From 041762224abc3273919135fbd24c7dcb80f74f3c Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Thu, 7 Feb 2019 22:14:55 +0100
Subject: [PATCH] Renamed all instances of d_fall_pps to dfall_pkg

---
 dfall_ws/src/d_fall_pps/CMakeLists.txt        | 38 +++++++++---------
 .../GUI_Qt/CrazyFlyGUI/include/crazyFly.h     |  4 +-
 .../CrazyFlyGUI/include/mainguiwindow.h       |  8 ++--
 .../GUI_Qt/CrazyFlyGUI/include/marker.h       |  4 +-
 .../include/rosNodeThread_for_managerGUI.h    |  8 ++--
 .../GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp  | 16 ++++----
 .../src/rosNodeThread_for_managerGUI.cpp      |  6 +--
 .../include/connectstartstopbar.h             | 14 +++----
 .../flyingAgentGUI/include/controllertabs.h   | 22 +++++-----
 .../flyingAgentGUI/include/coordinatorrow.h   | 14 +++----
 .../include/defaultcontrollertab.h            | 12 +++---
 .../include/enablecontrollerloadyamlbar.h     | 16 ++++----
 .../flyingAgentGUI/include/mainwindow.h       |  4 +-
 .../include/pickercontrollertab.h             | 14 +++----
 .../rosNodeThread_for_flyingAgentGUI.h        | 14 +++----
 .../include/studentcontrollertab.h            | 16 ++++----
 .../GUI_Qt/flyingAgentGUI/include/topbanner.h | 12 +++---
 .../include/tuningcontrollertab.h             | 18 ++++-----
 .../src/connectstartstopbar.cpp               | 24 +++++------
 .../flyingAgentGUI/src/controllertabs.cpp     | 12 +++---
 .../flyingAgentGUI/src/coordinatorrow.cpp     | 26 ++++++------
 .../src/defaultcontrollertab.cpp              | 18 ++++-----
 .../src/enablecontrollerloadyamlbar.cpp       | 26 ++++++------
 .../src/pickercontrollertab.cpp               | 16 ++++----
 .../src/rosNodeThread_for_flyingAgentGUI.cpp  |  8 ++--
 .../src/studentcontrollertab.cpp              | 24 +++++------
 .../GUI_Qt/flyingAgentGUI/src/topbanner.cpp   |  8 ++--
 .../src/tuningcontrollertab.cpp               | 24 +++++------
 .../GUI_Qt/studentGUI/include/MainWindow.h    | 10 ++---
 .../include/rosNodeThread_for_studentGUI.h    |  8 ++--
 .../GUI_Qt/studentGUI/src/MainWindow.cpp      |  6 +--
 .../src/rosNodeThread_for_studentGUI.cpp      |  6 +--
 .../src/d_fall_pps/crazyradio/CrazyRadio.py   | 10 ++---
 dfall_ws/src/d_fall_pps/crazyradio/TestCF.py  |  6 +--
 .../classes/GetParamtersAndNamespaces.h       |  4 +-
 .../d_fall_pps/include/nodes/BatteryMonitor.h |  4 +-
 .../include/nodes/CentralManagerService.h     | 14 +++----
 .../d_fall_pps/include/nodes/CrazyflieIO.h    |  4 +-
 .../include/nodes/DefaultControllerService.h  | 24 +++++------
 .../include/nodes/DemoControllerService.h     | 18 ++++-----
 .../src/d_fall_pps/include/nodes/PPSClient.h  | 20 +++++-----
 .../include/nodes/ParameterService.h          | 10 ++---
 .../include/nodes/PickerControllerService.h   | 30 +++++++-------
 .../include/nodes/RemoteControllerService.h   | 16 ++++----
 .../include/nodes/SafeControllerService.h     | 12 +++---
 .../include/nodes/StudentControllerService.h  | 24 +++++------
 .../include/nodes/TuningControllerService.h   | 40 +++++++++----------
 dfall_ws/src/d_fall_pps/launch/Agent.launch   | 40 +++++++++----------
 .../src/d_fall_pps/launch/Coordinator.launch  | 10 ++---
 dfall_ws/src/d_fall_pps/launch/Teacher.launch |  8 ++--
 dfall_ws/src/d_fall_pps/package.xml           |  6 +--
 .../scripts/safe_controller_setpoint          |  2 +-
 dfall_ws/src/d_fall_pps/src/CrazyflieIO.cpp   | 10 ++---
 .../src/nodes/DefaultControllerService.cpp    |  4 +-
 .../src/nodes/DemoControllerService.cpp       |  4 +-
 .../src/nodes/MpcControllerService.cpp        | 16 ++++----
 .../src/d_fall_pps/src/nodes/PPSClient.cpp    |  4 +-
 .../d_fall_pps/src/nodes/ParameterService.cpp |  8 ++--
 .../src/nodes/PickerControllerService.cpp     |  4 +-
 .../src/nodes/RemoteControllerService.cpp     |  4 +-
 .../src/nodes/SafeControllerService.cpp       |  2 +-
 .../src/nodes/StudentControllerService.cpp    |  4 +-
 .../src/nodes/TuningControllerService.cpp     |  4 +-
 .../src/nodes/ViconDataPublisher.cpp          |  6 +--
 64 files changed, 414 insertions(+), 414 deletions(-)

diff --git a/dfall_ws/src/d_fall_pps/CMakeLists.txt b/dfall_ws/src/d_fall_pps/CMakeLists.txt
index 77da3b66..3fb5b938 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 dc818987..679f7303 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 ef7d7920..d5aceaf6 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 1a7a4ae0..8aa71328 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 e07356ee..65c516e2 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 32e7dc02..49dac78b 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 ab9fd2c5..bbb3f6c1 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 6bf867c8..71d42945 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 b77c7ff4..8cf19970 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 854b26d6..6a0734db 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 68763c1d..1e6ed40c 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 1f81bf8e..6095810a 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 91e68c96..2f929f1d 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 08769c25..54585fbf 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 0d881f18..fc331115 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 32825c7e..01376a3c 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 a3cd555c..b3ff17a9 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 a5fa7abc..2e763165 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 217d153c..36498a1f 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 8be696ac..ecbb608e 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 3f9eb75c..8a1af80b 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 697a2fc5..f43d15fe 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 e3afc90f..fa8700c5 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 c59fed6f..455a77b4 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 63d73e66..5072e14e 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 efc5d999..c7547f9d 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 1c8f5232..fb731181 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 24ea87a3..afcfb970 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 48d6bda3..608102b2 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 a7bb5874..823094a0 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 ce661742..aed81191 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 ce716b2d..ed87c889 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 2a66010a..3746f705 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 c5fa4f44..5cc25317 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 f92f393d..f61481cf 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 9d576b5b..43f3740b 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 db93514f..0c02248e 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 fa4e2573..d28f5656 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 612f266d..23450feb 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 e82252a9..111c7e47 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 7efa2a65..d39549bc 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 75d51729..92dda4e3 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 67173f96..e7cfd58f 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 8e9f783c..968f78ec 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 343141f7..3a540f29 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 7dccc05a..820cacfb 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 7184651d..b7f2002e 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 2c978143..24882047 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 290bd237..61dacd38 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 609043d1..b093995b 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 91b8fcda..12f6dea7 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 73bb4fa7..0ec71316 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 e5e0c03f..0f862521 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 db199ea1..2dedaf61 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 d8b8aebf..bfc3bebc 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 eb5b88ce..5aa78721 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 a92c51dd..3e6a8057 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 917e7fa0..fe88d56e 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 63346c0f..f814b8d0 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 d7fa4a2d..2ae0b709 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 d5bea535..968ecc3a 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 4df4b3d6..67ac27e2 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 05ff0300..d62e2260 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 a6c1f4e6..6107a8e3 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[]) {
 
-- 
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