diff --git a/dfall_ws/src/d_fall_pps/CMakeLists.txt b/dfall_ws/src/d_fall_pps/CMakeLists.txt
index 77da3b66702022776b0f1c9a92fa21c02c191ffb..3fb5b9386714bf3ed4a9e9d01c25c1b6e38bd064 100755
--- a/dfall_ws/src/d_fall_pps/CMakeLists.txt
+++ b/dfall_ws/src/d_fall_pps/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0)
-project(d_fall_pps)
+project(dfall_pkg)
 
 ## Add support for C++11, supported in ROS Kinetic and newer
 # add_definitions(-std=c++11)
@@ -321,7 +321,7 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/d_fall_pps_node.cpp)
+# add_executable(${PROJECT_NAME}_node src/dfall_pkg_node.cpp)
 
 if(VICON_LIBRARY)
 	add_executable(ViconDataPublisher       src/nodes/ViconDataPublisher.cpp)
@@ -417,36 +417,36 @@ qt5_use_modules(flyingAgentGUI Widgets)
 
 
 if(VICON_LIBRARY)
-	add_dependencies(ViconDataPublisher       d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+	add_dependencies(ViconDataPublisher       dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
 endif()
 
-add_dependencies(PPSClient                 d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(BatteryMonitor            d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(DefaultControllerService  d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(SafeControllerService     d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(DemoControllerService     d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(StudentControllerService  d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(MpcControllerService      d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(RemoteControllerService   d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(TuningControllerService   d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(PickerControllerService   d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(CentralManagerService     d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-add_dependencies(ParameterService          d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(PPSClient                 dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(BatteryMonitor            dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(DefaultControllerService  dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(SafeControllerService     dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(DemoControllerService     dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(StudentControllerService  dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(MpcControllerService      dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(RemoteControllerService   dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(TuningControllerService   dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(PickerControllerService   dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(CentralManagerService     dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(ParameterService          dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
 
 
 
 # GUI-- dependencies
-add_dependencies(my_GUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(my_GUI dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
 
 
 
 # StudentGUI-- dependencies
-add_dependencies(student_GUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(student_GUI dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
 
 
 
 # FLYING AGENT GUI-- dependencies
-add_dependencies(flyingAgentGUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(flyingAgentGUI dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
 
 
 
@@ -553,7 +553,7 @@ target_link_libraries(flyingAgentGUI ${catkin_LIBRARIES})
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_d_fall_pps.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_dfall_pkg.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h b/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
index dc81898794c3585a14370fe8e823431f8b523127..679f7303d99c634d999923fb265dc8c0f4e75dd5 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
@@ -39,11 +39,11 @@
 #include <QSvgRenderer>
 
 #ifdef CATKIN_MAKE
-#include "d_fall_pps/CrazyflieData.h"
+#include "dfall_pkg/CrazyflieData.h"
 #endif
 
 #ifdef CATKIN_MAKE
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 #endif
 
 #define DRONE_HEIGHT         100 * FROM_MILIMETERS_TO_UNITS * 1.2
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h b/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
index ef7d7920ba8efbc9d366a90e336b5ccb4b0e187a..d5aceaf6c46aa192527beac37e6633fe171095a6 100755
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
@@ -49,14 +49,14 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
+#include "dfall_pkg/IntWithHeader.h"
 #include "marker.h"
 #include "crazyFly.h"
 #include "CFLinker.h"
 
 // Include the DFALL service types
-#include "d_fall_pps/CrazyflieDB.h"
-#include "d_fall_pps/CrazyflieEntry.h"
+#include "dfall_pkg/CrazyflieDB.h"
+#include "dfall_pkg/CrazyflieEntry.h"
 
 
 // The constants that are sent to the agents in order to
@@ -79,7 +79,7 @@
 #define LOAD_YAML_CUSTOM_CONTROLLER_COORDINATOR  4
 
 
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 #endif
 
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/marker.h b/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/marker.h
index 1a7a4ae0d4a2f4bb5035003f5c6292dff6990c34..8aa7132833c8a880e7d28f77873c6894fd2138ba 100755
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/marker.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/marker.h
@@ -38,12 +38,12 @@
 #include <QGraphicsEllipseItem>
 
 #ifdef CATKIN_MAKE
-#include "d_fall_pps/UnlabeledMarker.h"
+#include "dfall_pkg/UnlabeledMarker.h"
 #endif
 
 
 #ifdef CATKIN_MAKE
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 #endif
 
 #define MARKER_DIAMETER        20 * FROM_MILIMETERS_TO_UNITS
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread_for_managerGUI.h b/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread_for_managerGUI.h
index e07356ee7c505e8cce81bd51b1723a939f73f792..65c516e2a254413723b0505fdf0597be4d600035 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread_for_managerGUI.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread_for_managerGUI.h
@@ -43,11 +43,11 @@
 
 #include <ros/ros.h>
 #include <ros/network.h>
-#include "d_fall_pps/UnlabeledMarker.h"
-#include "d_fall_pps/CrazyflieData.h"
-#include "d_fall_pps/ViconData.h"
+#include "dfall_pkg/UnlabeledMarker.h"
+#include "dfall_pkg/CrazyflieData.h"
+#include "dfall_pkg/ViconData.h"
 
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 typedef ViconData::ConstPtr ptrToMessage;
 
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
index 32e7dc0209d9d661caa42aa7f83954f416725987..49dac78b81158755320dfaa5b30e2db3ab2a2bbc 100755
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
@@ -47,11 +47,11 @@
 #include <QShortcut>
 
 #ifdef CATKIN_MAKE
-#include "d_fall_pps/UnlabeledMarker.h"
-#include "d_fall_pps/CMRead.h"
-#include "d_fall_pps/CrazyflieEntry.h"
-#include "d_fall_pps/CMUpdate.h"
-#include "d_fall_pps/CMCommand.h"
+#include "dfall_pkg/UnlabeledMarker.h"
+#include "dfall_pkg/CMRead.h"
+#include "dfall_pkg/CrazyflieEntry.h"
+#include "dfall_pkg/CMUpdate.h"
+#include "dfall_pkg/CMCommand.h"
 #include "nodes/CentralManagerService.h"
 
 #include <ros/ros.h>
@@ -65,7 +65,7 @@
 #define N_MAX_CRAZYFLIES           20 // protection number
 
 #ifdef CATKIN_MAKE
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 #endif
 
 MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
@@ -279,7 +279,7 @@ void MainGUIWindow::_init()
 
     // CREATE A NODE HANDLE TO THE ROOT OF THE D-FaLL SYSTEM
     ros::NodeHandle nodeHandle_dfall_root("/dfall");
-    emergencyStopPublisher = nodeHandle_dfall_root.advertise<d_fall_pps::IntWithHeader>("emergencyStop", 1);
+    emergencyStopPublisher = nodeHandle_dfall_root.advertise<dfall_pkg::IntWithHeader>("emergencyStop", 1);
 
     // Initialise the publisher for sending "commands" from here (the master)
     // to all of the agent nodes
@@ -1108,7 +1108,7 @@ void MainGUIWindow::on_all_land_button_clicked()
 // > MOTORS OFF
 void MainGUIWindow::on_all_motors_off_button_clicked()
 {
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     msg.data = CMD_CRAZYFLY_MOTORS_OFF;
     msg.shouldCheckForID = false;
     //commandAllAgentsPublisher.publish(msg);
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread_for_managerGUI.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread_for_managerGUI.cpp
index ab9fd2c53bea71d10599a389b86152944b4823b5..bbb3f6c137d1f07fa6b692973c99a34e73c80ed3 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread_for_managerGUI.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread_for_managerGUI.cpp
@@ -32,9 +32,9 @@
 
 #include "rosNodeThread_for_managerGUI.h"
 
-#include "d_fall_pps/CMRead.h"
-#include "d_fall_pps/CMUpdate.h"
-#include "d_fall_pps/CMCommand.h"
+#include "dfall_pkg/CMRead.h"
+#include "dfall_pkg/CMUpdate.h"
+#include "dfall_pkg/CMCommand.h"
 
 
 rosNodeThread::rosNodeThread(int argc, char** pArgv, const char * node_name,  QObject* parent)
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h
index 6bf867c8fede2dda08c60001ac59043b9d920d65..71d42945456504ee100d2c92ba799d02a06acaa0 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h
@@ -50,17 +50,17 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
-#include "d_fall_pps/AreaBounds.h"
-#include "d_fall_pps/CrazyflieContext.h"
-#include "d_fall_pps/IntIntService.h"
-#include "d_fall_pps/CMQuery.h"
+#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/AreaBounds.h"
+#include "dfall_pkg/CrazyflieContext.h"
+#include "dfall_pkg/IntIntService.h"
+#include "dfall_pkg/CMQuery.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
 
 // SPECIFY THE PACKAGE NAMESPACE
-//using namespace d_fall_pps;
+//using namespace dfall_pkg;
 
 #else
 // Include the shared definitions
@@ -187,7 +187,7 @@ private:
     // Get the type and ID of this node
     bool getTypeAndIDParameters();
 	// Fill the head for a message
-    void fillIntMessageHeader( d_fall_pps::IntWithHeader & msg );
+    void fillIntMessageHeader( dfall_pkg::IntWithHeader & msg );
 
     // > For the CrazyRadio status, received on the
     //   "crazyRadioStatusSubscriber"
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h
index b77c7ff4153d9fedb1cffaf7fd641e9fe6558e6c..8cf19970bd1e6505ca7a90fa9e67909ebeb37cf4 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h
@@ -16,19 +16,19 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-//#include "d_fall_pps/IntWithHeader.h"
-//#include "d_fall_pps/SetpointWithHeader.h"
-#include "d_fall_pps/CrazyflieData.h"
-#include "d_fall_pps/ViconData.h"
-#include "d_fall_pps/AreaBounds.h"
-#include "d_fall_pps/CrazyflieContext.h"
-#include "d_fall_pps/CMQuery.h"
+//#include "dfall_pkg/IntWithHeader.h"
+//#include "dfall_pkg/SetpointWithHeader.h"
+#include "dfall_pkg/CrazyflieData.h"
+#include "dfall_pkg/ViconData.h"
+#include "dfall_pkg/AreaBounds.h"
+#include "dfall_pkg/CrazyflieContext.h"
+#include "dfall_pkg/CMQuery.h"
 
 // Include the shared definitions
 //#include "nodes/Constants.h"
 
 // SPECIFY THE PACKAGE NAMESPACE
-//using namespace d_fall_pps;
+//using namespace dfall_pkg;
 
 #else
 // Include the shared definitions
@@ -106,8 +106,8 @@ private:
     // PRIVATE VARIABLES FOR ROS
 
     // > For the "context" of this agent
-    d_fall_pps::CrazyflieContext m_context;
-    d_fall_pps::AreaBounds m_area;
+    dfall_pkg::CrazyflieContext m_context;
+    dfall_pkg::AreaBounds m_area;
 
     // SUBSRIBER
     // > For the pose data from a motion capture system
@@ -127,7 +127,7 @@ private:
 
     // > For the controller currently operating, received on
     //   "controllerUsedSubscriber"
-    void poseDataReceivedCallback(const d_fall_pps::ViconData& viconData);
+    void poseDataReceivedCallback(const dfall_pkg::ViconData& viconData);
 
     void controllerUsedChangedCallback(const std_msgs::Int32& msg);
 
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
index 854b26d69285321cc005b34136c5002c3cda2e8f..6a0734db5079b2ba85853b283c5ca2d7d7c4d14a 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
@@ -48,17 +48,17 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
-#include "d_fall_pps/AreaBounds.h"
-#include "d_fall_pps/CrazyflieContext.h"
-#include "d_fall_pps/CMQuery.h"
-#include "d_fall_pps/IntIntService.h"
+#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/AreaBounds.h"
+#include "dfall_pkg/CrazyflieContext.h"
+#include "dfall_pkg/CMQuery.h"
+#include "dfall_pkg/IntIntService.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
 
 // SPECIFY THE PACKAGE NAMESPACE
-//using namespace d_fall_pps;
+//using namespace dfall_pkg;
 
 #else
 // Include the shared definitions
@@ -175,7 +175,7 @@ private:
     // PRIVATE VARIABLES FOR ROS
 
     // > For the "context" of this agent
-    d_fall_pps::CrazyflieContext my_context;
+    dfall_pkg::CrazyflieContext my_context;
 
     // PUBLISHERS AND SUBSRIBERS
     // > For Crazyradio commands based on button clicks
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h
index 68763c1d8ba460f5cc59c7560c3e832017a92547..1e6ed40c49630069b2e0d36f22339fd65ecdddfd 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h
@@ -17,17 +17,17 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-//#include "d_fall_pps/IntWithHeader.h"
-#include "d_fall_pps/SetpointWithHeader.h"
+//#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/SetpointWithHeader.h"
 
 // Include the DFALL service types
-#include "d_fall_pps/GetSetpointService.h"
+#include "dfall_pkg/GetSetpointService.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
 
 // SPECIFY THE PACKAGE NAMESPACE
-//using namespace d_fall_pps;
+//using namespace dfall_pkg;
 
 #else
 // Include the shared definitions
@@ -117,10 +117,10 @@ private:
 
 #ifdef CATKIN_MAKE
     // For receiving message that the setpoint was changed
-    void setpointChangedCallback(const d_fall_pps::SetpointWithHeader& newSetpoint);
+    void setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint);
 
     // Fill the header for a message
-    void fillSetpointMessageHeader( d_fall_pps::SetpointWithHeader & msg );
+    void fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg );
 
     // Get the paramters that specify the type and ID
     bool getTypeAndIDParameters();
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
index 1f81bf8e3de0ceb23e46183d6f10eb1192b5d1c5..6095810ad3622a878abdeb221d2dac034efd3cd2 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
@@ -15,18 +15,18 @@
 #include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
-#include "d_fall_pps/StringWithHeader.h"
+#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/StringWithHeader.h"
 
 // Include the DFALL service types
-// #include "d_fall_pps/AreaBounds.h"
-// #include "d_fall_pps/CrazyflieContext.h"
-// #include "d_fall_pps/CMQuery.h"
+// #include "dfall_pkg/AreaBounds.h"
+// #include "dfall_pkg/CrazyflieContext.h"
+// #include "dfall_pkg/CMQuery.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
 
-// using namespace d_fall_pps;
+// using namespace dfall_pkg;
 
 #else
 // Include the shared definitions
@@ -122,8 +122,8 @@ private:
 
 #ifdef CATKIN_MAKE
     // Fill the header for a message
-    void fillIntMessageHeader( d_fall_pps::IntWithHeader & msg );
-    void fillStringMessageHeader( d_fall_pps::StringWithHeader & msg );
+    void fillIntMessageHeader( dfall_pkg::IntWithHeader & msg );
+    void fillStringMessageHeader( dfall_pkg::StringWithHeader & msg );
 
     // Get the paramters that specify the type and ID
     bool getTypeAndIDParameters();
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h
index 91e68c96c79984b4b79124f55ddb19d76f949129..2f929f1d0a58b1e2d60f96f532a372b48f3a88b7 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h
@@ -51,12 +51,12 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/StringWithHeader.h"
+#include "dfall_pkg/StringWithHeader.h"
 
 #include "nodes/Constants.h"
 
 // Namespacing the package
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 //using namespace std;
 
 #else
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/pickercontrollertab.h b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/pickercontrollertab.h
index 08769c255b77d7157a4c9567cf4bf4014f634ff0..54585fbf4e3292510bba4d84a595709534b2dd6e 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/pickercontrollertab.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/pickercontrollertab.h
@@ -43,19 +43,19 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-//#include "d_fall_pps/IntWithHeader.h"
-#include "d_fall_pps/SetpointWithHeader.h"
-//#include "d_fall_pps/CustomButtonWithHeader.h"
+//#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/SetpointWithHeader.h"
+//#include "dfall_pkg/CustomButtonWithHeader.h"
 
 // Include the DFALL service types
-#include "d_fall_pps/GetSetpointService.h"
+#include "dfall_pkg/GetSetpointService.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
 #include "nodes/PickerControllerConstants.h"
 
 // SPECIFY THE PACKAGE NAMESPACE
-//using namespace d_fall_pps;
+//using namespace dfall_pkg;
 
 #else
 // Include the shared definitions
@@ -282,10 +282,10 @@ private:
 
 #ifdef CATKIN_MAKE
     // For receiving message that the setpoint was changed
-    void setpointChangedCallback(const d_fall_pps::SetpointWithHeader& newSetpoint);
+    void setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint);
 
     // Fill the header for a message
-    void fillSetpointMessageHeader( d_fall_pps::SetpointWithHeader & msg );
+    void fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg );
 
     // Get the paramters that specify the type and ID
     bool getTypeAndIDParameters();
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread_for_flyingAgentGUI.h b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread_for_flyingAgentGUI.h
index 0d881f18a2139b6691ee6803c55a7775145615d9..fc33111527606e25e1586dc3674588e538ef538e 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread_for_flyingAgentGUI.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread_for_flyingAgentGUI.h
@@ -44,15 +44,15 @@
 #include <ros/ros.h>
 #include <ros/network.h>
 
-#include "d_fall_pps/CMRead.h"
-#include "d_fall_pps/CMUpdate.h"
-#include "d_fall_pps/CMCommand.h"
+#include "dfall_pkg/CMRead.h"
+#include "dfall_pkg/CMUpdate.h"
+#include "dfall_pkg/CMCommand.h"
 
-//#include "d_fall_pps/UnlabeledMarker.h"
-//#include "d_fall_pps/CrazyflieData.h"
-//#include "d_fall_pps/ViconData.h"
+//#include "dfall_pkg/UnlabeledMarker.h"
+//#include "dfall_pkg/CrazyflieData.h"
+//#include "dfall_pkg/ViconData.h"
 
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 //typedef ViconData::ConstPtr ptrToMessage;
 
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
index 32825c7ef45187e154b77af062535f51a2399a71..01376a3c14ab1bd30381b5e6aebe67ec1ba270fb 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
@@ -18,18 +18,18 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-//#include "d_fall_pps/IntWithHeader.h"
-#include "d_fall_pps/SetpointWithHeader.h"
-#include "d_fall_pps/CustomButtonWithHeader.h"
+//#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/SetpointWithHeader.h"
+#include "dfall_pkg/CustomButtonWithHeader.h"
 
 // Include the DFALL service types
-#include "d_fall_pps/GetSetpointService.h"
+#include "dfall_pkg/GetSetpointService.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
 
 // SPECIFY THE PACKAGE NAMESPACE
-//using namespace d_fall_pps;
+//using namespace dfall_pkg;
 
 #else
 // Include the shared definitions
@@ -129,14 +129,14 @@ private:
 
 #ifdef CATKIN_MAKE
     // For receiving message that the setpoint was changed
-    void setpointChangedCallback(const d_fall_pps::SetpointWithHeader& newSetpoint);
+    void setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint);
 
     // Publish a message when a custom button is pressed
     void publish_custom_button_command(int button_index , QLineEdit * lineEdit_pointer);
 
     // Fill the header for a message
-    void fillSetpointMessageHeader( d_fall_pps::SetpointWithHeader & msg );
-    void fillCustomButtonMessageHeader( d_fall_pps::CustomButtonWithHeader & msg );
+    void fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg );
+    void fillCustomButtonMessageHeader( dfall_pkg::CustomButtonWithHeader & msg );
 
     // Get the paramters that specify the type and ID
     bool getTypeAndIDParameters();
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h
index a3cd555cd4bdef4187f420dfc004fb1e5e43bd10..b3ff17a94e5c153eb3b4795dc17a1481ab25a9ca 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h
@@ -51,16 +51,16 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
-#include "d_fall_pps/AreaBounds.h"
-#include "d_fall_pps/CrazyflieContext.h"
-#include "d_fall_pps/CMQuery.h"
+#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/AreaBounds.h"
+#include "dfall_pkg/CrazyflieContext.h"
+#include "dfall_pkg/CMQuery.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
 
 // SPECIFY THE PACKAGE NAMESPACE
-//using namespace d_fall_pps;
+//using namespace dfall_pkg;
 
 #endif
 
@@ -127,7 +127,7 @@ private:
     // PRIVATE VARIABLES FOR ROS
 
     // > For the "context" of this agent
-    d_fall_pps::CrazyflieContext my_context;
+    dfall_pkg::CrazyflieContext my_context;
 
     // PUBLISHERS AND SUBSRIBERS
 
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/tuningcontrollertab.h b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/tuningcontrollertab.h
index a5fa7abc2ca3f21e0cf99f10274812a995a9bae7..2e7631650625d1d2ef814f8c97ebeb2406351a5f 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/tuningcontrollertab.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/tuningcontrollertab.h
@@ -18,19 +18,19 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-//#include "d_fall_pps/IntWithHeader.h"
-#include "d_fall_pps/FloatWithHeader.h"
-#include "d_fall_pps/SetpointWithHeader.h"
-#include "d_fall_pps/CustomButtonWithHeader.h"
+//#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/FloatWithHeader.h"
+#include "dfall_pkg/SetpointWithHeader.h"
+#include "dfall_pkg/CustomButtonWithHeader.h"
 
 // Include the DFALL service types
-#include "d_fall_pps/GetSetpointService.h"
+#include "dfall_pkg/GetSetpointService.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
 
 // SPECIFY THE PACKAGE NAMESPACE
-//using namespace d_fall_pps;
+//using namespace dfall_pkg;
 
 #else
 // Include the shared definitions
@@ -146,14 +146,14 @@ private:
 
     #ifdef CATKIN_MAKE
         // For receiving message that the setpoint was changed
-        void setpointChangedCallback(const d_fall_pps::SetpointWithHeader& newSetpoint);
+        void setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint);
 
         // Publish a message when a custom button is pressed
         //void publish_custom_button_command(int button_index , QLineEdit * lineEdit_pointer);
 
         // Fill the header for a message
-        void fillSetpointMessageHeader( d_fall_pps::SetpointWithHeader & msg );
-        void fillFloatMessageHeader( d_fall_pps::FloatWithHeader & msg );
+        void fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg );
+        void fillFloatMessageHeader( dfall_pkg::FloatWithHeader & msg );
 
         // Get the paramters that specify the type and ID
         bool getTypeAndIDParameters();
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
index 217d153c71c38b70508f7b94de4fc8f0f8c4c37b..36498a1f8622728122d920b7ec010bc1edfa5729 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
@@ -106,10 +106,10 @@ ConnectStartStopBar::ConnectStartStopBar(QWidget *parent) :
     // SUBSCRIBERS AND PUBLISHERS:
 
     // > For Crazyradio commands based on button clicks
-    crazyRadioCommandPublisher = base_nodeHandle.advertise<d_fall_pps::IntWithHeader>("PPSClient/crazyRadioCommand", 1);
+    crazyRadioCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("PPSClient/crazyRadioCommand", 1);
 
     // > For Flying state commands based on button clicks
-    flyingStateCommandPublisher = base_nodeHandle.advertise<d_fall_pps::IntWithHeader>("PPSClient/Command", 1);
+    flyingStateCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("PPSClient/Command", 1);
 
     if (m_type == TYPE_AGENT)
     {
@@ -518,7 +518,7 @@ void ConnectStartStopBar::setFlyingState(int new_flying_state)
 void ConnectStartStopBar::on_rf_connect_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
     msg.data = CMD_RECONNECT;
     this->crazyRadioCommandPublisher.publish(msg);
@@ -529,7 +529,7 @@ void ConnectStartStopBar::on_rf_connect_button_clicked()
 void ConnectStartStopBar::on_rf_disconnect_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
     msg.data = CMD_DISCONNECT;
     this->crazyRadioCommandPublisher.publish(msg);
@@ -540,7 +540,7 @@ void ConnectStartStopBar::on_rf_disconnect_button_clicked()
 void ConnectStartStopBar::on_enable_flying_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
     msg.data = CMD_CRAZYFLY_TAKE_OFF;
     this->flyingStateCommandPublisher.publish(msg);
@@ -551,7 +551,7 @@ void ConnectStartStopBar::on_enable_flying_button_clicked()
 void ConnectStartStopBar::on_disable_flying_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
     msg.data = CMD_CRAZYFLY_LAND;
     this->flyingStateCommandPublisher.publish(msg);
@@ -562,7 +562,7 @@ void ConnectStartStopBar::on_disable_flying_button_clicked()
 void ConnectStartStopBar::on_motors_off_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
     msg.data = CMD_CRAZYFLY_MOTORS_OFF;
     this->flyingStateCommandPublisher.publish(msg);
@@ -614,8 +614,8 @@ void ConnectStartStopBar::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
         ros::NodeHandle agent_base_nodeHandle(agent_base_namespace.toStdString());
 
         // > Request the current flying state
-        ros::ServiceClient getCurrentFlyingStateService = agent_base_nodeHandle.serviceClient<d_fall_pps::IntIntService>("PPSClient/getCurrentFlyingState", false);
-        d_fall_pps::IntIntService getFlyingStateCall;
+        ros::ServiceClient getCurrentFlyingStateService = agent_base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("PPSClient/getCurrentFlyingState", false);
+        dfall_pkg::IntIntService getFlyingStateCall;
         getFlyingStateCall.request.data = 0;
         getCurrentFlyingStateService.waitForExistence(ros::Duration(2.0));
         if(getCurrentFlyingStateService.call(getFlyingStateCall))
@@ -628,8 +628,8 @@ void ConnectStartStopBar::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
         }
 
         // > Request the current status of the crazy radio
-        ros::ServiceClient getCurrentCrazyRadioStateService = agent_base_nodeHandle.serviceClient<d_fall_pps::IntIntService>("CrazyRadio/getCurrentCrazyRadioStatus", false);
-        d_fall_pps::IntIntService getCrazyRadioCall;
+        ros::ServiceClient getCurrentCrazyRadioStateService = agent_base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("CrazyRadio/getCurrentCrazyRadioStatus", false);
+        dfall_pkg::IntIntService getCrazyRadioCall;
         getCrazyRadioCall.request.data = 0;
         getCurrentCrazyRadioStateService.waitForExistence(ros::Duration(2.0));
         if(getCurrentCrazyRadioStateService.call(getCrazyRadioCall))
@@ -703,7 +703,7 @@ void ConnectStartStopBar::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
 
 #ifdef CATKIN_MAKE
 // Fill the head for a message
-void ConnectStartStopBar::fillIntMessageHeader( d_fall_pps::IntWithHeader & msg )
+void ConnectStartStopBar::fillIntMessageHeader( dfall_pkg::IntWithHeader & msg )
 {
     switch (m_type)
     {
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
index 8be696ace7185ec9fc2d38ee9da28d2b1dfabc52..ecbb608ef5300d84c883754fd946d89c4b7f7b90 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
@@ -137,11 +137,11 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
     ros::NodeHandle dfall_root_nodeHandle("/dfall");
 
     // > Publisher for the emergency stop button
-    //emergencyStopPublisher = dfall_root_nodeHandle.advertise<d_fall_pps::IntWithHeader>("emergencyStop", 1);
+    //emergencyStopPublisher = dfall_root_nodeHandle.advertise<dfall_pkg::IntWithHeader>("emergencyStop", 1);
 
     // > For changes in the database that defines {agentID,cfID,flying zone} links
     //databaseChangedSubscriber = dfall_root_nodeHandle.subscribe("CentralManagerService/DBChanged", 1, &TopBanner::databaseChangedCallback, this);;
-    centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<d_fall_pps::CMQuery>("CentralManagerService/Query", false);
+    centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<dfall_pkg::CMQuery>("CentralManagerService/Query", false);
 
 
 #endif
@@ -236,7 +236,7 @@ void ControllerTabs::setObjectNameForDisplayingPoseData( QString object_name )
 
         #ifdef CATKIN_MAKE
         // Get also the context
-        d_fall_pps::CMQuery contextCall;
+        dfall_pkg::CMQuery contextCall;
         contextCall.request.studentID = m_ID;
 
         centralManagerDatabaseService.waitForExistence(ros::Duration(-1));
@@ -266,14 +266,14 @@ void ControllerTabs::setObjectNameForDisplayingPoseData( QString object_name )
 #ifdef CATKIN_MAKE
 // > For the controller currently operating, received on
 //   "controllerUsedSubscriber"
-void ControllerTabs::poseDataReceivedCallback(const d_fall_pps::ViconData& viconData)
+void ControllerTabs::poseDataReceivedCallback(const dfall_pkg::ViconData& viconData)
 {
     m_should_search_pose_data_for_object_name_mutex.lock();
     if (m_should_search_pose_data_for_object_name)
     {
-        for(std::vector<d_fall_pps::CrazyflieData>::const_iterator it = viconData.crazyflies.begin(); it != viconData.crazyflies.end(); ++it)
+        for(std::vector<dfall_pkg::CrazyflieData>::const_iterator it = viconData.crazyflies.begin(); it != viconData.crazyflies.end(); ++it)
         {
-            d_fall_pps::CrazyflieData pose_in_global_frame = *it;
+            dfall_pkg::CrazyflieData pose_in_global_frame = *it;
 
             if(pose_in_global_frame.crazyflieName == m_object_name_for_emitting_pose_data)
             {
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
index 3f9eb75c82bd667b4af7cfc8f4b191c80ab4591c..8a1af80be8633b1b3ec66cfe7ab3cbf99d671aaa 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
@@ -107,7 +107,7 @@ CoordinatorRow::CoordinatorRow(QWidget *parent, int agentID) :
     // SUBSCRIBERS AND PUBLISHERS:
 
     // > For Crazyradio commands based on button clicks
-    crazyRadioCommandPublisher = base_nodeHandle.advertise<d_fall_pps::IntWithHeader>("PPSClient/crazyRadioCommand", 1);
+    crazyRadioCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("PPSClient/crazyRadioCommand", 1);
     // > For updating the "rf_status_label" picture
     crazyRadioStatusSubscriber = base_nodeHandle.subscribe("CrazyRadio/CrazyRadioStatus", 1, &CoordinatorRow::crazyRadioStatusCallback, this);
 
@@ -119,24 +119,24 @@ CoordinatorRow::CoordinatorRow(QWidget *parent, int agentID) :
     batteryLevelSubscriber = base_nodeHandle.subscribe("BatteryMonitor/Level", 1, &CoordinatorRow::batteryLevelCallback, this);
 
     // > For Flying state commands based on button clicks
-    flyingStateCommandPublisher = base_nodeHandle.advertise<d_fall_pps::IntWithHeader>("PPSClient/Command", 1);
+    flyingStateCommandPublisher = base_nodeHandle.advertise<dfall_pkg::IntWithHeader>("PPSClient/Command", 1);
     // > For updating the "flying_state_label" picture
     flyingStateSubscriber = base_nodeHandle.subscribe("PPSClient/flyingState", 1, &CoordinatorRow::flyingStateChangedCallback, this);
 
     // > For changes in the database that defines {agentID,cfID,flying zone} links
     databaseChangedSubscriber = dfall_root_nodeHandle.subscribe("CentralManagerService/DBChanged", 1, &CoordinatorRow::databaseChangedCallback, this);;
-    centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<d_fall_pps::CMQuery>("CentralManagerService/Query", false);
+    centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<dfall_pkg::CMQuery>("CentralManagerService/Query", false);
 
     // > For updating the controller that is currently operating
     controllerUsedSubscriber = base_nodeHandle.subscribe("PPSClient/controllerUsed", 1, &CoordinatorRow::controllerUsedChangedCallback, this);
 
     // > For requesting the current flying state,
     //   this is used only for initialising the icon
-    getCurrentFlyingStateService = base_nodeHandle.serviceClient<d_fall_pps::IntIntService>("PPSClient/getCurrentFlyingState", false);
+    getCurrentFlyingStateService = base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("PPSClient/getCurrentFlyingState", false);
 
     // > For requesting the current state of the Crazy Radio,
     //   this is used only for initialising the icon
-    getCurrentCrazyRadioStateService = base_nodeHandle.serviceClient<d_fall_pps::IntIntService>("CrazyRadio/getCurrentCrazyRadioStatus", false);
+    getCurrentCrazyRadioStateService = base_nodeHandle.serviceClient<dfall_pkg::IntIntService>("CrazyRadio/getCurrentCrazyRadioStatus", false);
 
 #endif
 
@@ -604,7 +604,7 @@ void CoordinatorRow::loadCrazyflieContext()
 {
     QString qstr_crazyflie_name = "";
 #ifdef CATKIN_MAKE
-    d_fall_pps::CMQuery contextCall;
+    dfall_pkg::CMQuery contextCall;
     contextCall.request.studentID = m_agentID;
     //ROS_INFO_STREAM("StudentID:" << m_agentID);
 
@@ -645,7 +645,7 @@ void CoordinatorRow::loadCrazyflieContext()
 void CoordinatorRow::getCurrentFlyingState()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntIntService getFlyingStateCall;
+    dfall_pkg::IntIntService getFlyingStateCall;
     getFlyingStateCall.request.data = 0;
     getCurrentFlyingStateService.waitForExistence(ros::Duration(2.0));
     if(getCurrentFlyingStateService.call(getFlyingStateCall))
@@ -665,7 +665,7 @@ void CoordinatorRow::getCurrentFlyingState()
 void CoordinatorRow::getCurrentCrazyRadioState()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntIntService getCrazyRadioCall;
+    dfall_pkg::IntIntService getCrazyRadioCall;
     getCrazyRadioCall.request.data = 0;
     getCurrentCrazyRadioStateService.waitForExistence(ros::Duration(2.0));
     if(getCurrentCrazyRadioStateService.call(getCrazyRadioCall))
@@ -761,7 +761,7 @@ void CoordinatorRow::setControllerEnabled(int new_controller)
 void CoordinatorRow::on_rf_connect_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     msg.shouldCheckForID = false;
     msg.data = CMD_RECONNECT;
     this->crazyRadioCommandPublisher.publish(msg);
@@ -772,7 +772,7 @@ void CoordinatorRow::on_rf_connect_button_clicked()
 void CoordinatorRow::on_rf_disconnect_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     msg.shouldCheckForID = false;
     msg.data = CMD_DISCONNECT;
     this->crazyRadioCommandPublisher.publish(msg);
@@ -783,7 +783,7 @@ void CoordinatorRow::on_rf_disconnect_button_clicked()
 void CoordinatorRow::on_enable_flying_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     msg.shouldCheckForID = false;
     msg.data = CMD_CRAZYFLY_TAKE_OFF;
     this->flyingStateCommandPublisher.publish(msg);
@@ -794,7 +794,7 @@ void CoordinatorRow::on_enable_flying_button_clicked()
 void CoordinatorRow::on_disable_flying_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     msg.shouldCheckForID = false;
     msg.data = CMD_CRAZYFLY_LAND;
     this->flyingStateCommandPublisher.publish(msg);
@@ -805,7 +805,7 @@ void CoordinatorRow::on_disable_flying_button_clicked()
 void CoordinatorRow::on_motors_off_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     msg.shouldCheckForID = false;
     msg.data = CMD_CRAZYFLY_MOTORS_OFF;
     this->flyingStateCommandPublisher.publish(msg);
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
index 697a2fc5ccb5252cdc9734c812c84e1d4edb48b5..f43d15fe39c6fb64f3de1bbeb6ccbeddee6cfc3c 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
@@ -37,7 +37,7 @@ DefaultControllerTab::DefaultControllerTab(QWidget *parent) :
     ros::NodeHandle nodeHandle_for_this_gui(this_namespace);
 
     // CREATE THE REQUEST SETPOINT CHANGE PUBLISHER
-    requestSetpointChangePublisher = nodeHandle_for_this_gui.advertise<d_fall_pps::SetpointWithHeader>("DefaultControllerService/RequestSetpointChange", 1);
+    requestSetpointChangePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::SetpointWithHeader>("DefaultControllerService/RequestSetpointChange", 1);
 
     // SUBSCRIBE TO SETPOINT CHANGES
     // Only if this is an agent GUI
@@ -51,8 +51,8 @@ DefaultControllerTab::DefaultControllerTab(QWidget *parent) :
     if (m_type == TYPE_AGENT)
     {
         // > Request the current setpoint
-        ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<d_fall_pps::GetSetpointService>("DefaultControllerService/GetCurrentSetpoint", false);
-        d_fall_pps::GetSetpointService getSetpointCall;
+        ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::GetSetpointService>("DefaultControllerService/GetCurrentSetpoint", false);
+        dfall_pkg::GetSetpointService getSetpointCall;
         getSetpointCall.request.data = 0;
         getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
         if(getCurrentSetpointServiceClient.call(getSetpointCall))
@@ -192,7 +192,7 @@ void DefaultControllerTab::poseDataUnavailableSlot()
 
 
 #ifdef CATKIN_MAKE
-void DefaultControllerTab::setpointChangedCallback(const d_fall_pps::SetpointWithHeader& newSetpoint)
+void DefaultControllerTab::setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint)
 {
     // INITIALISE A STRING VARIABLE FOR ADDING THE "+"
     QString qstr = "";
@@ -244,7 +244,7 @@ void DefaultControllerTab::publishSetpoint(float x, float y, float z, float yaw)
 {
 #ifdef CATKIN_MAKE
     // Initialise the message as a local variable
-    d_fall_pps::SetpointWithHeader msg;
+    dfall_pkg::SetpointWithHeader msg;
 
     // Fill the header of the message
     fillSetpointMessageHeader( msg );
@@ -338,7 +338,7 @@ void DefaultControllerTab::on_default_setpoint_button_clicked()
     // "buttonID" field set appropriately
 
     // Initialise the message as a local variable
-    d_fall_pps::SetpointWithHeader msg;
+    dfall_pkg::SetpointWithHeader msg;
 
     // Fill the header of the message
     fillSetpointMessageHeader( msg );
@@ -576,8 +576,8 @@ void DefaultControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool
         ros::NodeHandle agent_base_nodeHandle(agent_base_namespace.toStdString());
 
         // > Request the current setpoint
-        ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<d_fall_pps::GetSetpointService>("DefaultControllerService/GetCurrentSetpoint", false);
-        d_fall_pps::GetSetpointService getSetpointCall;
+        ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<dfall_pkg::GetSetpointService>("DefaultControllerService/GetCurrentSetpoint", false);
+        dfall_pkg::GetSetpointService getSetpointCall;
         getSetpointCall.request.data = 0;
         getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
         if(getCurrentSetpointServiceClient.call(getSetpointCall))
@@ -626,7 +626,7 @@ void DefaultControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool
 
 #ifdef CATKIN_MAKE
 // Fill the head for a message
-void DefaultControllerTab::fillSetpointMessageHeader( d_fall_pps::SetpointWithHeader & msg )
+void DefaultControllerTab::fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg )
 {
     switch (m_type)
     {
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
index e3afc90f59fda82311f83264873af37f421f92e2..fa8700c5a14ae25c659212491b0e9b0c8ca98e3c 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
@@ -30,11 +30,11 @@ EnableControllerLoadYamlBar::EnableControllerLoadYamlBar(QWidget *parent) :
     ros::NodeHandle nodeHandle_for_this_gui(this_namespace);
 
     // CREATE THE COMMAND PUBLISHER
-    commandPublisher = nodeHandle_for_this_gui.advertise<d_fall_pps::IntWithHeader>("PPSClient/Command", 1);
+    commandPublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::IntWithHeader>("PPSClient/Command", 1);
 
     // CREATE THE REQUEST LOAD YAML FILE PUBLISHER
     // Get the node handle to this parameter service
-    m_requestLoadYamlFilenamePublisher = nodeHandle_for_this_gui.advertise<d_fall_pps::StringWithHeader>("ParameterService/requestLoadYamlFilename", 1);
+    m_requestLoadYamlFilenamePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::StringWithHeader>("ParameterService/requestLoadYamlFilename", 1);
 #endif
 
 }
@@ -87,7 +87,7 @@ void EnableControllerLoadYamlBar::showHideController_safe_changed()
 void EnableControllerLoadYamlBar::on_enable_safe_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
     msg.data = CMD_USE_SAFE_CONTROLLER;
     this->commandPublisher.publish(msg);
@@ -98,7 +98,7 @@ void EnableControllerLoadYamlBar::on_enable_safe_button_clicked()
 void EnableControllerLoadYamlBar::on_enable_tuning_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
     msg.data = CMD_USE_TUNING_CONTROLLER;
     this->commandPublisher.publish(msg);
@@ -109,7 +109,7 @@ void EnableControllerLoadYamlBar::on_enable_tuning_button_clicked()
 void EnableControllerLoadYamlBar::on_enable_picker_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
     msg.data = CMD_USE_PICKER_CONTROLLER;
     this->commandPublisher.publish(msg);
@@ -120,7 +120,7 @@ void EnableControllerLoadYamlBar::on_enable_picker_button_clicked()
 void EnableControllerLoadYamlBar::on_enable_student_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
     msg.data = CMD_USE_STUDENT_CONTROLLER;
     this->commandPublisher.publish(msg);
@@ -131,7 +131,7 @@ void EnableControllerLoadYamlBar::on_enable_student_button_clicked()
 void EnableControllerLoadYamlBar::on_enable_default_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
     msg.data = CMD_USE_SAFE_CONTROLLER;
     this->commandPublisher.publish(msg);
@@ -153,7 +153,7 @@ void EnableControllerLoadYamlBar::on_load_yaml_tuning_button_clicked()
 {
 #ifdef CATKIN_MAKE
     // Create a local variable for the message
-    d_fall_pps::StringWithHeader yaml_filename_msg;
+    dfall_pkg::StringWithHeader yaml_filename_msg;
     // Set for whom this applies to
     fillStringMessageHeader(yaml_filename_msg);
     // Specify the data
@@ -169,7 +169,7 @@ void EnableControllerLoadYamlBar::on_load_yaml_picker_button_clicked()
 {
 #ifdef CATKIN_MAKE
     // Create a local variable for the message
-    d_fall_pps::StringWithHeader yaml_filename_msg;
+    dfall_pkg::StringWithHeader yaml_filename_msg;
     // Set for whom this applies to
     fillStringMessageHeader(yaml_filename_msg);
     // Specify the data
@@ -185,7 +185,7 @@ void EnableControllerLoadYamlBar::on_load_yaml_student_button_clicked()
 {
 #ifdef CATKIN_MAKE
     // Create a local variable for the message
-    d_fall_pps::StringWithHeader yaml_filename_msg;
+    dfall_pkg::StringWithHeader yaml_filename_msg;
     // Set for whom this applies to
     fillStringMessageHeader(yaml_filename_msg);
     // Specify the data
@@ -201,7 +201,7 @@ void EnableControllerLoadYamlBar::on_load_yaml_default_button_clicked()
 {
     #ifdef CATKIN_MAKE
     // Create a local variable for the message
-    d_fall_pps::StringWithHeader yaml_filename_msg;
+    dfall_pkg::StringWithHeader yaml_filename_msg;
     // Set for whom this applies to
     fillStringMessageHeader(yaml_filename_msg);
     // Specify the data
@@ -263,7 +263,7 @@ void EnableControllerLoadYamlBar::setAgentIDsToCoordinate(QVector<int> agentIDs
 
 #ifdef CATKIN_MAKE
 // Fill the head for a message
-void EnableControllerLoadYamlBar::fillIntMessageHeader( d_fall_pps::IntWithHeader & msg )
+void EnableControllerLoadYamlBar::fillIntMessageHeader( dfall_pkg::IntWithHeader & msg )
 {
     switch (m_type)
     {
@@ -307,7 +307,7 @@ void EnableControllerLoadYamlBar::fillIntMessageHeader( d_fall_pps::IntWithHeade
 
 #ifdef CATKIN_MAKE
 // Fill the head for a message
-void EnableControllerLoadYamlBar::fillStringMessageHeader( d_fall_pps::StringWithHeader & msg )
+void EnableControllerLoadYamlBar::fillStringMessageHeader( dfall_pkg::StringWithHeader & msg )
 {
     switch (m_type)
     {
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/pickercontrollertab.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/pickercontrollertab.cpp
index c59fed6fce5aa5f0e2b472a770e7eaea58ab7475..455a77b46695346f51cc99290f1bfc6af2ea09a8 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/pickercontrollertab.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/pickercontrollertab.cpp
@@ -112,7 +112,7 @@ PickerControllerTab::PickerControllerTab(QWidget *parent) :
     ros::NodeHandle nodeHandle_for_this_gui(this_namespace);
 
     // CREATE THE REQUEST SETPOINT CHANGE PUBLISHER
-    requestSetpointChangePublisher = nodeHandle_for_this_gui.advertise<d_fall_pps::SetpointWithHeader>("PickerControllerService/RequestSetpointChange", 1);
+    requestSetpointChangePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::SetpointWithHeader>("PickerControllerService/RequestSetpointChange", 1);
 
     // SUBSCRIBE TO SETPOINT CHANGES
     // Only if this is an agent GUI
@@ -126,8 +126,8 @@ PickerControllerTab::PickerControllerTab(QWidget *parent) :
     if (m_type == TYPE_AGENT)
     {
         // > Request the current setpoint
-        ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<d_fall_pps::GetSetpointService>("PickerControllerService/GetCurrentSetpoint", false);
-        d_fall_pps::GetSetpointService getSetpointCall;
+        ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::GetSetpointService>("PickerControllerService/GetCurrentSetpoint", false);
+        dfall_pkg::GetSetpointService getSetpointCall;
         getSetpointCall.request.data = 0;
         getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
         if(getCurrentSetpointServiceClient.call(getSetpointCall))
@@ -280,7 +280,7 @@ void PickerControllerTab::publish_request_setpoint_change_for_state(int state_to
     // Publish a ROS message with the setpoint to be requested
 #ifdef CATKIN_MAKE
     // Initialise the message as a local variable
-    d_fall_pps::SetpointWithHeader msg;
+    dfall_pkg::SetpointWithHeader msg;
 
     // Fill the header of the message
     fillSetpointMessageHeader( msg );
@@ -335,7 +335,7 @@ void PickerControllerTab::publish_request_setpoint_change_for_state(int state_to
 
 
 #ifdef CATKIN_MAKE
-void PickerControllerTab::setpointChangedCallback(const d_fall_pps::SetpointWithHeader& newSetpoint)
+void PickerControllerTab::setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint)
 {
     // INITIALISE A STRING VARIABLE FOR ADDING THE "+"
     QString qstr = "";
@@ -1790,8 +1790,8 @@ void PickerControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
         ros::NodeHandle agent_base_nodeHandle(agent_base_namespace.toStdString());
 
         // // > Request the current setpoint
-        ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<d_fall_pps::GetSetpointService>("PickerControllerService/GetCurrentSetpoint", false);
-        d_fall_pps::GetSetpointService getSetpointCall;
+        ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<dfall_pkg::GetSetpointService>("PickerControllerService/GetCurrentSetpoint", false);
+        dfall_pkg::GetSetpointService getSetpointCall;
         getSetpointCall.request.data = 0;
         getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
         if(getCurrentSetpointServiceClient.call(getSetpointCall))
@@ -1841,7 +1841,7 @@ void PickerControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
 
 #ifdef CATKIN_MAKE
 // Fill the header for a message
-void PickerControllerTab::fillSetpointMessageHeader( d_fall_pps::SetpointWithHeader & msg )
+void PickerControllerTab::fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg )
 {
     switch (m_type)
     {
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread_for_flyingAgentGUI.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread_for_flyingAgentGUI.cpp
index 63d73e661bc90c41a6090ed106e9292b1b1c8ae3..5072e14e5ec0ca29ff4fdefaababb157aa6f2010 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread_for_flyingAgentGUI.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread_for_flyingAgentGUI.cpp
@@ -32,11 +32,11 @@
 
 #include "rosNodeThread_for_flyingAgentGUI.h"
 
-// #include "d_fall_pps/CMRead.h"
-// #include "d_fall_pps/CMUpdate.h"
-// #include "d_fall_pps/CMCommand.h"
+// #include "dfall_pkg/CMRead.h"
+// #include "dfall_pkg/CMUpdate.h"
+// #include "dfall_pkg/CMCommand.h"
 
-// using namespace d_fall_pps;
+// using namespace dfall_pkg;
 
 
 rosNodeThread::rosNodeThread(int argc, char** pArgv, const char * node_name,  QObject* parent)
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
index efc5d9993f69ae3d8131f79f94c92b76c973e056..c7547f9d6331a75ae6d16362688be01fd8c1240d 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
@@ -37,7 +37,7 @@ StudentControllerTab::StudentControllerTab(QWidget *parent) :
     ros::NodeHandle nodeHandle_for_this_gui(this_namespace);
 
     // CREATE THE REQUEST SETPOINT CHANGE PUBLISHER
-    requestSetpointChangePublisher = nodeHandle_for_this_gui.advertise<d_fall_pps::SetpointWithHeader>("StudentControllerService/RequestSetpointChange", 1);
+    requestSetpointChangePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::SetpointWithHeader>("StudentControllerService/RequestSetpointChange", 1);
 
     // SUBSCRIBE TO SETPOINT CHANGES
     // Only if this is an agent GUI
@@ -47,15 +47,15 @@ StudentControllerTab::StudentControllerTab(QWidget *parent) :
     }
 
     // CREATE THE CUSTOM BUTTON PRESSED PUBLISHER
-    customButtonPublisher = nodeHandle_for_this_gui.advertise<d_fall_pps::CustomButtonWithHeader>("StudentControllerService/CustomButtonPressed", 1);
+    customButtonPublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::CustomButtonWithHeader>("StudentControllerService/CustomButtonPressed", 1);
 
     // GET THE CURRENT SETPOINT
     // Only if this is an agent GUI
     if (m_type == TYPE_AGENT)
     {
         // > Request the current setpoint
-        ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<d_fall_pps::GetSetpointService>("StudentControllerService/GetCurrentSetpoint", false);
-        d_fall_pps::GetSetpointService getSetpointCall;
+        ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::GetSetpointService>("StudentControllerService/GetCurrentSetpoint", false);
+        dfall_pkg::GetSetpointService getSetpointCall;
         getSetpointCall.request.data = 0;
         getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
         if(getCurrentSetpointServiceClient.call(getSetpointCall))
@@ -101,7 +101,7 @@ StudentControllerTab::~StudentControllerTab()
 void StudentControllerTab::publish_custom_button_command(int button_index , QLineEdit * lineEdit_pointer)
 {
     // Initialise the message as a local variable
-    d_fall_pps::CustomButtonWithHeader msg;
+    dfall_pkg::CustomButtonWithHeader msg;
     // Fill the header of the message
     fillCustomButtonMessageHeader( msg );
     // Fill in the button index
@@ -274,7 +274,7 @@ void StudentControllerTab::poseDataUnavailableSlot()
 
 
 #ifdef CATKIN_MAKE
-void StudentControllerTab::setpointChangedCallback(const d_fall_pps::SetpointWithHeader& newSetpoint)
+void StudentControllerTab::setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint)
 {
     // INITIALISE A STRING VARIABLE FOR ADDING THE "+"
     QString qstr = "";
@@ -326,7 +326,7 @@ void StudentControllerTab::publishSetpoint(float x, float y, float z, float yaw)
 {
 #ifdef CATKIN_MAKE
     // Initialise the message as a local variable
-    d_fall_pps::SetpointWithHeader msg;
+    dfall_pkg::SetpointWithHeader msg;
 
     // Fill the header of the message
     fillSetpointMessageHeader( msg );
@@ -420,7 +420,7 @@ void StudentControllerTab::on_default_setpoint_button_clicked()
     // "buttonID" field set appropriately
 
     // Initialise the message as a local variable
-    d_fall_pps::SetpointWithHeader msg;
+    dfall_pkg::SetpointWithHeader msg;
 
     // Fill the header of the message
     fillSetpointMessageHeader( msg );
@@ -685,8 +685,8 @@ void StudentControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool
         ros::NodeHandle agent_base_nodeHandle(agent_base_namespace.toStdString());
 
         // // > Request the current setpoint
-        ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<d_fall_pps::GetSetpointService>("StudentControllerService/GetCurrentSetpoint", false);
-        d_fall_pps::GetSetpointService getSetpointCall;
+        ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<dfall_pkg::GetSetpointService>("StudentControllerService/GetCurrentSetpoint", false);
+        dfall_pkg::GetSetpointService getSetpointCall;
         getSetpointCall.request.data = 0;
         getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
         if(getCurrentSetpointServiceClient.call(getSetpointCall))
@@ -735,7 +735,7 @@ void StudentControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool
 
 #ifdef CATKIN_MAKE
 // Fill the header for a message
-void StudentControllerTab::fillSetpointMessageHeader( d_fall_pps::SetpointWithHeader & msg )
+void StudentControllerTab::fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg )
 {
     switch (m_type)
     {
@@ -777,7 +777,7 @@ void StudentControllerTab::fillSetpointMessageHeader( d_fall_pps::SetpointWithHe
 
 #ifdef CATKIN_MAKE
 // Fill the header for a message
-void StudentControllerTab::fillCustomButtonMessageHeader( d_fall_pps::CustomButtonWithHeader & msg )
+void StudentControllerTab::fillCustomButtonMessageHeader( dfall_pkg::CustomButtonWithHeader & msg )
 {
     switch (m_type)
     {
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
index 1c8f5232501cab960daea204ccd95da4d0ffa888..fb7311811a8ad0ad82b69b622c7f9ac2979f3d0c 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
@@ -93,11 +93,11 @@ TopBanner::TopBanner(QWidget *parent) :
     ros::NodeHandle dfall_root_nodeHandle("/dfall");
 
     // > Publisher for the emergency stop button
-    emergencyStopPublisher = dfall_root_nodeHandle.advertise<d_fall_pps::IntWithHeader>("emergencyStop", 1);
+    emergencyStopPublisher = dfall_root_nodeHandle.advertise<dfall_pkg::IntWithHeader>("emergencyStop", 1);
 
 	// > For changes in the database that defines {agentID,cfID,flying zone} links
 	databaseChangedSubscriber = dfall_root_nodeHandle.subscribe("CentralManagerService/DBChanged", 1, &TopBanner::databaseChangedCallback, this);;
-	centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<d_fall_pps::CMQuery>("CentralManagerService/Query", false);
+	centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<dfall_pkg::CMQuery>("CentralManagerService/Query", false);
 #endif
 
 
@@ -170,7 +170,7 @@ void TopBanner::loadCrazyflieContext(int ID_to_request_from_database , int emit_
     QString qstr_crazyflie_name = "";
 
 #ifdef CATKIN_MAKE
-	d_fall_pps::CMQuery contextCall;
+	dfall_pkg::CMQuery contextCall;
 	contextCall.request.studentID = ID_to_request_from_database;
 	//ROS_INFO_STREAM("StudentID:" << m_agentID);
 
@@ -248,7 +248,7 @@ void TopBanner::loadCrazyflieContext(int ID_to_request_from_database , int emit_
 void TopBanner::on_emergency_stop_button_clicked()
 {
 #ifdef CATKIN_MAKE
-    d_fall_pps::IntWithHeader msg;
+    dfall_pkg::IntWithHeader msg;
     msg.shouldCheckForID = false;
     msg.data = CMD_CRAZYFLY_MOTORS_OFF;
     this->emergencyStopPublisher.publish(msg);
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp
index 24ea87a35b4faed13df930563f899bc5b244f2ee..afcfb9702e6149eae92f2c0b3d7d07d928ef777d 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp
@@ -43,7 +43,7 @@ TuningControllerTab::TuningControllerTab(QWidget *parent) :
     ros::NodeHandle nodeHandle_for_this_gui(this_namespace);
 
     // CREATE THE REQUEST SETPOINT CHANGE PUBLISHER
-    requestSetpointChangePublisher = nodeHandle_for_this_gui.advertise<d_fall_pps::SetpointWithHeader>("TuningControllerService/RequestSetpointChange", 1);
+    requestSetpointChangePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::SetpointWithHeader>("TuningControllerService/RequestSetpointChange", 1);
 
     // SUBSCRIBE TO SETPOINT CHANGES
     // Only if this is an agent GUI
@@ -54,18 +54,18 @@ TuningControllerTab::TuningControllerTab(QWidget *parent) :
 
 
     // CREATE THE NEW GAIN PUBLISHER
-    requestNewGainChangePublisher = nodeHandle_for_this_gui.advertise<d_fall_pps::FloatWithHeader>("TuningControllerService/RequestGainChange", 1);
+    requestNewGainChangePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::FloatWithHeader>("TuningControllerService/RequestGainChange", 1);
 
     // CREATE THE CUSTOM BUTTON PRESSED PUBLISHER
-    //customButtonPublisher = nodeHandle_for_this_gui.advertise<d_fall_pps::CustomButtonWithHeader>("TuningControllerService/CustomButtonPressed", 1);
+    //customButtonPublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::CustomButtonWithHeader>("TuningControllerService/CustomButtonPressed", 1);
 
     // GET THE CURRENT SETPOINT
     // Only if this is an agent GUI
     if (m_type == TYPE_AGENT)
     {
 //        // > Request the current setpoint
-//        ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<d_fall_pps::GetSetpointService>("TuningControllerService/GetCurrentSetpoint", false);
-//        d_fall_pps::GetSetpointService getSetpointCall;
+//        ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::GetSetpointService>("TuningControllerService/GetCurrentSetpoint", false);
+//        dfall_pkg::GetSetpointService getSetpointCall;
 //        getSetpointCall.request.data = 0;
 //        getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
 //        if(getCurrentSetpointServiceClient.call(getSetpointCall))
@@ -202,7 +202,7 @@ void TuningControllerTab::poseDataUnavailableSlot()
 
 
 #ifdef CATKIN_MAKE
-void TuningControllerTab::setpointChangedCallback(const d_fall_pps::SetpointWithHeader& newSetpoint)
+void TuningControllerTab::setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint)
 {
 //    // INITIALISE A STRING VARIABLE FOR ADDING THE "+"
 //    QString qstr = "";
@@ -254,7 +254,7 @@ void TuningControllerTab::publishSetpoint(float x, float y, float z, float yaw)
 {
 #ifdef CATKIN_MAKE
     // Initialise the message as a local variable
-    d_fall_pps::SetpointWithHeader msg;
+    dfall_pkg::SetpointWithHeader msg;
 
     // Fill the header of the message
     fillSetpointMessageHeader( msg );
@@ -347,7 +347,7 @@ void TuningControllerTab::publishGain(float new_gain)
 {
 #ifdef CATKIN_MAKE
     // Initialise the message as a local variable
-    d_fall_pps::FloatWithHeader msg;
+    dfall_pkg::FloatWithHeader msg;
 
     // Fill the header of the message
     fillFloatMessageHeader( msg );
@@ -439,8 +439,8 @@ void TuningControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
 //        ros::NodeHandle agent_base_nodeHandle(agent_base_namespace.toStdString());
 
 //        // // > Request the current setpoint
-//        ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<d_fall_pps::GetSetpointService>("TuningControllerService/GetCurrentSetpoint", false);
-//        d_fall_pps::GetSetpointService getSetpointCall;
+//        ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<dfall_pkg::GetSetpointService>("TuningControllerService/GetCurrentSetpoint", false);
+//        dfall_pkg::GetSetpointService getSetpointCall;
 //        getSetpointCall.request.data = 0;
 //        getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
 //        if(getCurrentSetpointServiceClient.call(getSetpointCall))
@@ -489,7 +489,7 @@ void TuningControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool s
 
 #ifdef CATKIN_MAKE
 // Fill the header for a message
-void TuningControllerTab::fillSetpointMessageHeader( d_fall_pps::SetpointWithHeader & msg )
+void TuningControllerTab::fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg )
 {
     switch (m_type)
     {
@@ -531,7 +531,7 @@ void TuningControllerTab::fillSetpointMessageHeader( d_fall_pps::SetpointWithHea
 
 #ifdef CATKIN_MAKE
 // Fill the header for a message
-void TuningControllerTab::fillFloatMessageHeader( d_fall_pps::FloatWithHeader & msg )
+void TuningControllerTab::fillFloatMessageHeader( dfall_pkg::FloatWithHeader & msg )
 {
     switch (m_type)
     {
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h b/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
index 48d6bda3aa802985938d78d4121a880e5d842dd5..608102b24cb78d631cab812c5442fe0c4381b6a2 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
@@ -41,11 +41,11 @@
 
 #include "rosNodeThread_for_studentGUI.h"
 
-#include "d_fall_pps/CrazyflieContext.h"
-#include "d_fall_pps/CrazyflieData.h"
-#include "d_fall_pps/Setpoint.h"
-#include "d_fall_pps/SetpointV2.h"
-#include "d_fall_pps/ViconSubscribeObjectName.h"
+#include "dfall_pkg/CrazyflieContext.h"
+#include "dfall_pkg/CrazyflieData.h"
+#include "dfall_pkg/Setpoint.h"
+#include "dfall_pkg/SetpointV2.h"
+#include "dfall_pkg/ViconSubscribeObjectName.h"
 
 
 // Types of controllers being used:
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/rosNodeThread_for_studentGUI.h b/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/rosNodeThread_for_studentGUI.h
index a7bb587441ceec81540e4b34c5ed4f0cf94d7aea..823094a003a42ed910fdc0e877a75a875a99111c 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/rosNodeThread_for_studentGUI.h
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/rosNodeThread_for_studentGUI.h
@@ -43,11 +43,11 @@
 
 #include <ros/ros.h>
 #include <ros/network.h>
-#include "d_fall_pps/UnlabeledMarker.h"
-#include "d_fall_pps/CrazyflieData.h"
-#include "d_fall_pps/ViconData.h"
+#include "dfall_pkg/UnlabeledMarker.h"
+#include "dfall_pkg/CrazyflieData.h"
+#include "dfall_pkg/ViconData.h"
 
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 typedef ViconData::ConstPtr ptrToMessage;
 
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index ce661742656d78e579c419e42cba24bc752d4931..aed81191d7c8bbdc23d5dcc936f7a4ddce9a482e 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -38,11 +38,11 @@
 #include <ros/network.h>
 #include <ros/package.h>
 
-#include "d_fall_pps/CMQuery.h"
+#include "dfall_pkg/CMQuery.h"
 
-#include "d_fall_pps/ViconData.h"
+#include "dfall_pkg/ViconData.h"
 
-#include "d_fall_pps/CustomButton.h"
+#include "dfall_pkg/CustomButton.h"
 
 MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
     QMainWindow(parent),
diff --git a/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread_for_studentGUI.cpp b/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread_for_studentGUI.cpp
index ce716b2d68d6591def161b4df756b544981c3002..ed87c8895c2fb212f82a5bd1cfdc01ac770596d2 100644
--- a/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread_for_studentGUI.cpp
+++ b/dfall_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread_for_studentGUI.cpp
@@ -32,9 +32,9 @@
 
 #include "rosNodeThread_for_studentGUI.h"
 
-#include "d_fall_pps/CMRead.h"
-#include "d_fall_pps/CMUpdate.h"
-#include "d_fall_pps/CMCommand.h"
+#include "dfall_pkg/CMRead.h"
+#include "dfall_pkg/CMUpdate.h"
+#include "dfall_pkg/CMCommand.h"
 
 
 rosNodeThread::rosNodeThread(int argc, char** pArgv, const char * node_name, QObject* parent)
diff --git a/dfall_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/dfall_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index 2a66010a44aa9bf436956ffaa0a95828edf2d3e3..3746f705513b51913a134c9691b4b19541544f78 100755
--- a/dfall_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/dfall_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
@@ -33,12 +33,12 @@
 #    ----------------------------------------------------------------------------------
 
 
-import roslib; roslib.load_manifest('d_fall_pps')
+import roslib; roslib.load_manifest('dfall_pkg')
 import rospy
 from std_msgs.msg import Int32
-from d_fall_pps.msg import ControlCommand
-from d_fall_pps.msg import IntWithHeader
-from d_fall_pps.srv import IntIntService
+from dfall_pkg.msg import ControlCommand
+from dfall_pkg.msg import IntWithHeader
+from dfall_pkg.srv import IntIntService
 
 
 # General import
@@ -101,7 +101,7 @@ CMD_CRAZYFLY_LAND =         12
 CMD_CRAZYFLY_MOTORS_OFF =   13
 
 rp = RosPack()
-record_file = rp.get_path('d_fall_pps') + '/LoggingOnboard.bag'
+record_file = rp.get_path('dfall_pkg') + '/LoggingOnboard.bag'
 rospy.loginfo('afdsasdfasdfsadfasdfasdfasdfasdfasdfasdf')
 rospy.loginfo(record_file)
 bag = rosbag.Bag(record_file, 'w')
diff --git a/dfall_ws/src/d_fall_pps/crazyradio/TestCF.py b/dfall_ws/src/d_fall_pps/crazyradio/TestCF.py
index c5fa4f44fad954a0c86f728de59046aade762bd3..5cc25317b865e3c75e1f842719cad861f2b81d09 100755
--- a/dfall_ws/src/d_fall_pps/crazyradio/TestCF.py
+++ b/dfall_ws/src/d_fall_pps/crazyradio/TestCF.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
-# import roslib; roslib.load_manifest('d_fall_pps')
+# import roslib; roslib.load_manifest('dfall_pkg')
 # import rospy
-# from d_fall_pps.msg import ControlCommand
+# from dfall_pkg.msg import ControlCommand
 # from std_msgs.msg import Int32
 
 
@@ -62,7 +62,7 @@ CMD_CRAZYFLY_LAND =         4
 CMD_CRAZYFLY_MOTORS_OFF =   5
 
 # rp = RosPack()
-# record_file = rp.get_path('d_fall_pps') + '/LoggingOnboard.bag'
+# record_file = rp.get_path('dfall_pkg') + '/LoggingOnboard.bag'
 # rospy.loginfo('afdsasdfasdfsadfasdfasdfasdfasdfasdfasdf')
 # rospy.loginfo(record_file)
 # bag = rosbag.Bag(record_file, 'w')
diff --git a/dfall_ws/src/d_fall_pps/include/classes/GetParamtersAndNamespaces.h b/dfall_ws/src/d_fall_pps/include/classes/GetParamtersAndNamespaces.h
index f92f393de1ae9e6fdfb1d3d22184c45e258fd1b9..f61481cf6d4e05105c552cae6184564d028a052e 100644
--- a/dfall_ws/src/d_fall_pps/include/classes/GetParamtersAndNamespaces.h
+++ b/dfall_ws/src/d_fall_pps/include/classes/GetParamtersAndNamespaces.h
@@ -55,13 +55,13 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
+#include "dfall_pkg/IntWithHeader.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
 
 // SPECIFY THE PACKAGE NAMESPACE
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 //using namespace std;
 
 
diff --git a/dfall_ws/src/d_fall_pps/include/nodes/BatteryMonitor.h b/dfall_ws/src/d_fall_pps/include/nodes/BatteryMonitor.h
index 9d576b5b79c1c8e301f4f9bde0a6ee9e17b9d633..43f3740b677074fd8d9fd81acec9fd3eb62e8987 100644
--- a/dfall_ws/src/d_fall_pps/include/nodes/BatteryMonitor.h
+++ b/dfall_ws/src/d_fall_pps/include/nodes/BatteryMonitor.h
@@ -55,14 +55,14 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
+#include "dfall_pkg/IntWithHeader.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
 #include "classes/GetParamtersAndNamespaces.h"
 
 // SPECIFY THE PACKAGE NAMESPACE
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 //using namespace std;
 
 
diff --git a/dfall_ws/src/d_fall_pps/include/nodes/CentralManagerService.h b/dfall_ws/src/d_fall_pps/include/nodes/CentralManagerService.h
index db93514fa18e3330e7be65f2a633af1598101e77..0c02248e21b60942416214bde97dd9a224c5c3f9 100644
--- a/dfall_ws/src/d_fall_pps/include/nodes/CentralManagerService.h
+++ b/dfall_ws/src/d_fall_pps/include/nodes/CentralManagerService.h
@@ -50,14 +50,14 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/CrazyflieContext.h"
-#include "d_fall_pps/CrazyflieDB.h"
+#include "dfall_pkg/CrazyflieContext.h"
+#include "dfall_pkg/CrazyflieDB.h"
 
 // Include the DFALL service types
-#include "d_fall_pps/CMRead.h"
-#include "d_fall_pps/CMQuery.h"
-#include "d_fall_pps/CMUpdate.h"
-#include "d_fall_pps/CMCommand.h"
+#include "dfall_pkg/CMRead.h"
+#include "dfall_pkg/CMQuery.h"
+#include "dfall_pkg/CMUpdate.h"
+#include "dfall_pkg/CMCommand.h"
 
 // Include other classes
 #include "CrazyflieIO.h"
@@ -95,7 +95,7 @@
 #define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR    4
 
 
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 using namespace std;
 
 
diff --git a/dfall_ws/src/d_fall_pps/include/nodes/CrazyflieIO.h b/dfall_ws/src/d_fall_pps/include/nodes/CrazyflieIO.h
index fa4e25738fdea1f25235730d9e0855ef33480248..d28f56569d1a19ecbea51b385cb969d108f484f2 100644
--- a/dfall_ws/src/d_fall_pps/include/nodes/CrazyflieIO.h
+++ b/dfall_ws/src/d_fall_pps/include/nodes/CrazyflieIO.h
@@ -30,9 +30,9 @@
 //    ----------------------------------------------------------------------------------
 
 
-#include "d_fall_pps/CrazyflieDB.h"
+#include "dfall_pkg/CrazyflieDB.h"
 
-namespace d_fall_pps {
+namespace dfall_pkg {
 
 void readCrazyflieDB(CrazyflieDB& cfdb);
 
diff --git a/dfall_ws/src/d_fall_pps/include/nodes/DefaultControllerService.h b/dfall_ws/src/d_fall_pps/include/nodes/DefaultControllerService.h
index 612f266d41634d4ebf081734444d73ec6197d546..23450feb3dc41d649679b38c466309f5c25f007c 100644
--- a/dfall_ws/src/d_fall_pps/include/nodes/DefaultControllerService.h
+++ b/dfall_ws/src/d_fall_pps/include/nodes/DefaultControllerService.h
@@ -56,19 +56,19 @@
 #include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
-//#include "d_fall_pps/StringWithHeader.h"
-#include "d_fall_pps/SetpointWithHeader.h"
-#include "d_fall_pps/CustomButtonWithHeader.h"
-#include "d_fall_pps/ViconData.h"
-#include "d_fall_pps/Setpoint.h"
-#include "d_fall_pps/ControlCommand.h"
-#include "d_fall_pps/Controller.h"
-#include "d_fall_pps/DebugMsg.h"
+#include "dfall_pkg/IntWithHeader.h"
+//#include "dfall_pkg/StringWithHeader.h"
+#include "dfall_pkg/SetpointWithHeader.h"
+#include "dfall_pkg/CustomButtonWithHeader.h"
+#include "dfall_pkg/ViconData.h"
+#include "dfall_pkg/Setpoint.h"
+#include "dfall_pkg/ControlCommand.h"
+#include "dfall_pkg/Controller.h"
+#include "dfall_pkg/DebugMsg.h"
 
 // Include the DFALL service types
-#include "d_fall_pps/LoadYamlFromFilename.h"
-#include "d_fall_pps/GetSetpointService.h"
+#include "dfall_pkg/LoadYamlFromFilename.h"
+#include "dfall_pkg/GetSetpointService.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
@@ -84,7 +84,7 @@
 
 
 // Namespacing the package
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 
 
diff --git a/dfall_ws/src/d_fall_pps/include/nodes/DemoControllerService.h b/dfall_ws/src/d_fall_pps/include/nodes/DemoControllerService.h
index e82252a98b83dde717b083de4355e85e09f6c4f2..111c7e4722b7253a962047a78d08a677233de335 100644
--- a/dfall_ws/src/d_fall_pps/include/nodes/DemoControllerService.h
+++ b/dfall_ws/src/d_fall_pps/include/nodes/DemoControllerService.h
@@ -56,14 +56,14 @@
 #include <std_msgs/String.h>
 
 //the generated structs from the msg-files have to be included
-#include "d_fall_pps/IntWithHeader.h"
-#include "d_fall_pps/StringWithHeader.h"
-#include "d_fall_pps/ViconData.h"
-#include "d_fall_pps/Setpoint.h"
-#include "d_fall_pps/ControlCommand.h"
-#include "d_fall_pps/Controller.h"
-#include "d_fall_pps/DebugMsg.h"
-#include "d_fall_pps/CustomButton.h"
+#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/StringWithHeader.h"
+#include "dfall_pkg/ViconData.h"
+#include "dfall_pkg/Setpoint.h"
+#include "dfall_pkg/ControlCommand.h"
+#include "dfall_pkg/Controller.h"
+#include "dfall_pkg/DebugMsg.h"
+#include "dfall_pkg/CustomButton.h"
 
 // Include the Parameter Service shared definitions
 #include "nodes/Constants.h"
@@ -79,7 +79,7 @@
 
 
 // Namespacing the package
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 
 
diff --git a/dfall_ws/src/d_fall_pps/include/nodes/PPSClient.h b/dfall_ws/src/d_fall_pps/include/nodes/PPSClient.h
index 7efa2a65d069780d659e3e2f05df10da853fc162..d39549bc3bc4b320137a17f7316bcb8c1f313aef 100644
--- a/dfall_ws/src/d_fall_pps/include/nodes/PPSClient.h
+++ b/dfall_ws/src/d_fall_pps/include/nodes/PPSClient.h
@@ -52,17 +52,17 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
-#include "d_fall_pps/ViconData.h"
-#include "d_fall_pps/CrazyflieData.h"
-#include "d_fall_pps/ControlCommand.h"
-#include "d_fall_pps/CrazyflieContext.h"
-#include "d_fall_pps/Setpoint.h"
+#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/ViconData.h"
+#include "dfall_pkg/CrazyflieData.h"
+#include "dfall_pkg/ControlCommand.h"
+#include "dfall_pkg/CrazyflieContext.h"
+#include "dfall_pkg/Setpoint.h"
 
 // Include the DFALL service types
-#include "d_fall_pps/Controller.h"
-#include "d_fall_pps/CMQuery.h"
-#include "d_fall_pps/IntIntService.h"
+#include "dfall_pkg/Controller.h"
+#include "dfall_pkg/CMQuery.h"
+#include "dfall_pkg/IntIntService.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
@@ -78,7 +78,7 @@
 
 
 // Namespacing the package
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 
 
diff --git a/dfall_ws/src/d_fall_pps/include/nodes/ParameterService.h b/dfall_ws/src/d_fall_pps/include/nodes/ParameterService.h
index 75d5172928d0792a955debcbc01809dd8b22da0e..92dda4e36446ca6b2cce3e37c63997c14b3d1030 100644
--- a/dfall_ws/src/d_fall_pps/include/nodes/ParameterService.h
+++ b/dfall_ws/src/d_fall_pps/include/nodes/ParameterService.h
@@ -54,12 +54,12 @@
 #include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
-//#include "d_fall_pps/FloatWithHeader.h"
-#include "d_fall_pps/StringWithHeader.h"
+#include "dfall_pkg/IntWithHeader.h"
+//#include "dfall_pkg/FloatWithHeader.h"
+#include "dfall_pkg/StringWithHeader.h"
 
 // Include the DFALL service types
-#include "d_fall_pps/LoadYamlFromFilename.h"
+#include "dfall_pkg/LoadYamlFromFilename.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
@@ -80,7 +80,7 @@
 
 
 // Namespacing the package
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 //using namespace std;
 
 
diff --git a/dfall_ws/src/d_fall_pps/include/nodes/PickerControllerService.h b/dfall_ws/src/d_fall_pps/include/nodes/PickerControllerService.h
index 67173f964f8d2bb982d62217f4b15b57e38d7eb7..e7cfd58ffc7ed9d57621bf7c01fd7048910fd8da 100644
--- a/dfall_ws/src/d_fall_pps/include/nodes/PickerControllerService.h
+++ b/dfall_ws/src/d_fall_pps/include/nodes/PickerControllerService.h
@@ -56,24 +56,24 @@
 #include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
-//#include "d_fall_pps/StringWithHeader.h"
-#include "d_fall_pps/SetpointWithHeader.h"
-//#include "d_fall_pps/CustomButtonWithHeader.h"
-#include "d_fall_pps/ViconData.h"
-//#include "d_fall_pps/ControlCommand.h"
-#include "d_fall_pps/Controller.h"
-#include "d_fall_pps/DebugMsg.h"
+#include "dfall_pkg/IntWithHeader.h"
+//#include "dfall_pkg/StringWithHeader.h"
+#include "dfall_pkg/SetpointWithHeader.h"
+//#include "dfall_pkg/CustomButtonWithHeader.h"
+#include "dfall_pkg/ViconData.h"
+//#include "dfall_pkg/ControlCommand.h"
+#include "dfall_pkg/Controller.h"
+#include "dfall_pkg/DebugMsg.h"
 
 //the generated structs from the msg-files have to be included
-// #include "d_fall_pps/Setpoint.h"
-// #include "d_fall_pps/SetpointV2.h"
-// #include "d_fall_pps/ControlCommand.h"
-// #include "d_fall_pps/CustomButton.h"
+// #include "dfall_pkg/Setpoint.h"
+// #include "dfall_pkg/SetpointV2.h"
+// #include "dfall_pkg/ControlCommand.h"
+// #include "dfall_pkg/CustomButton.h"
 
 // Include the DFALL service types
-#include "d_fall_pps/LoadYamlFromFilename.h"
-#include "d_fall_pps/GetSetpointService.h"
+#include "dfall_pkg/LoadYamlFromFilename.h"
+#include "dfall_pkg/GetSetpointService.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
@@ -90,7 +90,7 @@
 
 
 // Namespacing the package
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 
 
diff --git a/dfall_ws/src/d_fall_pps/include/nodes/RemoteControllerService.h b/dfall_ws/src/d_fall_pps/include/nodes/RemoteControllerService.h
index 8e9f783cb4907327e0643262d157bf66db6d645f..968f78ec66df2c2b79f45ac7d4a8d86749aeab37 100644
--- a/dfall_ws/src/d_fall_pps/include/nodes/RemoteControllerService.h
+++ b/dfall_ws/src/d_fall_pps/include/nodes/RemoteControllerService.h
@@ -56,13 +56,13 @@
 #include <ros/package.h>
 
 //the generated structs from the msg-files have to be included
-#include "d_fall_pps/ViconData.h"
-#include "d_fall_pps/Setpoint.h"
-#include "d_fall_pps/ControlCommand.h"
-#include "d_fall_pps/Controller.h"
-#include "d_fall_pps/DebugMsg.h"
-#include "d_fall_pps/CustomButton.h"
-#include "d_fall_pps/ViconSubscribeObjectName.h"
+#include "dfall_pkg/ViconData.h"
+#include "dfall_pkg/Setpoint.h"
+#include "dfall_pkg/ControlCommand.h"
+#include "dfall_pkg/Controller.h"
+#include "dfall_pkg/DebugMsg.h"
+#include "dfall_pkg/CustomButton.h"
+#include "dfall_pkg/ViconSubscribeObjectName.h"
 
 // Include the Parameter Service shared definitions
 #include "nodes/Constants.h"
@@ -163,7 +163,7 @@
 #define LQR_ANGLE_MODE  2
 
 // Namespacing the package
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 
 //    ----------------------------------------------------------------------------------
diff --git a/dfall_ws/src/d_fall_pps/include/nodes/SafeControllerService.h b/dfall_ws/src/d_fall_pps/include/nodes/SafeControllerService.h
index 343141f7b8e21c2537d7fe8f641bb5cb3bdb61f2..3a540f297544dfa279d053e34d8265c3e606ba61 100644
--- a/dfall_ws/src/d_fall_pps/include/nodes/SafeControllerService.h
+++ b/dfall_ws/src/d_fall_pps/include/nodes/SafeControllerService.h
@@ -55,11 +55,11 @@
 //#include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
-#include "d_fall_pps/CrazyflieData.h"
-#include "d_fall_pps/Setpoint.h"
-#include "d_fall_pps/ControlCommand.h"
-#include "d_fall_pps/Controller.h"
+#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/CrazyflieData.h"
+#include "dfall_pkg/Setpoint.h"
+#include "dfall_pkg/ControlCommand.h"
+#include "dfall_pkg/Controller.h"
 
 
 // Include the shared definitions
@@ -73,7 +73,7 @@
 
 
 // Namespacing the package
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 
 
diff --git a/dfall_ws/src/d_fall_pps/include/nodes/StudentControllerService.h b/dfall_ws/src/d_fall_pps/include/nodes/StudentControllerService.h
index 7dccc05a3cd91fb9f222bcff945bb4006ad0db01..820cacfb7cecc434b19e6f0245b8f002f122340d 100644
--- a/dfall_ws/src/d_fall_pps/include/nodes/StudentControllerService.h
+++ b/dfall_ws/src/d_fall_pps/include/nodes/StudentControllerService.h
@@ -56,19 +56,19 @@
 #include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
-//#include "d_fall_pps/StringWithHeader.h"
-#include "d_fall_pps/SetpointWithHeader.h"
-#include "d_fall_pps/CustomButtonWithHeader.h"
-#include "d_fall_pps/ViconData.h"
-#include "d_fall_pps/Setpoint.h"
-#include "d_fall_pps/ControlCommand.h"
-#include "d_fall_pps/Controller.h"
-#include "d_fall_pps/DebugMsg.h"
+#include "dfall_pkg/IntWithHeader.h"
+//#include "dfall_pkg/StringWithHeader.h"
+#include "dfall_pkg/SetpointWithHeader.h"
+#include "dfall_pkg/CustomButtonWithHeader.h"
+#include "dfall_pkg/ViconData.h"
+#include "dfall_pkg/Setpoint.h"
+#include "dfall_pkg/ControlCommand.h"
+#include "dfall_pkg/Controller.h"
+#include "dfall_pkg/DebugMsg.h"
 
 // Include the DFALL service types
-#include "d_fall_pps/LoadYamlFromFilename.h"
-#include "d_fall_pps/GetSetpointService.h"
+#include "dfall_pkg/LoadYamlFromFilename.h"
+#include "dfall_pkg/GetSetpointService.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
@@ -84,7 +84,7 @@
 
 
 // Namespacing the package
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 
 
diff --git a/dfall_ws/src/d_fall_pps/include/nodes/TuningControllerService.h b/dfall_ws/src/d_fall_pps/include/nodes/TuningControllerService.h
index 7184651dfec26fa97bb50f0aa618252318564401..b7f2002e45889203f94a5f64b6122345ef0ffc5a 100644
--- a/dfall_ws/src/d_fall_pps/include/nodes/TuningControllerService.h
+++ b/dfall_ws/src/d_fall_pps/include/nodes/TuningControllerService.h
@@ -61,20 +61,20 @@
 #include <std_msgs/String.h>
 
 // Include the DFALL message types
-#include "d_fall_pps/IntWithHeader.h"
-#include "d_fall_pps/FloatWithHeader.h"
-//#include "d_fall_pps/StringWithHeader.h"
-#include "d_fall_pps/SetpointWithHeader.h"
-//#include "d_fall_pps/CustomButtonWithHeader.h"
-#include "d_fall_pps/ViconData.h"
-//#include "d_fall_pps/Setpoint.h"
-#include "d_fall_pps/ControlCommand.h"
-#include "d_fall_pps/Controller.h"
-#include "d_fall_pps/DebugMsg.h"
+#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/FloatWithHeader.h"
+//#include "dfall_pkg/StringWithHeader.h"
+#include "dfall_pkg/SetpointWithHeader.h"
+//#include "dfall_pkg/CustomButtonWithHeader.h"
+#include "dfall_pkg/ViconData.h"
+//#include "dfall_pkg/Setpoint.h"
+#include "dfall_pkg/ControlCommand.h"
+#include "dfall_pkg/Controller.h"
+#include "dfall_pkg/DebugMsg.h"
 
 // Include the DFALL service types
-#include "d_fall_pps/LoadYamlFromFilename.h"
-#include "d_fall_pps/GetSetpointService.h"
+#include "dfall_pkg/LoadYamlFromFilename.h"
+#include "dfall_pkg/GetSetpointService.h"
 
 // Include the shared definitions
 #include "nodes/Constants.h"
@@ -86,13 +86,13 @@
 
 
 // //the generated structs from the msg-files have to be included
-// #include "d_fall_pps/ViconData.h"
-// #include "d_fall_pps/Setpoint.h"
-// #include "d_fall_pps/ControlCommand.h"
-// #include "d_fall_pps/Controller.h"
-// #include "d_fall_pps/DebugMsg.h"
-// #include "d_fall_pps/CustomButton.h"
-// #include "d_fall_pps/ViconSubscribeObjectName.h"
+// #include "dfall_pkg/ViconData.h"
+// #include "dfall_pkg/Setpoint.h"
+// #include "dfall_pkg/ControlCommand.h"
+// #include "dfall_pkg/Controller.h"
+// #include "dfall_pkg/DebugMsg.h"
+// #include "dfall_pkg/CustomButton.h"
+// #include "dfall_pkg/ViconSubscribeObjectName.h"
 
 // // Include the Parameter Service shared definitions
 // #include "nodes/Constants.h"
@@ -193,7 +193,7 @@
 #define LQR_ANGLE_MODE  2
 
 // Namespacing the package
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 
 //    ----------------------------------------------------------------------------------
diff --git a/dfall_ws/src/d_fall_pps/launch/Agent.launch b/dfall_ws/src/d_fall_pps/launch/Agent.launch
index 2c97814356f996fc45087b00d2c4d6427fe6fb67..248820477ab11c50e412d8eb1f9d941f0a15e08b 100755
--- a/dfall_ws/src/d_fall_pps/launch/Agent.launch
+++ b/dfall_ws/src/d_fall_pps/launch/Agent.launch
@@ -13,23 +13,23 @@
     <!-- <param name="param" value="$(arg agentID)"/> -->
 
     <!-- Example of how to specify the agentID from command line -->
-    <!-- roslaunch d_fall_pps agentID:=1 -->
+    <!-- roslaunch dfall_pkg agentID:=1 -->
 
     <group ns="$(eval 'agent' + str(agentID).zfill(3))">
 
 		<!-- CRAZY RADIO -->
 		<node
-			pkg    = "d_fall_pps"
+			pkg    = "dfall_pkg"
 			name   = "CrazyRadio"
 			output = "screen"
 			type   = "CrazyRadio.py"
 			>
-			<rosparam command="load" file="$(find d_fall_pps)/param/BatteryMonitor.yaml" />
+			<rosparam command="load" file="$(find dfall_pkg)/param/BatteryMonitor.yaml" />
 		</node>
 
 		<!-- PPS CLIENT -->
 		<node
-			pkg    = "d_fall_pps"
+			pkg    = "dfall_pkg"
 			name   = "PPSClient"
 			output = "screen"
 			type   = "PPSClient"
@@ -40,7 +40,7 @@
 
 		<!-- BATTERY MONITOR -->
 		<node
-			pkg    = "d_fall_pps"
+			pkg    = "dfall_pkg"
 			name   = "BatteryMonitor"
 			output = "screen"
 			type   = "BatteryMonitor"
@@ -49,7 +49,7 @@
 
 		<!-- DEFAULT CONTROLLER -->
 		<node
-			pkg    = "d_fall_pps"
+			pkg    = "dfall_pkg"
 			name   = "DefaultControllerService"
 			output = "screen"
 			type   = "DefaultControllerService"
@@ -58,7 +58,7 @@
 
 		<!-- SAFE CONTROLLER -->
 		<node
-			pkg    = "d_fall_pps"
+			pkg    = "dfall_pkg"
 			name   = "SafeControllerService"
 			output = "screen"
 			type   = "SafeControllerService"
@@ -67,7 +67,7 @@
 
 		<!-- DEMO CONTROLLER -->
 		<node
-			pkg    = "d_fall_pps"
+			pkg    = "dfall_pkg"
 			name   = "DemoControllerService"
 			output = "screen"
 			type   = "DemoControllerService"
@@ -76,7 +76,7 @@
 
 		<!-- STUDENT CONTROLLER -->
 		<node
-			pkg    = "d_fall_pps"
+			pkg    = "dfall_pkg"
 			name   = "StudentControllerService"
 			output = "screen"
 			type   = "StudentControllerService"
@@ -85,7 +85,7 @@
 
 		<!-- REMOTE CONTROLLER -->
 		<node
-			pkg    = "d_fall_pps"
+			pkg    = "dfall_pkg"
 			name   = "RemoteControllerService"
 			output = "screen"
 			type   = "RemoteControllerService"
@@ -94,7 +94,7 @@
 
 		<!-- TUNING CONTROLLER -->
 		<node
-			pkg    = "d_fall_pps"
+			pkg    = "dfall_pkg"
 			name   = "TuningControllerService"
 			output = "screen"
 			type   = "TuningControllerService"
@@ -103,7 +103,7 @@
 
 		<!-- PICKER CONTROLLER -->
 		<node
-			pkg    = "d_fall_pps"
+			pkg    = "dfall_pkg"
 			name   = "PickerControllerService"
 			output = "screen"
 			type   = "PickerControllerService"
@@ -112,7 +112,7 @@
 
 		<!-- PARAMETER SERVICE -->
 		<node
-			pkg    = "d_fall_pps"
+			pkg    = "dfall_pkg"
 			name   = "ParameterService"
 			output = "screen"
 			type   = "ParameterService"
@@ -121,32 +121,32 @@
 			<param name="agentID"  value="$(arg agentID)" />
 			<rosparam
 				command = "load"
-				file    = "$(find d_fall_pps)/param/ClientConfig.yaml"
+				file    = "$(find dfall_pkg)/param/ClientConfig.yaml"
 				ns      = "ClientConfig"
 			/>
 			<rosparam
 				command = "load"
-				file    = "$(find d_fall_pps)/param/BatteryMonitor.yaml"
+				file    = "$(find dfall_pkg)/param/BatteryMonitor.yaml"
 				ns      = "BatteryMonitor"
 			/>
 			<rosparam
 				command = "load"
-				file    = "$(find d_fall_pps)/param/SafeController.yaml"
+				file    = "$(find dfall_pkg)/param/SafeController.yaml"
 				ns      = "SafeController"
 			/>
 			<rosparam
 				command = "load"
-				file    = "$(find d_fall_pps)/param/RemoteController.yaml"
+				file    = "$(find dfall_pkg)/param/RemoteController.yaml"
 				ns      = "RemoteController"
 			/>
 			<rosparam
 				command = "load"
-				file    = "$(find d_fall_pps)/param/TuningController.yaml"
+				file    = "$(find dfall_pkg)/param/TuningController.yaml"
 				ns      = "TuningController"
 			/>
 			<rosparam
 				command = "load"
-				file    = "$(find d_fall_pps)/param/PickerController.yaml"
+				file    = "$(find dfall_pkg)/param/PickerController.yaml"
 				ns      = "PickerController"
 			/>
 		</node>
@@ -155,7 +155,7 @@
 		<!-- AGENT GUI (aka. the "student GUI") -->
 		<group if="$(arg withGUI)">
 			<node
-				pkg    = "d_fall_pps"
+				pkg    = "dfall_pkg"
 				name   = "flyingAgentGUI"
 				output = "screen"
 				type   = "flyingAgentGUI"
diff --git a/dfall_ws/src/d_fall_pps/launch/Coordinator.launch b/dfall_ws/src/d_fall_pps/launch/Coordinator.launch
index 290bd237fb886713c1de222b691589d111426c91..61dacd3842ffb479ccc84a033f5e1b56dbfbf936 100755
--- a/dfall_ws/src/d_fall_pps/launch/Coordinator.launch
+++ b/dfall_ws/src/d_fall_pps/launch/Coordinator.launch
@@ -10,14 +10,14 @@
 	<!-- <param name="param" value="$(arg coordID)"/> -->
 
 	<!-- Example of how to specify the coordID from command line -->
-	<!-- roslaunch d_fall_pps coordID:=001 -->
+	<!-- roslaunch dfall_pkg coordID:=001 -->
 
 	<group ns="coord$(arg coordID)">
 
 		<!-- COORDINATOR GUI -->
 		<group if="$(arg withGUI)">
 			<node
-				pkg="d_fall_pps"
+				pkg="dfall_pkg"
 				name="flyingAgentGUI"
 				output="screen"
 				type="flyingAgentGUI"
@@ -30,7 +30,7 @@
 
 		<!-- PARAMETER SERVICE -->
 		<node
-			pkg    = "d_fall_pps"
+			pkg    = "dfall_pkg"
 			name   = "ParameterService"
 			output = "screen"
 			type   = "ParameterService"
@@ -39,12 +39,12 @@
 			<param name="coordID"  value="$(arg coordID)" />
 			<rosparam
 				command = "load"
-				file    = "$(find d_fall_pps)/param/BatteryMonitor.yaml"
+				file    = "$(find dfall_pkg)/param/BatteryMonitor.yaml"
 				ns      = "YamlFileNames"
 			/>
 			<rosparam
 				command = "load"
-				file    = "$(find d_fall_pps)/param/ClientConfig.yaml"
+				file    = "$(find dfall_pkg)/param/ClientConfig.yaml"
 				ns      = "SafeController"
 			/>
 		</node>
diff --git a/dfall_ws/src/d_fall_pps/launch/Teacher.launch b/dfall_ws/src/d_fall_pps/launch/Teacher.launch
index 609043d19fdceec8f2e86fd6d459e7b26f536de9..b093995b948da6264141002b5bb9f62d57c36464 100755
--- a/dfall_ws/src/d_fall_pps/launch/Teacher.launch
+++ b/dfall_ws/src/d_fall_pps/launch/Teacher.launch
@@ -2,7 +2,7 @@
 
 	<!-- CENTRAL MANAGER -->
 	<node
-		pkg="d_fall_pps"
+		pkg="dfall_pkg"
 		name="CentralManagerService"
 		output="screen"
 		type="CentralManagerService"
@@ -11,17 +11,17 @@
 
 	<!-- VICON DATA PUBLISHER -->
 	<node
-		pkg="d_fall_pps"
+		pkg="dfall_pkg"
 		name="ViconDataPublisher"
 		output="screen"
 		type="ViconDataPublisher"
 		>
-		<rosparam command="load" file="$(find d_fall_pps)/param/ViconConfig.yaml" />
+		<rosparam command="load" file="$(find dfall_pkg)/param/ViconConfig.yaml" />
 	</node>
 
 	<!-- TEACHER GUI -->
 	<node
-		pkg="d_fall_pps"
+		pkg="dfall_pkg"
 		name="my_GUI"
 		output="screen"
 		type="my_GUI"
diff --git a/dfall_ws/src/d_fall_pps/package.xml b/dfall_ws/src/d_fall_pps/package.xml
index 91b8fcda82c7bcdc5e137eaa13d327e13211aca9..12f6dea787d64c6bebccacb0c8c588528d42cea9 100755
--- a/dfall_ws/src/d_fall_pps/package.xml
+++ b/dfall_ws/src/d_fall_pps/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package>
-  <name>d_fall_pps</name>
+  <name>dfall_pkg</name>
   <version>0.0.0</version>
-  <description>The d_fall_pps package</description>
+  <description>The dfall_pkg package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <!-- Example:  -->
@@ -19,7 +19,7 @@
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/d_fall_pps</url> -->
+  <!-- <url type="website">http://wiki.ros.org/dfall_pkg</url> -->
 
 
   <!-- Author tags are optional, multiple are allowed, one per tag -->
diff --git a/dfall_ws/src/d_fall_pps/scripts/safe_controller_setpoint b/dfall_ws/src/d_fall_pps/scripts/safe_controller_setpoint
index 73bb4fa77bba122f07379972d4d2410752a93df1..0ec71316960dde2f32bc3be5cd9b53b2ce57f148 100755
--- a/dfall_ws/src/d_fall_pps/scripts/safe_controller_setpoint
+++ b/dfall_ws/src/d_fall_pps/scripts/safe_controller_setpoint
@@ -2,6 +2,6 @@
 
 if [ "$#" -ne 4 ]
 then echo "usage: safe_controller_setpoint <x> <y> <z> <yaw>"
-else rostopic pub -1 /$ROS_NAMESPACE/SafeControllerService/Setpoint d_fall_pps/Setpoint "{x: $1, y: $2, z: $3, yaw: $4}";
+else rostopic pub -1 /$ROS_NAMESPACE/SafeControllerService/Setpoint dfall_pkg/Setpoint "{x: $1, y: $2, z: $3, yaw: $4}";
 fi
 
diff --git a/dfall_ws/src/d_fall_pps/src/CrazyflieIO.cpp b/dfall_ws/src/d_fall_pps/src/CrazyflieIO.cpp
index e5e0c03f350623f89d39b19b36556a296ef81ec3..0f8625211fa2df7d2106313f89595d34c04a6c4b 100644
--- a/dfall_ws/src/d_fall_pps/src/CrazyflieIO.cpp
+++ b/dfall_ws/src/d_fall_pps/src/CrazyflieIO.cpp
@@ -44,13 +44,13 @@
 #include <fstream>
 #include <string>
 
-#include "d_fall_pps/CrazyflieContext.h"
-#include "d_fall_pps/CrazyflieEntry.h"
-#include "d_fall_pps/CrazyflieDB.h"
+#include "dfall_pkg/CrazyflieContext.h"
+#include "dfall_pkg/CrazyflieEntry.h"
+#include "dfall_pkg/CrazyflieDB.h"
 
 using namespace std;
 
-namespace d_fall_pps {
+namespace dfall_pkg {
 
 string escape(string input) {
     string escaped;
@@ -116,7 +116,7 @@ vector<string> nextLine(istream& str) {
 }
 
 string getCrazyflieDBPath() {
-    string packagePath = ros::package::getPath("d_fall_pps") + "/";
+    string packagePath = ros::package::getPath("dfall_pkg") + "/";
     string dbFile = packagePath + "param/Crazyflie.db";
     return dbFile;
 }
diff --git a/dfall_ws/src/d_fall_pps/src/nodes/DefaultControllerService.cpp b/dfall_ws/src/d_fall_pps/src/nodes/DefaultControllerService.cpp
index db199ea1a235d4bdab79f241dfad1b2da8f77c46..2dedaf617d37e415eb5ee8659d719c5e69be2f20 100644
--- a/dfall_ws/src/d_fall_pps/src/nodes/DefaultControllerService.cpp
+++ b/dfall_ws/src/d_fall_pps/src/nodes/DefaultControllerService.cpp
@@ -976,8 +976,8 @@ int main(int argc, char* argv[]) {
 	ros::Subscriber customCommandReceivedSubscriber = nodeHandle.subscribe("CustomButtonPressed", 1, customCommandReceivedCallback);
 
 	// Create a "ros::NodeHandle" type local variable "namespace_nodeHandle" that points
-	// to the name space of this node, i.e., "d_fall_pps" as specified by the line:
-	//     "using namespace d_fall_pps;"
+	// to the name space of this node, i.e., "dfall_pkg" as specified by the line:
+	//     "using namespace dfall_pkg;"
 	// in the "DEFINES" section at the top of this file.
 	//ros::NodeHandle namespace_nodeHandle(ros::this_node::getNamespace());
 
diff --git a/dfall_ws/src/d_fall_pps/src/nodes/DemoControllerService.cpp b/dfall_ws/src/d_fall_pps/src/nodes/DemoControllerService.cpp
index d8b8aebf42f812bc8e05ca6b8580d9868ab8f63c..bfc3bebc2ffe98e7aa15df1ffd2e410c1413a6d7 100644
--- a/dfall_ws/src/d_fall_pps/src/nodes/DemoControllerService.cpp
+++ b/dfall_ws/src/d_fall_pps/src/nodes/DemoControllerService.cpp
@@ -1888,8 +1888,8 @@ int main(int argc, char* argv[]) {
 	ros::ServiceServer service = nodeHandle.advertiseService("DemoController", calculateControlOutput);
 
 	// Create a "ros::NodeHandle" type local variable "namespace_nodeHandle" that points
-	// to the name space of this node, i.e., "d_fall_pps" as specified by the line:
-	//     "using namespace d_fall_pps;"
+	// to the name space of this node, i.e., "dfall_pkg" as specified by the line:
+	//     "using namespace dfall_pkg;"
 	// in the "DEFINES" section at the top of this file.
 	ros::NodeHandle namespace_nodeHandle(ros::this_node::getNamespace());
 
diff --git a/dfall_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp b/dfall_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp
index eb5b88ce6113018a72c375fbf325efff88f22f7b..5aa78721626aaeb4dd9ed66154bc89741dfe89aa 100644
--- a/dfall_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp
+++ b/dfall_ws/src/d_fall_pps/src/nodes/MpcControllerService.cpp
@@ -51,11 +51,11 @@
 #include <ros/package.h>
 
 //the generated structs from the msg-files have to be included
-#include "d_fall_pps/ViconData.h"
-#include "d_fall_pps/Setpoint.h"
-#include "d_fall_pps/ControlCommand.h"
-#include "d_fall_pps/Controller.h"
-#include "d_fall_pps/DebugMsg.h"
+#include "dfall_pkg/ViconData.h"
+#include "dfall_pkg/Setpoint.h"
+#include "dfall_pkg/ControlCommand.h"
+#include "dfall_pkg/Controller.h"
+#include "dfall_pkg/DebugMsg.h"
 
 // Include the Parameter Service shared definitions
 #include "nodes/Constants.h"
@@ -119,7 +119,7 @@ float estimator_frequency = 200;
 #define LQR_ANGLE_MODE  2
 
 // Namespacing the package
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 
 //    ----------------------------------------------------------------------------------
@@ -956,8 +956,8 @@ int main(int argc, char* argv[]) {
     ros::ServiceServer service = nodeHandle.advertiseService("MpcController", calculateControlOutput);
 
     // Create a "ros::NodeHandle" type local variable "namespace_nodeHandle" that points
-    // to the name space of this node, i.e., "d_fall_pps" as specified by the line:
-    //     "using namespace d_fall_pps;"
+    // to the name space of this node, i.e., "dfall_pkg" as specified by the line:
+    //     "using namespace dfall_pkg;"
     // in the "DEFINES" section at the top of this file.
     ros::NodeHandle namespace_nodeHandle(ros::this_node::getNamespace());
 
diff --git a/dfall_ws/src/d_fall_pps/src/nodes/PPSClient.cpp b/dfall_ws/src/d_fall_pps/src/nodes/PPSClient.cpp
index a92c51dd6aed425414af923c51b6a3a6f71f3c75..3e6a8057c9d280318afbdff4732d560fc22471c8 100755
--- a/dfall_ws/src/d_fall_pps/src/nodes/PPSClient.cpp
+++ b/dfall_ws/src/d_fall_pps/src/nodes/PPSClient.cpp
@@ -1373,7 +1373,7 @@ int main(int argc, char* argv[])
 
     // SafeControllerServicePublisher:
     ros::NodeHandle namespaceNodeHandle = ros::NodeHandle();
-    safeControllerServiceSetpointPublisher = namespaceNodeHandle.advertise<d_fall_pps::Setpoint>("SafeControllerService/Setpoint", 1);
+    safeControllerServiceSetpointPublisher = namespaceNodeHandle.advertise<dfall_pkg::Setpoint>("SafeControllerService/Setpoint", 1);
     ros::Subscriber controllerSetpointSubscriber = namespaceNodeHandle.subscribe("student_GUI/ControllerSetpoint", 1, controllerSetPointCallback);
     ros::Subscriber safeSetpointSubscriber = namespaceNodeHandle.subscribe("SafeControllerService/Setpoint", 1, safeSetPointCallback);
 
@@ -1421,7 +1421,7 @@ int main(int argc, char* argv[])
 
     // Open a ROS "bag" to store data for post-analysis
 	// std::string package_path;
-	// package_path = ros::package::getPath("d_fall_pps") + "/";
+	// package_path = ros::package::getPath("dfall_pkg") + "/";
 	// ROS_INFO_STREAM(package_path);
 	// std::string record_file = package_path + "LoggingPPSClient.bag";
 	// bag.open(record_file, rosbag::bagmode::Write);
diff --git a/dfall_ws/src/d_fall_pps/src/nodes/ParameterService.cpp b/dfall_ws/src/d_fall_pps/src/nodes/ParameterService.cpp
index 917e7fa042e3b64ec9ed398adba161f55edd4eab..fe88d56e5fb576dddcacc8f8442724523de6e1bc 100644
--- a/dfall_ws/src/d_fall_pps/src/nodes/ParameterService.cpp
+++ b/dfall_ws/src/d_fall_pps/src/nodes/ParameterService.cpp
@@ -96,12 +96,12 @@ void requestLoadYamlFilenameCallback(const StringWithHeader& yaml_filename_to_lo
     ros::NodeHandle nodeHandle("~");
     // Instantiate a local variable for the command string that will be passed to the "system":
     std::string cmd;
-    // Get the abolute path to "d_fall_pps":
-    std::string d_fall_pps_path = ros::package::getPath("d_fall_pps");
+    // Get the abolute path to "dfall_pkg":
+    std::string dfall_pkg_path = ros::package::getPath("dfall_pkg");
     // Construct the system command string for (re-)loading the parameters:
-    cmd = "rosparam load " + d_fall_pps_path + "/param" + "/" + yaml_filename_to_load + ".yaml " + m_base_namespace + "/" + yaml_filename_to_load;
+    cmd = "rosparam load " + dfall_pkg_path + "/param" + "/" + yaml_filename_to_load + ".yaml " + m_base_namespace + "/" + yaml_filename_to_load;
     // Let the user know what is about to happen
-    ROS_INFO_STREAM("[PARAMETER SERVICE] The following path will be used for locating the .yaml file: " << d_fall_pps_path  << " The comand line string sent to the 'system' is: " << cmd );
+    ROS_INFO_STREAM("[PARAMETER SERVICE] The following path will be used for locating the .yaml file: " << dfall_pkg_path  << " The comand line string sent to the 'system' is: " << cmd );
     // Send the "load yaml" command to the system
     system(cmd.c_str());
 
diff --git a/dfall_ws/src/d_fall_pps/src/nodes/PickerControllerService.cpp b/dfall_ws/src/d_fall_pps/src/nodes/PickerControllerService.cpp
index 63346c0fc674d42a1cde815adad457c4b9d30a4a..f814b8d0b772a5bc87e1edf2f784deea6b0bd580 100644
--- a/dfall_ws/src/d_fall_pps/src/nodes/PickerControllerService.cpp
+++ b/dfall_ws/src/d_fall_pps/src/nodes/PickerControllerService.cpp
@@ -1912,8 +1912,8 @@ int main(int argc, char* argv[]) {
     ros::ServiceServer service = nodeHandle.advertiseService("PickerController", calculateControlOutput);
 
     // Create a "ros::NodeHandle" type local variable "namespace_nodeHandle" that points
-    // to the name space of this node, i.e., "d_fall_pps" as specified by the line:
-    //     "using namespace d_fall_pps;"
+    // to the name space of this node, i.e., "dfall_pkg" as specified by the line:
+    //     "using namespace dfall_pkg;"
     // in the "DEFINES" section at the top of this file.
     //ros::NodeHandle namespace_nodeHandle(ros::this_node::getNamespace());
 
diff --git a/dfall_ws/src/d_fall_pps/src/nodes/RemoteControllerService.cpp b/dfall_ws/src/d_fall_pps/src/nodes/RemoteControllerService.cpp
index d7fa4a2d19872f21da4187ffe81fdb3758f30864..2ae0b709674068d2d9329456fcd3005b98cb950f 100644
--- a/dfall_ws/src/d_fall_pps/src/nodes/RemoteControllerService.cpp
+++ b/dfall_ws/src/d_fall_pps/src/nodes/RemoteControllerService.cpp
@@ -1642,8 +1642,8 @@ int main(int argc, char* argv[]) {
     ros::ServiceServer service = nodeHandle.advertiseService("RemoteController", calculateControlOutput);
 
     // Create a "ros::NodeHandle" type local variable "namespace_nodeHandle" that points
-    // to the name space of this node, i.e., "d_fall_pps" as specified by the line:
-    //     "using namespace d_fall_pps;"
+    // to the name space of this node, i.e., "dfall_pkg" as specified by the line:
+    //     "using namespace dfall_pkg;"
     // in the "DEFINES" section at the top of this file.
     ros::NodeHandle namespace_nodeHandle(ros::this_node::getNamespace());
 
diff --git a/dfall_ws/src/d_fall_pps/src/nodes/SafeControllerService.cpp b/dfall_ws/src/d_fall_pps/src/nodes/SafeControllerService.cpp
index d5bea535477812c3a02deec159409a0e1a9d4a76..968ecc3a64a94393d72d7abb4f91353b8c77c961 100755
--- a/dfall_ws/src/d_fall_pps/src/nodes/SafeControllerService.cpp
+++ b/dfall_ws/src/d_fall_pps/src/nodes/SafeControllerService.cpp
@@ -541,7 +541,7 @@ int main(int argc, char* argv[]) {
     ROS_INFO("[SAFE CONTROLLER] Service ready :-)");
     
 	// std::string package_path;
-	// package_path = ros::package::getPath("d_fall_pps") + "/";
+	// package_path = ros::package::getPath("dfall_pkg") + "/";
 	// ROS_INFO_STREAM(package_path);
 	// std::string record_file = package_path + "LoggingSafeController.bag";
 	// bag.open(record_file, rosbag::bagmode::Write);
diff --git a/dfall_ws/src/d_fall_pps/src/nodes/StudentControllerService.cpp b/dfall_ws/src/d_fall_pps/src/nodes/StudentControllerService.cpp
index 4df4b3d63543cd4b95bf87ce11dc258a7289cea6..67ac27e224b65183ce91ef12915d7bf672094235 100644
--- a/dfall_ws/src/d_fall_pps/src/nodes/StudentControllerService.cpp
+++ b/dfall_ws/src/d_fall_pps/src/nodes/StudentControllerService.cpp
@@ -1040,8 +1040,8 @@ int main(int argc, char* argv[]) {
 	ros::Subscriber customCommandReceivedSubscriber_from_coord = nodeHandle_to_coordinator.subscribe("StudentControllerService/CustomButtonPressed", 1, customCommandReceivedCallback);
 
     // Create a "ros::NodeHandle" type local variable "namespace_nodeHandle" that points
-    // to the name space of this node, i.e., "d_fall_pps" as specified by the line:
-    //     "using namespace d_fall_pps;"
+    // to the name space of this node, i.e., "dfall_pkg" as specified by the line:
+    //     "using namespace dfall_pkg;"
     // in the "DEFINES" section at the top of this file.
     //ros::NodeHandle namespace_nodeHandle(ros::this_node::getNamespace());
 
diff --git a/dfall_ws/src/d_fall_pps/src/nodes/TuningControllerService.cpp b/dfall_ws/src/d_fall_pps/src/nodes/TuningControllerService.cpp
index 05ff03003ca7bb82671ad89024c36320b22a7f0b..d62e2260a07f42a5ac9d575457343115b9cd0f8a 100644
--- a/dfall_ws/src/d_fall_pps/src/nodes/TuningControllerService.cpp
+++ b/dfall_ws/src/d_fall_pps/src/nodes/TuningControllerService.cpp
@@ -1775,8 +1775,8 @@ int main(int argc, char* argv[]) {
 
 
     // Create a "ros::NodeHandle" type local variable "namespace_nodeHandle" that points
-    // to the name space of this node, i.e., "d_fall_pps" as specified by the line:
-    //     "using namespace d_fall_pps;"
+    // to the name space of this node, i.e., "dfall_pkg" as specified by the line:
+    //     "using namespace dfall_pkg;"
     // in the "DEFINES" section at the top of this file.
     //ros::NodeHandle namespace_nodeHandle(ros::this_node::getNamespace());
 
diff --git a/dfall_ws/src/d_fall_pps/src/nodes/ViconDataPublisher.cpp b/dfall_ws/src/d_fall_pps/src/nodes/ViconDataPublisher.cpp
index a6c1f4e665eb9b3e6d430b791baafa557438b700..6107a8e3c58b79725ab4be32708c6705750af4c7 100755
--- a/dfall_ws/src/d_fall_pps/src/nodes/ViconDataPublisher.cpp
+++ b/dfall_ws/src/d_fall_pps/src/nodes/ViconDataPublisher.cpp
@@ -33,14 +33,14 @@
 #include <string.h>
 #include "DataStreamClient.h"
 #include "ros/ros.h"
-#include "d_fall_pps/ViconData.h"
-#include "d_fall_pps/UnlabeledMarker.h"
+#include "dfall_pkg/ViconData.h"
+#include "dfall_pkg/UnlabeledMarker.h"
 
 // #define TESTING_FAKE_DATA
 
 // notice that unit here are in milimeters
 using namespace ViconDataStreamSDK::CPP;
-using namespace d_fall_pps;
+using namespace dfall_pkg;
 
 int main(int argc, char* argv[]) {