowTitle(the_title)
-
-                # Resize correctly
-                self._widget.setFixedWidth(1200)
-
-                # Store gazebo's path as it is used quite a lot:
-                self.GAZEBO = rospkg.RosPack().get_path('eufs_gazebo')
-
-                # Give widget components permanent names
-                self.PRESET_SELECTOR = self._widget.findChild(QComboBox, "WhichPreset")
-                self.TRACK_SELECTOR = self._widget.findChild(QComboBox, "WhichTrack")
-                self.IMAGE_SELECTOR = self._widget.findChild(QComboBox, "WhichImage")
-                self.LAUNCH_BUTTON = self._widget.findChild(QPushButton, "LaunchButton")
-                self.GENERATOR_BUTTON = self._widget.findChild(QPushButton, "GenerateButton")
-                self.LOAD_IMAGE_BUTTON = self._widget.findChild(QPushButton, "LoadFromImageButton")
-
-                self.CONVERT_BUTTON = self._widget.findChild(QPushButton, "ConvertButton")
-                self.RENAME_BUTTON = self._widget.findChild(QPushButton, "RenameButton")
-                self.SKETCHER_BUTTON = self._widget.findChild(QPushButton, "SketcherButton")
-                self.LAX_CHECKBOX = self._widget.findChild(QCheckBox, "LaxCheckBox")
-                self.CONVERT_FROM_MENU = self._widget.findChild(QComboBox, "ConvertFrom")
-                self.CONVERT_TO_MENU = self._widget.findChild(QComboBox, "ConvertTo")
-                self.MIDPOINT_CHECKBOX = self._widget.findChild(QCheckBox, "MidpointBox")
-
-                self.SUFFIX_CHECKBOX = self._widget.findChild(QCheckBox, "SuffixBox")
-                self.USER_FEEDBACK_LABEL = self._widget.findChild(QLabel, "UserFeedbackLabel")
-                self.RENAME_FILE_TEXTBOX = self._widget.findChild(QLineEdit, "RenameFileTextbox")
-                self.RENAME_FILE_HEADER = self._widget.findChild(QLabel, "RenameFileHeader")
-                self.NOISE_SLIDER = self._widget.findChild(QSlider, "Noisiness")
-                self.SPEED_RADIO = self._widget.findChild(QRadioButton, "SpeedRadio")
-                self.TORQUE_RADIO = self._widget.findChild(QRadioButton, "TorqueRadio")
-                self.PERCEPTION_CHECKBOX = self._widget.findChild(QCheckBox, "PerceptionCheckbox")
-
-                self.VISUALISATOR_CHECKBOX = (
-                        self._widget.findChild(QCheckBox, "VisualisatorCheckbox")
-                )
-                self.GAZEBO_GUI_CHECKBOX = (
-                        self._widget.findChild(QCheckBox, "GazeboGuiCheckbox")
-                )
-
-                self.PUBLISH_GT_TF = (
-                        self._widget.findChild(QCheckBox, "GroundTruthTransform")
-                )
-
-                self.FILE_FOR_CONVERSION_BOX = self._widget.findChild(
-                        QComboBox,
-                        "FileForConversion"
-                )
-                self.FULL_STACK_COPY_BUTTON = self._widget.findChild(
-                        QCheckBox,
-                        "FullStackCopyButton"
-                )
-                self.FULL_STACK_TRACK_GEN_BUTTON = self._widget.findChild(
-                        QCheckBox,
-                        "FullStackTrackGenButton"
-                )
-                self.FULL_STACK_IMAGE_BUTTON = self._widget.findChild(
-                        QCheckBox,
-                        "FullStackImageButton"
-                )
-
-                self.MIN_STRAIGHT_SLIDER = self._widget.findChild(QSlider, "Param_MIN_STRAIGHT")
-                self.MAX_STRAIGHT_SLIDER = self._widget.findChild(QSlider, "Param_MAX_STRAIGHT")
-                self.MIN_CTURN_SLIDER = self._widget.findChild(QSlider, "Param_MIN_CTURN")
-                self.MAX_CTURN_SLIDER = self._widget.findChild(QSlider, "Param_MAX_CTURN")
-                self.MIN_HAIRPIN_SLIDER = self._widget.findChild(QSlider, "Param_MIN_HAIRPIN")
-                self.MAX_HAIRPIN_SLIDER = self._widget.findChild(QSlider, "Param_MAX_HAIRPIN")
-                self.HAIRPIN_PAIRS_SLIDER = self._widget.findChild(QSlider, "Param_HAIRPIN_PAIRS")
-                self.MAX_LENGTH_SLIDER = self._widget.findChild(QSlider, "Param_MAX_LENGTH")
-                self.TRACK_WIDTH_SLIDER = self._widget.findChild(QSlider, "Param_TRACK_WIDTH")
-
-                self.MIN_STRAIGHT_LABEL = self._widget.findChild(QLabel, "Label_MIN_STRAIGHT")
-                self.MAX_STRAIGHT_LABEL = self._widget.findChild(QLabel, "Label_MAX_STRAIGHT")
-                self.MIN_CTURN_LABEL = self._widget.findChild(QLabel, "Label_MIN_CTURN")
-                self.MAX_CTURN_LABEL = self._widget.findChild(QLabel, "Label_MAX_CTURN")
-                self.MIN_HAIRPIN_LABEL = self._widget.findChild(QLabel, "Label_MIN_HAIRPIN")
-                self.MAX_HAIRPIN_LABEL = self._widget.findChild(QLabel, "Label_MAX_HAIRPIN")
-                self.HAIRPIN_PAIRS_LABEL = self._widget.findChild(QLabel, "Label_HAIRPIN_PAIRS")
-                self.MAX_LENGTH_LABEL = self._widget.findChild(QLabel, "Label_MAX_LENGTH")
-                self.TRACK_WIDTH_LABEL = self._widget.findChild(QLabel, "Label_TRACK_WIDTH")
-
-                # Check the file directory to update drop-down menu
-                self.load_track_and_images()
-
-                # Get presets
-                preset_names = Generator.get_preset_names()
-
-                # Add Presets to Preset Selector (always put Computer Friendly first)
-                default_preset = Generator.get_default_preset()
-                if default_preset in preset_names:
-                        self.PRESET_SELECTOR.addItem(default_preset)
-                for f in preset_names:
-                        if f != default_preset:
-                                self.PRESET_SELECTOR.addItem(f)
-
-                # Hook up buttons to onclick functions
-                self.LAUNCH_BUTTON.clicked.connect(self.launch_button_pressed)
-                self.GENERATOR_BUTTON.clicked.connect(self.generator_button_pressed)
-                self.LOAD_IMAGE_BUTTON.clicked.connect(self.track_from_image_button_pressed)
-                self.CONVERT_BUTTON.clicked.connect(self.convert_button_pressed)
-                self.RENAME_BUTTON.clicked.connect(self.copy_button_pressed)
-                self.SKETCHER_BUTTON.clicked.connect(self.sketcher_button_pressed)
-
-                # Create array of running processes
-                self.processes = []
-                # And also an array of running launches
-                self.launches = []
-                # And array of running popens (things launched by popen)
-                self.popens = []
-
-                # Add widget to the user interface
-                context.add_widget(self._widget)
-
-                # Miscellaneous final initializations:
-                self.has_launched_ros = False
-                self.launch_file_override = None
-                self.popen_process = None
-
-                # Space the load track button better
-                self.LOAD_IMAGE_BUTTON.setText("Load Track\nFrom Image")
-
-                # Hide track draw button as not currently working
-                self.SKETCHER_BUTTON.setVisible(False)
-
-                # Set up the Generator Params
-                self.update_preset()
-
-                # Give sliders the correct range
-                self.set_slider_ranges()
-
-                # Relabel the params
-                self.keep_params_up_to_date()
-                self.keep_sliders_up_to_date()
-
-                # Hook up sliders to function that monitors when they've been changed
-                self.keep_track_of_slider_changes()
-                self.keep_track_of_preset_changes()
-
-                # While in the process of changing sliders,
-                # we don't want our monitor function to be rapidly firing
-                # So we toggle this variable when ready
-                self.ignore_slider_changes = False
-
-                # Setup Lax Generation button
-                self.LAX_CHECKBOX.setChecked(self.LAX_GENERATION)
-
-                # Setup Gazebo Gui button
-                self.GAZEBO_GUI_CHECKBOX.setChecked(True)
-
-                # Setup Conversion Tools dropdowns
-                for f in ["launch", "png", "csv"]:
-                        self.CONVERT_FROM_MENU.addItem(f)
-                for f in ["csv", "png", "launch", "ALL"]:
-                        self.CONVERT_TO_MENU.addItem(f)
-
-                self.update_converter_dropdown()
-                self.CONVERT_FROM_MENU.currentTextChanged.connect(self.update_converter_dropdown)
-                self.CONVERT_TO_MENU.currentTextChanged.connect(self.update_midpoints_box)
-                self.FILE_FOR_CONVERSION_BOX.currentTextChanged.connect(self.update_copier)
-
-                # Prep midpoints checkbox
-                convert_to = self.CONVERT_TO_MENU.currentText()
-                self.MIDPOINT_CHECKBOX.setChecked(True)
-
-                # Suffix checkbox
-                suffix_box = self.SUFFIX_CHECKBOX
-                suffix_box.setChecked(True)
-
-                # Track Gen full stack checkbox
-                track_generator_full_stack = self.FULL_STACK_TRACK_GEN_BUTTON
-                track_generator_full_stack.setChecked(True)
-
-                # Image full stack checkbox
-                image_launcher_full_stack = self.FULL_STACK_IMAGE_BUTTON
-                image_launcher_full_stack.setChecked(True)
-
-                # Copier full stack checkbox
-                copier_full_stack = self.FULL_STACK_COPY_BUTTON
-                copier_full_stack.setChecked(True)
-
-                # Change label to show current selected file for the copier
-                self.update_copier()
-
-                # Get uuid of roslaunch
-                self.uuid = roslaunch.rlutil.get_or_generate_uuid(None, False)
-                roslaunch.configure_logging(self.uuid)
-                self.DEBUG_SHUTDOWN = False
-
-        def tell_launchella(self, what):
-                """Display text in feedback box (lower left corner)."""
-
-                self.USER_FEEDBACK_LABEL.setText(what)
-                QApplication.processEvents()
-
-        def sketcher_button_pressed(self):
-                """Called when sketcher button is pressed."""
-
-                loadUi(self.sketcher_ui_file, self._widget)
-
-        def load_track_and_images(self):
-                """
-                Peruses file system for files to add to the drop-down menus of the launcher.
-                """
-
-                # Clear the dropdowns
-                self.TRACK_SELECTOR.clear()
-                self.IMAGE_SELECTOR.clear()
-                # Get tracks from eufs_gazebo package
-                relevant_path = os.path.join(self.GAZEBO, 'launch')
-                launch_files = [
-                        f for f in listdir(relevant_path) if isfile(join(relevant_path, f))
-                ]
-
-                # Remove "blacklisted" files (ones that don't define tracks)
-                blacklist_filepath = os.path.join(
-                        self.GAZEBO,
-                        'launch/blacklist.txt'
-                )
-                blacklist_ = open(blacklist_filepath, "r")
-                blacklist = [f.strip() for f in blacklist_]  # remove \n
-                launch_files = [f for f in launch_files if f not in blacklist]
-
-                # Add Tracks to Track Selector
-                if "small_track.launch" in launch_files:
-                        self.TRACK_SELECTOR.addItem("small_track.launch")
-                for f in launch_files:
-                        if f != "small_track.launch":
-                                self.TRACK_SELECTOR.addItem(f)
-
-                # Get images
-                relevant_path = os.path.join(
-                        self.GAZEBO,
-                        'randgen_imgs'
-                )
-                image_files = [f for f in listdir(relevant_path) if isfile(join(relevant_path, f))]
-
-                # Add Images to Image Selector (always put rand.png first)
-                if "rand.png" in image_files:
-                        self.IMAGE_SELECTOR.addItem("rand.png")
-                for f in image_files:
-                        if f != "rand.png" and f[-3:] == "png":
-                                self.IMAGE_SELECTOR.addItem(f)
-
-        def copy_button_pressed(self):
-                """When copy button is pressed, launch ConversionTools"""
-
-                self.tell_launchella("Copying...")
-
-                # Copy the current file
-                is_full_stack = self.FULL_STACK_COPY_BUTTON.isChecked()
-                file_to_copy_to = self.RENAME_FILE_TEXTBOX.text()
-                file_to_copy_from = self.FILE_FOR_CONVERSION_BOX.currentText()
-                raw_name_to = file_to_copy_to.split(".")[0]
-                raw_name_from = file_to_copy_from.split(".")[0]
-                ending = file_to_copy_from.split(".")[-1]
-
-                # Don't let them create null-named files
-                if len(file_to_copy_to) == 0:
-                        return
-
-                # For launch files, we also need to move around the model folders
-                if ending == "launch":
-                        model_path = os.path.join(
-                                rospkg.RosPack().get_path('eufs_description'),
-                                'models',
-                                raw_name_to
-                        )
-                        if not os.path.exists(model_path):
-                                os.mkdir(model_path)
-
-                        # Copy sdf files
-                        path_from = os.path.join(
-                                rospkg.RosPack().get_path('eufs_description'),
-                                'models',
-                                raw_name_from,
-                                "model.sdf"
-                        )
-                        path_to = os.path.join(
-                                rospkg.RosPack().get_path('eufs_description'),
-                                'models',
-                                raw_name_to,
-                                "model.sdf"
-                        )
-                        Converter.copy_file(path_from, path_to)
-
-                        # Copy config files
-                        path_from = os.path.join(
-                                rospkg.RosPack().get_path('eufs_description'),
-                                'models',
-                                raw_name_from,
-                                "model.config"
-                        )
-                        path_to = os.path.join(
-                                rospkg.RosPack().get_path('eufs_description'),
-                                'models',
-                                raw_name_to,
-                                "model.config"
-                        )
-                        Converter.copy_file(path_from, path_to)
-
-                        # Copy launch files
-                        path_from = os.path.join(
-                                self.GAZEBO,
-                                'launch',
-                                file_to_copy_from
-                        )
-                        path_to = os.path.join(
-                                self.GAZEBO,
-                                'launch',
-                                raw_name_to + "." + ending
-                        )
-                        Converter.copy_file(path_from, path_to)
-
-                # Copy pngs
-                elif ending == "png":
-                        path_from = os.path.join(
-                                self.GAZEBO,
-                                'randgen_imgs',
-                                file_to_copy_from
-                        )
-                        path_to = os.path.join(
-                                self.GAZEBO,
-                                'randgen_imgs',
-                                raw_name_to + "." + ending
-                        )
-                        Converter.copy_file(path_from, path_to)
-
-                # Copy csvs
-                elif ending == "csv":
-                        path_from = os.path.join(
-                                self.GAZEBO,
-                                'tracks',
-                                file_to_copy_from
-                        )
-                        path_to = os.path.join(
-                                self.GAZEBO,
-                                'tracks',
-                                raw_name_to + "." + ending
-                        )
-                        Converter.copy_file(path_from, path_to)
-
-                # If full stack copying, convert to all file formats
-                if self.FULL_STACK_COPY_BUTTON.isChecked():
-                        Converter.convert(
-                                ending,
-                                "ALL",
-                                path_to,
-                                params={"noise": self.get_noise_level()}
-                        )
-
-                # Update drop-downs with new files in directory
-                self.load_track_and_images()
-                self.tell_launchella("Copy Succeeded!")
-
-        def update_copier(self):
-                """Change label to show current selected file for the copier"""
-                copy_head = self.RENAME_FILE_HEADER
-                copy_head.setText("Copy: " + self.FILE_FOR_CONVERSION_BOX.currentText())
-
-        def update_midpoints_box(self):
-                """
-                Controls the handling of the box that, when ticked,
-                tells the to-csv converter to calculate cone midpoints.
-                """
-                # Toggle checkbox
-                convert_to = self.CONVERT_TO_MENU.currentText()
-
-        def update_converter_dropdown(self):
-                """Keep the drop-down menus of ConversionTools in sync with the filesystem."""
-                from_type = self.CONVERT_FROM_MENU.currentText()
-                all_files = []
-
-                if from_type == "launch":
-                        # Get tracks from eufs_gazebo package
-                        relevant_path = os.path.join(
-                                self.GAZEBO,
-                                'launch'
-                        )
-                        launch_files = [
-                               f for f in listdir(relevant_path) if isfile(join(relevant_path, f))
-                        ]
-
-                        # Remove "blacklisted" files (ones that don't define tracks)
-                        blacklist_filepath = os.path.join(
-                                self.GAZEBO,
-                                'launch/blacklist.txt'
-                        )
-                        blacklist_ = open(blacklist_filepath, "r")
-                        blacklist = [f.strip() for f in blacklist_]
-                        all_files = [f for f in launch_files if f not in blacklist]
-                elif from_type == "png":
-                        # Get images
-                        relevant_path = os.path.join(
-                                self.GAZEBO,
-                                'randgen_imgs'
-                        )
-                        all_files = [
-                                f for f in listdir(relevant_path)
-                                if isfile(join(relevant_path, f))
-                        ]
-                elif from_type == "csv":
-                        # Get csvs
-                        relevant_path = os.path.join(
-                                self.GAZEBO,
-                                'tracks'
-                        )
-                        all_files = [
-                                f for f in listdir(relevant_path)
-                                if isfile(join(relevant_path, f)) and f[-3:] == "csv"
-                        ]
-
-                # Remove old files from selector
-                the_selector = self.FILE_FOR_CONVERSION_BOX
-                the_selector.clear()
-
-                # Add files to selector
-                for f in all_files:
-                        the_selector.addItem(f)
-
-                self.update_copier()
-
-        def update_preset(self):
-                """When preset is changed, change the sliders accordingly."""
-                which = self.PRESET_SELECTOR.currentText()
-                preset_data = Generator.get_preset(which)
-                self.MIN_STRAIGHT = preset_data["MIN_STRAIGHT"]
-                self.MAX_STRAIGHT = preset_data["MAX_STRAIGHT"]
-                self.MIN_CTURN = preset_data["MIN_CONSTANT_TURN"]
-                self.MAX_CTURN = preset_data["MAX_CONSTANT_TURN"]
-                self.MIN_HAIRPIN = preset_data["MIN_HAIRPIN"] * 2
-                self.MAX_HAIRPIN = preset_data["MAX_HAIRPIN"] * 2
-                self.HAIRPIN_PAIRS = preset_data["MAX_HAIRPIN_PAIRS"]
-                self.MAX_LENGTH = preset_data["MAX_LENGTH"]
-                self.LAX_GENERATION = preset_data["LAX_GENERATION"]
-                self.TRACK_WIDTH = preset_data["TRACK_WIDTH"]
-                self.LAX_CHECKBOX.setChecked(self.LAX_GENERATION)
-
-        def keep_track_of_preset_changes(self):
-                """Hooks up the preset button with the preset_changed function."""
-                self.PRESET_SELECTOR .currentTextChanged.connect(self.preset_changed)
-
-        def preset_changed(self):
-                """
-                When preset is changed, set everything into motion that needs to happen.
-
-                Updates dropdowns and sliders.
-                """
-                self.ignore_slider_changes = True
-                self.update_preset()
-                self.keep_params_up_to_date()
-                self.keep_sliders_up_to_date()
-                self.ignore_slider_changes = False
-
-        def keep_track_of_slider_changes(self):
-                """
-                Hooks up all sliders with functions to respond to their changes.
-                """
-                self.MIN_STRAIGHT_SLIDER .valueChanged.connect(self.slider_changed)
-                self.MAX_STRAIGHT_SLIDER .valueChanged.connect(self.slider_changed)
-                self.MIN_CTURN_SLIDER    .valueChanged.connect(self.slider_changed)
-                self.MAX_CTURN_SLIDER    .valueChanged.connect(self.slider_changed)
-                self.MIN_HAIRPIN_SLIDER  .valueChanged.connect(self.slider_changed)
-                self.MAX_HAIRPIN_SLIDER  .valueChanged.connect(self.slider_changed)
-                self.HAIRPIN_PAIRS_SLIDER.valueChanged.connect(self.slider_changed)
-                self.MAX_LENGTH_SLIDER   .valueChanged.connect(self.slider_changed)
-                self.TRACK_WIDTH_SLIDER  .valueChanged.connect(self.slider_changed)
-
-        def slider_changed(self):
-                """When a slider is changed, update the parameters."""
-                if self.ignore_slider_changes:
-                    return
-                self.keep_variables_up_to_date()
-                self.keep_params_up_to_date()
-
-        def keep_params_up_to_date(self):
-                """This function keeps the labels next to the sliders up to date."""
-                self.MIN_STRAIGHT_LABEL.setText("MIN_STRAIGHT: " + str(self.MIN_STRAIGHT))
-                self.MAX_STRAIGHT_LABEL.setText("MAX_STRAIGHT: " + str(self.MAX_STRAIGHT))
-                self.MIN_CTURN_LABEL.setText("MIN_CTURN: " + str(self.MIN_CTURN))
-                self.MAX_CTURN_LABEL.setText("MAX_CTURN: " + str(self.MAX_CTURN))
-                self.MIN_HAIRPIN_LABEL.setText("MIN_HAIRPIN: " + str((self.MIN_HAIRPIN / 2.0)))
-                self.MAX_HAIRPIN_LABEL.setText("MAX_HAIRPIN: " + str((self.MAX_HAIRPIN / 2.0)))
-                self.HAIRPIN_PAIRS_LABEL.setText("HAIRPIN_PAIRS: " + str(self.HAIRPIN_PAIRS))
-                self.MAX_LENGTH_LABEL.setText("MAX_LENGTH: " + str(self.MAX_LENGTH))
-                self.TRACK_WIDTH_LABEL.setText("TRACK_WIDTH: " + str(self.TRACK_WIDTH))
-
-        def keep_sliders_up_to_date(self):
-                """This function keeps the values of the sliders up to date."""
-                self.set_slider_value("Param_MIN_STRAIGHT",  self.MIN_STRAIGHT)
-                self.set_slider_value("Param_MAX_STRAIGHT",  self.MAX_STRAIGHT)
-                self.set_slider_value("Param_MIN_CTURN",     self.MIN_CTURN)
-                self.set_slider_value("Param_MAX_CTURN",     self.MAX_CTURN)
-                self.set_slider_value("Param_MIN_HAIRPIN",   self.MIN_HAIRPIN)
-                self.set_slider_value("Param_MAX_HAIRPIN",   self.MAX_HAIRPIN)
-                self.set_slider_value("Param_HAIRPIN_PAIRS", self.HAIRPIN_PAIRS)
-                self.set_slider_value("Param_MAX_LENGTH",    self.MAX_LENGTH)
-                self.set_slider_value("Param_TRACK_WIDTH",   self.TRACK_WIDTH)
-
-        def keep_variables_up_to_date(self):
-                """This function keeps LauncherModule's variables up to date."""
-                self.MIN_STRAIGHT = self.get_slider_value("Param_MIN_STRAIGHT")
-                self.MAX_STRAIGHT = self.get_slider_value("Param_MAX_STRAIGHT")
-                self.MIN_CTURN = self.get_slider_value("Param_MIN_CTURN")
-                self.MAX_CTURN = self.get_slider_value("Param_MAX_CTURN")
-                self.MIN_HAIRPIN = self.get_slider_value("Param_MIN_HAIRPIN")
-                self.MAX_HAIRPIN = self.get_slider_value("Param_MAX_HAIRPIN")
-                self.HAIRPIN_PAIRS = self.get_slider_value("Param_HAIRPIN_PAIRS")
-                self.MAX_LENGTH = self.get_slider_value("Param_MAX_LENGTH")
-                self.TRACK_WIDTH = self.get_slider_value("Param_TRACK_WIDTH")
-
-        def set_slider_ranges(self):
-                """
-                This function specifies the bounds of the sliders.
-
-                The following values are entirely arbitrary:
-                                Straights are between 0 and 150
-                                Turns are between 0 and 50
-                                Hairpins are between 0 and 20,
-                                     and have half-step rather than integer step
-                                     (hence scaling by 2s)
-                                Hairpin pairs are between 0 and 5
-                                Max Length is between 200 and 2000
-
-                The values were chosen because the sliders needed min and max values, and
-                these values seemed to encompass the range of desired functionality.
-                """
-                min_straight = 0
-                max_straight = 150
-                min_turn = 0
-                max_turn = 50
-                min_hairpin = 0
-                max_hairpin = 20
-                min_hairpin_pairs = 0
-                max_hairpin_pairs = 5
-                min_max_length = 200
-                max_max_length = 2000
-                min_width = 2
-                max_width = 10
-                self.set_slider_data("Param_MIN_STRAIGHT", min_straight, max_straight)
-                self.set_slider_data("Param_MAX_STRAIGHT", min_straight, max_straight)
-                self.set_slider_data("Param_MIN_CTURN", min_turn, max_turn)
-                self.set_slider_data("Param_MAX_CTURN", min_turn, max_turn)
-                self.set_slider_data("Param_MIN_HAIRPIN", min_hairpin * 2, max_hairpin * 2)
-                self.set_slider_data("Param_MAX_HAIRPIN", min_hairpin * 2, max_hairpin * 2)
-                self.set_slider_data("Param_HAIRPIN_PAIRS", min_hairpin_pairs, max_hairpin_pairs)
-                self.set_slider_data("Param_MAX_LENGTH", min_max_length, max_max_length)
-                self.set_slider_data("Param_TRACK_WIDTH", min_width, max_width)
-
-        def get_slider_value(self, slidername):
-                """Returns the value of the specified slider."""
-                slider = self._widget.findChild(QSlider, slidername)
-                return slider.value()
-
-        def set_slider_value(self, slidername, sliderval):
-                """Sets the value of the specified slider."""
-                slider = self._widget.findChild(QSlider, slidername)
-                slider.setValue(sliderval)
-
-        def set_slider_data(self, slidername, slidermin, slidermax):
-                """Sets the minimum and maximum values of sliders."""
-                slider = self._widget.findChild(QSlider, slidername)
-                slider.setMinimum(slidermin)
-                slider.setMaximum(slidermax)
-
-        def generator_button_pressed(self):
-                """Handles random track generation."""
-
-                self.tell_launchella("Generating Track...")
-
-                isLaxGenerator = self.LAX_CHECKBOX.isChecked()
-
-                # Prepare and pass in all the parameters of the track
-                # If track takes too long to generate, this section will
-                # throw an error, to be handled after this try clause.
-                component_data = Generator.get_preset(
-                        self.PRESET_SELECTOR.currentText()
-                )["COMPONENTS"]
-
-                generator_values = {
-                                    "MIN_STRAIGHT": self.MIN_STRAIGHT,
-                                    "MAX_STRAIGHT": self.MAX_STRAIGHT,
-                                    "MIN_CONSTANT_TURN": self.MIN_CTURN,
-                                    "MAX_CONSTANT_TURN": self.MAX_CTURN,
-                                    "MIN_HAIRPIN": self.MIN_HAIRPIN/2,
-                                    "MAX_HAIRPIN": self.MAX_HAIRPIN/2,
-                                    "MAX_HAIRPIN_PAIRS": self.HAIRPIN_PAIRS,
-                                    "MAX_LENGTH": self.MAX_LENGTH,
-                                    "LAX_GENERATION": isLaxGenerator,
-                                    "TRACK_WIDTH": self.TRACK_WIDTH,
-                                    "COMPONENTS": component_data
-                }
-
-                def failure_function():
-                        self.tell_launchella("Track Gen Failed :(  Try different parameters?")
-
-                with GeneratorContext(generator_values, failure_function):
-                        xys, twidth, theight = Generator.generate()
-
-                        # If track is generated successfully, turn it into a track image
-                        # and display it to the user.
-                        self.tell_launchella("Loading Image...")
-                        im = Converter.convert(
-                                "comps",
-                                "png",
-                                "rand",
-                                params={
-                                        "track data": (xys, twidth, theight)
-                                }
-                        )
-
-                        # If full stack selected, convert into csv and launch as well
-                        track_generator_full_stack = self.FULL_STACK_TRACK_GEN_BUTTON
-                        if track_generator_full_stack.isChecked():
-                                img_path = os.path.join(
-                                        self.GAZEBO,
-                                        'randgen_imgs/rand.png'
-                                )
-                                Converter.convert(
-                                        "png",
-                                        "ALL",
-                                        img_path,
-                                        params={"noise": self.get_noise_level()}
-                                )
-
-                        self.tell_launchella("Track Gen Complete!")
-
-                        im.show()
-
-                self.load_track_and_images()
-
-        def track_from_image_button_pressed(self):
-                """
-                Converts .png to .launch by interfacing with ConversionTools,
-                then launches said .launch.
-                """
-
-                self.tell_launchella("Preparing to launch image as a track... ")
-                filename = self.IMAGE_SELECTOR.currentText()
-                filename_full = os.path.join(
-                        self.GAZEBO,
-                        'randgen_imgs/'+filename
-                )
-                image_launcher_full_stack = self.FULL_STACK_IMAGE_BUTTON
-                if image_launcher_full_stack.isChecked():
-                        Converter.convert(
-                                "png",
-                                "ALL",
-                                filename_full,
-                                params={"noise": self.get_noise_level()}
-                        )
-                else:
-                        Converter.convert(
-                                "png",
-                                "launch",
-                                filename_full,
-                                params={"noise": self.get_noise_level()}
-                        )
-
-                self.launch_file_override = filename[:-4] + ".launch"
-                self.load_track_and_images()
-                self.launch_button_pressed()
-
-        def get_noise_level(self):
-                """Returns the noise slider's noise level."""
-
-                noise_level_widget = self.NOISE_SLIDER
-                numerator = (1.0 * (noise_level_widget.value() - noise_level_widget.minimum()))
-                denominator = (noise_level_widget.maximum() - noise_level_widget.minimum())
-                return numerator/denominator
-
-        def convert_button_pressed(self):
-                """Handles interfacing with ConversionTools."""
-
-                # Get info from launcher gui
-                from_type = self.CONVERT_FROM_MENU.currentText()
-                to_type = self.CONVERT_TO_MENU.currentText()
-                filename = self.FILE_FOR_CONVERSION_BOX.currentText()
-                self.tell_launchella("Conversion Button Pressed!  From: " + from_type +
-                                     " To: " + to_type + " For: " + filename)
-                midpoint_widget = self.MIDPOINT_CHECKBOX
-
-                # Calculate correct full filepath for file to convert
-                if from_type == "png":
-                        filename = os.path.join(self.GAZEBO, 'randgen_imgs/'+filename)
-                elif from_type == "launch":
-                        filename = os.path.join(self.GAZEBO, 'launch/'+filename)
-                elif from_type == "csv":
-                        filename = os.path.join(self.GAZEBO, 'tracks/'+filename)
-
-                # Calculate some parameters
-                suffix = "_CT" if self.SUFFIX_CHECKBOX.isChecked() else ""
-                use_midpoints = midpoint_widget.isVisible() and midpoint_widget.isChecked()
-
-                # Convert it
-                Converter.convert(
-                        from_type,
-                        to_type,
-                        filename,
-                        params={
-                                "noise": self.get_noise_level(),
-                                "midpoints": use_midpoints
-                        },
-                        conversion_suffix=suffix
-                )
-                self.load_track_and_images()
-                self.tell_launchella("Conversion Succeeded!  From: " + from_type +
-                                     " To: " + to_type + " For: " + filename)
-
-        def launch_button_pressed(self):
-                """Launches Gazebo."""
-
-                if self.has_launched_ros:
-                        # Don't let people press launch twice
-                        return
-                self.has_launched_ros = True
-
-                self.tell_launchella("--------------------------")
-                self.tell_launchella("\t\t\tLaunching Nodes...")
-
-                # If we have set a specific file to run regardless of selected file,
-                # which may happen when we launch from an image,
-                # we make sure to launch the overriding track instead.
-                track_to_launch = self.launch_file_override
-                self.launch_file_override = None
-                if not track_to_launch:
-                        track_to_launch = self.TRACK_SELECTOR.currentText()
-
-                # Get noise level
-                self.tell_launchella("Launching " + track_to_launch)
-                noise_level = self.get_noise_level()
-                self.tell_launchella("With Noise Level: " + str(noise_level))
-
-                # Get control information
-                control_method = "controlMethod:=speed"
-                if self.SPEED_RADIO.isChecked():
-                        self.tell_launchella("With Speed Controls")
-                        control_method = "controlMethod:=speed"
-                elif self.TORQUE_RADIO.isChecked():
-                        self.tell_launchella("With Torque Controls")
-                        control_method = "controlMethod:=torque"
-
-                # Get perception information
-                perception_stack = ["launch_group:=no_perception"]
-                if self.PERCEPTION_CHECKBOX.isChecked():
-                        perception_stack = []  # is on
-
-                # Check if we should launch the gazebo gui!
-                gui_on = "gui:=" + (
-                        "true" if self.GAZEBO_GUI_CHECKBOX.isChecked() else "false"
-                )
-
-                # Check if we need ground truth odom
-                publish_gt_tf = "publish_gt_tf:=" + (
-                        "true" if self.PUBLISH_GT_TF.isChecked() else "false"
-                )
-
-                # How we launch the simulation changes depending on whether
-                # we are using the eufs_sim package standalone, or working within
-                # the eufs-master ecosystem.
-                dir_to_check = os.path.dirname(os.path.dirname(os.path.dirname(self.GAZEBO)))
-                if dir_to_check.split("/")[-1] == "eufs-master":
-                        launch_location = os.path.join(
-                                                dir_to_check,
-                                                'launch',
-                                                'simulation.launch'
-                        )
-                        self.popen_process = self.launch_node_with_args(
-                                                launch_location,
-                                                [
-                                                        control_method,
-                                                        gui_on,
-                                                        publish_gt_tf,
-                                                        "track:=" + track_to_launch.split(".")[0]
-                                                ] + perception_stack
-                                        )
-                else:
-                        self.popen_process = self.launch_node_with_args(
-                                                os.path.join(
-                                                        self.GAZEBO,
-                                                        'launch',
-                                                        track_to_launch
-                                                ),
-                                                [control_method, gui_on]
-                                        )
-
-                # Launch the visualisator if applicable.
-                if self.VISUALISATOR_CHECKBOX.isChecked():
-                        self.tell_launchella("And With LIDAR Data Visualisator.")
-                        node_path = os.path.join(
-                                rospkg.RosPack().get_path('eufs_description'),
-                                "launch",
-                                "visualisator.launch"
-                        )
-                        self.launch_node(node_path)
-
-                self.tell_launchella("As I have fulfilled my purpose in guiding you " +
-                                     "to launch a track, this launcher will no longer " +
-                                     "react to input.")
-
-                # Launch SBG Simulator Node
-                self.launch_node_with_args(
-                        os.path.join(
-                                self.GAZEBO,
-                                "launch",
-                                "sbg_raw_data_simulator.launch"
-                        ),
-                        [
-                                "_imu_hz:=200",
-                                "_gps_hz:=5"
-                        ]
-                )
-
-                # Hide launcher
-                self._widget.setVisible(False)
-                self._widget.window().showMinimized()
-
-        def launch_node(self, filepath):
-                """Wrapper for launch_node_with_args"""
-                self.launch_node_with_args(filepath, [])
-
-        def launch_node_with_args(self, filepath, args):
-                """
-                Launches ros node.
-
-                If arguments are supplied, it has to use Popen
-                rather than the default launch method.
-                """
-                if len(args) > 0:
-                        process = Popen(["roslaunch", filepath] + args)
-                        self.popens.append(process)
-                        return process
-                else:
-                        launch = roslaunch.parent.ROSLaunchParent(self.uuid, [filepath])
-                        launch.start()
-                        self.launches.append(launch)
-                        return launch
-
-        def shutdown_plugin(self):
-                """Unregister all publishers, kill all nodes."""
-                self.tell_launchella("Shutdown Engaged...")
-
-                # (Stop all processes)
-                for p in self.processes:
-                    p.stop()
-
-                for l in self.launches:
-                    l.shutdown()
-
-                for p in self.popens:
-                    p.kill()
-
-                # Manual node killer (needs to be used on nodes opened by Popen):
-                extra_nodes = rosnode.get_node_names()
-                extra_nodes.remove("/eufs_launcher")
-                extra_nodes.remove("/rosout")
-                left_open = len(extra_nodes)
-                if (left_open > 0 and self.DEBUG_SHUTDOWN):
-                        rospy.logerr("Warning, after shutting down the launcher, " +
-                                     "these nodes are still running: " + str(extra_nodes))
-
-                nodes_to_kill = [
-                                    "/cone_ground_truth",
-                                    "/eufs/controller_spawner",
-                                    "/gazebo",
-                                    "/gazebo_gui",
-                                    "/robot_state_publisher",
-                                    "/ros_can_sim",
-                                    "/twist_to_ackermannDrive",
-                                    "/spawn_platform",
-                                    "/eufs_sim_rqt",
-                                ]
-                for bad_node in extra_nodes:
-                        if bad_node in nodes_to_kill:
-                                Popen(["rosnode", "kill", bad_node])
-                Popen(["killall", "-9", "gzserver"])
-                time.sleep(0.25)
-                extra_nodes = rosnode.get_node_names()
-                extra_nodes.remove("/eufs_launcher")
-                extra_nodes.remove("/rosout")
-                if left_open > 0 and self.DEBUG_SHUTDOWN:
-                        rospy.logerr("Pruned to: " + str(extra_nodes))
diff --git a/eufs_launcher/src/eufs_launcher/LauncherModule.pyc b/eufs_launcher/src/eufs_launcher/LauncherModule.pyc
deleted file mode 100644
index f69f9e09b74eae328910fc0a209edebed28920e3..0000000000000000000000000000000000000000
Binary files a/eufs_launcher/src/eufs_launcher/LauncherModule.pyc and /dev/null differ
diff --git a/eufs_launcher/src/eufs_launcher/LauncherUtilities.py b/eufs_launcher/src/eufs_launcher/LauncherUtilities.py
deleted file mode 100644
index ad3571f90f1ecda736f7c6efa68de8c4acf1ee4d..0000000000000000000000000000000000000000
--- a/eufs_launcher/src/eufs_launcher/LauncherUtilities.py
+++ /dev/null
@@ -1,229 +0,0 @@
-import math
-from random import uniform
-import rospy
-
-
-def calculate_tangent_angle(xys):
-        """
-        Calculate direction of outgoing tangent of a set of points
-        Is an angle!
-        """
-        sx = xys[-2][0]
-        sy = xys[-2][1]
-        ex = xys[-1][0]
-        ey = xys[-1][1]
-        return math.atan2((ey - sy), (ex - sx))
-
-
-def calculate_tangent_vector(xys):
-        angle = calculate_tangent_angle(xys)
-        return (math.cos(angle), math.sin(angle))
-
-
-def cap_angle(ang):
-        """Returns angle between 0 and 2*math.pi"""
-        if ang < 0:
-                return cap_angle(ang + 2 * math.pi)
-        elif ang >= 2*math.pi:
-                return cap_angle(ang - 2 * math.pi)
-        return ang
-
-
-def cap_angle_odd(ang):
-        """Returns angle between -math.pi and math.pi"""
-        ang = cap_angle(ang)
-        if ang > math.pi:
-                ang = ang - 2 * math.pi
-        return ang
-
-
-def magnitude(vec):
-        """Calculates magnitude of (x,y) tuple as if it were a vector"""
-        (a, b) = vec
-        return math.sqrt(a * a + b * b)
-
-
-def normalize_vec(vec):
-        """
-        Calculates unit vector pointing in the direction
-        that the input tuple would be if it were a vector
-        """
-        (a, b) = vec
-        mag = math.sqrt(a * a + b * b)
-        return (a / mag, b / mag)
-
-
-def get_random_unit_vector(lower_bound=0, upper_bound=2 * math.pi):
-        """Returns a unit vector facing in a random direction"""
-        rand_angle = uniform(lower_bound, upper_bound)
-        return (math.cos(rand_angle), math.sin(rand_angle))
-
-
-def add_vectors(a, b):
-        """Given two tuples a and b, add them together"""
-        return (a[0] + b[0], a[1] + b[1])
-
-
-def scale_vector(vec, scale):
-        """Multiplies vec by scale"""
-        return (vec[0] * scale, vec[1] * scale)
-
-
-def get_normal_vector(vec):
-        """Given a vector, return a vector normal to it"""
-        return (-vec[1], vec[0])
-
-
-def subtract_vectors(a, b):
-        """Given two tuples a and b, find a-b"""
-        return (a[0] - b[0], a[1] - b[1])
-
-
-def get_distance(a, b):
-        """Returns the distance between two points"""
-        return magnitude(subtract_vectors(a, b))
-
-
-def convert_points_to_all_positive(xys):
-        """
-        If the track dips to the negative side of the x or y axes, shift everything over
-        Returns shifted points tupled with the range over which the points span
-        We also want everything converted to an integer!
-        """
-        max_neg_x = 0
-        max_neg_y = 0
-        max_x = 0
-        max_y = 0
-
-        for point in xys:
-                (x, y) = point
-                max_neg_x = min(x, max_neg_x)
-                max_neg_y = min(y, max_neg_y)
-                max_x = max(x, max_x)
-                max_y = max(y, max_y)
-
-        new_xys = []
-        padding = 10
-        for point in xys:
-                (x, y) = point
-                new_xys.append(((x - max_neg_x) + padding, (y - max_neg_y) + padding))
-
-        return (new_xys, int(max_x - max_neg_x) + 2 * padding, int(max_y - max_neg_y) + 2 * padding)
-
-
-def convert_components_to_all_positive(components):
-        """
-        Like convert_points_to_all_positive, but given a list of components rather than points
-
-        If the track dips to the negative side of the x or y axes, shift everything over
-        Returns shifted points tupled with the range over which the points span
-        We also want everything converted to an integer!
-        """
-
-        _xys = [comp[1] for comp in components]
-        xys = []
-        for _xy in _xys:
-                for xy in _xy:
-                        xys.append(xy)
-
-        max_neg_x = 0
-        max_neg_y = 0
-        max_x = 0
-        max_y = 0
-
-        for point in xys:
-                (x, y) = point
-                max_neg_x = min(x, max_neg_x)
-                max_neg_y = min(y, max_neg_y)
-                max_x = max(x, max_x)
-                max_y = max(y, max_y)
-
-        new_xys = []
-        padding = 10
-        for comp in components:
-                plist = []
-                for point in comp[1]:
-                        (x, y) = point
-                        plist.append(((x - max_neg_x) + padding, (y - max_neg_y) + padding))
-                new_xys.append((comp[0], plist))
-        return (new_xys, int(max_x - max_neg_x) + 2 * padding, int(max_y - max_neg_y) + 2 * padding)
-
-
-def compactify_points(points):
-        """
-        Given a list of points, if any two adjacent points are the
-        same after conversion to int, then remove one of them
-        """
-        remove_list = []
-        prev_point = (-10000, -10000)
-
-        def make_int(tup):
-                return (int(tup[0]), int(tup[1]))
-
-        for a in range(0, len(points)):
-                if (make_int(points[a]) == make_int(prev_point)):
-                        remove_list.append(a)
-                prev_point = points[a]
-        for index in sorted(remove_list, reverse=True):
-                del points[index]
-        return points
-
-
-def check_if_overlap(points):
-        """
-        Naive check to see if track overlaps itself
-
-        (Won't catch overlaps due to track width, only if track center overlaps)
-        """
-
-        # Remove end points as in theory that should also be the start point
-        # (I remove extra to be a little generous to it as a courtesy)
-        points = points[:-10]
-        # We want to add in the diagonally-connected points, otherwise you can imagine
-        # that two tracks moving diagonally opposite could cross eachother inbetween the pixels,
-        # fooling our test.
-
-        for index in range(1, len(points)):
-                (sx, sy) = points[index - 1]
-                (ex, ey) = points[index]
-                manhattan_distance = abs(ex - sx) + abs(ey - sy)
-                if (manhattan_distance > 1):
-                        # moved diagonally, insert an extra point for it at the end!
-                        points.append((sx + 1, sy) if ex > sx else (sx - 1, sy))
-        return len(set(points)) != len(points)
-
-
-def random_choices(list_to_check, weightings):
-        """
-        Chooses a random element from list_to_check based on weightings.
-
-        Same functionality as random.choices, which does not exist in python 2.
-        """
-
-        # We will choose a random number from 0 to the sum of the weightings,
-        # and then loop through the weightings and check partial sums of weightings.
-        # If the partial sum is strictly more than random_value, then we stop and return
-        # the element that pushed the sum over the edge.
-        # Strict inequalities are necessary to avoid 0-weighted things getting chosen.
-        random_value = uniform(0, sum(weightings))
-
-        partial_sum = 0
-        for index, weight in enumerate(weightings):
-                partial_sum += weight
-                if random_value < partial_sum:
-                        return list_to_check[index]
-
-        # As a default, return the last element in the list
-        # This is due to uniform() returning a number inclusive to the bounds, along
-        # with strict inequality testing. (which means it is possible random_value
-        # equals sum(weightings) and thus won't be considered due to strict inequalities.
-        return [x for idx, x in enumerate(list_to_check) if weightings[idx] > 0][-1]
-
-
-def get_points_from_component_list(comp_list):
-        """Grabs a list of points from a list of components"""
-        flat_list = []
-        for sublist in (points for name, points in comp_list):
-                for item in sublist:
-                        flat_list.append(item)
-        return flat_list
diff --git a/eufs_launcher/src/eufs_launcher/LauncherUtilities.pyc b/eufs_launcher/src/eufs_launcher/LauncherUtilities.pyc
deleted file mode 100644
index a19ce6163f1234aa5a3ec048c6bb1af4ea9e6613..0000000000000000000000000000000000000000
Binary files a/eufs_launcher/src/eufs_launcher/LauncherUtilities.pyc and /dev/null differ
diff --git a/eufs_launcher/src/eufs_launcher/TrackGenerator.py b/eufs_launcher/src/eufs_launcher/TrackGenerator.py
deleted file mode 100644
index b876ca3ed84b71bf7689772f3463ec3420eb4cc7..0000000000000000000000000000000000000000
--- a/eufs_launcher/src/eufs_launcher/TrackGenerator.py
+++ /dev/null
@@ -1,1879 +0,0 @@
-import math
-from PIL import Image
-from PIL import ImageDraw
-import random
-import rospy
-from scipy.special import binom
-from LauncherUtilities import *
-import numpy as np
-import collections
-
-
-class GenerationFailedException(Exception):
-        """Raised when generator takes too long."""
-        pass
-
-
-class GeneratorContext:
-        """
-        Context manager for the generator.
-
-        Initialized with the generator parameters, and optionally a function to be
-        called if generation fails.
-
-        Failure can also be accessed by checking generator_context_instance.failed
-        if preferred.
-
-        Meant for use in with-blocks.
-        """
-        def __init__(self, values, failure_function=lambda: None):
-                self.values = values
-                self.failed = False
-                self.failure_function = failure_function
-
-        def __enter__(self):
-                TrackGenerator.has_context = True
-                TrackGenerator.set_data(self.values)
-
-        def __exit__(self, exc_type, exc_value, traceback):
-                TrackGenerator.has_context = False
-                if exc_type is GenerationFailedException:
-                        rospy.logerr(
-                                "\nError!  The generator could not generate in time.\n" +
-                                "Maybe try different parameters?\n" +
-                                "Turning on Lax Generation and increasing MAX_STRAIGHT" +
-                                " and MIN_STRAIGHT usually helps."
-                        )
-                        self.failed = True
-                        self.failure_function()
-
-
-class Parametrization:
-        """
-        Class that is used to seemlessly store and combine parametrization functions
-        for the generator.
-
-        Parametrization functions are defined as functions which take a number \elem [0,1]
-        and return a point.  It is used to define geometric curves in terms of a percentage.
-        So if you had a circle parametrization function, and gave it an input 0.25, it would
-        return the point 25% of the way around the circle segment.
-        """
-        def __init__(self, func):
-                self._func = func
-
-        def __call__(self, num):
-                return self._func(num)
-
-        @staticmethod
-        def compose(others):
-                """
-                Combines two parametrizations in a way such that the composite
-                still only takes a number from 0 to 1.
-                """
-
-                amount = len(others)
-                threshold = 1.0/amount
-
-                def composite(num):
-                        # Check out of bounds
-                        if num <= 0:
-                                return others[0](0)
-                        elif num >= 1:
-                                return others[-1](1)
-
-                        # Acts as composition of components
-                        i = 0
-                        while True:
-                                if num < threshold:
-                                        return others[i](amount * num)
-                                else:
-                                        num -= threshold
-                                        i += 1
-                return Parametrization(composite)
-
-
-class TrackGenerator:
-        """
-        Handles track generation.
-        """
-
-        # Only allow track generator if it is in the right context
-        has_context = False
-
-        # Lists for micro generators
-        # These will be expanded by micro generators
-
-        double_placement_set = set([])
-        generic_micro_list = []
-        refocus_micro_list = []
-        connector_micro_list = []
-        linear_micro_list = []
-        special_micro_list = []
-        rare_micro_list = []
-        start_micro_list = []
-        previous_micro = ""
-
-        # The component__weighting_dict stores the weightings for each component
-        # And defaults to 0 if the component isn't found.
-        component_weighting_dict = collections.defaultdict(lambda: 0)
-
-        # The rules for autocross:
-        #        Straights:                     <=80 meters
-        #        Constant Turns:                <=25 meter radius
-        #        Hairpin Turns:                 >=4.5 meter outside radius
-        #        Slalom:                 Cones in a straight line with 7.5 to 12 meter spacing
-        #                                [NOTE: can't be generated at this point, added later]
-        #        Track Width:                  >=3 meters
-        #        Track Length:                 <=1500 meters
-
-        MIN_STRAIGHT = 20
-        MAX_STRAIGHT = 80
-        MIN_CONSTANT_TURN = 10
-        MAX_CONSTANT_TURN = 25
-        MIN_HAIRPIN = 4.5
-        MAX_HAIRPIN = 10
-        MAX_TRACK_LENGTH = 1500
-        LAX_GENERATION = False
-        MAX_HAIRPIN_PAIRS = 1
-        MIN_HAIRPIN_PAIRS = 0
-
-        # Debugging parameter to print out when generation fails
-        FAILURE_INFO = False
-
-        # The "resolution" of the track, higher is higher resolution
-        FIDELITY = 350
-
-        def __init__(self):
-                pass
-
-        @staticmethod
-        def get_presets():
-                """
-                Returns a dictionary of generator presets.
-
-                Presets contain all the information that parameterizes track generation.
-                Also couples the presets with colloquial names for them.
-                """
-                return {
-                        "Contest Rules": {
-                                "MIN_STRAIGHT": 10,
-                                "MAX_STRAIGHT": 80,
-                                "MIN_CONSTANT_TURN": 10,
-                                "MAX_CONSTANT_TURN": 25,
-                                "MIN_HAIRPIN": 4.5,
-                                "MAX_HAIRPIN": 10,
-                                "MAX_HAIRPIN_PAIRS": 3,
-                                "MAX_LENGTH": 1500,
-                                "LAX_GENERATION": False,
-                                "TRACK_WIDTH": 4,
-                                "COMPONENTS": {
-                                        "STRAIGHT": 1,
-                                        "CONSTANT_TURN": 0.7,
-                                        "HAIRPIN_TURN": 0.3,
-                                }
-                        },
-                        "Contest Rules Slaloms": {
-                                "MIN_STRAIGHT": 10,
-                                "MAX_STRAIGHT": 80,
-                                "MIN_CONSTANT_TURN": 10,
-                                "MAX_CONSTANT_TURN": 25,
-                                "MIN_HAIRPIN": 4.5,
-                                "MAX_HAIRPIN": 10,
-                                "MAX_HAIRPIN_PAIRS": 3,
-                                "MAX_LENGTH": 1500,
-                                "LAX_GENERATION": False,
-                                "TRACK_WIDTH": 4,
-                                "COMPONENTS": {
-                                        "STRAIGHT": 1,
-                                        "CONSTANT_TURN": 0.7,
-                                        "HAIRPIN_TURN": 0.3,
-                                        "SLALOM": 0.3
-                                }
-                        },
-                        "Small Straights": {
-                                "MIN_STRAIGHT": 5,
-                                "MAX_STRAIGHT": 40,
-                                "MIN_CONSTANT_TURN": 10,
-                                "MAX_CONSTANT_TURN": 25,
-                                "MIN_HAIRPIN": 4.5,
-                                "MAX_HAIRPIN": 10,
-                                "MAX_HAIRPIN_PAIRS": 3,
-                                "MAX_LENGTH": 700,
-                                "LAX_GENERATION": True,
-                                "TRACK_WIDTH": 4,
-                                "COMPONENTS": {
-                                        "STRAIGHT": 1,
-                                        "CONSTANT_TURN": 0.7,
-                                        "HAIRPIN_TURN": 0.3,
-                                        "LEFT_RIGHT_TURN": 2
-                                }
-                        },
-                        "Small Straights Slaloms": {
-                                "MIN_STRAIGHT": 5,
-                                "MAX_STRAIGHT": 40,
-                                "MIN_CONSTANT_TURN": 10,
-                                "MAX_CONSTANT_TURN": 25,
-                                "MIN_HAIRPIN": 4.5,
-                                "MAX_HAIRPIN": 10,
-                                "MAX_HAIRPIN_PAIRS": 3,
-                                "MAX_LENGTH": 700,
-                                "LAX_GENERATION": True,
-                                "TRACK_WIDTH": 4,
-                                "COMPONENTS": {
-                                        "STRAIGHT": 1,
-                                        "CONSTANT_TURN": 0.7,
-                                        "HAIRPIN_TURN": 0.3,
-                                        "LEFT_RIGHT_TURN": 2,
-                                        "SLALOM": 0.3
-                                }
-                        },
-                        "Computer Friendly": {
-                                "MIN_STRAIGHT": 10,
-                                "MAX_STRAIGHT": 80,
-                                "MIN_CONSTANT_TURN": 5,
-                                "MAX_CONSTANT_TURN": 15,
-                                "MIN_HAIRPIN": 4.5,
-                                "MAX_HAIRPIN": 10,
-                                "MAX_HAIRPIN_PAIRS": 3,
-                                "MAX_LENGTH": 500,
-                                "LAX_GENERATION": True,
-                                "TRACK_WIDTH": 4,
-                                "COMPONENTS": {
-                                        "STRAIGHT": 1,
-                                        "CONSTANT_TURN": 0.7,
-                                        "HAIRPIN_TURN": 0.3,
-                                        "LEFT_RIGHT_TURN": 2
-                                }
-                        },
-                        "Bezier Small Straights": {
-                                "MIN_STRAIGHT": 5,
-                                "MAX_STRAIGHT": 40,
-                                "MIN_CONSTANT_TURN": 10,
-                                "MAX_CONSTANT_TURN": 25,
-                                "MIN_HAIRPIN": 4.5,
-                                "MAX_HAIRPIN": 10,
-                                "MAX_HAIRPIN_PAIRS": 3,
-                                "MAX_LENGTH": 700,
-                                "LAX_GENERATION": True,
-                                "TRACK_WIDTH": 4,
-                                "COMPONENTS": {
-                                        "STRAIGHT": 1,
-                                        "CONSTANT_TURN": 0.7,
-                                        "HAIRPIN_TURN": 0.3,
-                                        "LEFT_RIGHT_TURN": 2,
-                                        "BEZIER": 10
-                                }
-                        }
-                }
-
-        @staticmethod
-        def get_default_mode_string():
-                """Returns the name of the default generation mode"""
-
-                return TrackGenerator.CIRCLE_AND_LINE_MODE
-
-        @staticmethod
-        def get_default_preset():
-                """Returns the name of the default generation preset."""
-
-                return "Small Straights"
-
-        @staticmethod
-        def get_preset_names():
-                """Returns a list of all generation preset names."""
-
-                to_return = []
-                all_presets = TrackGenerator.get_presets()
-                for a in all_presets:
-                        to_return.append(a)
-                return to_return
-
-        @staticmethod
-        def get_preset(name):
-                """
-                Given a name, returns a dictionary of the preset's values.
-
-                If such a name does not exist, it will send console warnings
-                and default to the default preset.
-                """
-
-                all_presets = TrackGenerator.get_presets()
-                if name in all_presets:
-                        return all_presets[name]
-                rospy.logerr("No such preset: " + name)
-                rospy.logerr("Defaulting to " + get_default_preset())
-                return get_preset(get_default_preset())
-
-        @staticmethod
-        def set_data(values):
-                """
-                Sets up TrackGenerator to use the generation parameters
-                specified in the input.
-                """
-
-                TrackGenerator.MIN_STRAIGHT = values["MIN_STRAIGHT"]
-                TrackGenerator.MAX_STRAIGHT = values["MAX_STRAIGHT"]
-                TrackGenerator.MIN_CONSTANT_TURN = values["MIN_CONSTANT_TURN"]
-                TrackGenerator.MAX_CONSTANT_TURN = values["MAX_CONSTANT_TURN"]
-                TrackGenerator.MIN_HAIRPIN = values["MIN_HAIRPIN"]
-                TrackGenerator.MAX_HAIRPIN = values["MAX_HAIRPIN"]
-                TrackGenerator.MAX_HAIRPIN_PAIRS = values["MAX_HAIRPIN_PAIRS"]
-                TrackGenerator.MIN_HAIRPIN_PAIRS = (
-                        1 if TrackGenerator.MAX_HAIRPIN_PAIRS > 0 else 0
-                )
-                TrackGenerator.MAX_TRACK_LENGTH = values["MAX_LENGTH"]
-                TrackGenerator.LAX_GENERATION = values["LAX_GENERATION"]
-                TrackGenerator.component_weighting_dict = collections.defaultdict(
-                        lambda: 0,
-                        values["COMPONENTS"]
-                )
-                TrackGenerator.TRACK_WIDTH = values["TRACK_WIDTH"]
-
-        # These three are used as constants for batch generation.
-        class GEN_STOP:
-            pass
-
-        class GEN_CONTINUE:
-            pass
-
-        class GEN_RELEASE:
-            pass
-
-        @staticmethod
-        def batch(first, subsequent=0, threshold=None, postprocessing=lambda x: x):
-                """
-                A python coroutine that batches up track generations.
-
-                It generates "first" amount of generations in one batch,
-                and create a generator that returns these.
-
-                If "subsequent" is set to something other than 0, then
-                whenever the saved-up batches get below "threshold", the
-                generator will generate "subsequent" more tracks.
-
-                If "subsequent" is zero, the generation will terminate.
-
-                The coroutine should be sent "GEN_CONTINUE" if it should continue,
-                and "GEN_STOP" if it should stop immediately, and "GEN_RELEASE" if
-                it should return everything it has queued up so far.
-
-                postprocessing is a function to be applied after normal generation.
-                Its intended function is to convert the raw data into track image data.
-                """
-                GEN_CONTINUE = TrackGenerator.GEN_CONTINUE
-                GEN_STOP = TrackGenerator.GEN_STOP
-                GEN_RELEASE = TrackGenerator.GEN_RELEASE
-
-                # We do the priming of the coroutine in this function, hence
-                # the nested functions here!
-                def inner_coroutine(first, subsequent, threshold):
-                        # If threshold has no value, set it to check whenever it has
-                        # used up "subsequent" generations (so that it is effectively
-                        # refilling the batch back up to "first")
-                        if threshold is None and subsequent > 0:
-                                threshold = first - subsequent + 1
-                        elif threshold is None:
-                                threshold = -1
-
-                        saved_batch = [
-                                postprocessing(TrackGenerator.generate())
-                                for x in range(0, first)
-                        ]
-
-                        # Add None to the batch so priming it doesn't remove valid data.
-                        saved_batch += [None]
-                        signal = GEN_CONTINUE
-
-                        while len(saved_batch) > 0:
-
-                                # Handle the coroutine signals passed back in
-                                if signal is GEN_STOP:
-                                        _ = yield saved_batch
-                                        return
-                                elif signal is GEN_RELEASE:
-                                        signal = yield saved_batch
-                                        saved_batch = []
-                                elif signal is GEN_CONTINUE:
-                                        signal = yield saved_batch.pop()
-
-                                # If needs to refill the batch, refill it!
-                                if len(saved_batch) < threshold:
-                                        saved_batch = (
-                                                [postprocessing(TrackGenerator.generate())
-                                                 for x in range(0, subsequent)] + saved_batch
-                                        )
-                        return
-                to_return = inner_coroutine(first, subsequent, threshold)
-
-                # Prime coroutine
-                next(to_return)
-
-                return to_return
-
-        @staticmethod
-        def generate():
-                """
-                Generates the track as pure data
-                  (a List[Tuple[float,float]] list of points on the track)
-
-                Returns a list of points to define the path of the track,
-                  along with a bounding width & height for how big the track is.
-                """
-
-                xys = []
-                overlapped = False
-                failure_count = 0
-                while overlapped or xys == []:
-                        # Re-generate if the track overlaps itself
-                        (xys, twidth, theight) = generate_random_track((0, 0))
-                        if twidth == theight and twidth == 0:
-                                overlapped = True
-                        else:
-                                xys2 = compactify_points([
-                                        (int(x[0]), int(x[1])) for x
-                                        in get_points_from_component_list(xys)
-                                ])
-                                overlapped = check_if_overlap(xys2)
-                        if overlapped:
-                                if TrackGenerator.FAILURE_INFO:
-                                        rospy.logerr("Overlap check " + str(failure_count) + " failed")
-                                failure_count += 1
-                        if failure_count > 1000:
-                                raise GenerationFailedException
-
-                # Now let's randomly flip it a bit to spice it up
-                if random.uniform(0, 1) < 0.5:
-                        # flip xys by x
-                        xys = [
-                                (name, [(-x + twidth, y) for (x, y) in pointlist])
-                                for name, pointlist in xys
-                        ]
-                if random.uniform(0, 1) < 0.5:
-                        # flip xys by y
-                        xys = [
-                                (name, [(x, -y + theight) for (x, y) in pointlist])
-                                for name, pointlist in xys
-                        ]
-
-                return (xys, twidth, theight)
-
-
-###################################
-# Decorators For Micro Generators #
-###################################
-
-def generic_micro(micro_name, allow_double_placement=False):
-        """
-        Decorator for generic track components
-
-        micro_name: The internal name of the micro.  Should be a string.
-
-        allow_double_placement: Allows this component to be placed back-to-back
-        """
-        def to_return(decorated_function):
-                to_append = (micro_name, decorated_function)
-                TrackGenerator.generic_micro_list.append(to_append)
-                if allow_double_placement:
-                        TrackGenerator.double_placement_set.add(micro_name)
-                return decorated_function
-        return to_return
-
-
-def refocus_micro(micro_name, allow_double_placement=False):
-        """
-        Decorator for refocus track components
-
-        micro_name: The internal name of the micro.  Should be a string.
-
-        allow_double_placement: Allows this component to be placed back-to-back
-
-        Refocus components should have certain tangency
-        properties guaranteed.  Consult the wiki for
-        an in-depth understanding.
-        """
-        def to_return(decorated_function):
-                to_append = (micro_name, decorated_function)
-                TrackGenerator.refocus_micro_list.append(to_append)
-                if allow_double_placement:
-                        TrackGenerator.double_placement_set.add(micro_name)
-                return decorated_function
-        return to_return
-
-
-def connector_micro(micro_name, allow_double_placement=False):
-        """
-        Decorator for refocus track components
-
-        micro_name: The internal name of the micro.  Should be a string.
-
-        allow_double_placement: Allows this component to be placed back-to-back
-
-        Connector components should have certain tangency
-        properties guaranteed.  Consult the wiki for
-        an in-depth understanding.
-        """
-        def to_return(decorated_function):
-                to_append = (micro_name, decorated_function)
-                TrackGenerator.connector_micro_list.append(to_append)
-                if allow_double_placement:
-                        TrackGenerator.double_placement_set.add(micro_name)
-                return decorated_function
-        return to_return
-
-
-def linear_micro(micro_name,
-                 allow_double_placement=False,
-                 linearize=False,
-                 start=False):
-        """
-        Decorator for refocus track components
-
-        micro_name: The internal name of the micro.  Should be a string.
-
-        allow_double_placement: Allows this component to be placed back-to-back
-
-        linearize: If True, this adds the "length" parameter automatically
-                   by fishing it from the params list of the decorated_function.
-                   This allows funtions like linear_straight to be written like
-                   a generic_straight, without having to worry about function
-                   signature.
-
-        Linear components should have certain tangency
-        properties guaranteed.  Consult the wiki for
-        an in-depth understanding.
-        """
-        def to_return(decorated_function):
-                if linearize:
-                        to_append = (
-                                micro_name,
-                                get_linearized_function(decorated_function)
-                        )
-                else:
-                        to_append = (micro_name, decorated_function)
-                if start:
-                        TrackGenerator.start_micro_list.append(to_append)
-                TrackGenerator.linear_micro_list.append(to_append)
-                if allow_double_placement:
-                        TrackGenerator.double_placement_set.add(micro_name)
-                return decorated_function
-
-        return to_return
-
-
-def get_linearized_function(to_linearize):
-        """
-        Linearizes function according to linearize parameter of linear_micro decorator.
-        """
-        def linearized_function(point_in, tangent_in, normal_in, length, params={}):
-                params["length"] = length
-                return to_linearize(point_in, tangent_in, normal_in, params=params)
-        return linearized_function
-
-
-def special_micro(micro_name, cone_placer):
-        """
-        Decorator for refocus track components
-
-        micro_name:  The internal name of the micro.  Should be a string.
-
-        cone_placer: The function to be used on cone placement.
-        """
-        def to_return(decorated_function):
-                to_append = (micro_name, cone_placer)
-                TrackGenerator.special_micro_list.append(to_append)
-                return decorated_function
-        return to_return
-
-
-def rare_micro(micro_name, count=1):
-        """
-        If a micro is made rare, it will only be allowed
-        to appear a limited amount of times in a track.
-
-        micro_name: name of the micro that is rare
-
-        count: the amount of times it is allowed to appear
-        """
-        TrackGenerator.rare_micro_list.append((micro_name, 0, count))
-
-        def to_return(decorated_function):
-                return decorated_function
-        return to_return
-
-
-def get_cone_function(micro_name):
-        """
-        Returns the cone placement function utilized by the micro_name micro generator.
-        """
-        for name, placer in TrackGenerator.special_micro_list:
-                if name == micro_name:
-                        return placer
-
-        return cone_default
-
-
-####################
-# Macro Generators #
-####################
-
-def is_used_too_much(micro_name):
-        """
-        Prevents a micro from being used too much
-        (can't surpass max_count given in rare_micro_list)
-        """
-        for name, count, max_count in TrackGenerator.rare_micro_list:
-                if name == micro_name and count >= max_count:
-                        return True
-        return False
-
-
-def get_random_micro(type_of_micro):
-        """
-        Gets random micro of micro type "type_of_micro"
-        """
-
-        # Get the list of allowed micros
-        list_to_check = [
-                x for x in TrackGenerator.__dict__[type_of_micro + "_micro_list"]
-                if not (
-                        x[0] == TrackGenerator.previous_micro and
-                        x[0] not in TrackGenerator.double_placement_set
-                ) and not (
-                        is_used_too_much(x[0])
-                )
-        ]
-        weightings = [
-                TrackGenerator.component_weighting_dict[x[0]] for x in list_to_check
-        ]
-
-        # In python 3, we would use random.choices(list_to_check, weightings)
-        # This doesn't exist in python 2, so for now we have implemented our
-        # own version of it.
-        # random_choices is defined in LauncherUtilities.py
-        return random_choices(list_to_check, weightings)
-
-
-def use_micro(micro_tuple):
-        """
-        Takes in a (name,function) tuple like the ones stored in
-        TrackGenerator.generic_micro_list
-
-        Changes TrackGenerator.previous_micro to the micro, and returns the function so it
-        can be used.
-        """
-
-        TrackGenerator.previous_micro = micro_tuple[0]
-        return micro_tuple[1]
-
-
-def register_output(list_to_register_to, points_out):
-        """Registers a collection of points according to the micro generated."""
-        to_append = (TrackGenerator.previous_micro, points_out)
-        list_to_register_to.append(to_append)
-
-
-def get_generic():
-        """Returns a generic micro & logs it as used"""
-        return use_micro(get_random_micro("generic"))
-
-
-def get_refocus():
-        """Returns a refocus micro & logs it as used"""
-        return use_micro(get_random_micro("refocus"))
-
-
-def get_connector():
-        """Returns a connector micro & logs it as used"""
-        return use_micro(get_random_micro("connector"))
-
-
-def get_linear():
-        """Returns a linear micro & logs it as used"""
-        return use_micro(get_random_micro("linear"))
-
-
-def get_start():
-        """Returns a linear micro & logs it as used"""
-        return use_micro(get_random_micro("start"))
-
-
-def reset_counts():
-        """
-        Restarts the counts for each micro
-        (We were keeping track of how many times they've been used because
-        some have maximum allowed uses - this resets them so that we
-        can start a new generation.)
-        """
-        TrackGenerator.previous_micro = ""
-        TrackGenerator.rare_micro_list = [
-                (name, 0, max_count) for name, cur_count, max_count
-                in TrackGenerator.rare_micro_list
-        ]
-
-
-def get_last_comp_points(comps):
-        """Gets last list of point in a list of components"""
-        return comps[-1][1]
-
-
-def generate_random_track(start_point):
-        """
-        Generates a random track given a starting point.
-        """
-        reset_counts()
-        total_length = 0
-        components = []
-
-        # We start with a small linear
-        initial_tangent = get_random_unit_vector(0, math.pi/8)
-        tangent_in = initial_tangent
-        point_in = start_point
-        normal_in = get_normal_vector(tangent_in)
-        (points_out, tangent_out, normal_out, added_length) = get_start()(
-                point_in,
-                tangent_in,
-                normal_in,
-                random.uniform(
-                        TrackGenerator.MIN_STRAIGHT,
-                        TrackGenerator.MAX_STRAIGHT
-                )
-        )
-        total_length += added_length
-        register_output(components, points_out)
-
-        # Now we want to set checkpoints to pass through:
-        goal_points = [(start_point[0] + TrackGenerator.MAX_TRACK_LENGTH * 0.08,
-                        start_point[1]),
-                       (start_point[0] + TrackGenerator.MAX_TRACK_LENGTH * 0.12,
-                        start_point[1] + TrackGenerator.MAX_TRACK_LENGTH * 0.08),
-                       (start_point[0] - TrackGenerator.MAX_TRACK_LENGTH * 0.03,
-                        start_point[1] + TrackGenerator.MAX_TRACK_LENGTH * 0.12)]
-
-        # This controls how much it tries to salvage a bad run
-        # It turns out that most times it fails, its not salvageable,
-        # so I set it to 1 so that as soon as it fails it scraps the run.
-        max_fails = 1
-        fails = 0
-
-        # And now we generate towards each goal point
-        for goal_point in goal_points:
-                prev_components = components
-
-                # Prepare inputs
-                tangent_in = tangent_out
-                normal_in = normal_out
-                point_out = goal_point
-                point_in = points_out[-1]
-
-                # Generate from point to point
-                (comps, tangent_out, normal_out, added_length) = generate_point_to_point(
-                        point_in,
-                        point_out,
-                        tangent_in,
-                        normal_in,
-                        20
-                )
-
-                # This grabs the last component's points.
-                points_out = get_last_comp_points(comps)
-                total_length += added_length
-                components.extend(comps)
-
-                # Now let's do early-checking for overlaps
-                test = compactify_points([
-                        (int(x[0]), int(x[1])) for x
-                        in get_points_from_component_list(components)
-                ])
-                if check_if_overlap(test):
-                        if TrackGenerator.FAILURE_INFO:
-                                rospy.logerr("Early Overlap Checking: Failed")
-
-                        # Generation failed test, undo last bit
-                        fails += 1
-                        total_length -= added_length
-                        components = prev_components
-
-                        if fails == max_fails:
-                                return (test, 0, 0)
-
-        # Now lets head back to the start:
-        # We're gonna set a checkpoint that is close but not exactly the start point
-        # so that we have breathing room for the final manouever:
-        directing_point = (start_point[0] - TrackGenerator.MAX_STRAIGHT * 0.5,
-                           start_point[1] + TrackGenerator.MAX_CONSTANT_TURN * 2)
-
-        # Prepare inputs
-        tangent_in = tangent_out
-        normal_in = normal_out
-        point_out = directing_point
-        point_in = points_out[-1]
-
-        # Generate from point to point
-        (comps, tangent_out, normal_out, added_length) = generate_point_to_point(
-                point_in,
-                point_out,
-                tangent_in,
-                normal_in,
-                0
-        )
-        total_length += added_length
-        components.extend(comps)
-        points_out = get_last_comp_points(comps)
-
-        # Now we will add a circle to point directly away from start point
-        tangent_in = tangent_out
-        normal_in = normal_out
-        point_in = points_out[-1]
-        tangent_out = initial_tangent
-
-        points_out, tangent_out, normal_out, added_length = get_connector()(
-                point_in,
-                start_point,
-                tangent_in,
-                tangent_out,
-                normal_in
-        )
-        register_output(components, points_out)
-
-        # Sometimes the tangents don't actually match up
-        # so if that happens, we throw out the track and start anew.
-        if get_distance(initial_tangent, tangent_out) > 0.01:
-                return generate_random_track(start_point)
-
-        if not TrackGenerator.LAX_GENERATION:
-            # Check if whole track is too big
-            if total_length > TrackGenerator.MAX_TRACK_LENGTH:
-                return generate_random_track(start_point)
-
-        return convert_components_to_all_positive(components)
-
-
-def generate_point_to_point(point_in,
-                            point_out,
-                            tangent_in,
-                            normal_in,
-                            fuzz_radius,
-                            depth=20):
-        """
-        Generates a track from point_in to point_out with incoming tangent tangent_in,
-        and incoming normal normal_in.
-
-        Does not necessarily exactly end at point_out, it merely aims to get
-        within fuzz_radius.
-
-        depth is the max amout of times it may recurse (this is a recursive function that
-        incrementally builds the track up recursion by recursion).
-
-        Outputs (points_out, tangent_out, normal_out, added_length)
-        """
-
-        added_length = 0
-        components = []
-
-        # We start out by refocusing ourselves towards point_out.
-        (points_out, tangent_out, normal_out, delta_length) = (
-                get_refocus()(
-                        point_in,
-                        point_out,
-                        tangent_in,
-                        normal_in,
-                )
-        )
-        added_length += delta_length
-        register_output(components, points_out)
-
-        # Prepare data for next component
-        point_in = points_out[-1]
-        tangent_in = tangent_out
-        normal_in = normal_out
-
-        # Now we want to know how close we are to the goal - if we're close enough
-        # to just directly draw a straight path to it.
-        distance_from_end = get_distance(point_in, point_out)
-        if distance_from_end <= TrackGenerator.MAX_STRAIGHT + fuzz_radius:
-                straight_length = min(distance_from_end, TrackGenerator.MAX_STRAIGHT)
-                (points_out, tangent_out, normal_out, delta_length) = get_linear()(
-                        point_in,
-                        tangent_in,
-                        normal_in,
-                        straight_length
-                )
-                added_length += delta_length
-                register_output(components, points_out)
-
-        # If we are far away from the goal, we want to get closer to it in a
-        # "random" way to create variance in the track.
-        else:
-                # We'll start by just going as far as we can to the goal.
-                # Unless we're very close, then we only go half as far to
-                # give us some space (and add variance)
-                if distance_from_end <= (TrackGenerator.MAX_STRAIGHT * 1.2):
-                        straight_length = TrackGenerator.MAX_STRAIGHT
-                else:
-                        straight_length = TrackGenerator.MAX_STRAIGHT/2
-                (points_out, tangent_out, normal_out, delta_length) = get_linear()(
-                        point_in,
-                        tangent_in,
-                        normal_in,
-                        straight_length
-                )
-                added_length += delta_length
-                register_output(components, points_out)
-
-                # Prepare data for next component
-                point_in = points_out[-1]
-                tangent_in = tangent_out
-                normal_in = normal_out
-
-                (points_out, tangent_out, normal_out, delta_length) = (
-                        get_generic()(
-                                point_in,
-                                tangent_in,
-                                normal_in
-                        )
-                )
-                added_length += delta_length
-                register_output(components, points_out)
-
-                # Prepare data for next component
-                point_in = points_out[-1]
-                tangent_in = tangent_out
-                normal_in = normal_out
-
-                # Now, we recurse
-                if depth > 0:
-                        (comps, tangent_out, normal_out, delta_length) = (
-                                generate_point_to_point(
-                                        point_in,
-                                        point_out,
-                                        tangent_in,
-                                        normal_in,
-                                        fuzz_radius,
-                                        depth=depth - 1,
-                                )
-                        )
-                        added_length += delta_length
-                        components.extend(comps)
-
-        return (components, tangent_out, normal_out, added_length)
-
-
-####################
-# Micro Generators #
-####################
-#
-# There are six types of micro generators (generators can have multiple types):
-#
-# 1: "generic"
-#         These have the signature generic_<type>(point_in,tangent_in,normal_in,params)
-#         and output (parametrization_out, tangent_out, normal_out, added_length)
-#
-#         Generics just create a generically random component, with no extra requirements.
-#
-# 2: "refocus"
-#         These have the signature
-#                 refocus_<type>(point_in,point_out,tangent_in,normal_in,params)
-#         with the same output as generics.
-#
-#         Refocusers ensure that the outgoing tangent points towards point_out
-#
-# 3: "connector"
-#         These have the signature:
-#                 connector_<type>(point_in,point_out,tangent_in,tangent_out,normal_in,params)
-#         with the same output as generics
-#
-#         Connectors ensure that the component ends at point_out,
-#         with outgoing tangent tangent_out
-#
-# 4: "linear"
-#         These have the signature:
-#                 linear_<type>(point_in,tangent_in,normal_in,length,params)
-#         with the same output as generics
-#
-#         If we consider the component to end at "point_out", then linear components
-#         guarantee that point_out will lie on the ray emanating from point_in in the
-#         direction of tangent_in.  The outgoing tangent will be guaranteed to be
-#         the same as tangent_in.
-#
-#         The length parameter of the signature can be ommited if the "linearize" option
-#         of the linear_micro decorator is ommitted, provided that one of the params{}
-#         of the component is named "length".
-#
-# 5: "special"
-#         There is no set signature for special micros.  They are identified solely
-#         by the presence of the special_micro decorator.  Special micros delegate to
-#         a special cone-placement function rather than the normal one.
-#
-# 6: "rare"
-#         Similar to special, rare tells the generator that this specific component
-#         is only allowed to appear a couple times.
-#
-# extra: "parametric"
-#         These have variable signatures, but always output a function of one variable
-#         which ranges from 0 to 1, parametrizing the curve they represent in terms of it.
-#
-#         They aren't really micro generators, but are crucial helper functions for them.
-#
-# extra: "cone"
-#         These are used to define cone placements, like cone_default and cone_slalom
-#         They always take in a list of points, and return a list of triples (px, py, color)
-#         of the (px, py) position of a cone of color color that will be placed by the
-#         caller of the function.
-#
-#########################################################
-
-def de_parameterize(func):
-        """Given a parametric function, turn it into a list of points"""
-        return [func(1.0 * t / (TrackGenerator.FIDELITY - 1))
-                for t in range(0, TrackGenerator.FIDELITY)]
-
-
-# Flags for cone placement micros
-class CONE_INNER:
-    pass
-
-
-class CONE_OUTER:
-    pass
-
-
-class CONE_ORANGE:
-    pass
-
-
-class CONE_START:
-    pass
-
-
-def cone_start(xys, track_width=None):
-    """Wrapper for cone_default with start parameter"""
-    return cone_default(
-            xys,
-            starting=True,
-            track_width=track_width,
-            slalom=False,
-            prev_points=None
-    )
-
-
-def cone_slalom(xys, track_width=None, prev_points=None):
-        """Wrapper for cone_default with slalom parameter"""
-        return cone_default(
-                xys,
-                starting=False,
-                track_width=track_width,
-                slalom=True,
-                prev_points=prev_points
-        )
-
-
-def cone_default(xys, starting=False, track_width=None, slalom=False, prev_points=None):
-        """
-        Default cone placement algorithm, can be overriden on a micro by using the
-        special micro decorator.
-
-        Takes in a list of points, returns a list of triples dictating x, y position
-        of cone of color color [(x, y, color)].
-
-        Optionally takes a flag "starting" to make the first pair of cones orange,
-        and optional "track_width" to override TrackGenerator.TRACK_WIDTH, which
-        is useful if accessing ConversionTools.xys_to_png from a non-generator context.
-        """
-
-        if track_width is None:
-                cone_normal_distance_parameter = TrackGenerator.TRACK_WIDTH
-        else:
-                cone_normal_distance_parameter = track_width
-
-        # Hardcoded parameters (not available in launcher because the set of
-        # well-behaved answers is far from dense in the problemspace):
-
-        # How close can cones be from those on opposite side.
-        cone_cross_closeness_parameter = cone_normal_distance_parameter * 3 / 4 - 1
-
-        # Larger numbers makes us check more parts of the track for conflicts.
-        cone_check_amount = 30
-
-        # How close can cones be from those on the same side.
-        cone_adjacent_closeness_parameter = 6
-
-        all_points_north = []
-        all_points_south = []
-        prev_points_north = [(-10000, -10000)]
-        prev_points_south = [(-10000, -10000)]
-        to_return = []
-
-        # Process the previous points down to a manageable amount.
-        if prev_points is not None:
-                first_orange_cones = [
-                        (x, y) for x, y, c in prev_points
-                        if c is CONE_ORANGE
-                ][:2]
-                all_points_south = [
-                        (x, y) for x, y, c in prev_points
-                        if c is CONE_INNER
-                ]
-                all_points_south = (
-                        all_points_south[-cone_check_amount:] + first_orange_cones
-                )
-                all_points_north = [
-                        (x, y) for x, y, c in prev_points
-                        if c is CONE_OUTER
-                ]
-                all_points_north = (
-                        all_points_north[-cone_check_amount:] + first_orange_cones
-                )
-
-        # This is used to check if the yellow and blue cones suddenly swapped.
-        last_tangent_normal = (0, 0)
-
-        for i in range(len(xys)):
-                # Skip first part [as hard to calculate tangent]
-                if i == 0:
-                    continue
-
-                # The idea here is to place cones along normals to the
-                # tangent at any given point,
-                # while making sure they aren't too close.
-
-                # Here we calculate the normal vectors along the track
-                # As we want cones to be placed along the normal.
-                cur_point = xys[i]
-                cur_tangent_angle = calculate_tangent_angle(xys[:(i+1)])
-                cur_tangent_normal = (
-                    math.ceil(
-                        cone_normal_distance_parameter * math.sin(cur_tangent_angle)
-                    ),
-                    math.ceil(
-                        -cone_normal_distance_parameter * math.cos(cur_tangent_angle)
-                    )
-                )
-
-                # Check if normal direction suddenly flipped relative to last iteration.
-                # (And reverse it if it happened)
-                dot_product = (
-                        last_tangent_normal[0] * cur_tangent_normal[0] +
-                        last_tangent_normal[1] * cur_tangent_normal[1]
-                )
-
-                # Tangent flipped!
-                # (As when dot product is negative, vectors are opposite)
-                if dot_product < 0:
-                        cur_tangent_normal = scale_vector(cur_tangent_normal, -1)
-
-                last_tangent_normal = cur_tangent_normal
-
-                # This is where the cones will be placed, provided they pass the
-                # distance checks later.
-                north_point = (int(cur_point[0] + cur_tangent_normal[0]),
-                               int(cur_point[1] + cur_tangent_normal[1]))
-                south_point = (int(cur_point[0] - cur_tangent_normal[0]),
-                               int(cur_point[1] - cur_tangent_normal[1]))
-
-                # Calculates shortest distance to cone on same side of track
-                difference_from_prev_north = min([
-                                                  (north_point[0] - prev_point_north[0])**2 +
-                                                  (north_point[1] - prev_point_north[1])**2
-                                                  for prev_point_north in prev_points_north
-                ])
-                difference_from_prev_south = min([
-                                                  (south_point[0] - prev_point_south[0])**2 +
-                                                  (south_point[1] - prev_point_south[1])**2
-                                                  for prev_point_south in prev_points_south
-                ])
-
-                # Calculates shortest distance to cone on different side of track
-                cross_distance_ns = min([
-                                         (north_point[0] - prev_point_south[0])**2 +
-                                         (north_point[1] - prev_point_south[1])**2
-                                         for prev_point_south in prev_points_south
-                ])
-                cross_distance_sn = min([
-                                         (south_point[0] - prev_point_north[0])**2 +
-                                         (south_point[1] - prev_point_north[1])**2
-                                         for prev_point_north in prev_points_north
-                ])
-
-                # Here we ensure cones don't get too close to the track
-                rel_xys = xys[
-                    max([0, i - cone_check_amount]):
-                    min([len(xys), i + cone_check_amount])
-                ]
-                distance_pn = min([
-                                   (north_point[0] - xy[0])**2 +
-                                   (north_point[1] - xy[1])**2
-                                   for xy in rel_xys
-                ])
-                distance_ps = min([
-                                   (south_point[0] - xy[0])**2 +
-                                   (south_point[1] - xy[1])**2
-                                   for xy in rel_xys
-                ])
-
-                # And we consider all these factors to see if the cones are viable
-                north_viable = (
-                      difference_from_prev_north > cone_adjacent_closeness_parameter**2 and
-                      cross_distance_ns > cone_cross_closeness_parameter**2 and
-                      distance_pn > cone_cross_closeness_parameter**2
-                )
-                south_viable = (
-                                difference_from_prev_south > cone_adjacent_closeness_parameter**2 and
-                                cross_distance_sn > cone_cross_closeness_parameter**2 and
-                                distance_ps > cone_cross_closeness_parameter**2
-                )
-
-                # And when they are viable, draw them!
-                if (north_viable):
-                        px_x = int(north_point[0])
-                        px_y = int(north_point[1])
-                        to_return.append((px_x, px_y, CONE_OUTER))
-                        all_points_north.append(north_point)
-                if (south_viable):
-                        px_x = int(south_point[0])
-                        px_y = int(south_point[1])
-                        to_return.append((px_x, px_y, CONE_INNER))
-                        all_points_south.append(south_point)
-
-                # Handle placement of slalom cones
-                if slalom and (north_viable or south_viable):
-                        to_return.append((int(cur_point[0]), int(cur_point[1]), CONE_ORANGE))
-
-                # Only keep track of last couple of previous cones
-                # (and the very first one, for when the loop joins up)
-                # Specifically, if we assume cone_check_amount is 30, then
-                # we have prev_points north keep track of the most recent 30 cones,
-                # and also the very first start cone.
-                # This is because we want to make sure no cones are too close to eachother,
-                # but checking all cones would be too expensive.
-                # The first cone is kept track of because the track is a loop so
-                # it needs to look ahead a bit.
-                if len(all_points_north) > cone_check_amount:
-                        prev_points_north = (all_points_north[-cone_check_amount:] + [all_points_north[0]])
-                elif len(all_points_north) > 0:
-                        prev_points_north = all_points_north
-
-                if len(all_points_south) > cone_check_amount:
-                        prev_points_south = (all_points_south[-cone_check_amount:] + [all_points_south[0]])
-                elif len(all_points_south) > 0:
-                        prev_points_south = all_points_south
-
-        if starting:
-                # Add orange start cones
-                for point_list in [all_points_north, all_points_south]:
-                        (i, j) = point_list[0]
-                        for idx, tup in enumerate(to_return):
-                                x, y, _ = tup
-                                if int(x) == int(i) and int(y) == int(j):
-                                        to_return[idx] = (x, y, CONE_START)
-
-        return to_return
-
-
-@special_micro("SLALOM", cone_slalom)
-@linear_micro("SLALOM", linearize=True)
-@generic_micro("SLALOM")
-@linear_micro("STRAIGHT", linearize=True, start=True)
-@generic_micro("STRAIGHT")
-def generic_straight(point_in,
-                     tangent_in,
-                     normal_in,
-                     params={}):
-        """
-        Creates a straight line micro generator
-
-        params["length"]: specifies how long to make the straight
-        """
-
-        # Load in params
-        if "length" in params:
-                length = params["length"]
-        else:
-                length = random.uniform(
-                        TrackGenerator.MIN_STRAIGHT,
-                        TrackGenerator.MAX_STRAIGHT
-                )
-
-        # Prepare outputs
-        straight_func = parametric_straight(tangent_in, point_in, length)
-        tangent_out = tangent_in
-        normal_out = normal_in
-        added_length = length
-
-        return (
-                de_parameterize(straight_func),
-                tangent_out,
-                normal_out,
-                added_length
-        )
-
-
-@generic_micro("CONSTANT_TURN", allow_double_placement=True)
-def generic_constant_turn(point_in,
-                          tangent_in,
-                          normal_in,
-                          params={}):
-        """
-        Creates a circle segment micro generator.
-
-        params["turn_against_normal"]: boolean, when true then the
-                                       circle will have the opposite normal.
-        params["radius"]: radius of the circle
-        params["circle_percent"]: percent of a full turn the circle should undergo
-        """
-
-        # Load in params
-        if "turn_against_normal" in params:
-                turn_against_normal = params["turn_against_normal"]
-        else:
-                turn_against_normal = random.uniform(0, 1) < 0.5
-
-        if turn_against_normal:
-                # We need to flip our reference frame.
-                normal_in = scale_vector(normal_in, -1)
-
-        if "radius" in params:
-                radius = params["radius"]
-        else:
-                radius = random.uniform(
-                        TrackGenerator.MIN_CONSTANT_TURN,
-                        TrackGenerator.MAX_CONSTANT_TURN
-                )
-
-        if "circle_percent" in params:
-                circle_percent = params["circle_percent"]
-        else:
-                # Note: if circles turn too much,
-                # risk of self-intersection rises dramatically.
-                circle_percent = random.uniform(0.1, 0.5)
-
-        center = add_vectors(point_in, scale_vector(normal_in, radius))
-
-        # We need to calculate which direction to draw the circle, too
-        # Traditionally it is drawn counter-clockwise, but it would need to go
-        # clockwise if the "handedness" of the system is opposite normal.
-        # We can calculate handedness through the sign of the determinant
-        # of the tangent and normal matrices
-        def sgn(x):
-                """-1 if x is negative, +1 if positive, 0 if 0."""
-                return -1 if x < 0 else 1 if x > 0 else 0
-        handedness = sgn(tangent_in[0] * normal_in[1] - tangent_in[1] * normal_in[0])
-        turn_angle = handedness * circle_percent * math.pi * 2
-
-        # And now we can grab output points
-        circle_function = parametric_circle(point_in, center, turn_angle)
-        points_out = de_parameterize(circle_function)
-
-        # Calculate total length
-        added_length = turn_angle * radius
-
-        # Now we want to find the new normal vector,
-        normal_out = normalize_vec((
-                points_out[-1][0] - center[0],
-                points_out[-1][1] - center[1]
-        ))
-
-        # And finally recalculate the tangent:
-        tangent_out = calculate_tangent_vector(points_out)
-
-        # Returns a list of points and the new edge of the racetrack and the change in length
-        return (points_out, tangent_out, normal_out, added_length)
-
-
-@rare_micro("HAIRPIN_TURN", count=2)
-@generic_micro("HAIRPIN_TURN")
-def generic_hairpin_turn(point_in,
-                         tangent_in,
-                         normal_in,
-                         params={}):
-        """
-        Creates a hairpin micro generator.
-
-        params["turn_against_normal"]: boolean, when true then the
-                                       hairpin will have the opposite normal.
-
-        params["radius"]: radius of the circle
-
-        params["uniform_circles"]: if True, all circles have the
-                                            same radius (params["radius"])
-                                   if False, all circles have random radii to add variety.
-
-        params["straight_length"]: the length of the straight segments
-
-        params["wobbliness"]: The percentage of circumference of the circles
-                              This will be overridden if the function detects that
-                              The hairpin would self-intersect with the given wobbliness.
-
-        params["switchbacks"]: The amount of turns in the hairpin
-        """
-
-        xys = []
-        added_length = 0
-
-        # Load in params
-        if "turn_against_normal" in params:
-                turn_against_normal = params["turn_against_normal"]
-        else:
-                turn_against_normal = random.uniform(0, 1) < 0.5
-
-        if turn_against_normal:
-                # We need to flip our reference frame.
-                normal_in = scale_vector(normal_in, -1)
-
-        if "radius" in params:
-                radius = params["radius"]
-        else:
-                radius = random.uniform(
-                        TrackGenerator.MIN_CONSTANT_TURN,
-                        TrackGenerator.MAX_CONSTANT_TURN
-                )
-
-        if "uniform_circles" in params:
-                uniform_circles = params["uniform_circles"]
-        else:
-                uniform_circles = random.uniform(0, 1) < 0.5
-
-        if "straight_length" in params:
-                straight_length = params["straight_length"]
-        else:
-                straight_length = random.uniform(
-                        TrackGenerator.MIN_STRAIGHT,
-                        TrackGenerator.MAX_STRAIGHT
-                )
-
-        if "wobbliness" in params:
-                wobbliness = params["wobbliness"]
-        else:
-                wobbliness = random.uniform(0.45, 0.55)
-
-        if "switchbacks" in params:
-                switchbacks = params["switchbacks"]
-        else:
-                switchbacks = 2 * random.randrange(
-                        TrackGenerator.MIN_HAIRPIN_PAIRS,
-                        TrackGenerator.MAX_HAIRPIN_PAIRS
-                )
-
-        # We are interested in making sure switchbacks never intersect
-        # If you draw a diagram, this gives you a diamond with angles pi/2,pi/2,L, and pi/2-L
-        # where L is:
-        # ((2*pi*(1-wobbliness))/2)
-        # Using trigonometry, we can calculate the radius to intersection
-        # in terms of the angle and circle radius:
-        # intersect_point = radius * tan(L)
-        # If intersect_point is greater than max_intersection, we're good!
-        # Otherwise we want to cap it there.  So we find the inverse-function for "wobbliness"
-        # 1-atan2(intersect_point,radius)/math.pi = wobbliness
-        # max_intersection is the distance we tolerate intersections beyond.
-        max_intersection = 50
-        angle_l = (2 * math.pi * (1 - wobbliness)) / 2
-        intersect_point = radius * math.tan(angle_l)
-        if intersect_point < max_intersection:
-                wobbliness = 1 - math.atan2(max_intersection, radius) / math.pi
-
-        # Now we loop through each segment of the hairpin
-        for a in range(0, switchbacks):
-                # Switchback starts with a circle, then a line
-
-                # Get the desired radius of the circle
-                if not uniform_circles:
-                        radius = random.uniform(
-                                TrackGenerator.MIN_CONSTANT_TURN,
-                                TrackGenerator.MAX_CONSTANT_TURN
-                        )
-
-                # Do the circle part
-                (points_out, tangent_out, normal_out, delta_length) = generic_constant_turn(
-                        point_in,
-                        tangent_in,
-                        normal_in,
-                        params={
-                                "turn_against_normal": True,
-                                "circle_percent":      wobbliness,
-                                "radius":              radius
-                        }
-                )
-                added_length += delta_length
-                xys.extend(points_out)
-
-                # Prepare for next component
-                point_in = points_out[-1]
-                tangent_in = tangent_out
-                normal_in = normal_out
-
-                # Now tack on the straight
-                (points_out, tangent_out, normal_out, delta_length) = generic_straight(
-                        point_in,
-                        tangent_in,
-                        normal_in,
-                        params={
-                                "length": straight_length
-                        }
-                )
-                added_length += delta_length
-                xys.extend(points_out)
-
-                # Prepare for next component
-                # For hairpins, normals should always flip!
-                # That way they zigzag
-                point_in = points_out[-1]
-                tangent_in = tangent_out
-                normal_in = scale_vector(normal_out, -1)
-
-        return (xys, tangent_out, normal_out, added_length)
-
-
-@refocus_micro("CONSTANT_TURN")
-def refocus_constant_turn(point_in,
-                          point_out,
-                          tangent_in,
-                          normal_in,
-                          params={}):
-        """
-        Creates a circle segment micro generator.
-
-        params["turn_against_normal"]: boolean, when true then the
-                                       circle will have the opposite normal.
-        params["radius"]: radius of the circle
-        params["recursed"]: if true, prevent this function from recursing again
-        """
-
-        # Load in params
-        if "turn_against_normal" in params:
-                turn_against_normal = params["turn_against_normal"]
-        else:
-                turn_against_normal = random.uniform(0, 1) < 0.5
-
-        if turn_against_normal:
-                # We need to flip our reference frame.
-                normal_in = scale_vector(normal_in, -1)
-
-        if "radius" in params:
-                radius = params["radius"]
-        else:
-                radius = random.uniform(
-                        TrackGenerator.MIN_CONSTANT_TURN, TrackGenerator.MAX_CONSTANT_TURN
-                )
-
-        if "recursed" in params:
-                recursed = params["recursed"]
-        else:
-                recursed = False
-
-        center = add_vectors(point_in, scale_vector(normal_in, radius))
-
-        # We need to calculate which direction to draw the circle, too
-        # Traditionally it is drawn counter-clockwise, but it would need to go
-        # clockwise if the "handedness" of the system is opposite normal.
-        # We can calculate handedness through the sign of the determinant
-        # of the tangent and normal matrices
-        def sgn(x):
-                """-1 if x is negative, +1 if positive, 0 if 0."""
-                return -1 if x < 0 else 1 if x > 0 else 0
-        handedness = sgn(tangent_in[0] * normal_in[1] - tangent_in[1] * normal_in[0])
-
-        # Now we use a rotation matrix to parameterize intermediate points:
-        # Given start S and center C, any point on the circle angle A away is:
-        # R_A[S-C] + C
-        # Let us box this up in a nice function:
-        def intermediate_point(s, c, a):
-                (sx, sy) = s
-                (cx, cy) = c
-                cos_a = math.cos(a)
-                sin_a = math.sin(a)
-                del_x = sx - cx
-                del_y = sy - cy
-                result_x = cos_a * del_x - sin_a * del_y + cx
-                result_y = sin_a * del_x + cos_a * del_y + cy
-                return (result_x, result_y)
-        circle_func = Parametrization(lambda a: intermediate_point(point_in, center, a))
-
-        # We are going to iteratively walk around the circle until we are facing the right way
-        points_out = []
-        max_range = TrackGenerator.FIDELITY
-        step_size = 1.0 / max_range
-        angle = 0
-        for t in range(0, max_range):
-                angle = t * step_size * 2 * math.pi
-                points_out.append(
-                        circle_func(angle*handedness)
-                )
-                if t != 0:
-                        # Check if we're pointing in the right direction
-                        # This equates to checking if end_point lies on the
-                        # line at points[-1] with the appropriate tangent.
-                        (sx, sy) = points_out[-1]
-                        (ex, ey) = point_out
-                        appropriate_angle = calculate_tangent_angle(points_out)
-                        if t > 0.8 * max_range and not recursed:
-                                # Very big turn, we don't like that!
-                                # We'll just turn the other way instead
-                                return refocus_constant_turn(
-                                        point_in,
-                                        point_out,
-                                        tangent_in,
-                                        normal_in,
-                                        params={
-                                                "recursed": True,
-                                                "radius": radius,
-                                                "turn_against_normal": True
-                                        }
-                                )
-                        if abs(
-                                cap_angle(appropriate_angle) - cap_angle(math.atan2((ey - sy), (ex - sx)))
-                        ) < 0.01:
-                                # Would do equality checking but limited precision,
-                                # we just check if close!
-                                break
-
-        # Length of circle is, fortunately, easy!  It's simply radius*angle
-        added_length = angle*radius
-
-        # Now we want to find the new normal vector,
-        normal_out = normalize_vec((
-                points_out[-1][0] - center[0],
-                points_out[-1][1] - center[1]
-        ))
-
-        # And finally recalculate the tangent:
-        tangent_out = calculate_tangent_vector(points_out)
-
-        # Returns a list of points and the new edge of the racetrack and the change in length
-        return (points_out, tangent_out, normal_out, added_length)
-
-
-@connector_micro("CONSTANT_TURN")
-def connector_constant_turn(point_in,
-                            point_out,
-                            tangent_in,
-                            tangent_out,
-                            normal_in,
-                            params={}):
-        """
-        Complicated connector function that attempts to abide by contest regulations.
-
-        Warning: Sometimes the circles are not of allowed radius!
-        """
-
-        xys = []
-        total_length = 0
-        final_tangent_out = tangent_out
-        tangent_out = scale_vector(tangent_out, -1)
-
-        # We need to calculate the turn angle (angle between 2 vectors):
-        outer_turn_angle = math.acos(
-                - tangent_in[0] * tangent_out[0] - tangent_in[1] * tangent_out[1]
-        )
-        circle_turn_angle = math.pi - outer_turn_angle
-        circle_turn_percent = circle_turn_angle / (2 * math.pi)
-        circle_radius = random.uniform(
-                TrackGenerator.MIN_CONSTANT_TURN,
-                TrackGenerator.MAX_CONSTANT_TURN
-        )
-
-        # Now we draw this circle:
-        (points_out, tangent_out, normal_out, added_length) = generic_constant_turn(
-                point_in,
-                tangent_in,
-                normal_in,
-                params={
-                        "turn_against_normal": False,
-                        "circle_percent":      circle_turn_percent,
-                        "radius":              circle_radius
-                }
-        )
-        total_length += added_length
-        xys.extend(points_out)
-
-        # And now we add a half-turn to point us directly back to the start.
-        # Radius is calculated by finding distance when projected along the normal
-        tangent_in = tangent_out
-        normal_in = normal_out
-        point_in = points_out[-1]
-        tangent_out = final_tangent_out
-        diff = subtract_vectors(point_in, point_out)
-        circle_radius = (diff[0] * normal_in[0] + diff[1] * normal_in[1])/2
-
-        # Now we draw the circle:
-        (points_out, tangent_out, normal_out, added_length) = generic_constant_turn(
-                point_in,
-                tangent_in,
-                normal_in,
-                params={
-                        "turn_against_normal": False,
-                        "circle_percent":      0.5,
-                        "radius":              abs(circle_radius)
-                }
-        )
-        total_length += added_length
-        xys.extend(points_out)
-
-        # And then add a straight to connect back to the start
-        tangent_in = tangent_out
-        normal_in = normal_out
-        point_in = points_out[-1]
-        straight_length = get_distance(point_in, point_out) * 1.1
-        (points_out, tangent_out, normal_out, added_length) = generic_straight(
-                point_in,
-                tangent_in,
-                normal_in,
-                params={
-                        "length": straight_length
-                }
-        )
-        total_length += added_length
-        xys.extend(points_out)
-
-        return (xys, tangent_out, normal_out, total_length)
-
-
-@generic_micro("LEFT_RIGHT_TURN")
-def generic_left_right_turn(point_in,
-                            tangent_in,
-                            normal_in,
-                            params={}):
-        """
-        Creates a hairpin micro generator.
-
-        This is just the composition of two turns to create a winding road.
-        """
-
-        added_length = 0
-        xys = []
-
-        # First turn
-        (points_out, tangent_out, normal_out, delta_length) = (
-                generic_constant_turn(
-                        point_in,
-                        tangent_in,
-                        normal_in,
-                        params={
-                                "circle_percent": random.uniform(0.1, 0.3)
-                        }
-                )
-        )
-        added_length += delta_length
-        xys.extend(points_out)
-
-        # Prepare data for next component
-        point_in = points_out[-1]
-        tangent_in = tangent_out
-        normal_in = normal_out
-
-        # And now let's add another circle turning the other way
-        # so that we make the track more "winding".
-        (points_out, tangent_out, normal_out, delta_length) = (
-                generic_constant_turn(
-                        point_in,
-                        tangent_in,
-                        normal_in,
-                        params={
-                                "circle_percent": random.uniform(0.1, 0.3)
-                        }
-                )
-        )
-        added_length += delta_length
-        xys.extend(points_out)
-
-        return (xys, tangent_out, normal_out, added_length)
-
-
-@connector_micro("BEZIER")
-def connector_bezier(point_in,
-                     point_out,
-                     tangent_in,
-                     tangent_out,
-                     normal_in,
-                     params={}):
-        """
-        Creates a cubic bezier micro generator.
-
-        params["scale_in"]:  roughly corresponds to how "straight" the start of the bezier is.
-        params["scale_out"]: roughly corresponds to how "straight" the end of the bezier is.
-
-        This function does not accurately keep track of normals and track length, so
-        it cannot be used when LAX Generation is off.
-        """
-
-        # Load in params
-        if "scale_in" in params:
-                scale_in = params["scale_in"]
-        else:
-                scale_in = random.uniform(10, 100)
-        if "scale_out" in params:
-                scale_out = params["scale_out"]
-        else:
-                scale_out = random.uniform(10, 100)
-
-        # The incoming tangent is the same as the line from P0 to P1
-        # Outgoing tangent is the same as the line from P(n-1) to P(n)
-        # Where P0, P1, ..., P(n-1), P(n) are the control points
-        # All other control points are free to be selected.
-        p0_to_p1 = scale_vector(tangent_in, scale_in)
-        p0 = point_in
-        p1 = (p0[0] + p0_to_p1[0], p0[1] + p0_to_p1[1])
-
-        pn_1_to_pn = scale_vector(tangent_out, scale_out)
-        pn = point_out
-        pn_1 = (pn[0] - pn_1_to_pn[0], pn[1] - pn_1_to_pn[1])
-
-        control_points = [p0, p1, pn_1, pn]
-
-        # Prepare outputs
-        bez_out = parametric_bezier(control_points)
-        normal_out = normal_in
-        added_length = 0
-
-        return (
-                de_parameterize(bez_out),
-                tangent_out,
-                normal_out,
-                added_length
-        )
-
-
-def parametric_bezier(control_points):
-        """
-        This function will itself return a function of a parameterized bezier
-        That is, the result will be a function that takes a time parameter from 0 to 1
-        and traveling along it results in the points on the bezier.
-        I made this code match the Bezier curve definition on wikipedia as closely as
-        possible (Explicit definition, not the recursive one)
-        """
-        def to_return(cp, t):
-                the_sum_x = 0
-                the_sum_y = 0
-                n = len(cp)
-                for i in range(n):
-                        coefficient = binom(n-1, i) * (1 - t)**(n - i - 1) * t**i
-                        the_sum_x += coefficient * cp[i][0]
-                        the_sum_y += coefficient * cp[i][1]
-                return (the_sum_x, the_sum_y)
-        return Parametrization(lambda t: to_return(control_points, t))
-
-
-def parametric_straight(slope_vec, start_point, line_length):
-        """Returns the parametric function of a line given a slope and start point"""
-        def to_return(slope, start, length, t):
-                return add_vectors(start, scale_vector(slope, 1.0 * t * line_length))
-        return Parametrization(lambda t: to_return(slope_vec, start_point, line_length, t))
-
-
-def parametric_circle(start_point, center_point, delta_angle):
-        """
-        Returns a function in terms of t \elem [0,1] to parameterize a circle
-
-        We can calculate points on a circle using a rotation matrix
-        R(a)*[S-C]+C gives us any point on a circle starting at S with center C
-        with counterclockwise angular distance 'a'
-        """
-        def output(s, c, a):
-                (sx, sy) = s
-                (cx, cy) = c
-                cos_a = math.cos(a)
-                sin_a = math.sin(a)
-                del_x = sx - cx
-                del_y = sy - cy
-                result_x = cos_a * del_x - sin_a * del_y + cx
-                result_y = sin_a * del_x + cos_a * del_y + cy
-                return (result_x, result_y)
-        return Parametrization(lambda t: output(start_point, center_point, t * delta_angle))
diff --git a/eufs_launcher/src/eufs_launcher/TrackGenerator.pyc b/eufs_launcher/src/eufs_launcher/TrackGenerator.pyc
deleted file mode 100644
index 1d5fbf31d31478ca534bc5f9d0753b18f0f32caf..0000000000000000000000000000000000000000
Binary files a/eufs_launcher/src/eufs_launcher/TrackGenerator.pyc and /dev/null differ
diff --git a/eufs_launcher/src/eufs_launcher/__init__.py b/eufs_launcher/src/eufs_launcher/__init__.py
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/eufs_teleop/CMakeLists.txt b/eufs_teleop/CMakeLists.txt
deleted file mode 100644
index 9fc8838c35b3e3d297a8b25b74f34cca10bbbbfd..0000000000000000000000000000000000000000
--- a/eufs_teleop/CMakeLists.txt
+++ /dev/null
@@ -1,37 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(eufs_teleop)
-
-## 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
-  roscpp
-  rospy
-  std_msgs
-  ackermann_msgs
-)
-
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES turtletold
-  CATKIN_DEPENDS geometry_msgs roscpp rosmsgs rospy
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-include_directories(include 
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
-add_executable(talk src/talk.cpp)
-target_link_libraries(talk ${catkin_LIBRARIES})
-
diff --git a/eufs_teleop/launch/eufs_teleop.launch b/eufs_teleop/launch/eufs_teleop.launch
deleted file mode 100644
index 89bc79510a241f05bd8e53c13961980d7e306bb0..0000000000000000000000000000000000000000
--- a/eufs_teleop/launch/eufs_teleop.launch
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
-  <node pkg="eufs_teleop" name="talk" type="talk" output="screen" launch-prefix="xterm -e"/>
-</launch>
-
diff --git a/eufs_teleop/package.xml b/eufs_teleop/package.xml
deleted file mode 100644
index 45678508d0ce8532aca56e34d52a1fe429423665..0000000000000000000000000000000000000000
--- a/eufs_teleop/package.xml
+++ /dev/null
@@ -1,60 +0,0 @@
-<?xml version="1.0"?>
-<package>
-  <name>eufs_teleop</name>
-  <version>0.0.0</version>
-  <description>The eufs_teleop package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="cj@todo.todo">cj</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 mutiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/turtletold</url> -->
-
-
-  <!-- Author tags are optional, mutiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintianers, 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 build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>roscpp</build_depend> 
-  <build_depend>rospy</build_depend>
-  <build_depend>rosmsgs</build_depend>
-  <build_depend>ackermann_msgs</build_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>rosmsgs</run_depend>
-  <run_depend>ackermann_msgs</run_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
-</package>
diff --git a/eufs_teleop/src/talk.cpp b/eufs_teleop/src/talk.cpp
deleted file mode 100644
index eadd3bc72e066d3a431fad9b017cf1aaf37e48e5..0000000000000000000000000000000000000000
--- a/eufs_teleop/src/talk.cpp
+++ /dev/null
@@ -1,120 +0,0 @@
-// source: https://github.com/Cuijie12358/wasd-TurtleController
-#include <ros/ros.h>
-#include <geometry_msgs/Twist.h>
-#include <sstream>
-#include <stdio.h>
-#include <cstdlib>
-#include <termios.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <ackermann_msgs/AckermannDriveStamped.h>
-
-int kbhit(void);
-char getch(void);
-
-
-int main(int argc, char **argv) {
-
-	// TODO:
-	// - initialise a publisher
-	// - initialise a message and assign values
-	// - set topics and node name
-  ros::init(argc, argv, "talk"); // node
-  std::string topic = "some_topic"; //topic name
-  ros::NodeHandle n;
-  char temp;
-  ros::Rate loopRate(2);
-  ROS_INFO("talk cpp start...");
-
-
-
-  
-	while(ros::ok())
-	{
-		while(kbhit())
-		{
-			temp = getch();
-			switch (temp)
-			{
-				case 'w':
-					// TODO: Update message values and publish
-
-					ros::spinOnce();
-					loopRate.sleep();
-				case 'a':
-					// TODO: Update message values and publish
-					
-					ros::spinOnce();
-					loopRate.sleep();
-
-					break;
-				case 's':
-					// TODO: Update message values and publish
-
-					ros::spinOnce();
-					loopRate.sleep();
-					break;
-				case 'd':
-					// TODO: Update message values and publish
-
-					ros::spinOnce();
-					loopRate.sleep();
-					break;
-				default: break;
-			}
-		}
-		
-	}
-  return 0;
-}
-
-
-
-// DON'T EDIT THIS
-// These are functions to read keystrokes
-int kbhit(void) {
-    struct termios oldt, newt;
-    int ch;
-    int oldf;
-    tcgetattr(STDIN_FILENO, &oldt);
-    newt = oldt;
-    newt.c_lflag &= ~(ICANON | ECHO);
-    tcsetattr(STDIN_FILENO, TCSANOW, &newt);
-    oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
-    fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);
-    ch = getchar();
-    tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
-    fcntl(STDIN_FILENO, F_SETFL, oldf);
-
-    if(ch != EOF) {
-
-        ungetc(ch, stdin);
-
-        return 1;
-
-    }
-
-    return 0;
-
-}
-
-char getch()
-{
-	char buf = 0;
-	struct termios old = {0};
-	if(tcgetattr(0,&old) < 0)
-		perror("tcsetattr()");
-	old.c_lflag &= ~ICANON;
-	old.c_lflag &= ~ECHO;
-	old.c_cc[VMIN] = 1;
-	old.c_cc[VTIME] = 0;
-	if(tcsetattr(0,TCSANOW,&old) < 0)
-		perror("tcsetattr ICANON");
-	if(read(0,&buf,1) < 0)
-		perror("read()");
-	old.c_lflag |= ~ICANON;
-	old.c_lflag |= ~ECHO;
-	if(tcsetattr(0,TCSADRAIN,&old) < 0)
-		perror("tcsetattr ~ICANON");
-	return (buf);
-}
diff --git a/ros_can_sim/CMakeLists.txt b/ros_can_sim/CMakeLists.txt
deleted file mode 100644
index e02406c7d3da5e40657d5999a300e9e9a530126f..0000000000000000000000000000000000000000
--- a/ros_can_sim/CMakeLists.txt
+++ /dev/null
@@ -1,62 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(ros_can_sim)
-
-set(BUILD_FLAGS "-std=c++14 -Wuninitialized -Wall -Wextra -Wunused-parameter")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${BUILD_FLAGS}")
-
-find_package(catkin REQUIRED COMPONENTS
-        roscpp
-        tf
-        rqt_gui
-        rqt_gui_py
-        ackermann_msgs
-        geometry_msgs
-        sensor_msgs
-        std_msgs
-        eufs_msgs
-        std_srvs
-        roslint
-        )
-
-catkin_package(
-        #  INCLUDE_DIRS include
-        #  LIBRARIES snap_vislam
-        #  CATKIN_DEPENDS roscpp rospy std_msgs
-        #  DEPENDS system_lib
-)
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-        ${catkin_INCLUDE_DIRS}
-)
-
-# needed because of setup.py
-catkin_python_setup()
-
-add_executable(ros_can_sim_node src/ros_can_sim.cpp)
-
-target_link_libraries(ros_can_sim_node
-        ${catkin_LIBRARIES}
-        )
-
-install(PROGRAMS nodes/ros_can_sim_gui
-        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        )
-
-install(DIRECTORY
-        resource
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-        )
-
-install(FILES
-        plugin.xml
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-        )
-
-#############
-## Roslint ##
-#############
-
-roslint_python()
-roslint_cpp()
diff --git a/ros_can_sim/LICENSE b/ros_can_sim/LICENSE
deleted file mode 100644
index bc0f1f9798dca1c80aaf7cf87c0a44b11567a118..0000000000000000000000000000000000000000
--- a/ros_can_sim/LICENSE
+++ /dev/null
@@ -1,21 +0,0 @@
-MIT License
-
-Copyright (c) 2019 Edinburgh University Formula Student (EUFS)
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
diff --git a/ros_can_sim/README.md b/ros_can_sim/README.md
deleted file mode 100644
index ba4e44d8ccc3499feb19e5ecee202e1860a437f7..0000000000000000000000000000000000000000
--- a/ros_can_sim/README.md
+++ /dev/null
@@ -1,40 +0,0 @@
-# ros_can_sim
-This is the package that simulates the ros_can interface of the ADS-DV in Gazebo. Also controls all of the
-joints(motors) of the car and has the same internal state machine and outputs of the ADS-DV.
-
-Modelled after the [original specs of the car](https://www.imeche.org/docs/default-source/1-oscar/formula-student/2019/fs-ai/ads-dv-software-interface-specification-v0-2.pdf?sfvrsn=2).
-
-# Nodes
-## `ros_can_sim_node`
-Same as above
-
-### Subscribers
-- `/eufs/joint_states` (sensor_msgs/JointState) - states of the joints in Gazebo
-- `/cmd_vel_out` (ackermann_msgs/AckermannDriveStamped) - control command for the car
-- `/ros_can/flag` (std_msgs/Bool) - mission flag of the car. Used to control the state machine transition logic
-- `/ros_can/set_mission` (eufs_msgs/CanState) - sets the mission of the internal state machine
-
-### Services
-- `/ros_can/reset` (std_srvs/Trigger) - resets the internal state machine. SIMULATION ONLY
-- `/ros_can/ebs` (std_stvs/Trigger) - makes the car transition to the EMERGENCY_BRAKE state and stop
-
-### Publishers
-- `/ros_can/state` (eufs_msgs/CanState) - gives the state of the internal state machine
-- `/ros_can/state_str` (std_msgs/String) - same as above but in string format for easy debugging
-- `/ros_can/wheel_speeds` (eufs_msgs/WheelSpeeds) - RPM of the wheels and angle of the steering rack
-
-### Parameters
-- `wheelbase` - distance between the front and rear axis in m
-- `wheel_radius` - radius in m
-- `max_speed` - limit in m/s
-- `max_steering` - maximum steering values in rad
-- `steering_link_length` - the length of the steering links in an ackermann-type vehicle
-- `desired_freq` - rate at which this node should operate
-- `joint_state_time_window` - used in the start() function when the node waits for data from the simulation during boot
-
-# Launches
-- `ros_can_sim.launch` - launches the `ros_can_sim_node` fully parametarised for the ADS-DV car
-- `speed_control_gui.launch` - rqt gui to control the car WITH SLIDERS
-
-## Notes
-- DO NOT RUN THIS IN THE REAL WORLD
diff --git a/ros_can_sim/config/ackermann_controller.yaml b/ros_can_sim/config/ackermann_controller.yaml
deleted file mode 100644
index da76a5de32addd721011c4ddc66e22b5fda49914..0000000000000000000000000000000000000000
--- a/ros_can_sim/config/ackermann_controller.yaml
+++ /dev/null
@@ -1,51 +0,0 @@
-# ackermann_controller_params.yaml
-#
-# This file defines auto_rally_controller parameter values used for simulating an
-# Ackermann autonomous platform.
-#
-# Copyright (c) 2013 Wunderkammer Laboratory
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#  http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-left_front_wheel:
-  steering_link_name: left_front_wheel
-  steering_controller_name: left_steering_joint_controller
-  axle_controller_name: left_front_axle_controller
-  diameter: 0.505
-
-right_front_wheel:
-  steering_link_name: right_front_wheel
-  steering_controller_name: right_steering_joint_controller
-  axle_controller_name: right_front_axle_controller
-  diameter: 0.505
-
-left_rear_wheel:
-  link_name: left_rear_wheel
-  axle_controller_name: left_rear_axle_controller
-  diameter: 0.505
-
-right_rear_wheel:
-  link_name: right_rear_wheel
-  axle_controller_name: right_rear_axle_controller
-  diameter: 0.505
-
-# The equilibrium position of each shock absorber was measured from a stationary vehicle.
-
-shock_absorbers:
-  - controller_name: left_front_shock_controller
-    equilibrium_position: 0.08
-  - controller_name: right_front_shock_controller
-    equilibrium_position: 0.08
-  - controller_name: left_rear_shock_controller
-    equilibrium_position: 0.09
-  - controller_name: right_rear_shock_controller
-    equilibrium_position: 0.09
diff --git a/ros_can_sim/config/driveCommandPriorities.yaml b/ros_can_sim/config/driveCommandPriorities.yaml
deleted file mode 100644
index 141ef5e9cb0d39c56eb199ba8208395d5a81e77f..0000000000000000000000000000000000000000
--- a/ros_can_sim/config/driveCommandPriorities.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-'mppi_controller': 1
-'constantSpeedController': 2
-'waypointFollower': 3
-'rqt' : 4
-'joystick': 5
-'OCS': 6
-'RC': 7
diff --git a/ros_can_sim/config/joint_controller.yaml b/ros_can_sim/config/joint_controller.yaml
deleted file mode 100644
index 2b27b4375b4c86ece2330aad53414921062b9eba..0000000000000000000000000000000000000000
--- a/ros_can_sim/config/joint_controller.yaml
+++ /dev/null
@@ -1,87 +0,0 @@
-# joint_controller_params.yaml
-#
-# This file defines joint controller parameter values used for simulating an
-# Ackermann autonomous platform.
-#
-# Copyright (c) 2013-2014 Wunderkammer Laboratory
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#  http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Publish the joint states to joint_states.
-joint_state_ctrlr:
-  type: joint_state_controller/JointStateController
-  publish_rate: 50
-
-left_steering_ctrlr:
-  joint: left_steering_joint
-  type: effort_controllers/JointPositionController
-  pid: {p: 500.0, i: 10.0, d: 100.0}
-right_steering_ctrlr:
-  joint: right_steering_joint
-  type: effort_controllers/JointPositionController
-  pid: {p: 500.0, i: 10.0, d: 100.0}
-
-left_front_axle_ctrlr:
-  joint: left_front_axle
-  type: effort_controllers/JointEffortController
-  pid: {p: 1.5, i: 0.2, d: 0.0, i_clamp: 10.0}
-right_front_axle_ctrlr:
-  joint: right_front_axle
-  type: effort_controllers/JointEffortController
-  pid: {p: 1.5, i: 0.2, d: 0.0, i_clamp: 10.0}
-left_rear_axle_ctrlr:
-  joint: left_rear_axle
-  type: effort_controllers/JointEffortController
-  pid: {p: 1.5, i: 0.5, d: 0.0, i_clamp: 10.0}
-right_rear_axle_ctrlr:
-  joint: right_rear_axle
-  type: effort_controllers/JointEffortController
-  pid: {p: 1.5, i: 0.5, d: 0.0, i_clamp: 10.0}
-
-# The proportional gain of each shock absorber controller is:
-# front shock constant is 15 lb/in = 2626.902525 N/m
-# rear shock constant is 19 lb/in = 3327.409865 N/m
-# front: 2 * (0.06 * 2626.902525 / 0.1) = 3152.28303
-# rear:  2 * (0.07 * 3327.409865 / 0.11) = 4234.88528273
-#
-# 2 * (shock_stroke * shock_spring_constant / wheel_travel). shock_stroke is
-# 0.07 m. shock_spring_constant, an approximation of the
-# shock absorber spring's constant
-#
-# looks like for 17 lb/in
-# 2 * (0.07 * 2977.156195 / 0.1) = 4168.018673
-# sqrt(3 * 2977.156195)) = 94.5064473197
-#
-# The derivative gain of each shock absorber controller is 2 * shock_damping.
-# shock_damping, an approximation of the viscous damping coefficient of an
-# Ultra Shock shock absorber, is 36.2416 Ns/m
-# (i.e. sqrt(3 * shock_spring_constant)).
-# sqrt(3 * needs to be computed)) = 
-# sqrt(3 * needs to eb computed)) = 
-
-left_front_shock_ctrlr:
-  joint: left_front_shock
-  type: effort_controllers/JointPositionController
-  pid: {p: 3152.28303, i: 0.0, d: 20}
-right_front_shock_ctrlr:
-  joint: right_front_shock
-  type: effort_controllers/JointPositionController
-  pid: {p: 3152.28303, i: 0.0, d: 20}
-left_rear_shock_ctrlr:
-  joint: left_rear_shock
-  type: effort_controllers/JointPositionController
-  pid: {p: 4234.88528273, i: 0.0, d: 25}
-right_rear_shock_ctrlr:
-  joint: right_rear_shock
-  type: effort_controllers/JointPositionController
-  pid: {p: 4234.88528273, i: 0.0, d: 25}
diff --git a/ros_can_sim/launch/ros_can_sim.launch b/ros_can_sim/launch/ros_can_sim.launch
deleted file mode 100644
index 195d0c95bcccd0bfc88e92165e50100ec1842489..0000000000000000000000000000000000000000
--- a/ros_can_sim/launch/ros_can_sim.launch
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <node name="ros_can_sim" pkg="ros_can_sim" type="ros_can_sim_node" output="screen">
-    <param name="wheelbase" value="1.53"/>
-    <param name="wheel_diameter" value="0.505"/>
-    <param name="max_speed" value="20.0"/>
-    <param name="max_steering" value="0.523599"/> <!-- 27.2 degs -->
-    <param name="desired_freq" value="100"/>
-  </node>
-
-</launch>
diff --git a/ros_can_sim/launch/speed_control_gui.launch b/ros_can_sim/launch/speed_control_gui.launch
deleted file mode 100644
index 410e20f38deca9e9b964a74709afd5b7db27304b..0000000000000000000000000000000000000000
--- a/ros_can_sim/launch/speed_control_gui.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- start twist to ackermannDrive converter for robot steering plugin -->
-  <node pkg="ros_can_sim" name="twist_to_ackermannDrive" type="twist_to_ackermannDrive.py" args="twistToAckermannDrive:=eufsa_control/teleop_vel_out" />
-  
-  <!-- start rqt robot steering module -->
-  <node pkg="rqt_robot_steering" name="rqt_robot_steering" type="rqt_robot_steering" />
- 
-</launch>
diff --git a/ros_can_sim/launch/torque_control_gui.launch b/ros_can_sim/launch/torque_control_gui.launch
deleted file mode 100644
index 998fc77f14012293af6035d9592e2fe90c5003e7..0000000000000000000000000000000000000000
--- a/ros_can_sim/launch/torque_control_gui.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- start twist to ackermannDrive converter for robot steering plugin -->
-  <node pkg="ros_can_sim" name="twist_to_chassisCommand" type="twist_to_chassisCommand.py" args="twistToAckermannDrive:=eufsa_control/teleop_vel_out" output="screen"/>
-  
-  <!-- start rqt robot steering module -->
-  <node pkg="rqt_robot_steering" name="rqt_robot_steering" type="rqt_robot_steering" />
- 
-</launch>
diff --git a/ros_can_sim/nodes/ackermann_controller.py b/ros_can_sim/nodes/ackermann_controller.py
deleted file mode 100755
index 0ec185b9faf721d179b48f6a556273923b374a72..0000000000000000000000000000000000000000
--- a/ros_can_sim/nodes/ackermann_controller.py
+++ /dev/null
@@ -1,723 +0,0 @@
-#!/usr/bin/env python
-
-"""ackermann_controller.py
-
-This is a script to simulate the conrol of the ADS-DV car provided by
-Formula Student UK. It is derived from the ackermann_vehicle_gazebo ROS package
-https://github.com/jbpassot/ackermann_vehicle
-
-
-Subscribed Topics:
-  driveCommand2 (autorally_msgs/driveCommand2)
-    Actuator command to control all actuators, valid values [-1, 1]
-  runstop (autorally_msgs/runstop)
-    Whether the vehicle can move or not
-
-Published Topics:
-  <left steering controller name>/command (std_msgs/Float64)
-    Command for the left steering controller.
-  <right steering controller name>/command (std_msgs/Float64)
-    Command for the right steering controller.
-  <left front axle controller name>/command (std_msgs/Float64)
-    Command for the left front axle controller.
-  <right front axle controller name>/command (std_msgs/Float64)
-    Command for the right front axle controller.
-  <left rear axle controller name>/command (std_msgs/Float64)
-    Command for the left rear axle controller.
-  <right rear axle controller name>/command (std_msgs/Float64)
-    Command for the right rear axle controller.
-  <shock absorber controller name>/command (std_msgs/Float64)
-    One of these topics exists for each shock absorber. They are latched
-    topics.
-
-Services Called:
-  controller_manager/list_controllers (controller_manager_msgs/
-                                       ListControllers)
-    List the states of the controllers.
-
-Parameters:
-  ~left_front_wheel/steering_link_name (string, default: left_steering_link)
-  ~right_front_wheel/steering_link_name (string,
-                                         default: right_steering_link)
-    Names of links that have origins coincident with the origins of the
-    left and right steering joints, respectively. The steering links are
-    used to compute the distance between the steering joints, as well as
-    the vehicle's wheelbase.
-
-  ~left_front_wheel/steering_controller_name (string, default:
-                                              left_steering_controller)
-  ~right_front_wheel/steering_controller_name (string, default:
-                                               right_steering_controller)
-Steering controller names.
-
-  ~left_rear_wheel/link_name (string, default: left_wheel)
-  ~right_rear_wheel/link_name (string, default: right_wheel)
-    Names of links that have origins coincident with the centers of the
-    left and right wheels, respectively. The rear wheel links are used to
-    compute the vehicle's wheelbase.
-
-  ~left_front_wheel/axle_controller_name (string)
-  ~right_front_wheel/axle_controller_name
-  ~left_rear_wheel/axle_controller_name
-  ~right_rear_wheel/axle_controller_name
-    Axle controller names. If no controller name is specified for an axle,
-    that axle will not have a controller. This allows the control of
-    front-wheel, rear-wheel, and four-wheel drive vehicles.
-
-  ~left_front_wheel/diameter (float, default: 1.0)
-  ~right_front_wheel/diameter
-  ~left_rear_wheel/diameter
-  ~right_rear_wheel/diameter
-    Wheel diameters. Each diameter must be greater than zero. Unit: meter.
-
-  ~shock_absorbers (sequence of mappings, default: empty)
-    Zero or more shock absorbers.
-
-    Key-Value Pairs:
-
-    controller_name (string)
-      Controller name.
-    equilibrium_position (float, default: 0.0)
-      Equilibrium position. Unit: meter.
-
-  ~cmd_timeout (float, default: 0.5)
-    If ~cmd_timeout is greater than zero and this node does not receive a
-    command for more than ~cmd_timeout seconds, vehicle motion is paused
-    until a command is received. If ~cmd_timeout is less than or equal to
-    zero, the command timeout is disabled.
-  ~publishing_frequency (float, default: 30.0)
-    Joint command publishing frequency. It must be greater than zero.
-    Unit: hertz.
-
-Required tf Transforms:
-  <~left_front_wheel/steering_link_name> to <~right_rear_wheel/link_name>
-    Specifies the position of the left front wheel's steering link in the
-    right rear wheel's frame.
-  <~right_front_wheel/steering_link_name> to <~right_rear_wheel/link_name>
-    Specifies the position of the right front wheel's steering link in the
-    right rear wheel's frame.
-  <~left_rear_wheel/link_name> to <~right_rear_wheel/link_name>
-    Specifies the position of the left rear wheel in the right rear
-    wheel's frame.
-
-Copyright (c) 2013-2014 Wunderkammer Laboratory
-
-Licensed under the Apache License, Version 2.0 (the "License");
-you may not use this file except in compliance with the License.
-You may obtain a copy of the License at
-
-  http://www.apache.org/licenses/LICENSE-2.0
-
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS,
-WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-See the License for the specific language governing permissions and
-limitations under the License.
-"""
-
-import math
-from math import pi
-import numpy
-import threading
-import operator
-
-import rospy
-import tf
-
-from std_msgs.msg import Float64
-from controller_manager_msgs.srv import ListControllers
-from gazebo_msgs.msg import ModelStates
-from sensor_msgs.msg import JointState
-
-from eufs_msgs.msg import DriveCommand2
-from eufs_msgs.msg import ChassisState
-from eufs_msgs.msg import Runstop
-from eufs_msgs.msg import WheelSpeeds
-
-
-class AckermannController(object):
-    """
-    An object of class AckermannController is a node that controls the wheels of a
-    vehicle with Ackermann steering.
-    """
-
-    def __init__(self, namespace='eufs/controller_manager'):
-        """Initialize this AckermannController."""
-
-        rospy.init_node("ackermann_controller")
-        # Wheels
-        (left_steer_link_name, left_steer_ctrlr_name,
-         left_front_axle_ctrlr_name, self._left_front_inv_circ) = \
-            self._get_front_wheel_params("left")
-        (right_steer_link_name, right_steer_ctrlr_name,
-         right_front_axle_ctrlr_name, self._right_front_inv_circ) = \
-            self._get_front_wheel_params("right")
-        (left_rear_link_name, left_rear_axle_ctrlr_name,
-         self._left_rear_inv_circ) = \
-            self._get_rear_wheel_params("left")
-        (self._right_rear_link_name, right_rear_axle_ctrlr_name,
-         self._right_rear_inv_circ) = \
-            self._get_rear_wheel_params("right")
-
-        list_ctrlrs = rospy.ServiceProxy(namespace + '/list_controllers',
-                                         ListControllers)
-
-        # It reaches this line and then never continues :(
-        list_ctrlrs.wait_for_service()
-
-        # Shock absorbers
-        shock_param_list = rospy.get_param("~shock_absorbers", [])
-        self._shock_pubs = []
-        try:
-            for shock_params in shock_param_list:
-                try:
-                    ctrlr_name = shock_params["controller_name"]
-                    try:
-                        eq_pos = shock_params["equilibrium_position"]
-                    except:
-                        eq_pos = self._DEF_EQ_POS
-                    eq_pos = float(eq_pos)
-                except:
-                    rospy.logwarn("An invalid parameter was specified for a "
-                                  "shock absorber. The shock absorber will "
-                                  "not be used.")
-                    continue
-
-                pub = rospy.Publisher(ctrlr_name + "/command", Float64,
-                                      latch=True, queue_size=1)
-                _wait_for_ctrlr(list_ctrlrs, ctrlr_name)
-                pub.publish(eq_pos)
-                self._shock_pubs.append(pub)
-        except:
-            rospy.logwarn("The specified list of shock absorbers is invalid. "
-                          "No shock absorbers will be used.")
-
-        # Max steering angle
-        try:
-            self._max_steering_angle = float(rospy.get_param("~max_steering_angle",
-                                                             self._DEF_MAX_STEERING_ANGLE))
-        except:
-            rospy.logwarn("The specified max steering angel value is invalid. "
-                          "The default value will be used instead.")
-            self._max_steering_angle = self._DEF_MAX_STEERING_ANGLE
-
-        # Effective track
-        try:
-            self._effective_track = float(rospy.get_param("~effective_track",
-                                                          self._DEF_EFFECTIVE_TRACK))
-        except:
-            rospy.logwarn("The specified effective track value is invalid. "
-                          "The default value will be used instead.")
-            self._effective_track = self._DEF_EFFECTIVE_TRACK
-
-        # Command timeout
-        try:
-            self._cmd_timeout = float(rospy.get_param("~cmd_timeout",
-                                                      self._DEF_CMD_TIMEOUT))
-        except:
-            rospy.logwarn("The specified command timeout value is invalid. "
-                          "The default timeout value will be used instead.")
-            self._cmd_timeout = self._DEF_CMD_TIMEOUT
-
-        # Vehicle prefix (namespace)
-        try:
-            self._vehicle_prefix = rospy.get_param("~vehicle_prefix")
-            if self._vehicle_prefix != "":
-                self._vehicle_prefix = "/" + self._vehicle_prefix
-        except:
-            rospy.logwarn("The specified namespace value is invalid. "
-                          "The default timeout value will be used instead.")
-            self._vehicle_prefix = ""
-
-        # Publishing frequency
-        try:
-            pub_freq = float(rospy.get_param("~publishing_frequency",
-                                             self._DEF_PUB_FREQ))
-            if pub_freq <= 0.0:
-                raise ValueError()
-        except:
-            rospy.logwarn("The specified publishing frequency is invalid. "
-                          "The default frequency will be used instead.")
-            pub_freq = self._DEF_PUB_FREQ
-        self._sleep_timer = rospy.Rate(pub_freq)
-
-        # _last_cmd_time is the time at which the most recent Ackermann
-        # driving command was received.
-        self._last_cmd_time = rospy.get_time()
-
-        self._last_steer_ang = 0.0  # Last steering angle
-        self._theta_left = 0.0      # Left steering joint angle
-        self._theta_right = 0.0     # Right steering joint angle
-
-        self._last_speed = 0.0
-        self._last_accel_limit = 0.0  # Last acceleration limit
-
-        # Axle angular velocities
-        self._left_front_ang_vel = 0.0
-        self._right_front_ang_vel = 0.0
-        self._left_rear_ang_vel = 0.0
-        self._right_rear_ang_vel = 0.0
-
-        # _joint_dist_div_2 is the distance between the steering joints,
-        # divided by two.
-        tfl = tf.TransformListener()
-        ls_pos = self._get_link_pos(tfl, left_steer_link_name)
-        rs_pos = self._get_link_pos(tfl, right_steer_link_name)
-        self._joint_dist_div_2 = numpy.linalg.norm(ls_pos - rs_pos) / 2
-        lrw_pos = self._get_link_pos(tfl, left_rear_link_name)
-        rrw_pos = numpy.array([0.0] * 3)
-        front_cent_pos = (ls_pos + rs_pos) / 2     # Front center position
-        rear_cent_pos = (lrw_pos + rrw_pos) / 2    # Rear center position
-        self._wheelbase = numpy.linalg.norm(front_cent_pos - rear_cent_pos)
-        self._inv_wheelbase = 1 / self._wheelbase  # Inverse of _wheelbase
-        self._wheelbase_sqr = self._wheelbase ** 2
-
-        self.driveCommands = dict()
-        self.driveCommandLock = threading.Lock()
-
-        # load chassis commander priorities
-        self.commandPriorities = rospy.get_param(
-            "~driveCommandProirities", [])
-        self.commandPriorities = sorted(
-            self.commandPriorities.items(), key=operator.itemgetter(1))
-        rospy.loginfo("AckermannController: Loaded %d chassis commanders", len(
-            self.commandPriorities))
-
-        # runstop information
-        self.runstops = dict()
-        self.runstopLock = threading.Lock()
-
-        self.front_axle_max_effort = 30
-        self.front_axle_brake_effort = 20
-        self.rear_axle_max_effort = 30
-        self.rear_axle_brake_effort = 20
-
-        # Publishers and subscribers
-        self._left_steer_cmd_pub = \
-            _create_cmd_pub(list_ctrlrs, left_steer_ctrlr_name)
-        self._right_steer_cmd_pub = \
-            _create_cmd_pub(list_ctrlrs, right_steer_ctrlr_name)
-
-        self._left_front_axle_cmd_pub = \
-            _create_axle_cmd_pub(list_ctrlrs, left_front_axle_ctrlr_name)
-        self._right_front_axle_cmd_pub = \
-            _create_axle_cmd_pub(list_ctrlrs, right_front_axle_ctrlr_name)
-        self._left_rear_axle_cmd_pub = \
-            _create_axle_cmd_pub(list_ctrlrs, left_rear_axle_ctrlr_name)
-        self._right_rear_axle_cmd_pub = \
-            _create_axle_cmd_pub(list_ctrlrs, right_rear_axle_ctrlr_name)
-
-        self.left_front_name, self.left_front_dia = self.getJointStateWheelParams(
-            'left', 'front')
-        self.right_front_name, self.right_front_dia = self.getJointStateWheelParams(
-            'right', 'front')
-        self.left_rear_name, self.left_rear_dia = self.getJointStateWheelParams(
-            'left', 'rear')
-        self.right_rear_name, self.right_rear_dia = self.getJointStateWheelParams(
-            'right', 'rear')
-        self.left_steer_name = "left_steering_joint"
-        self.right_steer_name = "right_steering_joint"
-
-        self.wheelSpeedFront = 0.0
-
-        # don't set up callback until params are initialized
-        self.wheelSpeedsPub = rospy.Publisher(
-            self._vehicle_prefix + '/wheelSpeeds', WheelSpeeds, queue_size=1)
-
-        self.chassisStatePub = rospy.Publisher(
-            self._vehicle_prefix + "/chassisState", ChassisState, queue_size=1)
-
-        self.driveCommandSub = dict()
-        for cmd, priority in self.commandPriorities:
-            print(self._vehicle_prefix+"/"+cmd+"/command")
-            self.driveCommandSub[cmd] = \
-                rospy.Subscriber(self._vehicle_prefix+"/"+cmd+"/command", driveCommand2,
-                                 self.driveCommandCb, queue_size=1)
-
-        self.runstopSub = rospy.Subscriber(
-            self._vehicle_prefix + "/runstop", Runstop, self.runstopCb, queue_size=5)
-
-        self.wheelSpeedSub = rospy.Subscriber(
-            self._vehicle_prefix + '/joint_states', JointState, self.wheelSpeedsCb)
-
-    def spin(self):
-        """Control the vehicle."""
-        last_time = rospy.get_time()
-        while not rospy.is_shutdown():
-            t = rospy.get_time()
-            delta_t = t - last_time
-            last_time = t
-
-            # frontBrake = 0.0
-            # rearBrake = 0.0
-            speed_front = 0.0
-            speed_rear = 0.0
-            chassisSt = ChassisState()
-            chassisSt.runstop_motion_enabled = self.getrunstop()
-            if (self._cmd_timeout > 0.0 and
-                    t - self._last_cmd_time > self._cmd_timeout):
-                # Too much time has elapsed since the last command. Stop the
-                # vehicle.
-                steer_ang_changed, turn_rad = \
-                    self._ctrl_steering(self._last_steer_ang, 0.0, 0.001)
-                self._ctrl_axles(0., 0., 0., 0., steer_ang_changed, turn_rad)
-                # rospy.logwarn("Command timeout. Stopping vehicle")
-            elif delta_t > 0.0:
-                with self.driveCommandLock:
-                    foundSteering = False
-                    foundThrottle = False
-                    # foundFrontBrake = False
-                    steer_ang = 0.0
-                    steer_ang_vel = 0.0
-                    foundSteering = False
-                    accel = 0.0
-
-                    if not chassisSt.runstop_motion_enabled:
-                        chassisSt.rear_throttle = 0.0
-                        chassisSt.front_throttle = 0.0
-                        chassisSt.throttle_commander = 'runstop'
-                        foundThrottle = True
-                    for cmd, priority in self.commandPriorities:
-                        # rospy.logwarn("looking for chassis commander %s with priority %d", cmd, priority)
-                        if cmd in self.driveCommands:
-                            # rospy.loginfo("Found command from %s", cmd)
-                            # print(self.driveCommands[cmd])
-                            if abs(self.driveCommands[cmd].steering) <= 1.0 and \
-                               (rospy.Time.now()-self.driveCommands[cmd].header.stamp) < \
-                               rospy.Duration.from_sec(0.2):
-                                # rospy.loginfo("%s in control of steering", cmd)
-                                steer_ang = -math.radians(self._max_steering_angle) * \
-                                    self.driveCommands[cmd].steering
-                                steer_ang_vel = 0.0
-                                chassisSt.steering = self.driveCommands[cmd].steering
-                                chassisSt.steering_commander = self.driveCommands[cmd].sender
-                                foundSteering = True
-
-                            if (abs(self.driveCommands[cmd].front_throttle) <= 1.0 or
-                                abs(self.driveCommands[cmd].front_throttle) <= 1.0) and \
-                               (rospy.Time.now()-self.driveCommands[cmd].header.stamp) < \
-                               rospy.Duration.from_sec(0.2) and not foundThrottle:
-                                # front axle
-                                if self.driveCommands[cmd].front_throttle >= 0.0:
-                                    speed_front = self.front_axle_max_effort * \
-                                        self.driveCommands[cmd].front_throttle
-                                else:
-                                    speed_front = self.front_axle_brake_effort * \
-                                        self.driveCommands[cmd].front_throttle
-                                # rear axle
-                                if self.driveCommands[cmd].rear_throttle >= 0.0:
-                                    speed_rear = self.rear_axle_max_effort * \
-                                        self.driveCommands[cmd].rear_throttle
-                                else:
-                                    speed_rear = self.rear_axle_brake_effort * \
-                                        self.driveCommands[cmd].rear_throttle
-
-                                accel = 0.0
-                                chassisSt.rear_throttle = self.driveCommands[cmd].rear_throttle
-                                chassisSt.front_throttle = self.driveCommands[cmd].front_throttle
-                                chassisSt.throttle_commander = self.driveCommands[cmd].sender
-                                foundThrottle = True
-
-                            # No brakes needed for now
-                            # if self.driveCommands[cmd].frontBrake >= 0.0 and \
-                            #    self.driveCommands[cmd].frontBrake <= 1.0 and \
-                            #    (rospy.Time.now()-self.driveCommands[cmd].header.stamp) < \
-                            #    rospy.Duration.from_sec(0.2) and not foundFrontBrake:
-
-                            #     # the brake acts to slow any movement
-                            #     frontBrake = numpy.sign(
-                            #         self.wheelSpeedFront)*(-self.front_axle_brake_effort*self.driveCommands[cmd].frontBrake)
-                            #     rearBrake = frontBrake
-                            #     chassisSt.front_brake = self.driveCommands[cmd].frontBrake
-                            #     chassisSt.front_brake_commander = self.driveCommands[cmd].sender
-                            #     foundFrontBrake = True
-
-                            # else:
-                            #     frontBrake = 0
-                            #     rearBrake = 0
-
-                    steer_ang_changed, turn_rad = self._ctrl_steering(
-                        steer_ang, steer_ang_vel, delta_t)
-                    self._ctrl_axles(speed_front, speed_rear, accel, delta_t,
-                                     steer_ang_changed, turn_rad)
-
-                # Publish the steering and axle joint commands.
-                chassisSt.header.stamp = rospy.Time.now()
-                self.chassisStatePub.publish(chassisSt)
-
-                # rospy.loginfo("Torque front %6f, Torque rear %6f", speed_front, speed_rear)
-                self._left_steer_cmd_pub.publish(self._theta_left)
-                self._right_steer_cmd_pub.publish(self._theta_right)
-                if self._left_front_axle_cmd_pub:
-                    self._left_front_axle_cmd_pub.publish(speed_front)
-                if self._right_front_axle_cmd_pub:
-                    self._right_front_axle_cmd_pub.publish(speed_front)
-                if self._left_rear_axle_cmd_pub:
-                    self._left_rear_axle_cmd_pub.publish(speed_rear)
-                if self._right_rear_axle_cmd_pub:
-                    self._right_rear_axle_cmd_pub.publish(speed_rear)
-
-                try:
-                    self._sleep_timer.sleep()
-                except rospy.exceptions.ROSTimeMovedBackwardsException:
-                    continue  # rospy.loginfo()
-
-    def driveCommandCb(self, driveCommand2):
-        """Chassis command callback
-
-          :Parameters:
-              driveCommand : eufs_msgs.msg.DriveCommand
-                             Position to set the control actuators
-        """
-        with self.driveCommandLock:
-            self.driveCommands[driveCommand2.sender] = driveCommand2
-            self._last_cmd_time = rospy.get_time()
-
-    def runstopCb(self, runstop):
-        with self.runstopLock:
-            self.runstops[runstop.sender] = runstop
-
-    def getrunstop(self):
-        with self.runstopLock:
-            runstop = True
-            for item in self.runstops:
-                runstop &= self.runstops[item].motionEnabled
-            return runstop
-
-    def _get_front_wheel_params(self, side):
-        # Get front wheel parameters. Return a tuple containing the steering
-        # link name, steering controller name, axle controller name (or None),
-        # and inverse of the circumference.
-
-        prefix = "~" + side + "_front_wheel/"
-        steer_link_name = rospy.get_param(prefix + "steering_link_name",
-                                          side + "_steering_link")
-        steer_ctrlr_name = rospy.get_param(prefix + "steering_controller_name",
-                                           side + "_steering_controller")
-        axle_ctrlr_name, inv_circ = self._get_common_wheel_params(prefix)
-        return steer_link_name, steer_ctrlr_name, axle_ctrlr_name, inv_circ
-
-    def _get_rear_wheel_params(self, side):
-        # Get rear wheel parameters. Return a tuple containing the link name,
-        # axle controller name, and inverse of the circumference.
-
-        prefix = "~" + side + "_rear_wheel/"
-        link_name = rospy.get_param(prefix + "link_name", side + "_wheel")
-        axle_ctrlr_name, inv_circ = self._get_common_wheel_params(prefix)
-        return link_name, axle_ctrlr_name, inv_circ
-
-    def _get_common_wheel_params(self, prefix):
-        # Get parameters used by the front and rear wheels. Return a tuple
-        # containing the axle controller name (or None) and the inverse of the
-        # circumference.
-
-        axle_ctrlr_name = rospy.get_param(prefix + "axle_controller_name",
-                                          None)
-
-        try:
-            dia = float(rospy.get_param(prefix + "diameter",
-                                        self._DEF_WHEEL_DIA))
-            if dia <= 0.0:
-                raise ValueError()
-        except:
-            rospy.logwarn("The specified wheel diameter is invalid. "
-                          "The default diameter will be used instead.")
-            dia = self._DEF_WHEEL_DIA
-
-        return axle_ctrlr_name, 1 / (pi * dia)
-
-    def _get_link_pos(self, tfl, link):
-        # Return the position of the specified link, relative to the right
-        # rear wheel link.
-
-        while True:
-            try:
-                trans, not_used = \
-                    tfl.lookupTransform(self._right_rear_link_name, link,
-                                        rospy.Time(0))
-                return numpy.array(trans)
-            except:
-                pass
-
-    def _ctrl_steering(self, steer_ang, steer_ang_vel_limit, delta_t):
-        # Control the steering joints.
-
-        # Compute theta, the virtual front wheel's desired steering angle.
-        if steer_ang_vel_limit > 0.0:
-            # Limit the steering velocity.
-            ang_vel = (steer_ang - self._last_steer_ang) / delta_t
-            ang_vel = max(-steer_ang_vel_limit,
-                          min(ang_vel, steer_ang_vel_limit))
-            theta = self._last_steer_ang + ang_vel * delta_t
-        else:
-            theta = steer_ang
-
-        # Compute the desired steering angles for the left and right front
-        # wheels.
-        turn_rad = self._wheelbase * math.tan((pi / 2) - theta)
-        steer_ang_changed = theta != self._last_steer_ang
-        if steer_ang_changed:
-            self._last_steer_ang = theta
-            self._theta_left = \
-                _get_steer_ang(math.atan(self._inv_wheelbase *
-                                         (turn_rad - self._effective_track)))
-            self._theta_right = \
-                _get_steer_ang(math.atan(self._inv_wheelbase *
-                                         (turn_rad + self._effective_track)))
-            # print("Desired steering angle", steer_ang)
-            # print("Steering left is", self._theta_left)
-            # print("Steering right is", self._theta_right)
-
-        return steer_ang_changed, turn_rad
-
-    def _ctrl_axles(self, speed_front, speed_rear, accel_limit, delta_t, steer_ang_changed,
-                    turn_rad):
-        # Control the axle joints.
-
-        # Compute veh_speed, the vehicle's desired speed.
-        if accel_limit > 0.0:
-            # Limit the vehicle's acceleration.
-            self._last_accel_limit = accel_limit
-            accel = ((speed_rear + speed_front)/2 - self._last_speed) / delta_t
-            accel = max(-accel_limit, min(accel, accel_limit))
-            veh_speed = self._last_speed + accel * delta_t
-        else:
-            self._last_accel_limit = accel_limit
-            veh_speed = (speed_rear + speed_front)/2
-
-        # Compute the desired angular velocities of the wheels.
-        if veh_speed != self._last_speed or steer_ang_changed:
-            self._last_speed = veh_speed
-            left_dist = turn_rad - self._joint_dist_div_2
-            right_dist = turn_rad + self._joint_dist_div_2
-
-            # Front
-            gain_front = (2 * pi) * speed_front / abs(turn_rad)
-            r = math.sqrt(left_dist ** 2 + self._wheelbase_sqr)
-            self._left_front_ang_vel = gain_front * r * self._left_front_inv_circ
-            r = math.sqrt(right_dist ** 2 + self._wheelbase_sqr)
-            self._right_front_ang_vel = gain_front * r * self._right_front_inv_circ
-
-            # Rear
-            gain_rear = (2 * pi) * speed_rear / turn_rad
-            self._left_rear_ang_vel = \
-                gain_rear * left_dist * self._left_rear_inv_circ
-            self._right_rear_ang_vel = \
-                gain_rear * right_dist * self._right_rear_inv_circ
-
-    def getWheelSpeed(self, data, name, dia):
-        try:
-            idx = data.name.index(name)
-            return data.velocity[idx]*(dia/2.0)
-        except IndexError:
-            rospy.logerror('modelStates does not contain ' + name)
-            return 0.0
-
-    def getSteeringFeedback(self, data, name):
-        # print(data)
-        try:
-            idx = data.name.index(name)
-            return data.position[idx]
-        except IndexError:
-            rospy.logerror('modelStates does not contain ' + name)
-            return 0.0
-
-    def wheelSpeedsCb(self, data):
-        ws = WheelSpeeds()
-        ws.header.stamp = rospy.Time.now()
-        ws.header.frame_id = ''
-
-        # print data
-        ws.lf_speed = self.getWheelSpeed(
-            data, self.left_front_name, self.left_front_dia)
-        ws.rf_speed = self.getWheelSpeed(
-            data, self.right_front_name, self.right_front_dia)
-        self.wheelSpeedFront = (ws.lf_speed+ws.rf_speed)/2.0
-
-        # steering feedback - average of both front wheel position
-        ws.steering = -((self.getSteeringFeedback(data, self.left_steer_name) +
-                        self.getSteeringFeedback(data, self.left_steer_name))/2)
-
-        # published speeds can't be negative so data mimics the physical platform
-        ws.lf_speed = abs(ws.lf_speed)
-        ws.rf_speed = abs(ws.rf_speed)
-        ws.lb_speed = abs(self.getWheelSpeed(
-            data, self.left_rear_name, self.left_rear_dia))
-        ws.rb_speed = abs(self.getWheelSpeed(
-            data, self.right_rear_name, self.right_rear_dia))
-
-        if self.wheelSpeedsPub:
-            self.wheelSpeedsPub.publish(ws)
-
-    def getJointStateWheelParams(self, lr_prefix, fr_prefix):
-        dia = rospy.get_param(self._vehicle_prefix + '/ackermann_controller/' +
-                              lr_prefix + '_' + fr_prefix + '_wheel/diameter')
-        name = lr_prefix + '_' + fr_prefix + '_axle'
-        return name, dia
-
-    def getLinkStateFrontWheelParams(self, lr_prefix):
-        dia = rospy.get_param(
-            self._vehicle_prefix + '/ackermann_controller/' + lr_prefix + '_front_wheel/diameter')
-        name = 'ackermann_platform::' + \
-            rospy.get_param(self._vehicle_prefix + '/ackermann_controller/' +
-                            lr_prefix + '_front_wheel/steering_link_name')
-        return name, dia
-
-    def getLinkStateRearWheelParams(self, lr_prefix):
-        dia = rospy.get_param('/ackermann_platform/' + self._vehicle_prefix +
-                              'ackermann_controller/' + lr_prefix + '_rear_wheel/diameter')
-        name = 'ackermann_platform::' + \
-            rospy.get_param(self._vehicle_prefix + '/ackermann_controller/' +
-                            lr_prefix + '_rear_wheel/link_name')
-        return name, dia
-
-    _DEF_WHEEL_DIA = 0.19    # Default wheel diameter. Unit: meter.
-    _DEF_EQ_POS = 0.0       # Default equilibrium position. Unit: meter.
-    _DEF_CMD_TIMEOUT = 0.5  # Default command timeout. Unit: second.
-    _DEF_PUB_FREQ = 50.0    # Default publishing frequency. Unit: hertz.
-    _DEF_MAX_STEERING_ANGLE = 27.2
-    _DEF_EFFECTIVE_TRACK = 0.0995465
-# end _AckermannController
-
-
-def _wait_for_ctrlr(list_ctrlrs, ctrlr_name):
-    # Wait for the specified controller to be in the "running" state.
-    # Commands can be lost if they are published before their controller is
-    # running, even if a latched publisher is used.
-
-    while True:
-        response = list_ctrlrs()
-        for ctrlr in response.controller:
-            if ctrlr.name == ctrlr_name:
-                if ctrlr.state == "running":
-                    return
-                rospy.sleep(0.1)
-                break
-
-
-def _create_axle_cmd_pub(list_ctrlrs, axle_ctrlr_name):
-    # Create an axle command publisher.
-    if not axle_ctrlr_name:
-        return None
-    return _create_cmd_pub(list_ctrlrs, axle_ctrlr_name)
-
-
-def _create_cmd_pub(list_ctrlrs, ctrlr_name):
-    # Create a command publisher.
-    _wait_for_ctrlr(list_ctrlrs, ctrlr_name)
-    # I had to manually add the eufs/ here to get it to work :/
-    # The namespace is all over the place
-    return rospy.Publisher("eufs/" + ctrlr_name + "/command", Float64, queue_size=1)
-
-
-def _get_steer_ang(phi):
-    # Return the desired steering angle for a front wheel.
-    if phi >= 0.0:
-        return (pi / 2) - phi
-    return (-pi / 2) - phi
-
-
-# main
-if __name__ == "__main__":
-    ctrlr = AckermannController()
-    ctrlr.spin()
diff --git a/ros_can_sim/nodes/ros_can_sim_gui b/ros_can_sim/nodes/ros_can_sim_gui
deleted file mode 100755
index 5fd67eca8c206e2a8899757655f989ec06707faa..0000000000000000000000000000000000000000
--- a/ros_can_sim/nodes/ros_can_sim_gui
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env python
-
-import sys
-
-from ros_can_sim import RosCanSimGUI
-from rqt_gui.main import Main
-
-plugin = 'ros_can_sim'
-main = Main(filename=plugin)
-sys.exit(main.main(standalone=plugin))
diff --git a/ros_can_sim/nodes/twist_to_ackermannDrive.py b/ros_can_sim/nodes/twist_to_ackermannDrive.py
deleted file mode 100755
index 5c7be35e7349e5e643d5bfda2c5dc3eb551891d0..0000000000000000000000000000000000000000
--- a/ros_can_sim/nodes/twist_to_ackermannDrive.py
+++ /dev/null
@@ -1,57 +0,0 @@
-#!/usr/bin/env python
-
-# Note that twistToAckermannDrive needs to be mapped to the ros_can_sim/command parameter in the command line
-# ie. rosrun eufs_ros_can_sim twist_to_ackermannDrive.py twistToAckermannDrive:=eufs_ros_can_sim/command
-# Publishes to twistToAckermannDrive
-# Subscribes to cmd_vel
-
-import rospy
-import math
-from ackermann_msgs.msg import AckermannDrive
-from ackermann_msgs.msg import AckermannDriveStamped
-from geometry_msgs.msg import Twist
-
-
-class Convert:
-    def __init__(self):
-        self.publisher = rospy.Publisher(
-            '/rqt/command', AckermannDriveStamped, queue_size=10)
-        self.max_steering = 1
-        self.min_steering = -1
-        self.epsilon_steering = math.radians(0.001)
-
-    def callback(self, data):
-        ack_cmd = AckermannDriveStamped()
-        ack_cmd.header.stamp = rospy.Time.now()
-
-        drive = AckermannDrive()
-        drive.speed = data.linear.x
-        drive.steering_angle = data.angular.z
-
-        # impose limits on commanded angle
-        if drive.steering_angle > self.max_steering:
-            drive.steering_angle = self.max_steering
-        if drive.steering_angle < self.min_steering:
-            drive.steering_angle = self.min_steering
-
-        # clean up angle if it is very close to zero
-        if math.fabs(drive.steering_angle) < self.epsilon_steering:
-            drive.steering_angle = 0.0
-
-        ack_cmd.drive = drive
-        self.publisher.publish(ack_cmd)
-
-    def listener(self):
-        # Sometimes it's weird and the controller wants it to subscribe to /rqt/cmd_vel ???  It flipflops
-        rospy.Subscriber("/cmd_vel", Twist, self.callback)
-        # rospy.Subscriber("/rqt/cmd_vel", Twist, self.callback)
-        rospy.spin()
-
-
-if __name__ == '__main__':
-    try:
-        rospy.init_node("command_translate", anonymous=True)
-        cnv = Convert()
-        cnv.listener()
-    except rospy.ROSInterruptException:
-        pass
diff --git a/ros_can_sim/nodes/twist_to_chassisCommand.py b/ros_can_sim/nodes/twist_to_chassisCommand.py
deleted file mode 100755
index 20d30d9905c9eb3f390affb67a7de36cf826add4..0000000000000000000000000000000000000000
--- a/ros_can_sim/nodes/twist_to_chassisCommand.py
+++ /dev/null
@@ -1,94 +0,0 @@
-#!/usr/bin/python
-
-# Note that twistToAckermannDrive needs to be mapped to the ros_can_sim/command parameter in the command line
-# ie. rosrun eufs_ros_can_sim twist_to_ackermannDrive.py twistToAckermannDrive:=eufs_ros_can_sim/command
-# Publishes to twistToAckermannDrive
-# Subscribes to cmd_vel
-
-import rospy
-import math
-from autorally_msgs.msg import ChassisCommand
-from autorally_msgs.msg import Runstop
-from geometry_msgs.msg import Twist
-import sys
-import select
-import termios
-import tty
-import threading
-
-
-class Convert:
-    def __init__(self):
-        self.settings = termios.tcgetattr(sys.stdin)
-        self.publisher = rospy.Publisher('/joystick/chassisCommand', ChassisCommand, queue_size=10)
-        self.publisher_runstop = rospy.Publisher('/runstop', Runstop, queue_size=10)
-        self.max_steering = 1.
-        self.min_steering = -1.
-        self.max_throttle = 1.
-        self.min_throttle = -1.
-        self.epsilon_steering = math.radians(0.001)
-        self.runstop = False
-
-    def callback(self, data):
-        cmd = ChassisCommand()
-        cmd.header.stamp = rospy.Time.now()
-        cmd.sender = "rqt"
-        cmd.throttle = data.linear.x
-        cmd.steering = data.angular.z
-        cmd.front_brake = 0.
-
-        # impose limits on commanded angle
-        if cmd.steering > self.max_steering:
-            cmd.steering = self.max_steering
-        if cmd.steering < self.min_steering:
-            cmd.steering = self.min_steering
-
-        # impose limits on steering
-        if cmd.throttle > self.max_throttle:
-            cmd.throttle = self.max_throttle
-        if cmd.throttle < self.min_throttle:
-            cmd.throttle = self.min_throttle
-
-        # clean up angle if it is very close to zero
-        if math.fabs(cmd.steering) < self.epsilon_steering:
-            cmd.steering = 0.0
-
-        self.publisher.publish(cmd)
-
-    def listener(self):
-        rospy.Subscriber("/rqt/cmd_vel", Twist, self.callback)
-        rospy.spin()
-
-    def getKey(self):
-        tty.setraw(sys.stdin.fileno())
-        select.select([sys.stdin], [], [], 0)
-        key = sys.stdin.read(1)
-        termios.tcsetattr(sys.stdin, termios.TCSADRAIN, self.settings)
-        return key
-
-    def dealKey(self):
-        while True:
-            input_cmd = self.getKey()
-            if input_cmd == "\x03":  # ctrl-c key
-                break
-            else:
-                self.runstop = not self.runstop
-                print("Toggling runstop to", self.runstop, input_cmd)
-
-                run_cmd = Runstop()
-                run_cmd.header.stamp = rospy.Time.now()
-                run_cmd.sender = "rqt"
-                run_cmd.motionEnabled = self.runstop
-
-                self.publisher_runstop.publish(run_cmd)
-
-if __name__ == '__main__':
-    try:
-        rospy.init_node("twistToChassisCommand", anonymous=True)
-        print("You can toggle runstop with any key and enter")
-        cnv = Convert()
-        threading.Thread(target=cnv.dealKey).start()
-        cnv.listener()
-
-    except rospy.ROSInterruptException:
-        pass
diff --git a/ros_can_sim/nodes/twist_to_driveCommand2.py b/ros_can_sim/nodes/twist_to_driveCommand2.py
deleted file mode 100755
index 089b6e8e9de9350cea925d60fa66d55b5c00e734..0000000000000000000000000000000000000000
--- a/ros_can_sim/nodes/twist_to_driveCommand2.py
+++ /dev/null
@@ -1,58 +0,0 @@
-#!/usr/bin/env python
-
-# Publishes to rqt/command
-# Subscribes to cmd_vel and rqt/cmd_vel
-
-import rospy
-import math
-from eufs_msgs.msg import driveCommand2
-from geometry_msgs.msg import Twist
-
-
-class ConvertTwistToDriveCommand2:
-    def __init__(self):
-        self.publisher = rospy.Publisher('/rqt/command', driveCommand2, queue_size=10)
-        self.max_steering = 1
-        self.min_steering = -1
-        self.epsilon_steering = math.radians(0.001)
-
-    def callback(self, data):
-        out_cmd = driveCommand2()
-
-        out_cmd.header.stamp = rospy.Time.now()
-
-        out_cmd.front_throttle = data.linear.x
-        out_cmd.rear_throttle = data.linear.x
-        out_cmd.steering = data.angular.z
-
-        out_cmd.sender = 'rqt'
-
-        # the torque car's steering is flipped relative to the speed car
-        # so to keep things consistent we flip the steering here:
-        out_cmd.steering = -out_cmd.steering
-
-        # impose limits on commanded angle
-        if out_cmd.steering > self.max_steering:
-            out_cmd.steering = self.max_steering
-        if out_cmd.steering < self.min_steering:
-            out_cmd.steering = self.min_steering
-
-        # clean up angle if it is very close to zero
-        if math.fabs(out_cmd.steering) < self.epsilon_steering:
-            out_cmd.steering = 0.0
-
-        self.publisher.publish(out_cmd)
-
-    def listener(self):
-        # Sometimes it's weird and the controller wants it to subscribe to /rqt/cmd_vel ???  It flipflops
-        rospy.Subscriber("/cmd_vel", Twist, self.callback)
-        rospy.Subscriber("/rqt/cmd_vel", Twist, self.callback)
-        rospy.spin()
-
-if __name__ == '__main__':
-    try:
-        rospy.init_node("twistToDriveCommand2Node", anonymous=True)
-        cnv = ConvertTwistToDriveCommand2()
-        cnv.listener()
-    except rospy.ROSInterruptException:
-        pass
diff --git a/ros_can_sim/package.xml b/ros_can_sim/package.xml
deleted file mode 100644
index 656373a5b31e134a494ff39dc12cf9d3e133446a..0000000000000000000000000000000000000000
--- a/ros_can_sim/package.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>ros_can_sim</name>
-  <version>1.0.0</version>
-  <description>Package to control an ackermann racecar in simulation.</description>
-
-  <maintainer email="ignat.m.georgiev@gmail.com">Ignat Georgiev</maintainer>
-  <maintainer email="loizoustephanos@gmail.com">Stephanos Loizou</maintainer>
-  <maintainer email="olliejday@gmail.com">Oliver Day</maintainer>
-
-  <license>MIT</license>
-
-  <url type="website">http://eufs.co</url>
-  <url type="repository">https://github.com/eufs/eufs_sim</url>
-  <url type="bugtracker">https://github.com/eufs/eufs_sim/issues</url>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>roslint</build_depend>
-
-  <depend>roscpp</depend>
-  <depend>tf</depend>
-  <depend>rqt_gui</depend>
-  <depend>rqt_gui_py</depend>
-  <depend>ackermann_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>eufs_msgs</depend>
-  <depend>std_srvs</depend>
-  <depend>python-numpy</depend>
-  <depend>python-qt-bindings</depend>
-
-  <export>
-    <rqt_gui plugin="${prefix}/plugin.xml"/>
-  </export>
-
-</package>
diff --git a/ros_can_sim/plugin.xml b/ros_can_sim/plugin.xml
deleted file mode 100644
index a9d01bdc44a173deb04dced8b86e0f829e8646fb..0000000000000000000000000000000000000000
--- a/ros_can_sim/plugin.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-<library path="src">
-  <class name="ros_can_sim_gui" type="ros_can_sim.RosCanSimGUI.RosCanGUI" base_class_type="rqt_gui_py::Plugin">
-    <description>
-            A GUI to control the state machine of ros_can_sim
-    </description>
-    <qtgui>
-      <label>ros_can_sim GUI</label>
-      <icon type="theme">system-help</icon>
-      <statustip>Controls the state machine of ros_can_sim</statustip>
-    </qtgui>
-  </class>
-</library>
\ No newline at end of file
diff --git a/ros_can_sim/resource/RosCanSimGUI.ui b/ros_can_sim/resource/RosCanSimGUI.ui
deleted file mode 100644
index 6342c6c70e08deadfe6792b62040a4ac28bee5cc..0000000000000000000000000000000000000000
--- a/ros_can_sim/resource/RosCanSimGUI.ui
+++ /dev/null
@@ -1,235 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
-  <class>RosCanSimGUI</class>
-  <widget class="QWidget" name="RosCanSim GUI">
-    <property name="geometry">
-      <rect>
-        <x>0</x>
-        <y>0</y>
-        <width>200</width>
-        <height>100</height>
-      </rect>
-    </property>
-    <property name="windowTitle">
-      <string>ros_can GUI</string>
-    </property>
-
-    <!--Drop-Down Box: Options added in code, impossible in a .ui file.-->
-    <!--This handles mission selection.-->
-    <widget class="QLabel" name="MissionSelectLabel">
-      <property name="geometry">
-        <rect>
-          <x>20</x>
-          <y>20</y>
-          <width>60</width>
-          <height>30</height>
-        </rect>
-      </property>
-      <property name="text">
-        <string>Mission</string>
-      </property>
-      <property name="font">
-        <font>
-          <pointsize>10</pointsize>
-        </font>
-      </property>
-    </widget>
-    <widget class="QComboBox" name="MissionSelectMenu">
-      <property name="geometry">
-        <rect>
-          <x>80</x>
-          <y>20</y>
-          <width>160</width>
-          <height>30</height>
-        </rect>
-      </property>
-      <property name="font">
-        <font>
-          <pointsize>10</pointsize>
-        </font>
-      </property>
-    </widget>
-
-    <!--Set Mission Button-->
-    <widget class="QPushButton" name="SetMissionButton">
-      <property name="geometry">
-        <rect>
-          <x>250</x>
-          <y>20</y>
-          <width>80</width>
-          <height>30</height>
-        </rect>
-      </property>
-      <property name="text">
-        <string>Set Mission</string>
-      </property>
-      <property name="font">
-        <font>
-          <pointsize>10</pointsize>
-        </font>
-      </property>
-    </widget>
-
-    <!--Reset ros_can Button-->
-    <widget class="QPushButton" name="ResetButton">
-      <property name="geometry">
-        <rect>
-          <x>250</x>
-          <y>130</y>
-          <width>80</width>
-          <height>30</height>
-        </rect>
-      </property>
-      <property name="text">
-        <string>Reset</string>
-      </property>
-      <property name="font">
-        <font>
-          <pointsize>10</pointsize>
-        </font>
-      </property>
-    </widget>
-
-    <!--Request EBS Button-->
-    <widget class="QPushButton" name="RequestEBS">
-      <property name="geometry">
-        <rect>
-          <x>250</x>
-          <y>70</y>
-          <width>80</width>
-          <height>50</height>
-        </rect>
-      </property>
-      <property name="text">
-        <string>Req. EBS</string>
-      </property>
-      <property name="font">
-        <font>
-          <pointsize>10</pointsize>
-        </font>
-      </property>
-    </widget>
-
-    <!-- State display -->
-    <widget class="QLabel" name="StateInfo">
-      <property name="geometry">
-        <rect>
-          <x>20</x>
-          <y>60</y>
-          <width>60</width>
-          <height>30</height>
-        </rect>
-      </property>
-      <property name="text">
-        <string>State</string>
-      </property>
-      <property name="font">
-        <font>
-          <pointsize>10</pointsize>
-        </font>
-      </property>
-    </widget>
-    <widget class="QLabel" name="StateDisplay">
-      <property name="geometry">
-        <rect>
-          <x>80</x>
-          <y>60</y>
-          <width>200</width>
-          <height>30</height>
-        </rect>
-      </property>
-      <property name="text">
-        <string>UNKNOWN</string>
-      </property>
-      <property name="font">
-        <font>
-          <pointsize>10</pointsize>
-        </font>
-      </property>
-    </widget>
-
-    <!-- Mission display -->
-    <widget class="QLabel" name="MissionInfo">
-      <property name="geometry">
-        <rect>
-          <x>20</x>
-          <y>90</y>
-          <width>60</width>
-          <height>30</height>
-        </rect>
-      </property>
-      <property name="text">
-        <string>Mission</string>
-      </property>
-      <property name="font">
-        <font>
-          <pointsize>10</pointsize>
-        </font>
-      </property>
-    </widget>
-    <widget class="QLabel" name="MissionDisplay">
-      <property name="geometry">
-        <rect>
-          <x>80</x>
-          <y>90</y>
-          <width>200</width>
-          <height>30</height>
-        </rect>
-      </property>
-      <property name="text">
-        <string>UNKNOWN</string>
-      </property>
-      <property name="font">
-        <font>
-          <pointsize>10</pointsize>
-        </font>
-      </property>
-    </widget>
-
-    <!-- Manual Launch Button-->
-    <widget class="QPushButton" name="DriveButton">
-      <property name="geometry">
-        <rect>
-          <x>20</x>
-          <y>130</y>
-          <width>220</width>
-          <height>30</height>
-        </rect>
-      </property>
-      <property name="text">
-        <string>Drive Manually</string>
-      </property>
-      <property name="font">
-        <font>
-          <pointsize>10</pointsize>
-        </font>
-      </property>
-    </widget>
-
-    <!-- Helpful info -->
-    <widget class="QLabel" name="Help">
-      <property name="geometry">
-        <rect>
-          <x>20</x>
-          <y>190</y>
-          <width>300</width>
-          <height>15</height>
-        </rect>
-      </property>
-      <property name="text">
-        <string>Will move only in the DRIVING state</string>
-      </property>
-      <property name="font">
-        <font>
-          <pointsize>8</pointsize>
-        </font>
-      </property>
-    </widget>
-
-  </widget>
-  <resources/>
-  <connections/>
-  <buttongroups>
-    <buttongroup name="SpeedOrTorque"/>
-  </buttongroups>
-</ui>
diff --git a/ros_can_sim/setup.py b/ros_can_sim/setup.py
deleted file mode 100755
index 4925a4d6eede53dbefc536d8a12e6ac60971f66b..0000000000000000000000000000000000000000
--- a/ros_can_sim/setup.py
+++ /dev/null
@@ -1,9 +0,0 @@
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
-
-d = generate_distutils_setup(
-    packages=['ros_can_sim'],
-    package_dir={'': 'src'},
-)
-
-setup(**d)
diff --git a/ros_can_sim/src/ros_can_sim.cpp b/ros_can_sim/src/ros_can_sim.cpp
deleted file mode 100644
index 6cb18ccb44bb7ab537e7a5e2abc09704fd6467be..0000000000000000000000000000000000000000
--- a/ros_can_sim/src/ros_can_sim.cpp
+++ /dev/null
@@ -1,535 +0,0 @@
-/*
- * Software License Agreement (MIT License)
- * Copyright (c) 2019 Edinburgh University Formula Student (EUFS)
- * All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- *
- * @file ros_can_sim.cpp
- * @author EUFS
- * @date 09/06/2019
- * @copyright MIT License
- * @brief simulated ros_can for Gazebo
- *
- * @details Simulated IO functionality of the ros_can interfacing node
- * https://gitlab.com/eufs/ros_can . This is intended to be used with eufs_sim
- * and controls and interfaces with the ADS-DV car for the FSUK competition
- */
-
-
-#include "ros_can_sim.hpp"
-#include <string>
-#include <vector>
-
-RosCanSim::RosCanSim() : nh_("~")
-{
-    ROS_INFO("ros_can_sim :: Starting ");
-
-    // Ackermann configuration - traction - topics
-    nh_.param<std::string>("frw_vel_topic", frw_vel_topic_, "/eufs/right_front_axle_controller/command");
-    nh_.param<std::string>("flw_vel_topic", flw_vel_topic_, "/eufs/left_front_axle_controller/command");
-    nh_.param<std::string>("blw_vel_topic", blw_vel_topic_, "/eufs/left_rear_axle_controller/command");
-    nh_.param<std::string>("brw_vel_topic", brw_vel_topic_, "/eufs/right_rear_axle_controller/command");
-    nh_.param<std::string>("frw_pos_topic", frw_pos_topic_, "/eufs/right_steering_joint_controller/command");
-    nh_.param<std::string>("flw_pos_topic", flw_pos_topic_, "/eufs/left_steering_joint_controller/command");
-
-    // Ackermann configuration - traction - joint names
-    nh_.param<std::string>("joint_front_right_wheel", joint_front_right_wheel, "right_front_axle");
-    nh_.param<std::string>("joint_front_left_wheel",  joint_front_left_wheel, "left_front_axle");
-    nh_.param<std::string>("joint_back_left_wheel",   joint_back_left_wheel, "left_rear_axle");
-    nh_.param<std::string>("joint_back_right_wheel",  joint_back_right_wheel, "right_rear_axle");
-    nh_.param<std::string>("joint_front_right_steer", joint_front_right_steer, "right_steering_joint");
-    nh_.param<std::string>("joint_front_left_steer",  joint_front_left_steer, "left_steering_joint");
-
-    // car parameters
-    nh_.param<double>("wheelbase", wheelbase_, 1.53);
-    nh_.param<double>("wheel_radius", wheel_radius_, 0.505/2);
-    nh_.param<double>("max_speed", max_speed_, 20.0);
-    nh_.param<double>("max_steering", max_steering_, 0.523599);  // 27.2 degrees
-
-    // steering link lengths for the ADS-DV are 0.02534 which are derived
-    // from the vehicle specs by Ignat. Derived by inverse solving the
-    // equations from page 30 of http://www.imgeorgiev.com/files/Ignat_MInf1_project.pdf
-    nh_.param<double>("steering_link_length", steering_link_length_, 0.02534);
-
-    nh_.param<double>("desired_freq", desired_freq_, 100.0);
-    nh_.param<double>("joints_state_time_window", joints_state_time_window_, 1.0);
-
-    // Control signals
-    vel_ref_ = 0.0;
-    steering_ref_ = 0.0;
-
-    // init state machine state
-    as_state_ = as_state_type::AS_OFF;
-    ami_state_ = ami_state_type::AMI_NOT_SELECTED;
-    driving_flag_ = false;
-
-    // Flag to indicate joint_state has been read
-    read_state_ = false;
-
-    // Subscribers
-    joint_state_sub_ = nh_.subscribe<sensor_msgs::JointState>("/eufs/joint_states", 1,
-                                                              &RosCanSim::jointStateCallback, this);
-    cmd_sub_ = nh_.subscribe<ackermann_msgs::AckermannDriveStamped>("/cmd_vel_out", 1, &RosCanSim::commandCallback,
-                                                                    this);
-    flag_sub_ = nh_.subscribe<std_msgs::Bool>("/ros_can/mission_flag", 1, &RosCanSim::flagCallback, this);
-    set_mission_sub_ = nh_.subscribe<eufs_msgs::CanState>("/ros_can/set_mission", 1, &RosCanSim::setMission, this);
-
-    // Services
-    reset_srv_ = nh_.advertiseService("/ros_can/reset", &RosCanSim::resetState, this);
-    ebs_srv_ = nh_.advertiseService("/ros_can/ebs", &RosCanSim::requestEBS, this);
-
-    // Publishers
-    state_pub_ = nh_.advertise<eufs_msgs::CanState>("/ros_can/state", 1);
-    state_pub_str_ = nh_.advertise<std_msgs::String>("/ros_can/state_str", 1);
-    wheel_speed_pub_ = nh_.advertise<eufs_msgs::WheelSpeedsStamped>("/ros_can/wheel_speeds", 10);
-
-    // Advertise reference topics for the controllers
-    ref_vel_frw_ = nh_.advertise<std_msgs::Float64>(frw_vel_topic_, 50);
-    ref_vel_flw_ = nh_.advertise<std_msgs::Float64>(flw_vel_topic_, 50);
-    ref_vel_blw_ = nh_.advertise<std_msgs::Float64>(blw_vel_topic_, 50);
-    ref_vel_brw_ = nh_.advertise<std_msgs::Float64>(brw_vel_topic_, 50);
-    ref_pos_frw_ = nh_.advertise<std_msgs::Float64>(frw_pos_topic_, 50);
-    ref_pos_flw_ = nh_.advertise<std_msgs::Float64>(flw_pos_topic_, 50);
-}
-
-RosCanSim::~RosCanSim()
-{
-}
-
-int RosCanSim::starting()
-{
-    // Initialize joint indexes according to joint names
-    if (read_state_)
-    {
-        std::vector<std::string> joint_names = joint_state_.name;
-        frw_vel_ = find(joint_names.begin(), joint_names.end(), std::string(joint_front_right_wheel)) -
-                   joint_names.begin();
-        flw_vel_ =
-                find(joint_names.begin(), joint_names.end(), std::string(joint_front_left_wheel)) - joint_names.begin();
-        blw_vel_ =
-                find(joint_names.begin(), joint_names.end(), std::string(joint_back_left_wheel)) - joint_names.begin();
-        brw_vel_ =
-                find(joint_names.begin(), joint_names.end(), std::string(joint_back_right_wheel)) - joint_names.begin();
-        frw_pos_ = find(joint_names.begin(), joint_names.end(), std::string(joint_front_right_steer)) -
-                   joint_names.begin();
-        flw_pos_ =
-                find(joint_names.begin(), joint_names.end(), std::string(joint_front_left_steer)) - joint_names.begin();
-        return 0;
-    }
-    else
-    {
-        ROS_WARN("RosCanSim::starting: joint_states are not being received");
-        return -1;
-    }
-}
-
-void RosCanSim::UpdateControl()
-{
-    // Compute state control actions
-    // State feedback error 4 position loops / 4 velocity loops
-    // For more details refer to page 30 of http://www.imgeorgiev.com/files/Ignat_MInf1_project.pdf
-    double R;
-    double steering_ref_left, steering_ref_right;
-    if (std::fabs(steering_ref_) > 1e-06)  // to avoid division by 0
-    {
-        R = wheelbase_ / tan(steering_ref_);
-        steering_ref_left = atan2(wheelbase_, R - steering_link_length_);
-        steering_ref_right = atan2(wheelbase_, R + steering_link_length_);
-        if (steering_ref_ < 0.0)
-        {
-            steering_ref_left = steering_ref_left - PI;
-            steering_ref_right = steering_ref_right - PI;
-        }
-    }
-    else
-    {
-        steering_ref_left = 0.0;
-        steering_ref_right = 0.0;
-    }
-
-    // Angular position ref publish
-    std_msgs::Float64 frw_ref_pos_msg;
-    std_msgs::Float64 flw_ref_pos_msg;
-    std_msgs::Float64 brw_ref_pos_msg;
-    std_msgs::Float64 blw_ref_pos_msg;
-
-    flw_ref_pos_msg.data = steering_ref_left;
-    frw_ref_pos_msg.data = steering_ref_right;
-
-    // Linear speed ref publish
-    double ref_speed_joint = vel_ref_ / wheel_radius_;
-
-    std_msgs::Float64 frw_ref_vel_msg;
-    std_msgs::Float64 flw_ref_vel_msg;
-    std_msgs::Float64 brw_ref_vel_msg;
-    std_msgs::Float64 blw_ref_vel_msg;
-    frw_ref_vel_msg.data = -ref_speed_joint;
-    flw_ref_vel_msg.data = -ref_speed_joint;
-    brw_ref_vel_msg.data = -ref_speed_joint;
-    blw_ref_vel_msg.data = -ref_speed_joint;
-
-    // Publish msgs traction and direction
-    ref_vel_frw_.publish(frw_ref_vel_msg);
-    ref_vel_flw_.publish(flw_ref_vel_msg);
-    ref_vel_blw_.publish(blw_ref_vel_msg);
-    ref_vel_brw_.publish(brw_ref_vel_msg);
-    ref_pos_frw_.publish(frw_ref_pos_msg);
-    ref_pos_flw_.publish(flw_ref_pos_msg);
-
-    ROS_DEBUG("Published steering angles %f rad  %f rad", steering_ref_left, steering_ref_right);
-    ROS_DEBUG("Published wheel speeds %f rad/s", -ref_speed_joint);
-}
-
-void RosCanSim::setMission(eufs_msgs::CanState state)
-{
-    if (state.as_state == eufs_msgs::CanState::AS_DRIVING)
-    {
-        as_state_ = as_state_type::AS_DRIVING;
-        driving_flag_ = true;
-    }
-
-    if (ami_state_ == ami_state_type::AMI_NOT_SELECTED)
-    {
-        switch (state.ami_state)
-        {
-            case eufs_msgs::CanState::AMI_ACCELERATION:
-                ami_state_ = ami_state_type::AMI_ACCELERATION;
-                break;
-            case eufs_msgs::CanState::AMI_SKIDPAD:
-                ami_state_ = ami_state_type::AMI_SKIDPAD;
-                break;
-            case eufs_msgs::CanState::AMI_AUTOCROSS:
-                ami_state_ = ami_state_type::AMI_AUTOCROSS;
-                break;
-            case eufs_msgs::CanState::AMI_TRACK_DRIVE:
-                ami_state_ = ami_state_type::AMI_TRACK_DRIVE;
-                break;
-            case eufs_msgs::CanState::AMI_BRAKE_TEST:
-                ami_state_ = ami_state_type::AMI_BRAKE_TEST;
-                break;
-            case eufs_msgs::CanState::AMI_ADS_INSPECTION:
-                ami_state_ = ami_state_type::AMI_ADS_INSPECTION;
-                break;
-            case eufs_msgs::CanState::AMI_ADS_EBS:
-                ami_state_ = ami_state_type::AMI_ADS_EBS;
-                break;
-            case eufs_msgs::CanState::AMI_DDT_INSPECTION_A:
-                ami_state_ = ami_state_type::AMI_DDT_INSPECTION_A;
-                break;
-            case eufs_msgs::CanState::AMI_DDT_INSPECTION_B:
-                ami_state_ = ami_state_type::AMI_DDT_INSPECTION_B;
-                break;
-            case eufs_msgs::CanState::AMI_MANUAL:
-                ami_state_ = ami_state_type::AMI_MANUAL;
-                break;
-            default:
-                ami_state_ = ami_state_type::AMI_NOT_SELECTED;
-                break;
-        }
-    }
-    else
-    {
-        ROS_WARN("Failed to set mission as a mission was set previously");
-    }
-}
-
-bool RosCanSim::resetState(std_srvs::Trigger::Request& request, std_srvs::Trigger::Response& response)
-{
-    (void)request;   // suppress unused parameter warning
-    (void)response;  // suppress unused parameter warning
-    as_state_ = as_state_type::AS_OFF;
-    ami_state_ = ami_state_type::AMI_NOT_SELECTED;
-    driving_flag_ = false;
-    response.success = true;
-    return response.success;
-}
-
-bool RosCanSim::requestEBS(std_srvs::Trigger::Request& request, std_srvs::Trigger::Response& response)
-{
-    (void)request;   // suppress unused parameter warning
-    (void)response;  // suppress unused parameter warning
-    as_state_ = as_state_type::AS_EMERGENCY_BRAKE;
-    ami_state_ = ami_state_type::AMI_NOT_SELECTED;
-    driving_flag_ = false;
-    response.success = true;
-    return response.success;
-}
-
-void RosCanSim::publishWheelSpeeds()
-{
-    if ((ros::Time::now() - joint_state_.header.stamp).toSec() > joints_state_time_window_)
-    {
-        ROS_WARN_THROTTLE(2, "ros_can_sim :: joint_states are not being received");
-        return;
-    }
-
-    // get steering feedback
-    // it's inverted in order to mimick the outputs of the real ros_can
-    float right_steering_feedback = joint_state_.position[frw_pos_];
-    float left_steering_feedback = joint_state_.position[flw_pos_];
-    float steering_feedback = (right_steering_feedback + left_steering_feedback) / 2.0;
-
-    if (fabs(steering_feedback) > max_steering_)
-    {
-        ROS_DEBUG("ros_can_sim :: steering feedback exceeded limit");
-        ROS_DEBUG("ros_can_sim :: steering feedback = %f", steering_feedback);
-        ROS_DEBUG("ros_can_sim :: max steering = %f", max_steering_);
-    }
-
-    // get velocity feedback
-    auto lf_wheel_rpm = angularToRPM(-joint_state_.velocity[flw_vel_]);
-    auto rf_wheel_rpm = angularToRPM(-joint_state_.velocity[frw_vel_]);
-    auto lb_wheel_rpm = angularToRPM(-joint_state_.velocity[blw_vel_]);
-    auto rb_wheel_rpm = angularToRPM(-joint_state_.velocity[brw_vel_]);
-
-    eufs_msgs::WheelSpeedsStamped msg;
-    msg.header.stamp = joint_state_.header.stamp;
-    msg.header.frame_id = "base_link";
-    msg.lf_speed = lf_wheel_rpm;
-    msg.rf_speed = rf_wheel_rpm;
-    msg.lb_speed = lb_wheel_rpm;
-    msg.rb_speed = rb_wheel_rpm;
-    msg.steering = steering_feedback;
-
-    wheel_speed_pub_.publish(msg);
-}
-
-void RosCanSim::updateState()
-{
-    using std::chrono_literals::operator""s;
-
-    switch (as_state_)
-    {
-        case as_state_type::AS_OFF:
-            if ((ami_state_ != ami_state_type::AMI_NOT_SELECTED) && driving_flag_)
-            {
-                // first sleep for 5s as is with the real car
-                std::this_thread::sleep_for(5s);
-
-                // now transition to new state
-                as_state_ = as_state_type::AS_READY;
-                ROS_DEBUG("ros_can_sim :: switching to AS_READY state");
-            }
-            break;
-
-        case as_state_type::AS_READY:
-            if (driving_flag_)
-            {
-                as_state_ = as_state_type::AS_DRIVING;
-                ROS_DEBUG("ros_can_sim :: switching to AS_DRIVING state");
-            }
-            break;
-
-        case as_state_type::AS_DRIVING:
-            if (!driving_flag_)
-            {
-                as_state_ = as_state_type::AS_FINISHED;
-                ROS_DEBUG("ros_can_sim :: switching to AS_FINISHED state");
-            }
-            break;
-
-        case as_state_type::AS_FINISHED:
-            // do nothing for now
-            break;
-
-        case as_state_type::AS_EMERGENCY_BRAKE:
-            // do nothing for now
-            break;
-
-            // default: do nothing
-    }
-}
-
-void RosCanSim::publishState()
-{
-    if (state_pub_.getNumSubscribers() == 0 &&
-            state_pub_str_.getNumSubscribers() == 0)
-        return;  // do nothing
-
-    // create message
-    eufs_msgs::CanState state_msg;
-    state_msg.as_state = as_state_;
-    state_msg.ami_state = ami_state_;
-    state_msg.mission_flag = driving_flag_;
-
-    if (state_pub_.getNumSubscribers() > 0)
-        state_pub_.publish(state_msg);
-
-    if (state_pub_str_.getNumSubscribers() > 0)
-        state_pub_str_.publish(makeStateString(state_msg));
-}
-
-std_msgs::String RosCanSim::makeStateString(const eufs_msgs::CanState &state)
-{
-    std::string str1;
-    std::string str2;
-    std::string str3;
-
-    ROS_DEBUG("AS STATE: %d", state.as_state);
-    ROS_DEBUG("AMI STATE: %d", state.ami_state);
-
-    switch (state.as_state)
-    {
-        case eufs_msgs::CanState::AS_OFF:
-            str1 = "AS:OFF";
-            break;
-        case eufs_msgs::CanState::AS_READY:
-            str1 = "AS:READY";
-            break;
-        case eufs_msgs::CanState::AS_DRIVING:
-            str1 = "AS:DRIVING";
-            break;
-        case eufs_msgs::CanState::AS_FINISHED:
-            str1 = "AS:FINISHED";
-            break;
-        case eufs_msgs::CanState::AS_EMERGENCY_BRAKE:
-            str1 = "AS:EMERGENCY";
-            break;
-        default:
-            str1 = "NO_SUCH_MESSAGE";
-    }
-
-    switch (state.ami_state)
-    {
-        case eufs_msgs::CanState::AMI_NOT_SELECTED:
-            str2 = "AMI:NOT_SELECTED";
-            break;
-        case eufs_msgs::CanState::AMI_ACCELERATION:
-            str2 = "AMI:ACCELERATION";
-            break;
-        case eufs_msgs::CanState::AMI_SKIDPAD:
-            str2 = "AMI:SKIDPAD";
-            break;
-        case eufs_msgs::CanState::AMI_AUTOCROSS:
-            str2 = "AMI:AUTOCROSS";
-            break;
-        case eufs_msgs::CanState::AMI_TRACK_DRIVE:
-            str2 = "AMI:TRACKDRIVE";
-            break;
-        case eufs_msgs::CanState::AMI_ADS_INSPECTION:
-            str2 = "AS:ADS_INSPECTION";
-            break;
-        case eufs_msgs::CanState::AMI_ADS_EBS:
-            str2 = "AS:ADS_EBS";
-            break;
-        case eufs_msgs::CanState::AMI_DDT_INSPECTION_A:
-            str2 = "AS:DDT_INSPECTION_A";
-            break;
-        case eufs_msgs::CanState::AMI_DDT_INSPECTION_B:
-            str2 = "AS:DDT_INSPECTION_B";
-            break;
-        case eufs_msgs::CanState::AMI_BRAKE_TEST:
-            str2 = "AS:BRAKETEST";
-            break;
-        default:
-            str2 = "NO_SUCH_MESSAGE";
-    }
-
-    if (driving_flag_)
-        str3 = "DRIVING:TRUE";
-    else
-        str3 = "DRIVING:FALSE";
-
-    std_msgs::String msg = std_msgs::String();
-    msg.data = str1 + " " + str2 + " " + str3;
-    return msg;
-}
-
-void RosCanSim::flagCallback(std_msgs::Bool msg)
-{
-    ROS_DEBUG("ros_can_sim :: setting driving flag to %d", msg.data);
-    driving_flag_ = msg.data;
-}
-
-void RosCanSim::jointStateCallback(const sensor_msgs::JointStateConstPtr &msg)
-{
-    ROS_DEBUG("ros_can_sim ::Joint states have been received");
-    joint_state_ = *msg;
-    read_state_ = true;
-}
-
-void RosCanSim::commandCallback(const ackermann_msgs::AckermannDriveStamped::ConstPtr &msg)
-{
-    // set commands only if in AS_DRIVING state
-    if (as_state_ == as_state_type::AS_DRIVING)
-    {
-        vel_ref_ = saturation(msg->drive.speed, -max_speed_, max_speed_);
-        steering_ref_ = saturation(msg->drive.steering_angle, -max_steering_, max_steering_);
-    }
-    else
-    {
-        vel_ref_ = 0.0;
-        steering_ref_ = 0.0;
-    }
-}
-
-double RosCanSim::saturation(double u, double min, double max)
-{
-    if (u > max) u = max;
-    if (u < min) u = min;
-    return u;
-}
-
-double RosCanSim::angularToRPM(double angular_vel)
-{
-    // RPM = (60 * Omega) / 2 PI
-    return (60 * angular_vel) / (2 * PI);
-}
-
-bool RosCanSim::spin()
-{
-    ROS_INFO("ros_can_sim::spin()");
-    ros::Rate r(desired_freq_);
-
-    while (!ros::isShuttingDown())  // Using ros::isShuttingDown to avoid restarting the node during a shutdown.
-    {
-        if (starting() == 0)
-        {
-            while (ros::ok() && nh_.ok())
-            {
-                this->UpdateControl();
-                this->publishWheelSpeeds();
-                this->updateState();
-                this->publishState();
-                ros::spinOnce();
-                r.sleep();
-            }
-            ROS_INFO("END OF ros::ok() !!!");
-        }
-        else
-        {
-            // No need for diagnostic here since a broadcast occurs in start
-            // when there is an error.
-            usleep(1000000);
-            ros::spinOnce();
-        }
-    }
-    return true;
-}
-
-int main(int argc, char **argv)
-{
-    ros::init(argc, argv, "ros_can_sim");
-
-    RosCanSim node = RosCanSim();
-    node.spin();
-
-    return (0);
-}
diff --git a/ros_can_sim/src/ros_can_sim.hpp b/ros_can_sim/src/ros_can_sim.hpp
deleted file mode 100644
index f7eee6b09f9a07f0b9d335451c1e10a6a316c220..0000000000000000000000000000000000000000
--- a/ros_can_sim/src/ros_can_sim.hpp
+++ /dev/null
@@ -1,252 +0,0 @@
-/*
- * Software License Agreement (MIT License)
- * Copyright (c) 2019 Edinburgh University Formula Student (EUFS)
- * All rights reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- *
- * @file ros_can_sim.h
- * @author EUFS
- * @date 09/06/2019
- * @copyright MIT License
- * @brief simulated ros_can for Gazebo
- *
- * @details Simulated IO functionality of the ros_can interfacing node
- * https://gitlab.com/eufs/ros_can . This is intended to be used with eufs_sim
- * and controls and interfaces with the ADS-DV car for the FSUK competition
- */
-
-#ifndef ROBOT_CONTROL_ROS_CAN_SIM_H
-#define ROBOT_CONTROL_ROS_CAN_SIM_H
-
-#include <chrono>
-#include <thread>
-#include <iostream>
-
-#include <ros/ros.h>
-#include <sensor_msgs/JointState.h>
-#include <sensor_msgs/Imu.h>
-#include <std_msgs/Float64.h>
-#include <tf/transform_broadcaster.h>
-#include <ackermann_msgs/AckermannDriveStamped.h>
-#include <eufs_msgs/WheelSpeeds.h>
-#include <eufs_msgs/WheelSpeedsStamped.h>
-#include <eufs_msgs/CanState.h>
-#include <std_msgs/String.h>
-#include <std_msgs/Bool.h>
-#include <std_srvs/Trigger.h>
-
-
-/**
-* @class RosCanSim
-* @brief simulated ros_can for Gazebo
-*
-* @details Simulated IO functionality of the ros_can interfacing node
-* https://gitlab.com/eufs/ros_can . This is intended to be used with eufs_sim
-* and controls and interfaces with the ADS-DV car for the FSUK competition
-* Further specs: https://www.imeche.org/docs/default-source/1-oscar/formula-student/2019/fs-ai/ads-dv-software-interface-specification-v0-2.pdf?sfvrsn=2
-*/
-
-class RosCanSim {
-public:
-    RosCanSim();  ///< Constructor
-    ~RosCanSim();  ///< Destructor
-
-    bool spin();  ///< Main operational loop
-
-private:
-    ros::NodeHandle nh_;
-    double PI = 3.14159265; ///< Value for pi
-
-    // definition of internal state machine
-    typedef enum e_as_state_type {
-        AS_OFF = 0,
-        AS_READY = 1,
-        AS_DRIVING = 2,
-        AS_EMERGENCY_BRAKE = 3,
-        AS_FINISHED = 4,
-    } as_state_type;
-
-    as_state_type as_state_; ///< state machine state
-
-    // definition of mission selection
-    typedef enum e_ami_state_type {
-        AMI_NOT_SELECTED = 10,
-        AMI_ACCELERATION = 11,
-        AMI_SKIDPAD = 12,
-        AMI_AUTOCROSS = 13,
-        AMI_TRACK_DRIVE = 14,
-        AMI_BRAKE_TEST = 15,
-        AMI_ADS_INSPECTION = 16,
-        AMI_ADS_EBS = 17,
-        AMI_DDT_INSPECTION_A = 18,
-        AMI_DDT_INSPECTION_B = 19,
-        AMI_MANUAL = 20
-    } ami_state_type;
-
-    ami_state_type ami_state_;  ///< mission status
-
-    bool driving_flag_; ///< mission flag as per ADS-DV specs
-
-    double desired_freq_;
-
-    // Ackermann Topics - control action - traction - velocity
-    std::string frw_vel_topic_;
-    std::string flw_vel_topic_;
-    std::string brw_vel_topic_;
-    std::string blw_vel_topic_;
-
-    // Ackerman Topics - control action - steering - position
-    std::string frw_pos_topic_;
-    std::string flw_pos_topic_;
-
-    // Joint names - traction - velocity
-    std::string joint_front_right_wheel;
-    std::string joint_front_left_wheel;
-    std::string joint_back_left_wheel;
-    std::string joint_back_right_wheel;
-
-    // Joint names - steering - position
-    std::string joint_front_right_steer;
-    std::string joint_front_left_steer;
-
-    // Joint states published by the joint_state_controller of the Controller Manager
-    ros::Subscriber joint_state_sub_;
-    ros::Subscriber set_mission_sub_;
-
-    // High level robot command
-    ros::Subscriber cmd_sub_;
-    ros::Subscriber flag_sub_;
-
-    // Velocity and position references to low level controllers
-    ros::Publisher ref_vel_flw_;
-    ros::Publisher ref_vel_frw_;
-    ros::Publisher ref_vel_blw_;
-    ros::Publisher ref_vel_brw_;
-    ros::Publisher ref_pos_flw_;
-    ros::Publisher ref_pos_frw_;
-
-    ros::Publisher wheel_speed_pub_;
-    ros::Publisher state_pub_;
-    ros::Publisher state_pub_str_;
-
-    ros::ServiceServer reset_srv_;  ///< service to reset state machine
-    ros::ServiceServer ebs_srv_; ///< service to request an emergency brake
-
-    // Indexes to joint_states
-    int frw_vel_, flw_vel_, blw_vel_, brw_vel_, frw_pos_, flw_pos_;
-
-    // Robot Joint States
-    sensor_msgs::JointState joint_state_;
-    bool read_state_; ///< Flag to indicate joint_state has been read
-    double joints_state_time_window_; ///< accepted time deviation to process joint_state
-
-    // Reference control commands
-    double vel_ref_;
-    double steering_ref_;
-
-    // Car parameters
-    double steering_link_length_; ///< lengths from the axle of the car to the wheel
-    double wheel_radius_;
-    double wheelbase_;  ///< distance from front to rear axle
-    double max_speed_;  ///< maximum allowed control velocity
-    double max_steering_;
-
-
-    /**
-      * Waits for the joint_state_publisher node and the simulation to launch by periodically checking
-      * for the topics they publish.
-      */
-    int starting();
-
-    /**
-      * Stores the joint_states
-      */
-    void jointStateCallback(const sensor_msgs::JointStateConstPtr &msg);
-
-    /**
-      * Stores the commands to the car
-      */
-    void commandCallback(const ackermann_msgs::AckermannDriveStamped::ConstPtr &msg);
-
-    /**
-      * Checks if a value is within a certain range. Returns the saturated version of that value if outside bound
-      * @param value to check
-      * @param minimum allowed value
-      * @param maximum allowed value
-      */
-    double saturation(double u, double min, double max);
-
-
-    /**
-      * Publishes a eufs_msgs/WheelSpeeds message based on joint states
-      */
-    void publishWheelSpeeds();
-
-    /**
-      * Converts an angular velocity to RPM
-      * @param angular velocity to be converted
-      */
-    double angularToRPM(double angular_vel);
-
-    /**
-      * Stores the state of the driving flag
-      * @param message of the driving flag
-      */
-    void flagCallback(std_msgs::Bool msg);
-
-    /**
-      * Resets the state of the internal state machine
-      */
-    bool resetState(std_srvs::Trigger::Request &request, std_srvs::Trigger::Response &response);
-
-    /**
-      * Puts the car into EMERGENCY_BRAKE state and stops it
-      */
-    bool requestEBS(std_srvs::Trigger::Request &request, std_srvs::Trigger::Response &response);
-
-    /**
-      * Sets the mission of the car. Only available in simulation
-      */
-    void setMission(eufs_msgs::CanState state);
-
-    /**
-      * Controls the joints(motors) of the simulated car
-      */
-    void UpdateControl();
-
-    /**
-      * Loops through the internal state machine of the car
-      * Based on: https://www.imeche.org/docs/default-source/1-oscar/formula-student/2019/fs-ai/ads-dv-software-interface-specification-v0-2.pdf?sfvrsn=2
-      */
-    void updateState();
-
-    /**
-      * Publishes internal state and mission in a eufs_msgs/CanState.msg format
-      */
-    void publishState();
-
-    /**
-      * Creates a std_msgs/String.msg version of the internal state and mission
-      */
-    std_msgs::String makeStateString(const eufs_msgs::CanState &state);
-
-};
-
-#endif //ROBOT_CONTROL_ROS_CAN_SIM_H
diff --git a/ros_can_sim/src/ros_can_sim/RosCanSimGUI.py b/ros_can_sim/src/ros_can_sim/RosCanSimGUI.py
deleted file mode 100755
index 2d2ce376d79bbe8d96148ac9b671bf279e6df3b9..0000000000000000000000000000000000000000
--- a/ros_can_sim/src/ros_can_sim/RosCanSimGUI.py
+++ /dev/null
@@ -1,171 +0,0 @@
-import os
-
-# qt
-from qt_gui.plugin import Plugin
-from python_qt_binding import loadUi
-from python_qt_binding.QtWidgets import QWidget, QComboBox, QPushButton, QLabel
-
-# ROS
-import rospkg
-import rospy
-from eufs_msgs.msg import CanState
-from std_srvs.srv import Trigger
-
-
-class RosCanGUI(Plugin):
-
-    def __init__(self, context):
-        super(RosCanGUI, self).__init__(context)
-        self.setObjectName('RosCanSimGUI')
-        rp = rospkg.RosPack()
-
-        # Create QWidget
-        self._widget = QWidget()
-        # Get path to UI file which is a sibling of this file
-        ui_file = os.path.join(rp.get_path('ros_can_sim'), 'resource',
-                               'RosCanSimGUI.ui')
-        # Extend the widget with all attributes and children from UI file
-        loadUi(ui_file, self._widget)
-        self._widget.setObjectName('RosCanSimUi')
-
-        # Show _widget.windowTitle on left-top of each plugin (when
-        # it's set in _widget). This is useful when you open multiple
-        # plugins at once. Also if you open multiple instances of your
-        # plugin at once, these lines add number to make it easy to
-        # tell from pane to pane.
-        if context.serial_number() > 1:
-            self._widget.setWindowTitle(
-                self._widget.windowTitle() + (' (%d)' % context.serial_number()))
-
-        # setup states and missions
-        # enumrations taken from CanState.msg
-        self.states = {CanState.AS_OFF: "OFF",
-                       CanState.AS_READY: "READY",
-                       CanState.AS_DRIVING: "DRIVING",
-                       CanState.AS_EMERGENCY_BRAKE: "EMERGENCY",
-                       CanState.AS_FINISHED: "FINISHED"}
-
-        self.missions = {CanState.AMI_NOT_SELECTED: "NOT_SELECTED",
-                         CanState.AMI_ACCELERATION: "ACCELERATION",
-                         CanState.AMI_SKIDPAD: "SKIDPAD",
-                         CanState.AMI_AUTOCROSS: "AUTOCROSS",
-                         CanState.AMI_TRACK_DRIVE: "TRAK_DRIVE",
-                         CanState.AMI_BRAKE_TEST: "BRAKE_TEST",
-                         CanState.AMI_ADS_INSPECTION: "ADS_INSPECTION",
-                         CanState.AMI_ADS_EBS: "ADS_EBS",
-                         CanState.AMI_DDT_INSPECTION_A: "DDT_INSPECTION_A",
-                         CanState.AMI_DDT_INSPECTION_B: "DDT_INSPECTION_B",
-                         CanState.AMI_MANUAL: "MANUAL"}
-
-        for mission in self.missions.values():
-            self._widget.findChild(
-                QComboBox, "MissionSelectMenu").addItem(mission)
-
-        # hook up buttons to callbacks
-        self._widget.findChild(
-            QPushButton, "SetMissionButton").clicked.connect(self.setMission)
-        self._widget.findChild(
-            QPushButton, "ResetButton").clicked.connect(self.resetState)
-        self._widget.findChild(
-            QPushButton, "RequestEBS").clicked.connect(self.requestEBS)
-        self._widget.findChild(
-            QPushButton, "DriveButton").clicked.connect(self.justDrive)
-
-        # Subscribers
-        self.state_sub = rospy.Subscriber(
-            "/ros_can/state", CanState, self.stateCallback)
-
-        # Publishers
-        self.set_mission_pub = rospy.Publisher(
-            "/ros_can/set_mission", CanState, queue_size=1)
-
-        # Services
-        self.ebs_srv = rospy.ServiceProxy("/ros_can/ebs", Trigger)
-        self.reset_srv = rospy.ServiceProxy("/ros_can/reset", Trigger)
-
-        # Add widget to the user interface
-        context.add_widget(self._widget)
-
-    def setMission(self):
-        """Sends a mission request to the simulated ros_can
-        The mission request is of message type eufs_msgs/CanState
-        where only the ami_mission field is used"""
-        mission = self._widget.findChild(
-            QComboBox, "MissionSelectMenu").currentText()
-
-        rospy.logdebug("Sending mission request for " + str(mission))
-
-        # create message to be sent
-        mission_msg = CanState()
-
-        # find enumerated mission and set
-        for enum, mission_name in self.missions.items():
-            if mission_name == mission:
-                mission_msg.ami_state = enum
-
-        self.set_mission_pub.publish(mission_msg)
-        rospy.logdebug("Mission request sent successfully")
-
-    def resetState(self):
-        """Requests ros_can to reset it's state machine"""
-        rospy.logdebug("Requesting ros_can_sim reset")
-        try:
-            self.reset_srv.wait_for_service(timeout=1)  # 1 second
-            result = self.reset_srv()
-            rospy.logdebug("ros_can_sim reset successful")
-            rospy.logdebug(result)
-        except:
-            rospy.logwarn(
-                "Requested ros_can_sim reset but /ros_can/reset service is not available")
-
-    def requestEBS(self):
-        """Requests ros_can to go into EMERGENCY_BRAKE state"""
-        rospy.logdebug("Requesting ros_can_sim reset")
-        try:
-            self.ebs_srv.wait_for_service(timeout=1)  # 1 second
-            result = self.ebs_srv()
-            rospy.logdebug("ros_can_sim reset successful")
-            rospy.logdebug(result)
-        except:
-            rospy.logwarn(
-                "Requested ros_can_sim EBS but /ros_can/ebs service is not available")
-
-    def stateCallback(self, msg):
-        """Reads the ros_can state from the message
-        and displays it within the GUI
-
-        Args:
-            msg (eufs_msgs/CanState): state of ros_can
-        """
-        self._widget.findChild(QLabel, "StateDisplay").setText(
-            self.states[msg.as_state])
-        self._widget.findChild(QLabel, "MissionDisplay").setText(
-            self.missions[msg.ami_state])
-
-    def justDrive(self):
-        """overrides the state machine of the car and just makes it drive"""
-
-        # create message to be sent
-        state_msg = CanState()
-        state_msg.as_state = CanState.AS_DRIVING
-        state_msg.ami_state = CanState.AMI_MANUAL
-
-        self.set_mission_pub.publish(state_msg)
-
-    def shutdown_plugin(self):
-        """stop all publisher, subscriber and services
-        necessary for clean shutdown"""
-        self.set_mission_pub.unregister()
-        self.state_sub.unregister()
-        self.ebs_srv.close()
-        self.reset_srv.close()
-
-    def save_settings(self, plugin_settings, instance_settings):
-        # don't know how to use
-        # don't delete function as it breaks rqt
-        pass
-
-    def restore_settings(self, plugin_settings, instance_settings):
-        # don't know how to use
-        # don't delete function as it breaks rqt
-        pass
diff --git a/ros_can_sim/src/ros_can_sim/RosCanSimGUI.pyc b/ros_can_sim/src/ros_can_sim/RosCanSimGUI.pyc
deleted file mode 100644
index a47a88258fe43fd38e65908551faca3d96451506..0000000000000000000000000000000000000000
Binary files a/ros_can_sim/src/ros_can_sim/RosCanSimGUI.pyc and /dev/null differ
diff --git a/ros_can_sim/src/ros_can_sim/__init__.py b/ros_can_sim/src/ros_can_sim/__init__.py
deleted file mode 100755
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/testing_sim/CMakeLists.txt b/testing_sim/CMakeLists.txt
deleted file mode 100644
index e281a8d51fe9a866051fb0ddb3f358007e9fbf90..0000000000000000000000000000000000000000
--- a/testing_sim/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(testing_sim)
-
-find_package(catkin REQUIRED)
-
-find_package(rostest REQUIRED)
-add_rostest(tests/acceleration.test)
-add_rostest(tests/autocross.test)
-add_rostest(tests/inspection.test)
-add_rostest(tests/skidpad.test)
-add_rostest(tests/track_drive.test)
diff --git a/testing_sim/package.xml b/testing_sim/package.xml
deleted file mode 100644
index cbb82d96c7d8affdf3ca838c88f5e6b2cf936c80..0000000000000000000000000000000000000000
--- a/testing_sim/package.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>testing_sim</name>
-  <version>0.0.0</version>
-  <description> Package with a test file to launch the simulation and test node to test if the car can complete the autocross mission </description>
-
-  <maintainer email="info@eufs.co">EUFS</maintainer>
-
-  <license>MIT</license>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <test_depend>rospy</test_depend>s
-  <test_depend>eufs_msgs</test_depend>
-  <test_depend>std_msgs</test_depend>
-  <test_depend>rostest</test_depend>
-
-</package>
diff --git a/testing_sim/src/test_acceleration.py b/testing_sim/src/test_acceleration.py
deleted file mode 100755
index d6850d2f5d03d1e0f6c89e2d4e08e84bc0698d47..0000000000000000000000000000000000000000
--- a/testing_sim/src/test_acceleration.py
+++ /dev/null
@@ -1,45 +0,0 @@
-#!/usr/bin/env python
-
-import rospy
-import unittest
-import rostest
-from time import sleep
-
-from std_msgs.msg import Int16
-from eufs_msgs.msg import CanState
-
-class SimulationTestClass(unittest.TestCase):
-
-    as_state = 0
-
-    def state_callback(self, msg):
-        self.as_state = msg.as_state
-
-    def test_lapcount(self):
-        rospy.Subscriber('/ros_can/state', CanState, self.state_callback)
-
-        # Wait until the mission is completed or ros is shutdown
-        # There is a timeout in the launch file
-        while not rospy.is_shutdown() and not self.as_state == 4:
-            rospy.sleep(0.1)
-
-        self.assertEqual(self.as_state, 4)
-
-
-if __name__ == '__main__':
-
-    rospy.init_node('test_acceleration')
-
-    pub = rospy.Publisher('/ros_can/set_mission', CanState, queue_size=1)
-
-    # Waits for a message which signifies that the car is ready to recieve a message to select the mission
-    msg = rospy.wait_for_message('/ros_can/state', CanState)
-
-    # Publish a message to the car to signify the mission
-    mission_msg = CanState()
-    mission_msg.as_state = 0
-    mission_msg.ami_state = 11 # Acceleration
-    mission_msg.mission_flag = False
-    pub.publish(mission_msg)
-
-    rostest.rosrun('testing_sim', 'test_simulation', SimulationTestClass)
diff --git a/testing_sim/src/test_autocross.py b/testing_sim/src/test_autocross.py
deleted file mode 100755
index 89a34bc2a55cbd94c2bd978b82adf34d10495039..0000000000000000000000000000000000000000
--- a/testing_sim/src/test_autocross.py
+++ /dev/null
@@ -1,51 +0,0 @@
-#!/usr/bin/env python
-
-import rospy
-import unittest
-import rostest
-from time import sleep
-
-from std_msgs.msg import Int16
-from eufs_msgs.msg import CanState
-
-class SimulationTestClass(unittest.TestCase):
-
-    lap_count = -1
-    as_state = 0
-
-    def laps_callback(self, msg):
-        self.lap_count = msg.data
-
-    def state_callback(self, msg):
-        self.as_state = msg.as_state
-
-    def test_lapcount(self):
-        rospy.Subscriber('/finish_line_detector/completed_laps', Int16, self.laps_callback)
-        rospy.Subscriber('/ros_can/state', CanState, self.state_callback)
-
-        # Wait until the mission is completed or ros is shutdown
-        # There is a timeout in the launch file
-        while not rospy.is_shutdown() and not (self.lap_count == 1 and self.as_state == 4):
-            rospy.sleep(0.1)
-
-        self.assertEqual(self.lap_count, 1)
-        self.assertEqual(self.as_state, 4)
-
-
-if __name__ == '__main__':
-
-    rospy.init_node('test_autocross')
-
-    pub = rospy.Publisher('/ros_can/set_mission', CanState, queue_size=1)
-
-    # Waits for a message which signifies that the car is ready to recieve a message to select the mission
-    msg = rospy.wait_for_message('/ros_can/state', CanState)
-
-    # Publish a message to the car to signify the mission
-    mission_msg = CanState()
-    mission_msg.as_state = 0
-    mission_msg.ami_state = 13 # Autocross
-    mission_msg.mission_flag = False
-    pub.publish(mission_msg)
-
-    rostest.rosrun('testing_sim', 'test_simulation', SimulationTestClass)
diff --git a/testing_sim/src/test_inspection.py b/testing_sim/src/test_inspection.py
deleted file mode 100755
index 514edcf473af075f1fda310195923d9a47776429..0000000000000000000000000000000000000000
--- a/testing_sim/src/test_inspection.py
+++ /dev/null
@@ -1,51 +0,0 @@
-#!/usr/bin/env python
-
-import rospy
-import unittest
-import rostest
-from time import sleep
-
-from std_msgs.msg import Int16
-from eufs_msgs.msg import CanState
-
-class SimulationTestClass(unittest.TestCase):
-
-    # lap_count = -1
-    as_state = 0
-
-    # def laps_callback(self, msg):
-    #     self.lap_count = msg.data
-
-    def state_callback(self, msg):
-        self.as_state = msg.as_state
-
-    def test_lapcount(self):
-        # rospy.Subscriber('/finish_line_detector/completed_laps', Int16, self.laps_callback)
-        rospy.Subscriber('/ros_can/state', CanState, self.state_callback)
-
-        # Wait until the mission is completed or ros is shutdown
-        # There is a timeout in the launch file
-        while not rospy.is_shutdown() and not self.as_state == 4: # (self.lap_count == 10 and self.as_state == 4):
-            rospy.sleep(0.1)
-
-        self.assertEqual(self.lap_count, 1)
-        self.assertEqual(self.as_state, 4)
-
-
-if __name__ == '__main__':
-
-    rospy.init_node('test_autocross')
-
-    pub = rospy.Publisher('/ros_can/set_mission', CanState, queue_size=1)
-
-    # Waits for a message which signifies that the car is ready to recieve a message to select the mission
-    msg = rospy.wait_for_message('/ros_can/state', CanState)
-
-    # Publish a message to the car to signify the mission
-    mission_msg = CanState()
-    mission_msg.as_state = 0
-    mission_msg.ami_state = 16 # Autocross
-    mission_msg.mission_flag = False
-    pub.publish(mission_msg)
-
-    rostest.rosrun('testing_sim', 'test_simulation', SimulationTestClass)
diff --git a/testing_sim/src/test_skidpad.py b/testing_sim/src/test_skidpad.py
deleted file mode 100755
index a57416cd92a8ef71edec34312023d9619d849001..0000000000000000000000000000000000000000
--- a/testing_sim/src/test_skidpad.py
+++ /dev/null
@@ -1,51 +0,0 @@
-#!/usr/bin/env python
-
-import rospy
-import unittest
-import rostest
-from time import sleep
-
-from std_msgs.msg import Int16
-from eufs_msgs.msg import CanState
-
-class SimulationTestClass(unittest.TestCase):
-
-    # lap_count = -1
-    as_state = 0
-
-    # def laps_callback(self, msg):
-    #     self.lap_count = msg.data
-
-    def state_callback(self, msg):
-        self.as_state = msg.as_state
-
-    def test_lapcount(self):
-        # rospy.Subscriber('/finish_line_detector/completed_laps', Int16, self.laps_callback)
-        rospy.Subscriber('/ros_can/state', CanState, self.state_callback)
-
-        # Wait until the mission is completed or ros is shutdown
-        # There is a timeout in the launch file
-        while not rospy.is_shutdown() and not self.as_state == 4: # (self.lap_count == 10 and self.as_state == 4):
-            rospy.sleep(0.1)
-
-        # self.assertEqual(self.lap_count, 10)
-        self.assertEqual(self.as_state, 4)
-
-
-if __name__ == '__main__':
-
-    rospy.init_node('test_skidpad')
-
-    pub = rospy.Publisher('/ros_can/set_mission', CanState, queue_size=1)
-
-    # Waits for a message which signifies that the car is ready to recieve a message to select the mission
-    msg = rospy.wait_for_message('/ros_can/state', CanState)
-
-    # Publish a message to the car to signify the mission
-    mission_msg = CanState()
-    mission_msg.as_state = 0
-    mission_msg.ami_state = 12 # Skidpad
-    mission_msg.mission_flag = False
-    pub.publish(mission_msg)
-
-    rostest.rosrun('testing_sim', 'test_simulation', SimulationTestClass)
diff --git a/testing_sim/src/test_track_drive.py b/testing_sim/src/test_track_drive.py
deleted file mode 100755
index 6d8f48f6de22a2daaab27fe2d1f98e2d983190f1..0000000000000000000000000000000000000000
--- a/testing_sim/src/test_track_drive.py
+++ /dev/null
@@ -1,51 +0,0 @@
-#!/usr/bin/env python
-
-import rospy
-import unittest
-import rostest
-from time import sleep
-
-from std_msgs.msg import Int16
-from eufs_msgs.msg import CanState
-
-class SimulationTestClass(unittest.TestCase):
-
-    lap_count = -1
-    as_state = 0
-
-    def laps_callback(self, msg):
-        self.lap_count = msg.data
-
-    def state_callback(self, msg):
-        self.as_state = msg.as_state
-
-    def test_lapcount(self):
-        rospy.Subscriber('/finish_line_detector/completed_laps', Int16, self.laps_callback)
-        rospy.Subscriber('/ros_can/state', CanState, self.state_callback)
-
-        # Wait until the mission is completed or ros is shutdown
-        # There is a timeout in the launch file
-        while not rospy.is_shutdown() and not (self.lap_count == 10 and self.as_state == 4):
-            rospy.sleep(0.1)
-
-        self.assertEqual(self.lap_count, 10)
-        self.assertEqual(self.as_state, 4)
-
-
-if __name__ == '__main__':
-
-    rospy.init_node('test_track_drive')
-
-    pub = rospy.Publisher('/ros_can/set_mission', CanState, queue_size=1)
-
-    # Waits for a message which signifies that the car is ready to recieve a message to select the mission
-    msg = rospy.wait_for_message('/ros_can/state', CanState)
-
-    # Publish a message to the car to signify the mission
-    mission_msg = CanState()
-    mission_msg.as_state = 0
-    mission_msg.ami_state = 14 # Track drive
-    mission_msg.mission_flag = False
-    pub.publish(mission_msg)
-
-    rostest.rosrun('testing_sim', 'test_simulation', SimulationTestClass)
diff --git a/testing_sim/tests/acceleration.test b/testing_sim/tests/acceleration.test
deleted file mode 100644
index 4c98a0c6f91baf83400532bf3f66ff117fcc64f5..0000000000000000000000000000000000000000
--- a/testing_sim/tests/acceleration.test
+++ /dev/null
@@ -1,22 +0,0 @@
-<launch>
-
-  <arg name="launch_group" default="no_perception"/>
-  <arg name="gui" default="false"/>
-
-  <!-- Launch the simulation -->
-  <include file="$(find eufs_gazebo)/launch/acceleration.launch">
-      <arg name="show_rqt_gui" value="false"/>
-      <arg name="gui" value="$(arg gui)"/>
-      <arg name="publish_gt_tf" value="true"/>
-      <arg name="launch_group" default="$(arg launch_group)"/>
-  </include>
-
-  <!-- Launch the state_machine module -->
-  <include file="$(find car_meta)/launch/state_machine.launch" >
-      <arg name="launch_group" value="$(arg launch_group)"/>
-  </include>
-
-  <!-- Run the acceleration test (3 min time limit) -->
-  <test test-name="test_acceleration" pkg="testing_sim" type="test_acceleration.py" time-limit="180.0"/>
-
-</launch>
diff --git a/testing_sim/tests/autocross.test b/testing_sim/tests/autocross.test
deleted file mode 100644
index 0ae824cec53499c44f829613957d9f6ccec4cf79..0000000000000000000000000000000000000000
--- a/testing_sim/tests/autocross.test
+++ /dev/null
@@ -1,21 +0,0 @@
-<launch>
-
-  <arg name="launch_group" default="no_perception"/>
-  <arg name="gui" default="false"/>
-
-  <!-- Launch the simulation -->
-  <include file="$(find eufs_gazebo)/launch/small_track.launch">
-      <arg name="show_rqt_gui" value="false"/>
-      <arg name="gui" value="$(arg gui)"/>
-      <arg name="launch_group" default="$(arg launch_group)"/>
-  </include>
-
-  <!-- Launch the state_machine module -->
-  <include file="$(find car_meta)/launch/state_machine.launch" >
-      <arg name="launch_group" value="$(arg launch_group)"/>
-  </include>
-
-  <!-- Run the autocross test (5 min time limit) -->
-  <test test-name="test_autocross" pkg="testing_sim" type="test_autocross.py" time-limit="300.0"/>
-
-</launch>
diff --git a/testing_sim/tests/inspection.test b/testing_sim/tests/inspection.test
deleted file mode 100644
index 45b602409c235be406d398101c284000681f1e8d..0000000000000000000000000000000000000000
--- a/testing_sim/tests/inspection.test
+++ /dev/null
@@ -1,21 +0,0 @@
-<launch>
-
-  <arg name="launch_group" default="no_perception"/>
-  <arg name="gui" default="true"/>
-
-  <!-- Launch the simulation -->
-  <include file="$(find eufs_gazebo)/launch/empty.launch">
-      <arg name="show_rqt_gui" value="false"/>
-      <arg name="gui" value="$(arg gui)"/>
-      <arg name="launch_group" default="$(arg launch_group)"/>
-  </include>
-
-  <!-- Launch the state_machine module -->
-  <include file="$(find car_meta)/launch/state_machine.launch" >
-      <arg name="launch_group" value="$(arg launch_group)"/>
-  </include>
-
-  <!-- Run the autocross test (3 min time limit) -->
-  <test test-name="test_inspection" pkg="testing_sim" type="test_inspection.py" time-limit="180.0"/>
-
-</launch>
diff --git a/testing_sim/tests/skidpad.test b/testing_sim/tests/skidpad.test
deleted file mode 100644
index 57934dcdcb00eac55444e42ab0ca8bf6c4c68f7b..0000000000000000000000000000000000000000
--- a/testing_sim/tests/skidpad.test
+++ /dev/null
@@ -1,22 +0,0 @@
-<launch>
-
-  <arg name="launch_group" default="no_perception"/>
-  <arg name="gui" default="false"/>
-
-  <!-- Launch the simulation -->
-  <include file="$(find eufs_gazebo)/launch/skidpad.launch">
-      <arg name="show_rqt_gui" value="false"/>
-      <arg name="gui" value="$(arg gui)"/>
-      <arg name="publish_gt_tf" value="true"/>
-      <arg name="launch_group" default="$(arg launch_group)"/>
-   </include>
-
-  <!-- Launch the state_machine module -->
-  <include file="$(find car_meta)/launch/state_machine.launch" >
-      <arg name="launch_group" value="$(arg launch_group)"/>
-  </include>
-
-  <!-- Run the skidpad test (15 min time limit) -->
-  <test test-name="test_skidpad" pkg="testing_sim" type="test_skidpad.py" time-limit="900.0"/>
-
-</launch>
diff --git a/testing_sim/tests/track_drive.test b/testing_sim/tests/track_drive.test
deleted file mode 100644
index 97255620ae0950b80aac0682fcc390ea2bd8cefa..0000000000000000000000000000000000000000
--- a/testing_sim/tests/track_drive.test
+++ /dev/null
@@ -1,21 +0,0 @@
-<launch>
-
-  <arg name="launch_group" default="no_perception"/>
-  <arg name="gui" default="false"/>
-
-  <!-- Launch the simulation -->
-  <include file="$(find eufs_gazebo)/launch/small_track.launch">
-      <arg name="show_rqt_gui" value="false"/>
-      <arg name="gui" value="$(arg gui)"/>
-      <arg name="launch_group" default="$(arg launch_group)"/>
-  </include>
-
-  <!-- Launch the state_machine module -->
-  <include file="$(find car_meta)/launch/state_machine.launch" >
-      <arg name="launch_group" value="$(arg launch_group)"/>
-  </include>
-
-  <!-- Run the track drive test (30 min time limit) -->
-  <test test-name="test_track_drive" pkg="testing_sim" type="test_track_drive.py" time-limit="1800.0"/>
-
-</launch>