From 68a574a2458d24c4361f925c73fac5b2eb5265c5 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Fri, 14 Apr 2017 18:46:52 +0200
Subject: [PATCH 1/8] make laser scanner module-specific instead of
 robot-specific

---
 cob_bringup/CMakeLists.txt                    |  2 +-
 cob_bringup/drivers/laser_scan_filter.launch  |  5 ++--
 cob_bringup/drivers/sick_lms1xx.launch        | 23 +++++++++-----
 cob_bringup/drivers/sick_s300.launch          | 25 +++++++++++-----
 cob_bringup/modules/cob4-b3.launch            |  5 ++++
 cob_bringup/modules/cob4-b4.launch            |  5 ++++
 cob_bringup/modules/cob4-b5.launch            | 30 +++++++++++++++++++
 cob_bringup/modules/cob4-b6.launch            |  5 ++++
 cob_bringup/modules/cob4-b7.launch            | 30 +++++++++++++++++++
 cob_bringup/modules/cob4-b8.launch            | 30 +++++++++++++++++++
 cob_bringup/modules/raw3-b1.launch            | 22 ++++++++++++++
 cob_bringup/modules/raw3-b3.launch            | 22 ++++++++++++++
 cob_bringup/modules/raw3-b5.launch            | 20 +++++++++++++
 cob_bringup/robots/cob4-2.xml                 | 21 ++++---------
 cob_bringup/robots/cob4-3.xml                 |  6 ++++
 cob_bringup/robots/cob4-4.xml                 |  6 ++++
 cob_bringup/robots/cob4-5.xml                 | 21 ++++---------
 cob_bringup/robots/cob4-6.xml                 |  6 ++++
 cob_bringup/robots/cob4-7.xml                 | 21 ++++---------
 cob_bringup/robots/raw3-1.xml                 | 12 +++-----
 cob_bringup/robots/raw3-3.xml                 | 12 +++-----
 cob_bringup/robots/raw3-5.xml                 | 12 ++------
 cob_hardware_config/CMakeLists.txt            |  2 +-
 .../components/sick_lms1xx/sick_lms1xx.yaml   |  3 ++
 .../sick_s300/sick_s300.yaml}                 |  5 ----
 .../cob4-2/config/base_laser_front.yaml       |  9 ------
 .../robots/cob4-2/config/base_laser_left.yaml |  9 ------
 .../cob4-2/config/base_laser_right.yaml       |  9 ------
 .../cob4-5/config/base_laser_front.yaml       |  9 ------
 .../robots/cob4-5/config/base_laser_left.yaml |  9 ------
 .../cob4-5/config/base_laser_right.yaml       |  9 ------
 .../cob4-7/config/base_laser_front.yaml       |  9 ------
 .../robots/cob4-7/config/base_laser_left.yaml |  9 ------
 .../cob4-7/config/base_laser_right.yaml       |  9 ------
 .../raw3-1/config/base_laser_front.yaml       |  9 ------
 .../robots/raw3-1/config/base_laser_rear.yaml |  9 ------
 .../raw3-3/config/base_laser_front.yaml       |  9 ------
 .../raw3-5/config/base_laser_front.yaml       |  7 -----
 .../robots/raw3-5/config/base_laser_rear.yaml |  7 -----
 39 files changed, 255 insertions(+), 218 deletions(-)
 create mode 100644 cob_bringup/modules/cob4-b3.launch
 create mode 100644 cob_bringup/modules/cob4-b4.launch
 create mode 100644 cob_bringup/modules/cob4-b5.launch
 create mode 100644 cob_bringup/modules/cob4-b6.launch
 create mode 100644 cob_bringup/modules/cob4-b7.launch
 create mode 100644 cob_bringup/modules/cob4-b8.launch
 create mode 100644 cob_bringup/modules/raw3-b1.launch
 create mode 100644 cob_bringup/modules/raw3-b3.launch
 create mode 100644 cob_bringup/modules/raw3-b5.launch
 create mode 100644 cob_hardware_config/components/sick_lms1xx/sick_lms1xx.yaml
 rename cob_hardware_config/{robots/raw3-3/config/base_laser_rear.yaml => components/sick_s300/sick_s300.yaml} (56%)
 delete mode 100644 cob_hardware_config/robots/cob4-2/config/base_laser_front.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-2/config/base_laser_left.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-2/config/base_laser_right.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-5/config/base_laser_front.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-5/config/base_laser_left.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-5/config/base_laser_right.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-7/config/base_laser_front.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-7/config/base_laser_left.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-7/config/base_laser_right.yaml
 delete mode 100644 cob_hardware_config/robots/raw3-1/config/base_laser_front.yaml
 delete mode 100644 cob_hardware_config/robots/raw3-1/config/base_laser_rear.yaml
 delete mode 100644 cob_hardware_config/robots/raw3-3/config/base_laser_front.yaml
 delete mode 100644 cob_hardware_config/robots/raw3-5/config/base_laser_front.yaml
 delete mode 100644 cob_hardware_config/robots/raw3-5/config/base_laser_rear.yaml

diff --git a/cob_bringup/CMakeLists.txt b/cob_bringup/CMakeLists.txt
index 3348bc795..093a6699e 100644
--- a/cob_bringup/CMakeLists.txt
+++ b/cob_bringup/CMakeLists.txt
@@ -16,7 +16,7 @@ if(CATKIN_ENABLE_TESTING)
 endif()
 
 ### INSTALL ###
-install(DIRECTORY components controllers drivers robots tools
+install(DIRECTORY components controllers drivers modules robots tools
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
diff --git a/cob_bringup/drivers/laser_scan_filter.launch b/cob_bringup/drivers/laser_scan_filter.launch
index 1acbae89a..5b4c0cd4e 100644
--- a/cob_bringup/drivers/laser_scan_filter.launch
+++ b/cob_bringup/drivers/laser_scan_filter.launch
@@ -1,12 +1,11 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot"/>
-	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="name"/>
+	<arg name="scan_intervals"/>
 
 	<!-- scan filters-->
-	<rosparam ns="$(arg name)" command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg name).yaml"/>
+	<rosparam ns="$(arg name)" param="scan_intervals" subst_value="True">$(arg scan_intervals)</rosparam>
 	<node ns="$(arg name)" pkg="cob_sick_s300" type="cob_scan_filter" name="scan_filter" respawn="false" output="screen">
 		<remap from="scan_in" to="scan_raw"/>
 		<remap from="scan_out" to="scan"/>
diff --git a/cob_bringup/drivers/sick_lms1xx.launch b/cob_bringup/drivers/sick_lms1xx.launch
index 5ce20df91..fcde7d284 100644
--- a/cob_bringup/drivers/sick_lms1xx.launch
+++ b/cob_bringup/drivers/sick_lms1xx.launch
@@ -1,24 +1,31 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="name"/>
+	<arg name="host"/>
+	<arg name="inverted"/>
+	<arg name="frame_id" default="$(arg name)_link"/>
+	<arg name="scan_intervals"/>
 	<arg name="sim" default="false"/>
 
 	<!-- load parameter -->
-	<rosparam ns="$(arg name)" command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg name).yaml"/>
+	<group ns="$(arg name)">
+		<rosparam command="load" file="$(arg pkg_hardware_config)/components/sick_lms1xx/sick_lms1xx.yaml"/>
+		<rosparam param="host" subst_value="True">$(arg host)</rosparam>
+		<rosparam param="inverted" subst_value="True">$(arg inverted)</rosparam>
+		<rosparam param="frame_id" subst_value="True">$(arg frame_id)</rosparam>
 
-	<!-- start laser driver -->
-	<node unless="$(arg sim)" ns="$(arg name)" pkg="cob_sick_lms1xx" type="lms100" name="driver" respawn="false" output="screen">
-		<remap from="scan" to="scan_raw"/>
-	</node>
+		<!-- start laser driver -->
+		<node unless="$(arg sim)" pkg="cob_sick_lms1xx" type="lms100" name="driver" respawn="false" output="screen">
+			<remap from="scan" to="scan_raw"/>
+		</node>
+	</group>
 
 	<!-- laser filter -->
 	<include file="$(find cob_bringup)/drivers/laser_scan_filter.launch">
-		<arg name="robot" value="$(arg robot)"/>
-		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="name" value="$(arg name)"/>
+		<arg name="scan_intervals" value="$(arg scan_intervals)"/>
 	</include>
 
 </launch>
diff --git a/cob_bringup/drivers/sick_s300.launch b/cob_bringup/drivers/sick_s300.launch
index 7ca1d1135..946020dda 100644
--- a/cob_bringup/drivers/sick_s300.launch
+++ b/cob_bringup/drivers/sick_s300.launch
@@ -1,24 +1,33 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="name"/>
+	<arg name="port"/>
+	<arg name="inverted"/>
+	<arg name="scan_id"/>
+	<arg name="frame_id" default="$(arg name)_link"/>
+	<arg name="scan_intervals"/>
 	<arg name="sim" default="false"/>
 
 	<!-- load parameter -->
-	<rosparam ns="$(arg name)" command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg name).yaml"/>
+	<group ns="$(arg name)">
+		<rosparam command="load" file="$(arg pkg_hardware_config)/components/sick_s300/sick_s300.yaml"/>
+		<rosparam param="port" subst_value="True">$(arg port)</rosparam>
+		<rosparam param="inverted" subst_value="True">$(arg inverted)</rosparam>
+		<rosparam param="scan_id" subst_value="True">$(arg scan_id)</rosparam>
+		<rosparam param="frame_id" subst_value="True">$(arg frame_id)</rosparam>
 
-	<!-- start laser driver -->
-	<node unless="$(arg sim)" ns="$(arg name)" pkg="cob_sick_s300" type="cob_sick_s300" name="driver" respawn="false" output="screen">
-		<remap from="scan" to="scan_raw"/>
-	</node>
+		<!-- start laser driver -->
+		<node unless="$(arg sim)" pkg="cob_sick_s300" type="cob_sick_s300" name="driver" respawn="false" output="screen">
+			<remap from="scan" to="scan_raw"/>
+		</node>
+	</group>
 
 	<!-- laser filter -->
 	<include file="$(find cob_bringup)/drivers/laser_scan_filter.launch">
-		<arg name="robot" value="$(arg robot)"/>
-		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="name" value="$(arg name)"/>
+		<arg name="scan_intervals" value="$(arg scan_intervals)"/>
 	</include>
 
 </launch>
diff --git a/cob_bringup/modules/cob4-b3.launch b/cob_bringup/modules/cob4-b3.launch
new file mode 100644
index 000000000..25f25a46a
--- /dev/null
+++ b/cob_bringup/modules/cob4-b3.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+</launch>
diff --git a/cob_bringup/modules/cob4-b4.launch b/cob_bringup/modules/cob4-b4.launch
new file mode 100644
index 000000000..25f25a46a
--- /dev/null
+++ b/cob_bringup/modules/cob4-b4.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+</launch>
diff --git a/cob_bringup/modules/cob4-b5.launch b/cob_bringup/modules/cob4-b5.launch
new file mode 100644
index 000000000..2e14db3a7
--- /dev/null
+++ b/cob_bringup/modules/cob4-b5.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScanFront"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_left"/>
+		<arg name="port" value="/dev/ttyScanLeft"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_right"/>
+		<arg name="port" value="/dev/ttyScanRight"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="8"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/cob4-b6.launch b/cob_bringup/modules/cob4-b6.launch
new file mode 100644
index 000000000..25f25a46a
--- /dev/null
+++ b/cob_bringup/modules/cob4-b6.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+</launch>
diff --git a/cob_bringup/modules/cob4-b7.launch b/cob_bringup/modules/cob4-b7.launch
new file mode 100644
index 000000000..2e14db3a7
--- /dev/null
+++ b/cob_bringup/modules/cob4-b7.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScanFront"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_left"/>
+		<arg name="port" value="/dev/ttyScanLeft"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_right"/>
+		<arg name="port" value="/dev/ttyScanRight"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="8"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/cob4-b8.launch b/cob_bringup/modules/cob4-b8.launch
new file mode 100644
index 000000000..2e14db3a7
--- /dev/null
+++ b/cob_bringup/modules/cob4-b8.launch
@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScanFront"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_left"/>
+		<arg name="port" value="/dev/ttyScanLeft"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_right"/>
+		<arg name="port" value="/dev/ttyScanRight"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="8"/>
+		<arg name="scan_intervals" value="[[-1.5, 1.5]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/raw3-b1.launch b/cob_bringup/modules/raw3-b1.launch
new file mode 100644
index 000000000..6304ba6da
--- /dev/null
+++ b/cob_bringup/modules/raw3-b1.launch
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScan0"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value=" [[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_rear"/>
+		<arg name="port" value="/dev/ttyScan1"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/raw3-b3.launch b/cob_bringup/modules/raw3-b3.launch
new file mode 100644
index 000000000..6304ba6da
--- /dev/null
+++ b/cob_bringup/modules/raw3-b3.launch
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_front"/>
+		<arg name="port" value="/dev/ttyScan0"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value=" [[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<arg name="name" value="base_laser_rear"/>
+		<arg name="port" value="/dev/ttyScan1"/>
+		<arg name="inverted" value="false"/>
+		<arg name="scan_id" value="7"/>
+		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/raw3-b5.launch b/cob_bringup/modules/raw3-b5.launch
new file mode 100644
index 000000000..de20fd2dc
--- /dev/null
+++ b/cob_bringup/modules/raw3-b5.launch
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
+		<arg name="name" value="base_laser_left"/>
+		<arg name="host" value="141.3.80.116"/>
+		<arg name="inverted" value="true"/>
+		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+	<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
+		<arg name="name" value="base_laser_rear"/>
+		<arg name="host" value="141.3.80.115"/>
+		<arg name="inverted" value="true"/>
+		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml
index 91f616c0c..50821c6d5 100644
--- a/cob_bringup/robots/cob4-2.xml
+++ b/cob_bringup/robots/cob4-2.xml
@@ -12,6 +12,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b7"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -38,27 +40,16 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+
+		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_right"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<include file="$(find cob_bringup)/drivers/bms.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_left"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-3.xml b/cob_bringup/robots/cob4-3.xml
index 0827845d9..1a0f88903 100644
--- a/cob_bringup/robots/cob4-3.xml
+++ b/cob_bringup/robots/cob4-3.xml
@@ -6,6 +6,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b3"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -26,6 +28,10 @@
 			</include>
 		</group>
 
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+			<arg name="sim" value="$(arg sim)"/>
+		</include>
+
 		<include file="$(find cob_bringup)/drivers/bms.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_bringup/robots/cob4-4.xml b/cob_bringup/robots/cob4-4.xml
index 77db2c397..cbb8af510 100644
--- a/cob_bringup/robots/cob4-4.xml
+++ b/cob_bringup/robots/cob4-4.xml
@@ -7,6 +7,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b4"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -27,6 +29,10 @@
 			</include>
 		</group>
 
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+			<arg name="sim" value="$(arg sim)"/>
+		</include>
+
 		<include file="$(find cob_bringup)/drivers/bms.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_bringup/robots/cob4-5.xml b/cob_bringup/robots/cob4-5.xml
index 0098b54cb..0307cb860 100644
--- a/cob_bringup/robots/cob4-5.xml
+++ b/cob_bringup/robots/cob4-5.xml
@@ -12,6 +12,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b5"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -38,27 +40,16 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+
+		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_right"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
+		<include file="$(find cob_bringup)/drivers/bms.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_left"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-6.xml b/cob_bringup/robots/cob4-6.xml
index 6c720949d..32e294c5b 100644
--- a/cob_bringup/robots/cob4-6.xml
+++ b/cob_bringup/robots/cob4-6.xml
@@ -7,6 +7,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b6"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -27,6 +29,10 @@
 			</include>
 		</group>
 
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+			<arg name="sim" value="$(arg sim)"/>
+		</include>
+
 		<include file="$(find cob_bringup)/drivers/bms.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_bringup/robots/cob4-7.xml b/cob_bringup/robots/cob4-7.xml
index 6633c8fef..7ac8617ec 100644
--- a/cob_bringup/robots/cob4-7.xml
+++ b/cob_bringup/robots/cob4-7.xml
@@ -12,6 +12,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="cob4-b8"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -38,6 +40,10 @@
 			</include>
 		</group>
 
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+			<arg name="sim" value="$(arg sim)"/>
+		</include>
+
 		<include file="$(find cob_bringup)/drivers/sick_flexisoft.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
@@ -46,21 +52,6 @@
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="true"/>
 		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_right"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_left"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 
 		<include file="$(find cob_bringup)/components/cob4_base.launch">
 			<arg name="robot" value="$(arg robot)"/>
diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml
index ba274a96c..187045d7b 100644
--- a/cob_bringup/robots/raw3-1.xml
+++ b/cob_bringup/robots/raw3-1.xml
@@ -10,6 +10,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="raw3-b1"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -45,16 +47,10 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_rear"/>
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
+
 		<include file="$(find cob_bringup)/components/legacy_base.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml
index be3cd37cd..280fc7f8c 100644
--- a/cob_bringup/robots/raw3-3.xml
+++ b/cob_bringup/robots/raw3-3.xml
@@ -10,6 +10,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="raw3-b3"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -36,16 +38,10 @@
 			<include if="$(arg use_rplidar)" file="$(find rplidar_ros)/launch/rplidar.launch"/>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_s300.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_rear"/>
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
+
 		<include file="$(find cob_bringup)/components/legacy_base.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_bringup/robots/raw3-5.xml b/cob_bringup/robots/raw3-5.xml
index 6c0ad9e54..927ed1efe 100644
--- a/cob_bringup/robots/raw3-5.xml
+++ b/cob_bringup/robots/raw3-5.xml
@@ -7,6 +7,8 @@
 	<arg name="env-script" default="$(find cob_bringup)/env.sh"/>
 	<arg name="sim" default="false"/>
 
+	<arg name="base" value="raw3-b5"/>
+
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
 		<arg name="robot" value="$(arg robot)"/>
@@ -30,14 +32,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_front"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-		<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="name" value="base_laser_rear"/>
+		<include file="$(find cob_bringup)/modules/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
@@ -64,7 +59,6 @@
 		<!-- start additional packages -->
 		<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch" >
 			<arg name="robot" value="$(arg robot)" />
-
 		</include>
 		<include file="$(find cob_bringup)/tools/teleop.launch">
 			<arg name="robot" value="$(arg robot)"/>
diff --git a/cob_hardware_config/CMakeLists.txt b/cob_hardware_config/CMakeLists.txt
index eeb1bbba2..12f392624 100644
--- a/cob_hardware_config/CMakeLists.txt
+++ b/cob_hardware_config/CMakeLists.txt
@@ -18,7 +18,7 @@ if(CATKIN_ENABLE_TESTING)
 endif()
 
 ### INSTALL ###
-install(DIRECTORY robots test
+install(DIRECTORY components robots test
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
diff --git a/cob_hardware_config/components/sick_lms1xx/sick_lms1xx.yaml b/cob_hardware_config/components/sick_lms1xx/sick_lms1xx.yaml
new file mode 100644
index 000000000..4aa8df13a
--- /dev/null
+++ b/cob_hardware_config/components/sick_lms1xx/sick_lms1xx.yaml
@@ -0,0 +1,3 @@
+angle_resolution: 0.25 #deg
+scan_frequency: 25 #hz
+set_config: false
diff --git a/cob_hardware_config/robots/raw3-3/config/base_laser_rear.yaml b/cob_hardware_config/components/sick_s300/sick_s300.yaml
similarity index 56%
rename from cob_hardware_config/robots/raw3-3/config/base_laser_rear.yaml
rename to cob_hardware_config/components/sick_s300/sick_s300.yaml
index 4adc524b0..808357da4 100644
--- a/cob_hardware_config/robots/raw3-3/config/base_laser_rear.yaml
+++ b/cob_hardware_config/components/sick_s300/sick_s300.yaml
@@ -1,9 +1,4 @@
-port: /dev/ttyUSB0
 baud: 500000
 scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
 scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: base_laser_rear_link
 publish_frequency: 12
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-2/config/base_laser_front.yaml
deleted file mode 100644
index 2b6a53b70..000000000
--- a/cob_hardware_config/robots/cob4-2/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanFront
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-2/config/base_laser_left.yaml
deleted file mode 100644
index 93039c115..000000000
--- a/cob_hardware_config/robots/cob4-2/config/base_laser_left.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanLeft
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_left_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-2/config/base_laser_right.yaml
deleted file mode 100644
index 39770bd4e..000000000
--- a/cob_hardware_config/robots/cob4-2/config/base_laser_right.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanRight
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 8
-frame_id: /base_laser_right_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-5/config/base_laser_front.yaml
deleted file mode 100644
index 2b6a53b70..000000000
--- a/cob_hardware_config/robots/cob4-5/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanFront
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-5/config/base_laser_left.yaml
deleted file mode 100644
index 93039c115..000000000
--- a/cob_hardware_config/robots/cob4-5/config/base_laser_left.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanLeft
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_left_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-5/config/base_laser_right.yaml
deleted file mode 100644
index 39770bd4e..000000000
--- a/cob_hardware_config/robots/cob4-5/config/base_laser_right.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanRight
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 8
-frame_id: /base_laser_right_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_front.yaml b/cob_hardware_config/robots/cob4-7/config/base_laser_front.yaml
deleted file mode 100644
index 2b6a53b70..000000000
--- a/cob_hardware_config/robots/cob4-7/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanFront
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_left.yaml b/cob_hardware_config/robots/cob4-7/config/base_laser_left.yaml
deleted file mode 100644
index 93039c115..000000000
--- a/cob_hardware_config/robots/cob4-7/config/base_laser_left.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanLeft
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: /base_laser_left_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_right.yaml b/cob_hardware_config/robots/cob4-7/config/base_laser_right.yaml
deleted file mode 100644
index 39770bd4e..000000000
--- a/cob_hardware_config/robots/cob4-7/config/base_laser_right.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScanRight
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 8
-frame_id: /base_laser_right_link
-publish_frequency: 12
-scan_intervals: [[-1.5, 1.5]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/raw3-1/config/base_laser_front.yaml b/cob_hardware_config/robots/raw3-1/config/base_laser_front.yaml
deleted file mode 100644
index c69a181c3..000000000
--- a/cob_hardware_config/robots/raw3-1/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScan0
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/raw3-1/config/base_laser_rear.yaml b/cob_hardware_config/robots/raw3-1/config/base_laser_rear.yaml
deleted file mode 100644
index 64c170eba..000000000
--- a/cob_hardware_config/robots/raw3-1/config/base_laser_rear.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyScan1
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: base_laser_rear_link
-publish_frequency: 12
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/raw3-3/config/base_laser_front.yaml b/cob_hardware_config/robots/raw3-3/config/base_laser_front.yaml
deleted file mode 100644
index 1f1b855b0..000000000
--- a/cob_hardware_config/robots/raw3-3/config/base_laser_front.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-port: /dev/ttyUSB1
-baud: 500000
-scan_duration: 0.025 #no info about that in SICK-docu, but 0.025 is believable and looks good in rviz
-scan_cycle_time: 0.040 #SICK-docu says S300 scans every 40ms
-inverted: false
-scan_id: 7
-frame_id: base_laser_front_link
-publish_frequency: 12
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
diff --git a/cob_hardware_config/robots/raw3-5/config/base_laser_front.yaml b/cob_hardware_config/robots/raw3-5/config/base_laser_front.yaml
deleted file mode 100644
index 27075848f..000000000
--- a/cob_hardware_config/robots/raw3-5/config/base_laser_front.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-host: 141.3.80.116
-angle_resolution: 0.25 #deg
-scan_frequency: 25 #hz
-inverted: true
-frame_id: base_laser_front_link
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
-set_config: false
diff --git a/cob_hardware_config/robots/raw3-5/config/base_laser_rear.yaml b/cob_hardware_config/robots/raw3-5/config/base_laser_rear.yaml
deleted file mode 100644
index 187a2efda..000000000
--- a/cob_hardware_config/robots/raw3-5/config/base_laser_rear.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-host: 141.3.80.115
-angle_resolution: 0.25 #deg
-scan_frequency: 25 #hz
-inverted: true
-frame_id: base_laser_rear_link
-scan_intervals: [[-2.0, 2.0]] #[rad] these intervals are included to the scan
-set_config: false

From 2eaf25ce46a5f59c066d380f68847a34896c4d8b Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Sat, 15 Apr 2017 16:24:17 +0200
Subject: [PATCH 2/8] restructure scan_unifier

---
 cob_bringup/drivers/scan_unifier.launch                   | 8 ++++----
 cob_bringup/modules/cob4-b5.launch                        | 4 ++++
 cob_bringup/modules/cob4-b7.launch                        | 4 ++++
 cob_bringup/modules/cob4-b8.launch                        | 4 ++++
 cob_bringup/modules/raw3-b1.launch                        | 4 ++++
 cob_bringup/modules/raw3-b3.launch                        | 4 ++++
 cob_bringup/modules/raw3-b5.launch                        | 4 ++++
 cob_bringup/robots/cob4-2.xml                             | 3 ---
 cob_bringup/robots/cob4-5.xml                             | 3 ---
 cob_bringup/robots/cob4-7.xml                             | 3 ---
 cob_bringup/robots/raw3-1.xml                             | 3 ---
 cob_bringup/robots/raw3-3.xml                             | 3 ---
 .../robots/cob4-2/config/scan_unifier_config.yaml         | 4 ----
 .../robots/cob4-5/config/scan_unifier_config.yaml         | 4 ----
 .../robots/cob4-7/config/scan_unifier_config.yaml         | 4 ----
 .../robots/raw3-1/config/scan_unifier_config.yaml         | 4 ----
 .../robots/raw3-3/config/scan_unifier_config.yaml         | 4 ----
 .../robots/raw3-5/config/scan_unifier_config.yaml         | 4 ----
 18 files changed, 28 insertions(+), 43 deletions(-)
 delete mode 100644 cob_hardware_config/robots/cob4-2/config/scan_unifier_config.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-5/config/scan_unifier_config.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-7/config/scan_unifier_config.yaml
 delete mode 100644 cob_hardware_config/robots/raw3-1/config/scan_unifier_config.yaml
 delete mode 100644 cob_hardware_config/robots/raw3-3/config/scan_unifier_config.yaml
 delete mode 100644 cob_hardware_config/robots/raw3-5/config/scan_unifier_config.yaml

diff --git a/cob_bringup/drivers/scan_unifier.launch b/cob_bringup/drivers/scan_unifier.launch
index f5fc1cbaf..7391cf51c 100644
--- a/cob_bringup/drivers/scan_unifier.launch
+++ b/cob_bringup/drivers/scan_unifier.launch
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
-	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
-	<arg name="param_file" default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/scan_unifier_config.yaml"/>
+	<arg name="input_scans"/>
+	<arg name="frame" default="base_link"/>
 
 	<!-- run scan unifier -->
 	<node pkg="cob_scan_unifier" type="scan_unifier_node" name="scan_unifier" output="log">
-		<rosparam file="$(arg param_file)" command="load"/>
+		<rosparam param="input_scans" subst_value="True">$(arg input_scans)</rosparam>
+		<rosparam param="frame" subst_value="True">$(arg frame)</rosparam>
 		<remap from="scan_unified" to="/scan_unified"/>
 	</node>
 
diff --git a/cob_bringup/modules/cob4-b5.launch b/cob_bringup/modules/cob4-b5.launch
index 2e14db3a7..fa76079b6 100644
--- a/cob_bringup/modules/cob4-b5.launch
+++ b/cob_bringup/modules/cob4-b5.launch
@@ -27,4 +27,8 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
+	<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
+		<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/cob4-b7.launch b/cob_bringup/modules/cob4-b7.launch
index 2e14db3a7..fa76079b6 100644
--- a/cob_bringup/modules/cob4-b7.launch
+++ b/cob_bringup/modules/cob4-b7.launch
@@ -27,4 +27,8 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
+	<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
+		<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/cob4-b8.launch b/cob_bringup/modules/cob4-b8.launch
index 2e14db3a7..fa76079b6 100644
--- a/cob_bringup/modules/cob4-b8.launch
+++ b/cob_bringup/modules/cob4-b8.launch
@@ -27,4 +27,8 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
+	<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
+		<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/raw3-b1.launch b/cob_bringup/modules/raw3-b1.launch
index 6304ba6da..2d16ba4a5 100644
--- a/cob_bringup/modules/raw3-b1.launch
+++ b/cob_bringup/modules/raw3-b1.launch
@@ -19,4 +19,8 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
+	<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
+		<arg name="input_scans" value="['base_laser_front/scan','base_laser_rear/scan']"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/raw3-b3.launch b/cob_bringup/modules/raw3-b3.launch
index 6304ba6da..2d16ba4a5 100644
--- a/cob_bringup/modules/raw3-b3.launch
+++ b/cob_bringup/modules/raw3-b3.launch
@@ -19,4 +19,8 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
+	<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
+		<arg name="input_scans" value="['base_laser_front/scan','base_laser_rear/scan']"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/raw3-b5.launch b/cob_bringup/modules/raw3-b5.launch
index de20fd2dc..410876785 100644
--- a/cob_bringup/modules/raw3-b5.launch
+++ b/cob_bringup/modules/raw3-b5.launch
@@ -17,4 +17,8 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
+	<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
+		<arg name="input_scans" value="['base_laser_front/scan','base_laser_rear/scan']"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml
index 50821c6d5..50b933364 100644
--- a/cob_bringup/robots/cob4-2.xml
+++ b/cob_bringup/robots/cob4-2.xml
@@ -64,9 +64,6 @@
 		</include>
 
 		<!-- start common nodes used in hardware and simulation -->
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
-			<arg name="robot" value="$(arg robot)"/>
-		</include>
 		<include file="$(find cob_bringup)/tools/base_collision_observer.launch">
 			<arg name="robot" value="$(arg robot)"/>
 		</include>
diff --git a/cob_bringup/robots/cob4-5.xml b/cob_bringup/robots/cob4-5.xml
index 0307cb860..ae10a3203 100644
--- a/cob_bringup/robots/cob4-5.xml
+++ b/cob_bringup/robots/cob4-5.xml
@@ -64,9 +64,6 @@
 		</include>
 
 		<!-- start common nodes used in hardware and simulation -->
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
-			<arg name="robot" value="$(arg robot)"/>
-		</include>
 		<include file="$(find cob_bringup)/tools/base_collision_observer.launch">
 			<arg name="robot" value="$(arg robot)"/>
 		</include>
diff --git a/cob_bringup/robots/cob4-7.xml b/cob_bringup/robots/cob4-7.xml
index 7ac8617ec..bd26bcdcf 100644
--- a/cob_bringup/robots/cob4-7.xml
+++ b/cob_bringup/robots/cob4-7.xml
@@ -64,9 +64,6 @@
 		</include>
 
 		<!-- start common nodes used in hardware and simulation -->
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
-			<arg name="robot" value="$(arg robot)"/>
-		</include>
 		<include file="$(find cob_bringup)/tools/base_collision_observer.launch">
 			<arg name="robot" value="$(arg robot)"/>
 		</include>
diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml
index 187045d7b..a2ee46b36 100644
--- a/cob_bringup/robots/raw3-1.xml
+++ b/cob_bringup/robots/raw3-1.xml
@@ -69,9 +69,6 @@
 		</include>
 
 		<!-- start common nodes used in hardware and simulation -->
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
-			<arg name="robot" value="$(arg robot)"/>
-		</include>
 		<include file="$(find cob_bringup)/tools/battery_monitor.launch">
 			<arg name="robot" value="$(arg robot)"/>
 		</include>
diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml
index 280fc7f8c..3addf6ae7 100644
--- a/cob_bringup/robots/raw3-3.xml
+++ b/cob_bringup/robots/raw3-3.xml
@@ -54,9 +54,6 @@
 		</include-->
 
 		<!-- start common nodes used in hardware and simulation -->
-		<include file="$(find cob_bringup)/drivers/scan_unifier.launch">
-			<arg name="robot" value="$(arg robot)"/>
-		</include>
 		<include file="$(find cob_bringup)/tools/battery_monitor.launch">
 			<arg name="robot" value="$(arg robot)"/>
 		</include>
diff --git a/cob_hardware_config/robots/cob4-2/config/scan_unifier_config.yaml b/cob_hardware_config/robots/cob4-2/config/scan_unifier_config.yaml
deleted file mode 100644
index 19e563d25..000000000
--- a/cob_hardware_config/robots/cob4-2/config/scan_unifier_config.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-#Scan_unifier_config-parameters
-
-input_scans: ["base_laser_front/scan","base_laser_left/scan","base_laser_right/scan"]
-loop_rate: 100.0
diff --git a/cob_hardware_config/robots/cob4-5/config/scan_unifier_config.yaml b/cob_hardware_config/robots/cob4-5/config/scan_unifier_config.yaml
deleted file mode 100644
index f7749be0f..000000000
--- a/cob_hardware_config/robots/cob4-5/config/scan_unifier_config.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-#Scan_unifier_config-parameters
-
-input_scans: ["base_laser_front/scan","base_laser_left/scan","base_laser_right/scan"]
-loop_rate: 10
diff --git a/cob_hardware_config/robots/cob4-7/config/scan_unifier_config.yaml b/cob_hardware_config/robots/cob4-7/config/scan_unifier_config.yaml
deleted file mode 100644
index 19e563d25..000000000
--- a/cob_hardware_config/robots/cob4-7/config/scan_unifier_config.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-#Scan_unifier_config-parameters
-
-input_scans: ["base_laser_front/scan","base_laser_left/scan","base_laser_right/scan"]
-loop_rate: 100.0
diff --git a/cob_hardware_config/robots/raw3-1/config/scan_unifier_config.yaml b/cob_hardware_config/robots/raw3-1/config/scan_unifier_config.yaml
deleted file mode 100644
index 8ebaa85f0..000000000
--- a/cob_hardware_config/robots/raw3-1/config/scan_unifier_config.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-#Scan_unifier_config-parameters
-
-input_scans: ["base_laser_front/scan","base_laser_rear/scan"]
-loop_rate: 100.0
diff --git a/cob_hardware_config/robots/raw3-3/config/scan_unifier_config.yaml b/cob_hardware_config/robots/raw3-3/config/scan_unifier_config.yaml
deleted file mode 100644
index 8ebaa85f0..000000000
--- a/cob_hardware_config/robots/raw3-3/config/scan_unifier_config.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-#Scan_unifier_config-parameters
-
-input_scans: ["base_laser_front/scan","base_laser_rear/scan"]
-loop_rate: 100.0
diff --git a/cob_hardware_config/robots/raw3-5/config/scan_unifier_config.yaml b/cob_hardware_config/robots/raw3-5/config/scan_unifier_config.yaml
deleted file mode 100644
index 8ebaa85f0..000000000
--- a/cob_hardware_config/robots/raw3-5/config/scan_unifier_config.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-#Scan_unifier_config-parameters
-
-input_scans: ["base_laser_front/scan","base_laser_rear/scan"]
-loop_rate: 100.0

From edc33241da0ee259b8c45cc1ad9cba596a5612d9 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Sat, 15 Apr 2017 16:49:03 +0200
Subject: [PATCH 3/8] restructure twist_mux

---
 cob_bringup/components/legacy_base.launch                   | 1 -
 cob_bringup/components/ros_control_base.launch              | 1 -
 cob_bringup/tools/twist_mux.launch                          | 6 ++----
 .../robots/cob4-2/config/twist_mux_locks.yaml               | 1 -
 .../robots/cob4-2/config/twist_mux_topics.yaml              | 1 -
 .../robots/cob4-3/config/twist_mux_locks.yaml               | 1 -
 .../robots/cob4-3/config/twist_mux_topics.yaml              | 1 -
 .../robots/cob4-4/config/twist_mux_locks.yaml               | 1 -
 .../robots/cob4-4/config/twist_mux_topics.yaml              | 1 -
 .../robots/cob4-5/config/twist_mux_locks.yaml               | 1 -
 .../robots/cob4-5/config/twist_mux_topics.yaml              | 1 -
 .../robots/cob4-6/config/twist_mux_locks.yaml               | 1 -
 .../robots/cob4-6/config/twist_mux_topics.yaml              | 1 -
 .../robots/cob4-7/config/twist_mux_locks.yaml               | 1 -
 .../robots/cob4-7/config/twist_mux_topics.yaml              | 1 -
 .../robots/raw3-1/config/twist_mux_locks.yaml               | 1 -
 .../robots/raw3-1/config/twist_mux_topics.yaml              | 1 -
 .../robots/raw3-3/config/twist_mux_locks.yaml               | 1 -
 .../robots/raw3-3/config/twist_mux_topics.yaml              | 1 -
 .../robots/raw3-5/config/twist_mux_locks.yaml               | 1 -
 .../robots/raw3-5/config/twist_mux_topics.yaml              | 1 -
 21 files changed, 2 insertions(+), 24 deletions(-)
 delete mode 120000 cob_hardware_config/robots/cob4-2/config/twist_mux_locks.yaml
 delete mode 120000 cob_hardware_config/robots/cob4-2/config/twist_mux_topics.yaml
 delete mode 120000 cob_hardware_config/robots/cob4-3/config/twist_mux_locks.yaml
 delete mode 120000 cob_hardware_config/robots/cob4-3/config/twist_mux_topics.yaml
 delete mode 120000 cob_hardware_config/robots/cob4-4/config/twist_mux_locks.yaml
 delete mode 120000 cob_hardware_config/robots/cob4-4/config/twist_mux_topics.yaml
 delete mode 120000 cob_hardware_config/robots/cob4-5/config/twist_mux_locks.yaml
 delete mode 120000 cob_hardware_config/robots/cob4-5/config/twist_mux_topics.yaml
 delete mode 120000 cob_hardware_config/robots/cob4-6/config/twist_mux_locks.yaml
 delete mode 120000 cob_hardware_config/robots/cob4-6/config/twist_mux_topics.yaml
 delete mode 120000 cob_hardware_config/robots/cob4-7/config/twist_mux_locks.yaml
 delete mode 120000 cob_hardware_config/robots/cob4-7/config/twist_mux_topics.yaml
 delete mode 120000 cob_hardware_config/robots/raw3-1/config/twist_mux_locks.yaml
 delete mode 120000 cob_hardware_config/robots/raw3-1/config/twist_mux_topics.yaml
 delete mode 120000 cob_hardware_config/robots/raw3-3/config/twist_mux_locks.yaml
 delete mode 120000 cob_hardware_config/robots/raw3-3/config/twist_mux_topics.yaml
 delete mode 120000 cob_hardware_config/robots/raw3-5/config/twist_mux_locks.yaml
 delete mode 120000 cob_hardware_config/robots/raw3-5/config/twist_mux_topics.yaml

diff --git a/cob_bringup/components/legacy_base.launch b/cob_bringup/components/legacy_base.launch
index dbd8e34f2..75c9b243d 100644
--- a/cob_bringup/components/legacy_base.launch
+++ b/cob_bringup/components/legacy_base.launch
@@ -22,7 +22,6 @@
 	<group ns="base">
 		<!-- twist mux -->
 		<include file="$(find cob_bringup)/tools/twist_mux.launch">
-			<arg name="robot" value="$(arg robot)"/>
 			<arg name="cmd_vel_out" default="velocity_smoother/command"/>
 			<arg name="marker_out" default="twist_mux/marker"/>
 		</include>
diff --git a/cob_bringup/components/ros_control_base.launch b/cob_bringup/components/ros_control_base.launch
index d9cac8459..fb5707401 100644
--- a/cob_bringup/components/ros_control_base.launch
+++ b/cob_bringup/components/ros_control_base.launch
@@ -37,7 +37,6 @@
 	<group ns="$(arg component_name)">
 		<!-- twist mux -->
 		<include file="$(find cob_bringup)/tools/twist_mux.launch">
-			<arg name="robot" value="$(arg robot)"/>
 			<arg name="cmd_vel_out" default="velocity_smoother/command"/>
 			<arg name="marker_out" default="twist_mux/marker"/>
 		</include>
diff --git a/cob_bringup/tools/twist_mux.launch b/cob_bringup/tools/twist_mux.launch
index c5cd2b72a..5a718046f 100644
--- a/cob_bringup/tools/twist_mux.launch
+++ b/cob_bringup/tools/twist_mux.launch
@@ -1,12 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
-	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 
 	<arg name="cmd_vel_out" default="base/velocity_smoother/raw_cmd_vel"/>
 	<arg name="marker_out" default="base/twist_mux/marker"/>
-	<arg name="config_locks"  default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/twist_mux_locks.yaml"/>
-	<arg name="config_topics" default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/twist_mux_topics.yaml"/>
+	<arg name="config_locks"  default="$(find cob_hardware_config)/robots/common/twist_mux_locks.yaml"/>
+	<arg name="config_topics" default="$(find cob_hardware_config)/robots/common/twist_mux_topics.yaml"/>
 
 	<node pkg="twist_mux" type="twist_mux" name="twist_mux" output="screen">
 		<remap from="cmd_vel_out" to="$(arg cmd_vel_out)"/>
diff --git a/cob_hardware_config/robots/cob4-2/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-2/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/cob4-2/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-2/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-2/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/cob4-2/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-3/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-3/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/cob4-3/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-3/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-3/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/cob4-3/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-4/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-4/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/cob4-4/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-4/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-4/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/cob4-4/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-5/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-5/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/cob4-5/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-5/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-5/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/cob4-5/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-6/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-6/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/cob4-6/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-6/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-6/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/cob4-6/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-7/config/twist_mux_locks.yaml b/cob_hardware_config/robots/cob4-7/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/cob4-7/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/cob4-7/config/twist_mux_topics.yaml b/cob_hardware_config/robots/cob4-7/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/cob4-7/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-1/config/twist_mux_locks.yaml b/cob_hardware_config/robots/raw3-1/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/raw3-1/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-1/config/twist_mux_topics.yaml b/cob_hardware_config/robots/raw3-1/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/raw3-1/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-3/config/twist_mux_locks.yaml b/cob_hardware_config/robots/raw3-3/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/raw3-3/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-3/config/twist_mux_topics.yaml b/cob_hardware_config/robots/raw3-3/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/raw3-3/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-5/config/twist_mux_locks.yaml b/cob_hardware_config/robots/raw3-5/config/twist_mux_locks.yaml
deleted file mode 120000
index f2605d317..000000000
--- a/cob_hardware_config/robots/raw3-5/config/twist_mux_locks.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_locks.yaml
\ No newline at end of file
diff --git a/cob_hardware_config/robots/raw3-5/config/twist_mux_topics.yaml b/cob_hardware_config/robots/raw3-5/config/twist_mux_topics.yaml
deleted file mode 120000
index f50c88054..000000000
--- a/cob_hardware_config/robots/raw3-5/config/twist_mux_topics.yaml
+++ /dev/null
@@ -1 +0,0 @@
-../../common/twist_mux_topics.yaml
\ No newline at end of file

From efe02252b047407eb0ede503e066570f3bb06b32 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Sat, 15 Apr 2017 17:26:13 +0200
Subject: [PATCH 4/8] restructure teleop

---
 cob_bringup/drivers/joy.launch                    | 7 ++++---
 cob_bringup/modules/cob4-b3.launch                | 5 +++++
 cob_bringup/modules/cob4-b4.launch                | 5 +++++
 cob_bringup/modules/cob4-b5.launch                | 5 +++++
 cob_bringup/modules/cob4-b6.launch                | 5 +++++
 cob_bringup/modules/cob4-b7.launch                | 5 +++++
 cob_bringup/modules/cob4-b8.launch                | 5 +++++
 cob_bringup/modules/raw3-b1.launch                | 5 +++++
 cob_bringup/modules/raw3-b3.launch                | 5 +++++
 cob_bringup/modules/raw3-b5.launch                | 5 +++++
 cob_bringup/robots/base_solo.launch               | 4 ++++
 cob_bringup/tools/teleop.launch                   | 6 ------
 cob_hardware_config/robots/cob4-2/config/joy.yaml | 2 --
 cob_hardware_config/robots/cob4-3/config/joy.yaml | 2 --
 cob_hardware_config/robots/cob4-4/config/joy.yaml | 2 --
 cob_hardware_config/robots/cob4-5/config/joy.yaml | 2 --
 cob_hardware_config/robots/cob4-6/config/joy.yaml | 2 --
 cob_hardware_config/robots/cob4-7/config/joy.yaml | 2 --
 cob_hardware_config/robots/raw3-1/config/joy.yaml | 2 --
 cob_hardware_config/robots/raw3-3/config/joy.yaml | 2 --
 cob_hardware_config/robots/raw3-5/config/joy.yaml | 2 --
 21 files changed, 53 insertions(+), 27 deletions(-)
 delete mode 100644 cob_hardware_config/robots/cob4-2/config/joy.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-3/config/joy.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-4/config/joy.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-5/config/joy.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-6/config/joy.yaml
 delete mode 100644 cob_hardware_config/robots/cob4-7/config/joy.yaml
 delete mode 100644 cob_hardware_config/robots/raw3-1/config/joy.yaml
 delete mode 100644 cob_hardware_config/robots/raw3-3/config/joy.yaml
 delete mode 100644 cob_hardware_config/robots/raw3-5/config/joy.yaml

diff --git a/cob_bringup/drivers/joy.launch b/cob_bringup/drivers/joy.launch
index 05eb6dfe0..9ea11c56c 100644
--- a/cob_bringup/drivers/joy.launch
+++ b/cob_bringup/drivers/joy.launch
@@ -1,12 +1,13 @@
 <?xml version="1.0" ?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
-	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
+	<arg name="dev" default="/dev/input/js0"/>
+	<arg name="deadzone" default="0.12"/>
 
 	<!-- run joystick -->
 	<node pkg="joy" type="joy_node" name="$(anon joy_node)">
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/joy.yaml"/>
+		<rosparam param="dev" subst_value="True">$(arg dev)</rosparam>
+		<rosparam param="deadzone" subst_value="True">$(arg deadzone)</rosparam>
 	</node>
 
 </launch>
diff --git a/cob_bringup/modules/cob4-b3.launch b/cob_bringup/modules/cob4-b3.launch
index 25f25a46a..049e2deb7 100644
--- a/cob_bringup/modules/cob4-b3.launch
+++ b/cob_bringup/modules/cob4-b3.launch
@@ -2,4 +2,9 @@
 <launch>
 	<arg name="sim" default="false"/>
 
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+		<arg name="dev" value="/dev/joypad"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/cob4-b4.launch b/cob_bringup/modules/cob4-b4.launch
index 25f25a46a..049e2deb7 100644
--- a/cob_bringup/modules/cob4-b4.launch
+++ b/cob_bringup/modules/cob4-b4.launch
@@ -2,4 +2,9 @@
 <launch>
 	<arg name="sim" default="false"/>
 
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+		<arg name="dev" value="/dev/joypad"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/cob4-b5.launch b/cob_bringup/modules/cob4-b5.launch
index fa76079b6..45c51da6a 100644
--- a/cob_bringup/modules/cob4-b5.launch
+++ b/cob_bringup/modules/cob4-b5.launch
@@ -31,4 +31,9 @@
 		<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
 	</include>
 
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+		<arg name="dev" value="/dev/joypad"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/cob4-b6.launch b/cob_bringup/modules/cob4-b6.launch
index 25f25a46a..049e2deb7 100644
--- a/cob_bringup/modules/cob4-b6.launch
+++ b/cob_bringup/modules/cob4-b6.launch
@@ -2,4 +2,9 @@
 <launch>
 	<arg name="sim" default="false"/>
 
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+		<arg name="dev" value="/dev/joypad"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/cob4-b7.launch b/cob_bringup/modules/cob4-b7.launch
index fa76079b6..45c51da6a 100644
--- a/cob_bringup/modules/cob4-b7.launch
+++ b/cob_bringup/modules/cob4-b7.launch
@@ -31,4 +31,9 @@
 		<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
 	</include>
 
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+		<arg name="dev" value="/dev/joypad"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/cob4-b8.launch b/cob_bringup/modules/cob4-b8.launch
index fa76079b6..45c51da6a 100644
--- a/cob_bringup/modules/cob4-b8.launch
+++ b/cob_bringup/modules/cob4-b8.launch
@@ -31,4 +31,9 @@
 		<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
 	</include>
 
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+		<arg name="dev" value="/dev/joypad"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/raw3-b1.launch b/cob_bringup/modules/raw3-b1.launch
index 2d16ba4a5..4cefefb78 100644
--- a/cob_bringup/modules/raw3-b1.launch
+++ b/cob_bringup/modules/raw3-b1.launch
@@ -23,4 +23,9 @@
 		<arg name="input_scans" value="['base_laser_front/scan','base_laser_rear/scan']"/>
 	</include>
 
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+		<arg name="dev" value="/dev/input/js0"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/raw3-b3.launch b/cob_bringup/modules/raw3-b3.launch
index 2d16ba4a5..4cefefb78 100644
--- a/cob_bringup/modules/raw3-b3.launch
+++ b/cob_bringup/modules/raw3-b3.launch
@@ -23,4 +23,9 @@
 		<arg name="input_scans" value="['base_laser_front/scan','base_laser_rear/scan']"/>
 	</include>
 
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+		<arg name="dev" value="/dev/input/js0"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/modules/raw3-b5.launch b/cob_bringup/modules/raw3-b5.launch
index 410876785..5f6127160 100644
--- a/cob_bringup/modules/raw3-b5.launch
+++ b/cob_bringup/modules/raw3-b5.launch
@@ -21,4 +21,9 @@
 		<arg name="input_scans" value="['base_laser_front/scan','base_laser_rear/scan']"/>
 	</include>
 
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+		<arg name="dev" value="/dev/input/js0"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
+
 </launch>
diff --git a/cob_bringup/robots/base_solo.launch b/cob_bringup/robots/base_solo.launch
index d3832b12c..79290309e 100644
--- a/cob_bringup/robots/base_solo.launch
+++ b/cob_bringup/robots/base_solo.launch
@@ -30,6 +30,10 @@
 	</include>
 
 	<!-- start teleop -->
+	<include file="$(find cob_bringup)/drivers/joy.launch"/>
+		<arg name="dev" value="/dev/input/js0"/>
+		<arg name="deadzone" value="0.12"/>
+	</include>
 	<include file="$(find cob_bringup)/tools/teleop.launch">
 		<arg name="robot" value="$(arg robot)"/>
 	</include>
diff --git a/cob_bringup/tools/teleop.launch b/cob_bringup/tools/teleop.launch
index 4c4952520..35a2414ca 100644
--- a/cob_bringup/tools/teleop.launch
+++ b/cob_bringup/tools/teleop.launch
@@ -3,12 +3,6 @@
 
 	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
-	<arg name="sim" default="false"/>
-
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
-		<arg name="robot" value="$(arg robot)"/>
-		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
-	</include>
 
 	<node ns="teleop" pkg="cob_teleop" type="cob_teleop" name="$(anon teleop_node)" cwd="node" respawn="false" output="screen">
 		<rosparam file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/teleop.yaml" command="load"/>
diff --git a/cob_hardware_config/robots/cob4-2/config/joy.yaml b/cob_hardware_config/robots/cob4-2/config/joy.yaml
deleted file mode 100644
index f07d1f5a0..000000000
--- a/cob_hardware_config/robots/cob4-2/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/joypad
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/cob4-3/config/joy.yaml b/cob_hardware_config/robots/cob4-3/config/joy.yaml
deleted file mode 100644
index f07d1f5a0..000000000
--- a/cob_hardware_config/robots/cob4-3/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/joypad
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/cob4-4/config/joy.yaml b/cob_hardware_config/robots/cob4-4/config/joy.yaml
deleted file mode 100644
index f07d1f5a0..000000000
--- a/cob_hardware_config/robots/cob4-4/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/joypad
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/cob4-5/config/joy.yaml b/cob_hardware_config/robots/cob4-5/config/joy.yaml
deleted file mode 100644
index f07d1f5a0..000000000
--- a/cob_hardware_config/robots/cob4-5/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/joypad
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/cob4-6/config/joy.yaml b/cob_hardware_config/robots/cob4-6/config/joy.yaml
deleted file mode 100644
index f07d1f5a0..000000000
--- a/cob_hardware_config/robots/cob4-6/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/joypad
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/cob4-7/config/joy.yaml b/cob_hardware_config/robots/cob4-7/config/joy.yaml
deleted file mode 100644
index f07d1f5a0..000000000
--- a/cob_hardware_config/robots/cob4-7/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/joypad
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/raw3-1/config/joy.yaml b/cob_hardware_config/robots/raw3-1/config/joy.yaml
deleted file mode 100644
index f1ac16012..000000000
--- a/cob_hardware_config/robots/raw3-1/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/input/js0
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/raw3-3/config/joy.yaml b/cob_hardware_config/robots/raw3-3/config/joy.yaml
deleted file mode 100644
index f1ac16012..000000000
--- a/cob_hardware_config/robots/raw3-3/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/input/js0
-deadzone: 0.12
diff --git a/cob_hardware_config/robots/raw3-5/config/joy.yaml b/cob_hardware_config/robots/raw3-5/config/joy.yaml
deleted file mode 100644
index f1ac16012..000000000
--- a/cob_hardware_config/robots/raw3-5/config/joy.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-dev: /dev/input/js0
-deadzone: 0.12

From 02843113311ebf7100fb1f115bc0dd4e5e9204fe Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Sat, 15 Apr 2017 22:10:15 +0200
Subject: [PATCH 5/8] group base

---
 cob_bringup/modules/{ => base}/cob4-b3.launch | 0
 cob_bringup/modules/{ => base}/cob4-b4.launch | 0
 cob_bringup/modules/{ => base}/cob4-b5.launch | 0
 cob_bringup/modules/{ => base}/cob4-b6.launch | 0
 cob_bringup/modules/{ => base}/cob4-b7.launch | 0
 cob_bringup/modules/{ => base}/cob4-b8.launch | 0
 cob_bringup/modules/{ => base}/raw3-b1.launch | 0
 cob_bringup/modules/{ => base}/raw3-b3.launch | 0
 cob_bringup/modules/{ => base}/raw3-b5.launch | 0
 cob_bringup/robots/cob4-2.xml                 | 2 +-
 cob_bringup/robots/cob4-3.xml                 | 2 +-
 cob_bringup/robots/cob4-4.xml                 | 2 +-
 cob_bringup/robots/cob4-5.xml                 | 2 +-
 cob_bringup/robots/cob4-6.xml                 | 2 +-
 cob_bringup/robots/cob4-7.xml                 | 2 +-
 cob_bringup/robots/raw3-1.xml                 | 2 +-
 cob_bringup/robots/raw3-3.xml                 | 2 +-
 cob_bringup/robots/raw3-5.xml                 | 2 +-
 18 files changed, 9 insertions(+), 9 deletions(-)
 rename cob_bringup/modules/{ => base}/cob4-b3.launch (100%)
 rename cob_bringup/modules/{ => base}/cob4-b4.launch (100%)
 rename cob_bringup/modules/{ => base}/cob4-b5.launch (100%)
 rename cob_bringup/modules/{ => base}/cob4-b6.launch (100%)
 rename cob_bringup/modules/{ => base}/cob4-b7.launch (100%)
 rename cob_bringup/modules/{ => base}/cob4-b8.launch (100%)
 rename cob_bringup/modules/{ => base}/raw3-b1.launch (100%)
 rename cob_bringup/modules/{ => base}/raw3-b3.launch (100%)
 rename cob_bringup/modules/{ => base}/raw3-b5.launch (100%)

diff --git a/cob_bringup/modules/cob4-b3.launch b/cob_bringup/modules/base/cob4-b3.launch
similarity index 100%
rename from cob_bringup/modules/cob4-b3.launch
rename to cob_bringup/modules/base/cob4-b3.launch
diff --git a/cob_bringup/modules/cob4-b4.launch b/cob_bringup/modules/base/cob4-b4.launch
similarity index 100%
rename from cob_bringup/modules/cob4-b4.launch
rename to cob_bringup/modules/base/cob4-b4.launch
diff --git a/cob_bringup/modules/cob4-b5.launch b/cob_bringup/modules/base/cob4-b5.launch
similarity index 100%
rename from cob_bringup/modules/cob4-b5.launch
rename to cob_bringup/modules/base/cob4-b5.launch
diff --git a/cob_bringup/modules/cob4-b6.launch b/cob_bringup/modules/base/cob4-b6.launch
similarity index 100%
rename from cob_bringup/modules/cob4-b6.launch
rename to cob_bringup/modules/base/cob4-b6.launch
diff --git a/cob_bringup/modules/cob4-b7.launch b/cob_bringup/modules/base/cob4-b7.launch
similarity index 100%
rename from cob_bringup/modules/cob4-b7.launch
rename to cob_bringup/modules/base/cob4-b7.launch
diff --git a/cob_bringup/modules/cob4-b8.launch b/cob_bringup/modules/base/cob4-b8.launch
similarity index 100%
rename from cob_bringup/modules/cob4-b8.launch
rename to cob_bringup/modules/base/cob4-b8.launch
diff --git a/cob_bringup/modules/raw3-b1.launch b/cob_bringup/modules/base/raw3-b1.launch
similarity index 100%
rename from cob_bringup/modules/raw3-b1.launch
rename to cob_bringup/modules/base/raw3-b1.launch
diff --git a/cob_bringup/modules/raw3-b3.launch b/cob_bringup/modules/base/raw3-b3.launch
similarity index 100%
rename from cob_bringup/modules/raw3-b3.launch
rename to cob_bringup/modules/base/raw3-b3.launch
diff --git a/cob_bringup/modules/raw3-b5.launch b/cob_bringup/modules/base/raw3-b5.launch
similarity index 100%
rename from cob_bringup/modules/raw3-b5.launch
rename to cob_bringup/modules/base/raw3-b5.launch
diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml
index 50b933364..1f0e67ac1 100644
--- a/cob_bringup/robots/cob4-2.xml
+++ b/cob_bringup/robots/cob4-2.xml
@@ -40,7 +40,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-3.xml b/cob_bringup/robots/cob4-3.xml
index 1a0f88903..242435e06 100644
--- a/cob_bringup/robots/cob4-3.xml
+++ b/cob_bringup/robots/cob4-3.xml
@@ -28,7 +28,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-4.xml b/cob_bringup/robots/cob4-4.xml
index cbb8af510..849a05ac8 100644
--- a/cob_bringup/robots/cob4-4.xml
+++ b/cob_bringup/robots/cob4-4.xml
@@ -29,7 +29,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-5.xml b/cob_bringup/robots/cob4-5.xml
index ae10a3203..b916286cf 100644
--- a/cob_bringup/robots/cob4-5.xml
+++ b/cob_bringup/robots/cob4-5.xml
@@ -40,7 +40,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-6.xml b/cob_bringup/robots/cob4-6.xml
index 32e294c5b..340f09496 100644
--- a/cob_bringup/robots/cob4-6.xml
+++ b/cob_bringup/robots/cob4-6.xml
@@ -29,7 +29,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-7.xml b/cob_bringup/robots/cob4-7.xml
index bd26bcdcf..defc16e58 100644
--- a/cob_bringup/robots/cob4-7.xml
+++ b/cob_bringup/robots/cob4-7.xml
@@ -40,7 +40,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml
index a2ee46b36..f87d70b2d 100644
--- a/cob_bringup/robots/raw3-1.xml
+++ b/cob_bringup/robots/raw3-1.xml
@@ -47,7 +47,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml
index 3addf6ae7..9306a0f1c 100644
--- a/cob_bringup/robots/raw3-3.xml
+++ b/cob_bringup/robots/raw3-3.xml
@@ -38,7 +38,7 @@
 			<include if="$(arg use_rplidar)" file="$(find rplidar_ros)/launch/rplidar.launch"/>
 		</group>
 
-		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/raw3-5.xml b/cob_bringup/robots/raw3-5.xml
index 927ed1efe..dfee7b76a 100644
--- a/cob_bringup/robots/raw3-5.xml
+++ b/cob_bringup/robots/raw3-5.xml
@@ -32,7 +32,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/modules/$(arg base).launch">
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 

From 8c2c8f88fc5aeb229cb2f678f2acb809e9e5c911 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Sat, 15 Apr 2017 22:33:21 +0200
Subject: [PATCH 6/8] restructure bundles

---
 cob_bringup/CMakeLists.txt                    |  2 +-
 .../base_cob4.launch}                         |  6 +++---
 .../base_legacy.launch}                       |  0
 .../base_raw3.launch}                         |  6 +++---
 .../base_ros_control.launch}                  |  0
 .../cam3d_openni2.launch                      |  0
 .../cam3d_r200_rgbd.launch                    |  0
 .../camera_cob4_head.launch}                  |  0
 .../canopen_generic.launch                    |  0
 .../gripper_sdhx_legacy.launch}               |  0
 .../schunk_powercube_legacy.launch}           |  0
 cob_bringup/robots/base_solo.launch           |  4 ++--
 cob_bringup/robots/cob4-2.xml                 | 14 ++++++-------
 cob_bringup/robots/cob4-3.xml                 |  2 +-
 cob_bringup/robots/cob4-4.xml                 |  2 +-
 cob_bringup/robots/cob4-5.xml                 | 20 +++++++++----------
 cob_bringup/robots/cob4-6.xml                 |  2 +-
 cob_bringup/robots/cob4-7.xml                 | 14 ++++++-------
 .../robots/component_solo_canopen.launch      |  2 +-
 cob_bringup/robots/raw3-1.xml                 |  4 ++--
 cob_bringup/robots/raw3-3.xml                 |  4 ++--
 cob_bringup/robots/raw3-5.xml                 |  2 +-
 ...troller.yaml => base_cob4_controller.yaml} |  0
 ...base_driver.yaml => base_cob4_driver.yaml} |  0
 ...troller.yaml => base_raw3_controller.yaml} |  0
 ...base_driver.yaml => base_raw3_driver.yaml} |  0
 26 files changed, 42 insertions(+), 42 deletions(-)
 rename cob_bringup/{components/cob4_base.launch => bundles/base_cob4.launch} (82%)
 rename cob_bringup/{components/legacy_base.launch => bundles/base_legacy.launch} (100%)
 rename cob_bringup/{components/raw3_base.launch => bundles/base_raw3.launch} (81%)
 rename cob_bringup/{components/ros_control_base.launch => bundles/base_ros_control.launch} (100%)
 rename cob_bringup/{components => bundles}/cam3d_openni2.launch (100%)
 rename cob_bringup/{components => bundles}/cam3d_r200_rgbd.launch (100%)
 rename cob_bringup/{components/cob4_head_camera.launch => bundles/camera_cob4_head.launch} (100%)
 rename cob_bringup/{components => bundles}/canopen_generic.launch (100%)
 rename cob_bringup/{components/legacy_sdhx.launch => bundles/gripper_sdhx_legacy.launch} (100%)
 rename cob_bringup/{components/legacy_schunk_powercube.launch => bundles/schunk_powercube_legacy.launch} (100%)
 rename cob_hardware_config/robots/common/{cob4_base_controller.yaml => base_cob4_controller.yaml} (100%)
 rename cob_hardware_config/robots/common/{cob4_base_driver.yaml => base_cob4_driver.yaml} (100%)
 rename cob_hardware_config/robots/common/{raw3_base_controller.yaml => base_raw3_controller.yaml} (100%)
 rename cob_hardware_config/robots/common/{raw3_base_driver.yaml => base_raw3_driver.yaml} (100%)

diff --git a/cob_bringup/CMakeLists.txt b/cob_bringup/CMakeLists.txt
index 093a6699e..af7ece336 100644
--- a/cob_bringup/CMakeLists.txt
+++ b/cob_bringup/CMakeLists.txt
@@ -16,7 +16,7 @@ if(CATKIN_ENABLE_TESTING)
 endif()
 
 ### INSTALL ###
-install(DIRECTORY components controllers drivers modules robots tools
+install(DIRECTORY bundles controllers drivers modules robots tools
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
diff --git a/cob_bringup/components/cob4_base.launch b/cob_bringup/bundles/base_cob4.launch
similarity index 82%
rename from cob_bringup/components/cob4_base.launch
rename to cob_bringup/bundles/base_cob4.launch
index cbb0d89a9..ee0c35314 100644
--- a/cob_bringup/components/cob4_base.launch
+++ b/cob_bringup/bundles/base_cob4.launch
@@ -6,10 +6,10 @@
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="sim" default="false"/>
 
-	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/robots/common/cob4_base_driver.yaml"/>
-	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/robots/common/cob4_base_controller.yaml"/>
+	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/robots/common/base_cob4_driver.yaml"/>
+	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/robots/common/base_cob4_controller.yaml"/>
 
-	<include file="$(find cob_bringup)/components/ros_control_base.launch">
+	<include file="$(find cob_bringup)/bundles/base_ros_control.launch">
 		<arg name="robot" value="$(arg robot)"/>
 		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="driver_yaml" value="$(arg driver_yaml)"/>
diff --git a/cob_bringup/components/legacy_base.launch b/cob_bringup/bundles/base_legacy.launch
similarity index 100%
rename from cob_bringup/components/legacy_base.launch
rename to cob_bringup/bundles/base_legacy.launch
diff --git a/cob_bringup/components/raw3_base.launch b/cob_bringup/bundles/base_raw3.launch
similarity index 81%
rename from cob_bringup/components/raw3_base.launch
rename to cob_bringup/bundles/base_raw3.launch
index 53a422f1d..a258705c6 100644
--- a/cob_bringup/components/raw3_base.launch
+++ b/cob_bringup/bundles/base_raw3.launch
@@ -6,10 +6,10 @@
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="sim" default="false"/>
 
-	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/robots/common/raw3_base_driver.yaml"/>
-	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/robots/common/raw3_base_controller.yaml"/>
+	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/robots/common/base_raw3_driver.yaml"/>
+	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/robots/common/base_raw3_controller.yaml"/>
 
-	<include file="$(find cob_bringup)/components/ros_control_base.launch">
+	<include file="$(find cob_bringup)/bundles/base_ros_control.launch">
 		<arg name="robot" value="$(arg robot)"/>
 		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="driver_yaml" value="$(arg driver_yaml)"/>
diff --git a/cob_bringup/components/ros_control_base.launch b/cob_bringup/bundles/base_ros_control.launch
similarity index 100%
rename from cob_bringup/components/ros_control_base.launch
rename to cob_bringup/bundles/base_ros_control.launch
diff --git a/cob_bringup/components/cam3d_openni2.launch b/cob_bringup/bundles/cam3d_openni2.launch
similarity index 100%
rename from cob_bringup/components/cam3d_openni2.launch
rename to cob_bringup/bundles/cam3d_openni2.launch
diff --git a/cob_bringup/components/cam3d_r200_rgbd.launch b/cob_bringup/bundles/cam3d_r200_rgbd.launch
similarity index 100%
rename from cob_bringup/components/cam3d_r200_rgbd.launch
rename to cob_bringup/bundles/cam3d_r200_rgbd.launch
diff --git a/cob_bringup/components/cob4_head_camera.launch b/cob_bringup/bundles/camera_cob4_head.launch
similarity index 100%
rename from cob_bringup/components/cob4_head_camera.launch
rename to cob_bringup/bundles/camera_cob4_head.launch
diff --git a/cob_bringup/components/canopen_generic.launch b/cob_bringup/bundles/canopen_generic.launch
similarity index 100%
rename from cob_bringup/components/canopen_generic.launch
rename to cob_bringup/bundles/canopen_generic.launch
diff --git a/cob_bringup/components/legacy_sdhx.launch b/cob_bringup/bundles/gripper_sdhx_legacy.launch
similarity index 100%
rename from cob_bringup/components/legacy_sdhx.launch
rename to cob_bringup/bundles/gripper_sdhx_legacy.launch
diff --git a/cob_bringup/components/legacy_schunk_powercube.launch b/cob_bringup/bundles/schunk_powercube_legacy.launch
similarity index 100%
rename from cob_bringup/components/legacy_schunk_powercube.launch
rename to cob_bringup/bundles/schunk_powercube_legacy.launch
diff --git a/cob_bringup/robots/base_solo.launch b/cob_bringup/robots/base_solo.launch
index 79290309e..448dcb1bd 100644
--- a/cob_bringup/robots/base_solo.launch
+++ b/cob_bringup/robots/base_solo.launch
@@ -16,10 +16,10 @@
 	<!-- start robot_state_publisher -->
 	<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher"/>
 
-	<include unless="$(arg use_old_base_drive_chain)" file="$(find cob_bringup)/components/cob4_base.launch">
+	<include unless="$(arg use_old_base_drive_chain)" file="$(find cob_bringup)/bundles/base_cob4.launch">
 	</include>
 
-	<include if="$(arg use_old_base_drive_chain)" file="$(find cob_bringup)/components/legacy_base.launch">
+	<include if="$(arg use_old_base_drive_chain)" file="$(find cob_bringup)/bundles/base_legacy.launch">
 		<arg name="robot" value="$(arg robot)"/>
 	</include>
 
diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml
index 1f0e67ac1..cad74b6ad 100644
--- a/cob_bringup/robots/cob4-2.xml
+++ b/cob_bringup/robots/cob4-2.xml
@@ -53,7 +53,7 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/components/cob4_base.launch">
+		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
@@ -109,13 +109,13 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/canopen_generic.launch">
+		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="torso"/>
 			<arg name="can_device" value="can0"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_right"/>
 			<arg name="device_id" value="#1"/>
@@ -151,7 +151,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_r200_rgbd.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_r200_rgbd.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_down"/>
 			<arg name="num_worker_threads" value="2"/>
@@ -171,7 +171,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_left"/>
 			<arg name="device_id" value="#1"/>
@@ -193,7 +193,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="sensorring_cam3d"/>
 			<arg name="data_skip" value="3"/>
@@ -213,7 +213,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cob4_head_camera.launch">
+		<include file="$(find cob_bringup)/bundles/camera_cob4_head.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
diff --git a/cob_bringup/robots/cob4-3.xml b/cob_bringup/robots/cob4-3.xml
index 242435e06..0f68d34ef 100644
--- a/cob_bringup/robots/cob4-3.xml
+++ b/cob_bringup/robots/cob4-3.xml
@@ -36,7 +36,7 @@
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/components/cob4_base.launch">
+		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
diff --git a/cob_bringup/robots/cob4-4.xml b/cob_bringup/robots/cob4-4.xml
index 849a05ac8..9206c57c1 100644
--- a/cob_bringup/robots/cob4-4.xml
+++ b/cob_bringup/robots/cob4-4.xml
@@ -37,7 +37,7 @@
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/components/cob4_base.launch">
+		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
diff --git a/cob_bringup/robots/cob4-5.xml b/cob_bringup/robots/cob4-5.xml
index b916286cf..7967cd687 100644
--- a/cob_bringup/robots/cob4-5.xml
+++ b/cob_bringup/robots/cob4-5.xml
@@ -53,7 +53,7 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/components/cob4_base.launch">
+		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
@@ -109,27 +109,27 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/canopen_generic.launch">
+		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="sensorring"/>
 			<arg name="can_device" value="can1"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/components/canopen_generic.launch">
+		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="arm_left"/>
 			<arg name="can_device" value="can3"/>
 			<arg name="sim" value="$(arg sim)"/>
 			<arg if="$(arg sim)" name="cartesian_control" value="true"/>
 		</include>
-		<include file="$(find cob_bringup)/components/canopen_generic.launch">
+		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="arm_right"/>
 			<arg name="can_device" value="can2"/>
 			<arg name="sim" value="$(arg sim)"/>
 			<arg if="$(arg sim)" name="cartesian_control" value="true"/>
 		</include>
-		<include file="$(find cob_bringup)/components/legacy_sdhx.launch">
+		<include file="$(find cob_bringup)/bundles/gripper_sdhx_legacy.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="gripper_right"/>
 			<arg name="sim" value="$(arg sim)"/>
@@ -158,7 +158,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_right"/>
 			<arg name="device_id" value="#1"/>
@@ -178,21 +178,21 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_left"/>
 			<arg name="device_id" value="#1"/>
 			<arg name="start_manager" value="false"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/components/cam3d_r200_rgbd.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_r200_rgbd.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_down"/>
 			<arg name="start_manager" value="false"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/components/legacy_sdhx.launch">
+		<include file="$(find cob_bringup)/bundles/gripper_sdhx_legacy.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="gripper_left"/>
 			<arg name="sim" value="$(arg sim)"/>
@@ -214,7 +214,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="sensorring_cam3d_back"/>
 			<arg name="device_id" value="#1"/>
diff --git a/cob_bringup/robots/cob4-6.xml b/cob_bringup/robots/cob4-6.xml
index 340f09496..c784deab0 100644
--- a/cob_bringup/robots/cob4-6.xml
+++ b/cob_bringup/robots/cob4-6.xml
@@ -37,7 +37,7 @@
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/components/cob4_base.launch">
+		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
diff --git a/cob_bringup/robots/cob4-7.xml b/cob_bringup/robots/cob4-7.xml
index defc16e58..8b4496d78 100644
--- a/cob_bringup/robots/cob4-7.xml
+++ b/cob_bringup/robots/cob4-7.xml
@@ -53,7 +53,7 @@
 			<arg name="sim" value="true"/>
 		</include>
 
-		<include file="$(find cob_bringup)/components/cob4_base.launch">
+		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
@@ -109,13 +109,13 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/canopen_generic.launch">
+		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="torso"/>
 			<arg name="can_device" value="can0"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_right"/>
 			<arg name="device_id" value="#1"/>
@@ -151,7 +151,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_r200_rgbd.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_r200_rgbd.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_down"/>
 			<arg name="num_worker_threads" value="2"/>
@@ -171,7 +171,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_left"/>
 			<arg name="device_id" value="#1"/>
@@ -193,7 +193,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cam3d_openni2.launch">
+		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="sensorring_cam3d"/>
 			<arg name="data_skip" value="3"/>
@@ -216,7 +216,7 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/components/cob4_head_camera.launch">
+		<include file="$(find cob_bringup)/bundles/camera_cob4_head.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
diff --git a/cob_bringup/robots/component_solo_canopen.launch b/cob_bringup/robots/component_solo_canopen.launch
index eb7a9dfec..00c68ff29 100644
--- a/cob_bringup/robots/component_solo_canopen.launch
+++ b/cob_bringup/robots/component_solo_canopen.launch
@@ -17,7 +17,7 @@
 	</include>
 
 	<!-- start driver -->
-	<include file="$(find cob_bringup)/components/canopen_generic.launch">
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
 		<arg name="robot" value="$(arg robot)"/>
 		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml
index f87d70b2d..fca746f83 100644
--- a/cob_bringup/robots/raw3-1.xml
+++ b/cob_bringup/robots/raw3-1.xml
@@ -51,11 +51,11 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/components/legacy_base.launch">
+		<include file="$(find cob_bringup)/bundles/base_legacy.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/components/legacy_schunk_powercube.launch">
+		<include file="$(find cob_bringup)/bundles/schunk_powercube_legacy.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="torso"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml
index 9306a0f1c..7d6533906 100644
--- a/cob_bringup/robots/raw3-3.xml
+++ b/cob_bringup/robots/raw3-3.xml
@@ -42,11 +42,11 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/components/legacy_base.launch">
+		<include file="$(find cob_bringup)/bundles/base_legacy.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<!--include file="$(find cob_bringup)/components/canopen_generic.launch">
+		<!--include file="$(find cob_bringup)/bundles/canopen_generic.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="torso"/>
 			<arg name="can_device" value="can1"/>
diff --git a/cob_bringup/robots/raw3-5.xml b/cob_bringup/robots/raw3-5.xml
index dfee7b76a..609f6466e 100644
--- a/cob_bringup/robots/raw3-5.xml
+++ b/cob_bringup/robots/raw3-5.xml
@@ -50,7 +50,7 @@
 		<include file="$(find cob_bringup)/tools/battery_monitor.launch" >
 			<arg name="robot" value="$(arg robot)" />
 		</include>
-		<include file="$(find cob_bringup)/components/raw3_base.launch" >
+		<include file="$(find cob_bringup)/bundles/base_raw3.launch" >
 			<arg name="robot" value="$(arg robot)" />
 			<arg name="can_device" value="can1" />
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_hardware_config/robots/common/cob4_base_controller.yaml b/cob_hardware_config/robots/common/base_cob4_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/common/cob4_base_controller.yaml
rename to cob_hardware_config/robots/common/base_cob4_controller.yaml
diff --git a/cob_hardware_config/robots/common/cob4_base_driver.yaml b/cob_hardware_config/robots/common/base_cob4_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/common/cob4_base_driver.yaml
rename to cob_hardware_config/robots/common/base_cob4_driver.yaml
diff --git a/cob_hardware_config/robots/common/raw3_base_controller.yaml b/cob_hardware_config/robots/common/base_raw3_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/common/raw3_base_controller.yaml
rename to cob_hardware_config/robots/common/base_raw3_controller.yaml
diff --git a/cob_hardware_config/robots/common/raw3_base_driver.yaml b/cob_hardware_config/robots/common/base_raw3_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/common/raw3_base_driver.yaml
rename to cob_hardware_config/robots/common/base_raw3_driver.yaml

From b95ec083b408b955329a841429d1ed6df219eb97 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Sun, 16 Apr 2017 17:37:56 +0200
Subject: [PATCH 7/8] restructure base module

---
 cob_bringup/bundles/base_cob4.launch                 |  9 ++++-----
 cob_bringup/bundles/base_legacy.launch               | 12 ++++++------
 cob_bringup/bundles/base_raw3.launch                 |  9 ++++-----
 cob_bringup/bundles/base_ros_control.launch          |  8 ++++----
 cob_bringup/controllers/base_controller.launch       |  3 ---
 .../controllers/base_controller_plugin.launch        |  6 +++---
 cob_bringup/drivers/base_driver.launch               |  4 ++--
 cob_bringup/drivers/bms.launch                       |  6 +++---
 cob_bringup/modules/base/cob4-b3.launch              |  6 ++++++
 cob_bringup/modules/base/cob4-b4.launch              |  6 ++++++
 cob_bringup/modules/base/cob4-b5.launch              |  6 ++++++
 cob_bringup/modules/base/cob4-b6.launch              |  6 ++++++
 cob_bringup/modules/base/cob4-b7.launch              |  6 ++++++
 cob_bringup/modules/base/cob4-b8.launch              |  6 ++++++
 cob_bringup/modules/base/raw3-b1.launch              |  6 ++++++
 cob_bringup/modules/base/raw3-b3.launch              |  6 ++++++
 cob_bringup/modules/base/raw3-b5.launch              |  7 +++++++
 cob_bringup/robots/base_solo.launch                  |  6 ++++--
 cob_bringup/robots/cob4-2.xml                        |  4 ----
 cob_bringup/robots/cob4-3.xml                        |  4 ----
 cob_bringup/robots/cob4-4.xml                        |  4 ----
 cob_bringup/robots/cob4-5.xml                        |  4 ----
 cob_bringup/robots/cob4-6.xml                        |  4 ----
 cob_bringup/robots/cob4-7.xml                        |  4 ----
 cob_bringup/robots/raw3-1.xml                        |  4 ----
 cob_bringup/robots/raw3-3.xml                        |  4 ----
 cob_bringup/robots/raw3-5.xml                        |  5 -----
 cob_bringup/tools/twist_mux.launch                   |  4 ++--
 cob_bringup/tools/velocity_smoother.launch           |  4 ++--
 cob_hardware_config/CMakeLists.txt                   |  2 +-
 .../config => modules/base/cob4-b3}/base_driver.yaml |  0
 .../cob4-3/config => modules/base/cob4-b3}/bms.yaml  |  0
 .../base/cob4-b3}/velocity_smoother.yaml             |  0
 .../config => modules/base/cob4-b4}/base_driver.yaml |  0
 .../cob4-4/config => modules/base/cob4-b4}/bms.yaml  |  0
 .../base/cob4-b4}/velocity_smoother.yaml             |  0
 .../config => modules/base/cob4-b5}/base_driver.yaml |  0
 .../base/cob4-b5}/base_laser_front.xml               |  0
 .../base/cob4-b5}/base_laser_left.xml                |  0
 .../base/cob4-b5}/base_laser_right.xml               |  0
 .../cob4-5/config => modules/base/cob4-b5}/bms.yaml  |  0
 .../base/cob4-b5}/velocity_smoother.yaml             |  0
 .../config => modules/base/cob4-b6}/base_driver.yaml |  0
 .../cob4-6/config => modules/base/cob4-b6}/bms.yaml  |  0
 .../base/cob4-b6}/velocity_smoother.yaml             |  0
 .../config => modules/base/cob4-b7}/base_driver.yaml |  0
 .../base/cob4-b7}/base_laser_front.xml               |  0
 .../base/cob4-b7}/base_laser_left.xml                |  0
 .../base/cob4-b7}/base_laser_right.xml               |  0
 .../cob4-2/config => modules/base/cob4-b7}/bms.yaml  |  0
 .../base/cob4-b7}/velocity_smoother.yaml             |  0
 .../config => modules/base/cob4-b8}/base_driver.yaml |  0
 .../base/cob4-b8}/base_laser_front.xml               |  0
 .../base/cob4-b8}/base_laser_left.xml                |  0
 .../base/cob4-b8}/base_laser_right.xml               |  0
 .../cob4-7/config => modules/base/cob4-b8}/bms.yaml  |  0
 .../base/cob4-b8}/velocity_smoother.yaml             |  0
 .../base}/common/base_cob4_controller.yaml           |  0
 .../base}/common/base_cob4_driver.yaml               |  2 +-
 .../base}/common/base_raw3_controller.yaml           |  0
 .../base}/common/base_raw3_driver.yaml               |  2 +-
 .../base}/common/twist_mux_locks.yaml                |  0
 .../base}/common/twist_mux_topics.yaml               |  0
 .../config => modules/base/raw3-b1}/base/CanCtrl.ini |  0
 .../base/raw3-b1}/base/Interpolation.ini             |  0
 .../base/raw3-b1}/base/MotionCtrl.ini                |  0
 .../base/raw3-b1}/base/NetworkComm.ini               |  0
 .../base/raw3-b1}/base/Platform.ini                  |  0
 .../base/raw3-b1}/base/PltfIdent.ini                 |  0
 .../base/raw3-b1}/base_controller.yaml               |  0
 .../base/raw3-b1}/base_joint_limits.yaml             |  0
 .../base/raw3-b1}/velocity_smoother.yaml             |  0
 .../config => modules/base/raw3-b3}/base/CanCtrl.ini |  0
 .../base/raw3-b3}/base/Interpolation.ini             |  0
 .../base/raw3-b3}/base/MotionCtrl.ini                |  0
 .../base/raw3-b3}/base/NetworkComm.ini               |  0
 .../base/raw3-b3}/base/Platform.ini                  |  0
 .../base/raw3-b3}/base/PltfIdent.ini                 |  0
 .../base/raw3-b3}/base_controller.yaml               |  0
 .../base/raw3-b3}/base_joint_limits.yaml             |  0
 .../base/raw3-b3}/velocity_smoother.yaml             |  0
 .../config => modules/base/raw3-b5}/base_driver.yaml |  0
 .../base/raw3-b5}/base_joint_limits.yaml             |  0
 .../base/raw3-b5}/velocity_smoother.yaml             |  0
 .../{robots => modules}/common/Elmo.dcf              |  0
 .../{robots => modules}/common/ElmoSimplIQ.dcf       |  0
 .../{robots => modules}/common/Schunk_0_63.dcf       |  0
 .../robots/cob4-2/config/torso_driver.yaml           |  2 +-
 .../robots/cob4-5/config/arm_left_driver.yaml        |  2 +-
 .../robots/cob4-5/config/arm_right_driver.yaml       |  2 +-
 .../robots/cob4-5/config/sensorring_driver.yaml      |  2 +-
 .../robots/cob4-7/config/torso_driver.yaml           |  2 +-
 92 files changed, 97 insertions(+), 82 deletions(-)
 rename cob_hardware_config/{robots/cob4-3/config => modules/base/cob4-b3}/base_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-3/config => modules/base/cob4-b3}/bms.yaml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/base/cob4-b3}/velocity_smoother.yaml (100%)
 rename cob_hardware_config/{robots/cob4-4/config => modules/base/cob4-b4}/base_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-4/config => modules/base/cob4-b4}/bms.yaml (100%)
 rename cob_hardware_config/{robots/cob4-3/config => modules/base/cob4-b4}/velocity_smoother.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/base/cob4-b5}/base_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/base/cob4-b5}/base_laser_front.xml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/base/cob4-b5}/base_laser_left.xml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/base/cob4-b5}/base_laser_right.xml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/base/cob4-b5}/bms.yaml (100%)
 rename cob_hardware_config/{robots/cob4-4/config => modules/base/cob4-b5}/velocity_smoother.yaml (100%)
 rename cob_hardware_config/{robots/cob4-6/config => modules/base/cob4-b6}/base_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-6/config => modules/base/cob4-b6}/bms.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/base/cob4-b6}/velocity_smoother.yaml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/base/cob4-b7}/base_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/base/cob4-b7}/base_laser_front.xml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/base/cob4-b7}/base_laser_left.xml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/base/cob4-b7}/base_laser_right.xml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/base/cob4-b7}/bms.yaml (100%)
 rename cob_hardware_config/{robots/cob4-6/config => modules/base/cob4-b7}/velocity_smoother.yaml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/base/cob4-b8}/base_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/base/cob4-b8}/base_laser_front.xml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/base/cob4-b8}/base_laser_left.xml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/base/cob4-b8}/base_laser_right.xml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/base/cob4-b8}/bms.yaml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/base/cob4-b8}/velocity_smoother.yaml (100%)
 rename cob_hardware_config/{robots => modules/base}/common/base_cob4_controller.yaml (100%)
 rename cob_hardware_config/{robots => modules/base}/common/base_cob4_driver.yaml (97%)
 rename cob_hardware_config/{robots => modules/base}/common/base_raw3_controller.yaml (100%)
 rename cob_hardware_config/{robots => modules/base}/common/base_raw3_driver.yaml (98%)
 rename cob_hardware_config/{robots => modules/base}/common/twist_mux_locks.yaml (100%)
 rename cob_hardware_config/{robots => modules/base}/common/twist_mux_topics.yaml (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/base/raw3-b1}/base/CanCtrl.ini (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/base/raw3-b1}/base/Interpolation.ini (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/base/raw3-b1}/base/MotionCtrl.ini (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/base/raw3-b1}/base/NetworkComm.ini (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/base/raw3-b1}/base/Platform.ini (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/base/raw3-b1}/base/PltfIdent.ini (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/base/raw3-b1}/base_controller.yaml (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/base/raw3-b1}/base_joint_limits.yaml (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/base/raw3-b1}/velocity_smoother.yaml (100%)
 rename cob_hardware_config/{robots/raw3-3/config => modules/base/raw3-b3}/base/CanCtrl.ini (100%)
 rename cob_hardware_config/{robots/raw3-3/config => modules/base/raw3-b3}/base/Interpolation.ini (100%)
 rename cob_hardware_config/{robots/raw3-3/config => modules/base/raw3-b3}/base/MotionCtrl.ini (100%)
 rename cob_hardware_config/{robots/raw3-3/config => modules/base/raw3-b3}/base/NetworkComm.ini (100%)
 rename cob_hardware_config/{robots/raw3-3/config => modules/base/raw3-b3}/base/Platform.ini (100%)
 rename cob_hardware_config/{robots/raw3-3/config => modules/base/raw3-b3}/base/PltfIdent.ini (100%)
 rename cob_hardware_config/{robots/raw3-3/config => modules/base/raw3-b3}/base_controller.yaml (100%)
 rename cob_hardware_config/{robots/raw3-3/config => modules/base/raw3-b3}/base_joint_limits.yaml (100%)
 rename cob_hardware_config/{robots/raw3-3/config => modules/base/raw3-b3}/velocity_smoother.yaml (100%)
 rename cob_hardware_config/{robots/raw3-5/config => modules/base/raw3-b5}/base_driver.yaml (100%)
 rename cob_hardware_config/{robots/raw3-5/config => modules/base/raw3-b5}/base_joint_limits.yaml (100%)
 rename cob_hardware_config/{robots/raw3-5/config => modules/base/raw3-b5}/velocity_smoother.yaml (100%)
 rename cob_hardware_config/{robots => modules}/common/Elmo.dcf (100%)
 rename cob_hardware_config/{robots => modules}/common/ElmoSimplIQ.dcf (100%)
 rename cob_hardware_config/{robots => modules}/common/Schunk_0_63.dcf (100%)

diff --git a/cob_bringup/bundles/base_cob4.launch b/cob_bringup/bundles/base_cob4.launch
index ee0c35314..c5f30365f 100644
--- a/cob_bringup/bundles/base_cob4.launch
+++ b/cob_bringup/bundles/base_cob4.launch
@@ -1,16 +1,15 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
-
+	<arg name="base"/>
 	<arg name="can_device" default="can0"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="sim" default="false"/>
 
-	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/robots/common/base_cob4_driver.yaml"/>
-	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/robots/common/base_cob4_controller.yaml"/>
+	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/modules/base/common/base_cob4_driver.yaml"/>
+	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/modules/base/common/base_cob4_controller.yaml"/>
 
 	<include file="$(find cob_bringup)/bundles/base_ros_control.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="base" value="$(arg base)"/>
 		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="driver_yaml" value="$(arg driver_yaml)"/>
 		<arg name="controller_yaml" value="$(arg controller_yaml)"/>
diff --git a/cob_bringup/bundles/base_legacy.launch b/cob_bringup/bundles/base_legacy.launch
index 75c9b243d..665a66a84 100644
--- a/cob_bringup/bundles/base_legacy.launch
+++ b/cob_bringup/bundles/base_legacy.launch
@@ -1,20 +1,20 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="base"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="sim" default="false"/>
 
 	<group unless="$(arg sim)">
 		<include file="$(find cob_bringup)/drivers/base_driver.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 		</include>
 		<include file="$(find cob_bringup)/controllers/base_controller.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 		</include>
 	</group>
 	<group if="$(arg sim)">
 		<include file="$(find cob_bringup)/controllers/base_controller_plugin.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 		</include>
 		<node ns="base" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>
 	</group>
@@ -28,8 +28,8 @@
 
 		<!-- velocity smoother -->
 		<include file="$(find cob_bringup)/tools/velocity_smoother.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="config_file"           default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/velocity_smoother.yaml"/>
+			<arg name="base" value="$(arg base)"/>
+			<arg name="config_file"           default="$(arg pkg_hardware_config)/modules/base/$(arg base)/velocity_smoother.yaml"/>
 			<arg name="raw_cmd_vel_topic"     default="velocity_smoother/command"/>
 			<arg name="smooth_cmd_vel_topic"  default="twist_controller/command"/>
 			<arg name="robot_cmd_vel_topic"   default="twist_controller/command"/>
diff --git a/cob_bringup/bundles/base_raw3.launch b/cob_bringup/bundles/base_raw3.launch
index a258705c6..f37c4ff4c 100644
--- a/cob_bringup/bundles/base_raw3.launch
+++ b/cob_bringup/bundles/base_raw3.launch
@@ -1,16 +1,15 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>	
+	<arg name="base"/>
 	<arg name="can_device"/>
-
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="sim" default="false"/>
 
-	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/robots/common/base_raw3_driver.yaml"/>
-	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/robots/common/base_raw3_controller.yaml"/>
+	<arg name="driver_yaml" value="$(arg pkg_hardware_config)/modules/base/common/base_raw3_driver.yaml"/>
+	<arg name="controller_yaml" value="$(arg pkg_hardware_config)/modules/base/common/base_raw3_controller.yaml"/>
 
 	<include file="$(find cob_bringup)/bundles/base_ros_control.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="base" value="$(arg base)"/>
 		<arg name="pkg_hardware_config" value="$(arg pkg_hardware_config)"/>
 		<arg name="driver_yaml" value="$(arg driver_yaml)"/>
 		<arg name="controller_yaml" value="$(arg controller_yaml)"/>
diff --git a/cob_bringup/bundles/base_ros_control.launch b/cob_bringup/bundles/base_ros_control.launch
index fb5707401..6310a4c03 100644
--- a/cob_bringup/bundles/base_ros_control.launch
+++ b/cob_bringup/bundles/base_ros_control.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="base"/>
 	<arg name="driver_yaml"/>
 	<arg name="controller_yaml"/>
 
@@ -14,7 +14,7 @@
 	<arg name="start_external_sync" value="false"/>
 
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/canopen_402.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="base" value="$(arg base)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 		<arg name="can_device" value="$(arg can_device)"/>
 		<arg name="interval_ms" value="$(arg interval_ms)"/>
@@ -43,8 +43,8 @@
 
 		<!-- velocity smoother -->
 		<include file="$(find cob_bringup)/tools/velocity_smoother.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="config_file"           default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/velocity_smoother.yaml"/>
+			<arg name="base" value="$(arg base)"/>
+			<arg name="config_file"           default="$(arg pkg_hardware_config)/modules/base/$(arg base)/velocity_smoother.yaml"/>
 			<arg name="raw_cmd_vel_topic"     default="velocity_smoother/command"/>
 			<arg name="smooth_cmd_vel_topic"  default="twist_controller/command"/>
 			<arg name="robot_cmd_vel_topic"   default="twist_controller/command"/>
diff --git a/cob_bringup/controllers/base_controller.launch b/cob_bringup/controllers/base_controller.launch
index 77e52c8dc..9de59c547 100644
--- a/cob_bringup/controllers/base_controller.launch
+++ b/cob_bringup/controllers/base_controller.launch
@@ -1,9 +1,6 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
-	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
-
 	<group ns="base">
 
 		<!-- start undercarriage ctrl -->
diff --git a/cob_bringup/controllers/base_controller_plugin.launch b/cob_bringup/controllers/base_controller_plugin.launch
index 4a2335ec9..119b833f6 100644
--- a/cob_bringup/controllers/base_controller_plugin.launch
+++ b/cob_bringup/controllers/base_controller_plugin.launch
@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="base"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 
 	<group ns="base">
 
 		<!-- load controller configs -->
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/base_controller.yaml"/>
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/base_joint_limits.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/base/$(arg base)/base_controller.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/base/$(arg base)/base_joint_limits.yaml"/>
 
 		<!-- start controllers -->
 		<node pkg="controller_manager" type="controller_manager" name="base_controller_spawner" args="spawn joint_state_controller twist_controller odometry_controller" respawn="false" output="screen"/>
diff --git a/cob_bringup/drivers/base_driver.launch b/cob_bringup/drivers/base_driver.launch
index 0388ca2dd..3c957fdc0 100644
--- a/cob_bringup/drivers/base_driver.launch
+++ b/cob_bringup/drivers/base_driver.launch
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="base"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 
 	<group ns="base">
 
 		<!-- upload parameters -->
-		<param name="IniDirectory" value="$(arg pkg_hardware_config)/robots/$(arg robot)/config/base/"/>
+		<param name="IniDirectory" value="$(arg pkg_hardware_config)/modules/base/$(arg base)/base/"/>
 		<param name="timeout" value="0.2"/>
 		<param name="PublishEffort" value="false"/>
 		<param name="max_trans_velocity" value="1.1"/>	<!-- default: 1.1 m/s -->
diff --git a/cob_bringup/drivers/bms.launch b/cob_bringup/drivers/bms.launch
index 69f1f0129..3a89cf0a3 100644
--- a/cob_bringup/drivers/bms.launch
+++ b/cob_bringup/drivers/bms.launch
@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="base"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="sim" default="false"/>
 
 	<node unless="$(arg sim)" name="bms" pkg="cob_bms_driver" type="bms_driver_node" output="screen" clear_params="true">
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/bms.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/base/$(arg base)/bms.yaml"/>
 	</node>
 	<node if="$(arg sim)" name="bms" pkg="cob_bms_driver" type="fake_bms.py" output="screen" clear_params="true">
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/bms.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/base/$(arg base)/bms.yaml"/>
 	</node>
 
 	<node ns="bms" name="power_state_aggregator" pkg="cob_bms_driver" type="power_state_aggregator.py" output="screen">
diff --git a/cob_bringup/modules/base/cob4-b3.launch b/cob_bringup/modules/base/cob4-b3.launch
index 049e2deb7..70a21d3ac 100644
--- a/cob_bringup/modules/base/cob4-b3.launch
+++ b/cob_bringup/modules/base/cob4-b3.launch
@@ -1,7 +1,13 @@
 <?xml version="1.0"?>
 <launch>
+	<arg name="base" value="cob4-b3"/>
 	<arg name="sim" default="false"/>
 
+	<include file="$(find cob_bringup)/bundles/base_cob4.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
diff --git a/cob_bringup/modules/base/cob4-b4.launch b/cob_bringup/modules/base/cob4-b4.launch
index 049e2deb7..4971a68e5 100644
--- a/cob_bringup/modules/base/cob4-b4.launch
+++ b/cob_bringup/modules/base/cob4-b4.launch
@@ -1,7 +1,13 @@
 <?xml version="1.0"?>
 <launch>
+	<arg name="base" value="cob4-b4"/>
 	<arg name="sim" default="false"/>
 
+	<include file="$(find cob_bringup)/bundles/base_cob4.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
diff --git a/cob_bringup/modules/base/cob4-b5.launch b/cob_bringup/modules/base/cob4-b5.launch
index 45c51da6a..544843cee 100644
--- a/cob_bringup/modules/base/cob4-b5.launch
+++ b/cob_bringup/modules/base/cob4-b5.launch
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+	<arg name="base" value="cob4-b5"/>
 	<arg name="sim" default="false"/>
 
 	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
@@ -31,6 +32,11 @@
 		<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
 	</include>
 
+	<include file="$(find cob_bringup)/bundles/base_cob4.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
diff --git a/cob_bringup/modules/base/cob4-b6.launch b/cob_bringup/modules/base/cob4-b6.launch
index 049e2deb7..0535c60d4 100644
--- a/cob_bringup/modules/base/cob4-b6.launch
+++ b/cob_bringup/modules/base/cob4-b6.launch
@@ -1,7 +1,13 @@
 <?xml version="1.0"?>
 <launch>
+	<arg name="base" value="cob4-b6"/>
 	<arg name="sim" default="false"/>
 
+	<include file="$(find cob_bringup)/bundles/base_cob4.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
diff --git a/cob_bringup/modules/base/cob4-b7.launch b/cob_bringup/modules/base/cob4-b7.launch
index 45c51da6a..4736cc3a0 100644
--- a/cob_bringup/modules/base/cob4-b7.launch
+++ b/cob_bringup/modules/base/cob4-b7.launch
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+	<arg name="base" value="cob4-b7"/>
 	<arg name="sim" default="false"/>
 
 	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
@@ -31,6 +32,11 @@
 		<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
 	</include>
 
+	<include file="$(find cob_bringup)/bundles/base_cob4.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
diff --git a/cob_bringup/modules/base/cob4-b8.launch b/cob_bringup/modules/base/cob4-b8.launch
index 45c51da6a..d99c2eb34 100644
--- a/cob_bringup/modules/base/cob4-b8.launch
+++ b/cob_bringup/modules/base/cob4-b8.launch
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+	<arg name="base" value="cob4-b8"/>
 	<arg name="sim" default="false"/>
 
 	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
@@ -31,6 +32,11 @@
 		<arg name="input_scans" value="['base_laser_front/scan','base_laser_left/scan','base_laser_right/scan']"/>
 	</include>
 
+	<include file="$(find cob_bringup)/bundles/base_cob4.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
diff --git a/cob_bringup/modules/base/raw3-b1.launch b/cob_bringup/modules/base/raw3-b1.launch
index 4cefefb78..c2665d515 100644
--- a/cob_bringup/modules/base/raw3-b1.launch
+++ b/cob_bringup/modules/base/raw3-b1.launch
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+	<arg name="base" value="raw3-b1"/>
 	<arg name="sim" default="false"/>
 
 	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
@@ -23,6 +24,11 @@
 		<arg name="input_scans" value="['base_laser_front/scan','base_laser_rear/scan']"/>
 	</include>
 
+	<include file="$(find cob_bringup)/bundles/base_legacy.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
 		<arg name="dev" value="/dev/input/js0"/>
 		<arg name="deadzone" value="0.12"/>
diff --git a/cob_bringup/modules/base/raw3-b3.launch b/cob_bringup/modules/base/raw3-b3.launch
index 4cefefb78..46dedfbc6 100644
--- a/cob_bringup/modules/base/raw3-b3.launch
+++ b/cob_bringup/modules/base/raw3-b3.launch
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+	<arg name="base" value="raw3-b3"/>
 	<arg name="sim" default="false"/>
 
 	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
@@ -23,6 +24,11 @@
 		<arg name="input_scans" value="['base_laser_front/scan','base_laser_rear/scan']"/>
 	</include>
 
+	<include file="$(find cob_bringup)/bundles/base_legacy.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
 		<arg name="dev" value="/dev/input/js0"/>
 		<arg name="deadzone" value="0.12"/>
diff --git a/cob_bringup/modules/base/raw3-b5.launch b/cob_bringup/modules/base/raw3-b5.launch
index 5f6127160..85b899d5b 100644
--- a/cob_bringup/modules/base/raw3-b5.launch
+++ b/cob_bringup/modules/base/raw3-b5.launch
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+	<arg name="base" value="raw3-b5"/>
 	<arg name="sim" default="false"/>
 
 	<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
@@ -21,6 +22,12 @@
 		<arg name="input_scans" value="['base_laser_front/scan','base_laser_rear/scan']"/>
 	</include>
 
+	<include file="$(find cob_bringup)/bundles/base_raw3.launch">
+		<arg name="base" value="$(arg base)"/>
+		<arg name="can_device" value="can1" />
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
 		<arg name="dev" value="/dev/input/js0"/>
 		<arg name="deadzone" value="0.12"/>
diff --git a/cob_bringup/robots/base_solo.launch b/cob_bringup/robots/base_solo.launch
index 448dcb1bd..e68c7d1a0 100644
--- a/cob_bringup/robots/base_solo.launch
+++ b/cob_bringup/robots/base_solo.launch
@@ -2,6 +2,7 @@
 <launch>
 
 	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="base"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="use_old_base_drive_chain" default="false"/>
 
@@ -16,11 +17,12 @@
 	<!-- start robot_state_publisher -->
 	<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher"/>
 
-	<include unless="$(arg use_old_base_drive_chain)" file="$(find cob_bringup)/bundles/base_cob4.launch">
+	<include unless="$(arg use_old_base_drive_chain)" file="$(find cob_bringup)/bundles/base_cob4.launch"/>
+		<arg name="base" value="$(arg base)"/>
 	</include>
 
 	<include if="$(arg use_old_base_drive_chain)" file="$(find cob_bringup)/bundles/base_legacy.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="base" value="$(arg base)"/>
 	</include>
 
 	<!-- start relayboard -->
diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml
index cad74b6ad..81b8b2861 100644
--- a/cob_bringup/robots/cob4-2.xml
+++ b/cob_bringup/robots/cob4-2.xml
@@ -53,10 +53,6 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 		<include file="$(find cob_bringup)/drivers/light.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="light_base"/>
diff --git a/cob_bringup/robots/cob4-3.xml b/cob_bringup/robots/cob4-3.xml
index 0f68d34ef..c7dcdafa0 100644
--- a/cob_bringup/robots/cob4-3.xml
+++ b/cob_bringup/robots/cob4-3.xml
@@ -28,10 +28,6 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
-
 		<include file="$(find cob_bringup)/drivers/bms.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_bringup/robots/cob4-4.xml b/cob_bringup/robots/cob4-4.xml
index 9206c57c1..860d1c647 100644
--- a/cob_bringup/robots/cob4-4.xml
+++ b/cob_bringup/robots/cob4-4.xml
@@ -37,10 +37,6 @@
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 
 		<!-- start common nodes used in hardware and simulation -->
 		<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch">
diff --git a/cob_bringup/robots/cob4-5.xml b/cob_bringup/robots/cob4-5.xml
index 7967cd687..3393bf541 100644
--- a/cob_bringup/robots/cob4-5.xml
+++ b/cob_bringup/robots/cob4-5.xml
@@ -53,10 +53,6 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 		<include file="$(find cob_bringup)/drivers/light.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="light_base"/>
diff --git a/cob_bringup/robots/cob4-6.xml b/cob_bringup/robots/cob4-6.xml
index c784deab0..76513cb41 100644
--- a/cob_bringup/robots/cob4-6.xml
+++ b/cob_bringup/robots/cob4-6.xml
@@ -37,10 +37,6 @@
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 
 		<!-- start common nodes used in hardware and simulation -->
 		<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch">
diff --git a/cob_bringup/robots/cob4-7.xml b/cob_bringup/robots/cob4-7.xml
index 8b4496d78..9fc242efa 100644
--- a/cob_bringup/robots/cob4-7.xml
+++ b/cob_bringup/robots/cob4-7.xml
@@ -53,10 +53,6 @@
 			<arg name="sim" value="true"/>
 		</include>
 
-		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 		<include file="$(find cob_bringup)/drivers/light.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="light_base"/>
diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml
index fca746f83..59aa4e79a 100644
--- a/cob_bringup/robots/raw3-1.xml
+++ b/cob_bringup/robots/raw3-1.xml
@@ -51,10 +51,6 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/bundles/base_legacy.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 		<include file="$(find cob_bringup)/bundles/schunk_powercube_legacy.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="torso"/>
diff --git a/cob_bringup/robots/raw3-3.xml b/cob_bringup/robots/raw3-3.xml
index 7d6533906..d2cc80ed3 100644
--- a/cob_bringup/robots/raw3-3.xml
+++ b/cob_bringup/robots/raw3-3.xml
@@ -42,10 +42,6 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/bundles/base_legacy.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 		<!--include file="$(find cob_bringup)/bundles/canopen_generic.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="component_name" value="torso"/>
diff --git a/cob_bringup/robots/raw3-5.xml b/cob_bringup/robots/raw3-5.xml
index 609f6466e..69f70303e 100644
--- a/cob_bringup/robots/raw3-5.xml
+++ b/cob_bringup/robots/raw3-5.xml
@@ -50,11 +50,6 @@
 		<include file="$(find cob_bringup)/tools/battery_monitor.launch" >
 			<arg name="robot" value="$(arg robot)" />
 		</include>
-		<include file="$(find cob_bringup)/bundles/base_raw3.launch" >
-			<arg name="robot" value="$(arg robot)" />
-			<arg name="can_device" value="can1" />
-			<arg name="sim" value="$(arg sim)"/>
-		</include>
 
 		<!-- start additional packages -->
 		<include file="$(find cob_bringup)/tools/diagnostics_aggregator.launch" >
diff --git a/cob_bringup/tools/twist_mux.launch b/cob_bringup/tools/twist_mux.launch
index 5a718046f..4d009ae4c 100644
--- a/cob_bringup/tools/twist_mux.launch
+++ b/cob_bringup/tools/twist_mux.launch
@@ -3,8 +3,8 @@
 
 	<arg name="cmd_vel_out" default="base/velocity_smoother/raw_cmd_vel"/>
 	<arg name="marker_out" default="base/twist_mux/marker"/>
-	<arg name="config_locks"  default="$(find cob_hardware_config)/robots/common/twist_mux_locks.yaml"/>
-	<arg name="config_topics" default="$(find cob_hardware_config)/robots/common/twist_mux_topics.yaml"/>
+	<arg name="config_locks"  default="$(find cob_hardware_config)/modules/base/common/twist_mux_locks.yaml"/>
+	<arg name="config_topics" default="$(find cob_hardware_config)/modules/base/common/twist_mux_topics.yaml"/>
 
 	<node pkg="twist_mux" type="twist_mux" name="twist_mux" output="screen">
 		<remap from="cmd_vel_out" to="$(arg cmd_vel_out)"/>
diff --git a/cob_bringup/tools/velocity_smoother.launch b/cob_bringup/tools/velocity_smoother.launch
index fb850a779..c1cbb9b6b 100644
--- a/cob_bringup/tools/velocity_smoother.launch
+++ b/cob_bringup/tools/velocity_smoother.launch
@@ -3,12 +3,12 @@
 	YOCS velocity smoother launcher
 	-->
 <launch>
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="base"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 
 	<arg name="node_name"             default="velocity_smoother"/>
 	<arg name="nodelet_manager_name"  default="base_nodelet_manager"/>
-	<arg name="config_file"           default="$(arg pkg_hardware_config)/robots/$(arg robot)/config/velocity_smoother.yaml"/>
+	<arg name="config_file"           default="$(arg pkg_hardware_config)/modules/base/$(arg base)/velocity_smoother.yaml"/>
 	<arg name="raw_cmd_vel_topic"     default="base/velocity_smoother/raw_cmd_vel"/>
 	<arg name="smooth_cmd_vel_topic"  default="base/twist_controller/command"/>
 	<arg name="robot_cmd_vel_topic"   default="base/twist_controller/command"/>
diff --git a/cob_hardware_config/CMakeLists.txt b/cob_hardware_config/CMakeLists.txt
index 12f392624..4ce057271 100644
--- a/cob_hardware_config/CMakeLists.txt
+++ b/cob_hardware_config/CMakeLists.txt
@@ -18,7 +18,7 @@ if(CATKIN_ENABLE_TESTING)
 endif()
 
 ### INSTALL ###
-install(DIRECTORY components robots test
+install(DIRECTORY components modules robots test
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
diff --git a/cob_hardware_config/robots/cob4-3/config/base_driver.yaml b/cob_hardware_config/modules/base/cob4-b3/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-3/config/base_driver.yaml
rename to cob_hardware_config/modules/base/cob4-b3/base_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-3/config/bms.yaml b/cob_hardware_config/modules/base/cob4-b3/bms.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-3/config/bms.yaml
rename to cob_hardware_config/modules/base/cob4-b3/bms.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/cob4-b3/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/cob4-b3/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/cob4-4/config/base_driver.yaml b/cob_hardware_config/modules/base/cob4-b4/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-4/config/base_driver.yaml
rename to cob_hardware_config/modules/base/cob4-b4/base_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-4/config/bms.yaml b/cob_hardware_config/modules/base/cob4-b4/bms.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-4/config/bms.yaml
rename to cob_hardware_config/modules/base/cob4-b4/bms.yaml
diff --git a/cob_hardware_config/robots/cob4-3/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/cob4-b4/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-3/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/cob4-b4/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/base_driver.yaml b/cob_hardware_config/modules/base/cob4-b5/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/base_driver.yaml
rename to cob_hardware_config/modules/base/cob4-b5/base_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_front.xml b/cob_hardware_config/modules/base/cob4-b5/base_laser_front.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/base_laser_front.xml
rename to cob_hardware_config/modules/base/cob4-b5/base_laser_front.xml
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_left.xml b/cob_hardware_config/modules/base/cob4-b5/base_laser_left.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/base_laser_left.xml
rename to cob_hardware_config/modules/base/cob4-b5/base_laser_left.xml
diff --git a/cob_hardware_config/robots/cob4-2/config/base_laser_right.xml b/cob_hardware_config/modules/base/cob4-b5/base_laser_right.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/base_laser_right.xml
rename to cob_hardware_config/modules/base/cob4-b5/base_laser_right.xml
diff --git a/cob_hardware_config/robots/cob4-5/config/bms.yaml b/cob_hardware_config/modules/base/cob4-b5/bms.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/bms.yaml
rename to cob_hardware_config/modules/base/cob4-b5/bms.yaml
diff --git a/cob_hardware_config/robots/cob4-4/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/cob4-b5/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-4/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/cob4-b5/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/cob4-6/config/base_driver.yaml b/cob_hardware_config/modules/base/cob4-b6/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-6/config/base_driver.yaml
rename to cob_hardware_config/modules/base/cob4-b6/base_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-6/config/bms.yaml b/cob_hardware_config/modules/base/cob4-b6/bms.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-6/config/bms.yaml
rename to cob_hardware_config/modules/base/cob4-b6/bms.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/cob4-b6/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/cob4-b6/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/base_driver.yaml b/cob_hardware_config/modules/base/cob4-b7/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/base_driver.yaml
rename to cob_hardware_config/modules/base/cob4-b7/base_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_front.xml b/cob_hardware_config/modules/base/cob4-b7/base_laser_front.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/base_laser_front.xml
rename to cob_hardware_config/modules/base/cob4-b7/base_laser_front.xml
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_left.xml b/cob_hardware_config/modules/base/cob4-b7/base_laser_left.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/base_laser_left.xml
rename to cob_hardware_config/modules/base/cob4-b7/base_laser_left.xml
diff --git a/cob_hardware_config/robots/cob4-5/config/base_laser_right.xml b/cob_hardware_config/modules/base/cob4-b7/base_laser_right.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/base_laser_right.xml
rename to cob_hardware_config/modules/base/cob4-b7/base_laser_right.xml
diff --git a/cob_hardware_config/robots/cob4-2/config/bms.yaml b/cob_hardware_config/modules/base/cob4-b7/bms.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/bms.yaml
rename to cob_hardware_config/modules/base/cob4-b7/bms.yaml
diff --git a/cob_hardware_config/robots/cob4-6/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/cob4-b7/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-6/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/cob4-b7/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/base_driver.yaml b/cob_hardware_config/modules/base/cob4-b8/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/base_driver.yaml
rename to cob_hardware_config/modules/base/cob4-b8/base_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_front.xml b/cob_hardware_config/modules/base/cob4-b8/base_laser_front.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/base_laser_front.xml
rename to cob_hardware_config/modules/base/cob4-b8/base_laser_front.xml
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_left.xml b/cob_hardware_config/modules/base/cob4-b8/base_laser_left.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/base_laser_left.xml
rename to cob_hardware_config/modules/base/cob4-b8/base_laser_left.xml
diff --git a/cob_hardware_config/robots/cob4-7/config/base_laser_right.xml b/cob_hardware_config/modules/base/cob4-b8/base_laser_right.xml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/base_laser_right.xml
rename to cob_hardware_config/modules/base/cob4-b8/base_laser_right.xml
diff --git a/cob_hardware_config/robots/cob4-7/config/bms.yaml b/cob_hardware_config/modules/base/cob4-b8/bms.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/bms.yaml
rename to cob_hardware_config/modules/base/cob4-b8/bms.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/cob4-b8/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/cob4-b8/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/common/base_cob4_controller.yaml b/cob_hardware_config/modules/base/common/base_cob4_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/common/base_cob4_controller.yaml
rename to cob_hardware_config/modules/base/common/base_cob4_controller.yaml
diff --git a/cob_hardware_config/robots/common/base_cob4_driver.yaml b/cob_hardware_config/modules/base/common/base_cob4_driver.yaml
similarity index 97%
rename from cob_hardware_config/robots/common/base_cob4_driver.yaml
rename to cob_hardware_config/modules/base/common/base_cob4_driver.yaml
index 0eaf070a7..96877b090 100644
--- a/cob_hardware_config/robots/common/base_cob4_driver.yaml
+++ b/cob_hardware_config/modules/base/common/base_cob4_driver.yaml
@@ -7,7 +7,7 @@ heartbeat:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/Elmo.dcf"
+  eds_file: "modules/common/Elmo.dcf"
   dcf_overlay:
     "6083": "1000000" # profile acceleration
     "6084": "1000000" # profile deceleration
diff --git a/cob_hardware_config/robots/common/base_raw3_controller.yaml b/cob_hardware_config/modules/base/common/base_raw3_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/common/base_raw3_controller.yaml
rename to cob_hardware_config/modules/base/common/base_raw3_controller.yaml
diff --git a/cob_hardware_config/robots/common/base_raw3_driver.yaml b/cob_hardware_config/modules/base/common/base_raw3_driver.yaml
similarity index 98%
rename from cob_hardware_config/robots/common/base_raw3_driver.yaml
rename to cob_hardware_config/modules/base/common/base_raw3_driver.yaml
index 8fde724f4..a6da34f7e 100644
--- a/cob_hardware_config/robots/common/base_raw3_driver.yaml
+++ b/cob_hardware_config/modules/base/common/base_raw3_driver.yaml
@@ -7,7 +7,7 @@ heartbeat:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/ElmoSimplIQ.dcf"
+  eds_file: "modules/common/ElmoSimplIQ.dcf"
   dcf_overlay:
     "606A": "1" # read velocity from velocity sensor
     "607F": "240000" # max profile velocity
diff --git a/cob_hardware_config/robots/common/twist_mux_locks.yaml b/cob_hardware_config/modules/base/common/twist_mux_locks.yaml
similarity index 100%
rename from cob_hardware_config/robots/common/twist_mux_locks.yaml
rename to cob_hardware_config/modules/base/common/twist_mux_locks.yaml
diff --git a/cob_hardware_config/robots/common/twist_mux_topics.yaml b/cob_hardware_config/modules/base/common/twist_mux_topics.yaml
similarity index 100%
rename from cob_hardware_config/robots/common/twist_mux_topics.yaml
rename to cob_hardware_config/modules/base/common/twist_mux_topics.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/base/CanCtrl.ini b/cob_hardware_config/modules/base/raw3-b1/base/CanCtrl.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base/CanCtrl.ini
rename to cob_hardware_config/modules/base/raw3-b1/base/CanCtrl.ini
diff --git a/cob_hardware_config/robots/raw3-1/config/base/Interpolation.ini b/cob_hardware_config/modules/base/raw3-b1/base/Interpolation.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base/Interpolation.ini
rename to cob_hardware_config/modules/base/raw3-b1/base/Interpolation.ini
diff --git a/cob_hardware_config/robots/raw3-1/config/base/MotionCtrl.ini b/cob_hardware_config/modules/base/raw3-b1/base/MotionCtrl.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base/MotionCtrl.ini
rename to cob_hardware_config/modules/base/raw3-b1/base/MotionCtrl.ini
diff --git a/cob_hardware_config/robots/raw3-1/config/base/NetworkComm.ini b/cob_hardware_config/modules/base/raw3-b1/base/NetworkComm.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base/NetworkComm.ini
rename to cob_hardware_config/modules/base/raw3-b1/base/NetworkComm.ini
diff --git a/cob_hardware_config/robots/raw3-1/config/base/Platform.ini b/cob_hardware_config/modules/base/raw3-b1/base/Platform.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base/Platform.ini
rename to cob_hardware_config/modules/base/raw3-b1/base/Platform.ini
diff --git a/cob_hardware_config/robots/raw3-1/config/base/PltfIdent.ini b/cob_hardware_config/modules/base/raw3-b1/base/PltfIdent.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base/PltfIdent.ini
rename to cob_hardware_config/modules/base/raw3-b1/base/PltfIdent.ini
diff --git a/cob_hardware_config/robots/raw3-1/config/base_controller.yaml b/cob_hardware_config/modules/base/raw3-b1/base_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base_controller.yaml
rename to cob_hardware_config/modules/base/raw3-b1/base_controller.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/base_joint_limits.yaml b/cob_hardware_config/modules/base/raw3-b1/base_joint_limits.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/base_joint_limits.yaml
rename to cob_hardware_config/modules/base/raw3-b1/base_joint_limits.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/raw3-b1/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/raw3-b1/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/raw3-3/config/base/CanCtrl.ini b/cob_hardware_config/modules/base/raw3-b3/base/CanCtrl.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base/CanCtrl.ini
rename to cob_hardware_config/modules/base/raw3-b3/base/CanCtrl.ini
diff --git a/cob_hardware_config/robots/raw3-3/config/base/Interpolation.ini b/cob_hardware_config/modules/base/raw3-b3/base/Interpolation.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base/Interpolation.ini
rename to cob_hardware_config/modules/base/raw3-b3/base/Interpolation.ini
diff --git a/cob_hardware_config/robots/raw3-3/config/base/MotionCtrl.ini b/cob_hardware_config/modules/base/raw3-b3/base/MotionCtrl.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base/MotionCtrl.ini
rename to cob_hardware_config/modules/base/raw3-b3/base/MotionCtrl.ini
diff --git a/cob_hardware_config/robots/raw3-3/config/base/NetworkComm.ini b/cob_hardware_config/modules/base/raw3-b3/base/NetworkComm.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base/NetworkComm.ini
rename to cob_hardware_config/modules/base/raw3-b3/base/NetworkComm.ini
diff --git a/cob_hardware_config/robots/raw3-3/config/base/Platform.ini b/cob_hardware_config/modules/base/raw3-b3/base/Platform.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base/Platform.ini
rename to cob_hardware_config/modules/base/raw3-b3/base/Platform.ini
diff --git a/cob_hardware_config/robots/raw3-3/config/base/PltfIdent.ini b/cob_hardware_config/modules/base/raw3-b3/base/PltfIdent.ini
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base/PltfIdent.ini
rename to cob_hardware_config/modules/base/raw3-b3/base/PltfIdent.ini
diff --git a/cob_hardware_config/robots/raw3-3/config/base_controller.yaml b/cob_hardware_config/modules/base/raw3-b3/base_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base_controller.yaml
rename to cob_hardware_config/modules/base/raw3-b3/base_controller.yaml
diff --git a/cob_hardware_config/robots/raw3-3/config/base_joint_limits.yaml b/cob_hardware_config/modules/base/raw3-b3/base_joint_limits.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/base_joint_limits.yaml
rename to cob_hardware_config/modules/base/raw3-b3/base_joint_limits.yaml
diff --git a/cob_hardware_config/robots/raw3-3/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/raw3-b3/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-3/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/raw3-b3/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/raw3-5/config/base_driver.yaml b/cob_hardware_config/modules/base/raw3-b5/base_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-5/config/base_driver.yaml
rename to cob_hardware_config/modules/base/raw3-b5/base_driver.yaml
diff --git a/cob_hardware_config/robots/raw3-5/config/base_joint_limits.yaml b/cob_hardware_config/modules/base/raw3-b5/base_joint_limits.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-5/config/base_joint_limits.yaml
rename to cob_hardware_config/modules/base/raw3-b5/base_joint_limits.yaml
diff --git a/cob_hardware_config/robots/raw3-5/config/velocity_smoother.yaml b/cob_hardware_config/modules/base/raw3-b5/velocity_smoother.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-5/config/velocity_smoother.yaml
rename to cob_hardware_config/modules/base/raw3-b5/velocity_smoother.yaml
diff --git a/cob_hardware_config/robots/common/Elmo.dcf b/cob_hardware_config/modules/common/Elmo.dcf
similarity index 100%
rename from cob_hardware_config/robots/common/Elmo.dcf
rename to cob_hardware_config/modules/common/Elmo.dcf
diff --git a/cob_hardware_config/robots/common/ElmoSimplIQ.dcf b/cob_hardware_config/modules/common/ElmoSimplIQ.dcf
similarity index 100%
rename from cob_hardware_config/robots/common/ElmoSimplIQ.dcf
rename to cob_hardware_config/modules/common/ElmoSimplIQ.dcf
diff --git a/cob_hardware_config/robots/common/Schunk_0_63.dcf b/cob_hardware_config/modules/common/Schunk_0_63.dcf
similarity index 100%
rename from cob_hardware_config/robots/common/Schunk_0_63.dcf
rename to cob_hardware_config/modules/common/Schunk_0_63.dcf
diff --git a/cob_hardware_config/robots/cob4-2/config/torso_driver.yaml b/cob_hardware_config/robots/cob4-2/config/torso_driver.yaml
index fe2033ffc..720965aa0 100644
--- a/cob_hardware_config/robots/cob4-2/config/torso_driver.yaml
+++ b/cob_hardware_config/robots/cob4-2/config/torso_driver.yaml
@@ -7,7 +7,7 @@ heartbeat:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/Elmo.dcf"
+  eds_file: "modules/common/Elmo.dcf"
   vel_from_device: "v != v ? v=0 : v=smooth(deg2rad(obj606c/1000.0),v,0.3)" # for smoother current velocity in joint_states
   motor_layer:
     switching_state: 4 # switched on - stop controller before switching modes
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_left_driver.yaml b/cob_hardware_config/robots/cob4-5/config/arm_left_driver.yaml
index f0595eba5..fee6fdd7f 100644
--- a/cob_hardware_config/robots/cob4-5/config/arm_left_driver.yaml
+++ b/cob_hardware_config/robots/cob4-5/config/arm_left_driver.yaml
@@ -4,7 +4,7 @@ sync:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/Schunk_0_63.dcf"
+  eds_file: "modules/common/Schunk_0_63.dcf"
 
   #the following scaling is due to 16bit value range limitation of velocity command in vl mode (2)
   vel_to_device: "rint(rad2deg(vel)*250)"
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_right_driver.yaml b/cob_hardware_config/robots/cob4-5/config/arm_right_driver.yaml
index a5cc67f5e..71ad73288 100644
--- a/cob_hardware_config/robots/cob4-5/config/arm_right_driver.yaml
+++ b/cob_hardware_config/robots/cob4-5/config/arm_right_driver.yaml
@@ -4,7 +4,7 @@ sync:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/Schunk_0_63.dcf"
+  eds_file: "modules/common/Schunk_0_63.dcf"
 
   #the following scaling is due to 16bit value range limitation of velocity command in vl mode (2)
   vel_to_device: "rint(rad2deg(vel)*250)"
diff --git a/cob_hardware_config/robots/cob4-5/config/sensorring_driver.yaml b/cob_hardware_config/robots/cob4-5/config/sensorring_driver.yaml
index 80913d963..3eb255acb 100644
--- a/cob_hardware_config/robots/cob4-5/config/sensorring_driver.yaml
+++ b/cob_hardware_config/robots/cob4-5/config/sensorring_driver.yaml
@@ -7,7 +7,7 @@ heartbeat:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/Elmo.dcf"
+  eds_file: "modules/common/Elmo.dcf"
 
 nodes:
   - name: sensorring_joint
diff --git a/cob_hardware_config/robots/cob4-7/config/torso_driver.yaml b/cob_hardware_config/robots/cob4-7/config/torso_driver.yaml
index fe2033ffc..720965aa0 100644
--- a/cob_hardware_config/robots/cob4-7/config/torso_driver.yaml
+++ b/cob_hardware_config/robots/cob4-7/config/torso_driver.yaml
@@ -7,7 +7,7 @@ heartbeat:
 
 defaults:
   eds_pkg: cob_hardware_config
-  eds_file: "robots/common/Elmo.dcf"
+  eds_file: "modules/common/Elmo.dcf"
   vel_from_device: "v != v ? v=0 : v=smooth(deg2rad(obj606c/1000.0),v,0.3)" # for smoother current velocity in joint_states
   motor_layer:
     switching_state: 4 # switched on - stop controller before switching modes

From 1835b81da3c5a87fc30a6865bade220debc6a86f Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Mon, 17 Apr 2017 18:57:15 +0200
Subject: [PATCH 8/8] restructure actuators

---
 cob_bringup/bundles/base_legacy.launch        |  4 +--
 cob_bringup/bundles/base_ros_control.launch   |  3 +-
 cob_bringup/bundles/canopen_generic.launch    | 12 +++++---
 .../bundles/gripper_sdhx_legacy.launch        |  6 ++--
 .../bundles/schunk_powercube_legacy.launch    | 12 +++++---
 .../cob_trajectory_controller.launch          |  5 ++--
 .../generic_cartesian_controller.launch       |  7 +++--
 .../controllers/generic_controller.launch     |  7 +++--
 cob_bringup/drivers/canopen_402.launch        |  5 ++--
 .../schunk_powercube_chain_driver.launch      |  5 ++--
 cob_bringup/drivers/ur.launch                 |  9 ++++--
 cob_bringup/modules/arm/cob4-arm3.launch      | 16 ++++++++++
 cob_bringup/modules/arm/cob4-arm4.launch      | 15 ++++++++++
 cob_bringup/modules/base/cob4-b3.launch       |  2 +-
 cob_bringup/modules/base/cob4-b4.launch       |  2 +-
 cob_bringup/modules/base/cob4-b5.launch       |  2 +-
 cob_bringup/modules/base/cob4-b6.launch       |  2 +-
 cob_bringup/modules/base/cob4-b7.launch       |  2 +-
 cob_bringup/modules/base/cob4-b8.launch       |  2 +-
 cob_bringup/modules/base/raw3-b1.launch       |  2 +-
 cob_bringup/modules/base/raw3-b3.launch       |  6 ++--
 cob_bringup/modules/base/raw3-b5.launch       |  4 +--
 cob_bringup/modules/sensorring/cob4-s3.launch | 14 +++++++++
 cob_bringup/modules/torso/cob4-t2.launch      | 15 ++++++++++
 cob_bringup/modules/torso/cob4-t7.launch      | 15 ++++++++++
 cob_bringup/modules/torso/raw3-t1.launch      | 13 ++++++++
 cob_bringup/robots/cob4-2.xml                 | 10 +++----
 cob_bringup/robots/cob4-3.xml                 |  8 ++---
 cob_bringup/robots/cob4-4.xml                 |  2 +-
 cob_bringup/robots/cob4-5.xml                 | 30 +++++++++----------
 cob_bringup/robots/cob4-6.xml                 |  2 +-
 cob_bringup/robots/cob4-7.xml                 | 10 +++----
 cob_bringup/robots/raw3-1.xml                 |  9 +++---
 .../arm_left_cartesian_controller.yaml        |  0
 .../arm/cob4-arm3}/arm_left_controller.yaml   |  0
 .../arm/cob4-arm3}/arm_left_driver.yaml       |  0
 .../cob4-arm3}/arm_left_self_collision.yaml   |  0
 .../arm_right_cartesian_controller.yaml       |  0
 .../arm/cob4-arm4}/arm_right_controller.yaml  |  0
 .../arm/cob4-arm4}/arm_right_driver.yaml      |  0
 .../cob4-arm4}/arm_right_self_collision.yaml  |  0
 .../raw3-ur1}/arm_cartesian_controller.yaml   |  0
 .../arm/raw3-ur1}/arm_controller.yaml         |  0
 .../arm/raw3-ur1}/arm_joint_limits.yaml       |  0
 .../arm/raw3-ur1}/arm_self_collision.yaml     |  0
 .../cob4-hand3}/gripper_left_controller.yaml  |  0
 .../cob4-hand4}/gripper_right_controller.yaml |  0
 .../cob4-s3}/sensorring_controller.yaml       |  0
 .../cob4-s3}/sensorring_driver.yaml           |  0
 .../cob4-t2}/torso_cartesian_controller.yaml  |  0
 .../torso/cob4-t2}/torso_controller.yaml      |  0
 .../torso/cob4-t2}/torso_driver.yaml          |  0
 .../torso/cob4-t2}/torso_self_collision.yaml  |  0
 .../cob4-t7}/torso_cartesian_controller.yaml  |  0
 .../torso/cob4-t7}/torso_controller.yaml      |  0
 .../torso/cob4-t7}/torso_driver.yaml          |  0
 .../torso/cob4-t7}/torso_self_collision.yaml  |  0
 .../torso/raw3-t1}/torso_controller.yaml      |  0
 .../torso/raw3-t1}/torso_driver.yaml          |  0
 59 files changed, 179 insertions(+), 79 deletions(-)
 create mode 100644 cob_bringup/modules/arm/cob4-arm3.launch
 create mode 100644 cob_bringup/modules/arm/cob4-arm4.launch
 create mode 100644 cob_bringup/modules/sensorring/cob4-s3.launch
 create mode 100644 cob_bringup/modules/torso/cob4-t2.launch
 create mode 100644 cob_bringup/modules/torso/cob4-t7.launch
 create mode 100644 cob_bringup/modules/torso/raw3-t1.launch
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm3}/arm_left_cartesian_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm3}/arm_left_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm3}/arm_left_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm3}/arm_left_self_collision.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm4}/arm_right_cartesian_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm4}/arm_right_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm4}/arm_right_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/arm/cob4-arm4}/arm_right_self_collision.yaml (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/arm/raw3-ur1}/arm_cartesian_controller.yaml (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/arm/raw3-ur1}/arm_controller.yaml (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/arm/raw3-ur1}/arm_joint_limits.yaml (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/arm/raw3-ur1}/arm_self_collision.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/gripper/cob4-hand3}/gripper_left_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/gripper/cob4-hand4}/gripper_right_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/sensorring/cob4-s3}/sensorring_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-5/config => modules/sensorring/cob4-s3}/sensorring_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/torso/cob4-t2}/torso_cartesian_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/torso/cob4-t2}/torso_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/torso/cob4-t2}/torso_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-2/config => modules/torso/cob4-t2}/torso_self_collision.yaml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/torso/cob4-t7}/torso_cartesian_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/torso/cob4-t7}/torso_controller.yaml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/torso/cob4-t7}/torso_driver.yaml (100%)
 rename cob_hardware_config/{robots/cob4-7/config => modules/torso/cob4-t7}/torso_self_collision.yaml (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/torso/raw3-t1}/torso_controller.yaml (100%)
 rename cob_hardware_config/{robots/raw3-1/config => modules/torso/raw3-t1}/torso_driver.yaml (100%)

diff --git a/cob_bringup/bundles/base_legacy.launch b/cob_bringup/bundles/base_legacy.launch
index 665a66a84..dc4792421 100644
--- a/cob_bringup/bundles/base_legacy.launch
+++ b/cob_bringup/bundles/base_legacy.launch
@@ -8,9 +8,7 @@
 		<include file="$(find cob_bringup)/drivers/base_driver.launch">
 			<arg name="base" value="$(arg base)"/>
 		</include>
-		<include file="$(find cob_bringup)/controllers/base_controller.launch">
-			<arg name="base" value="$(arg base)"/>
-		</include>
+		<include file="$(find cob_bringup)/controllers/base_controller.launch"/>
 	</group>
 	<group if="$(arg sim)">
 		<include file="$(find cob_bringup)/controllers/base_controller_plugin.launch">
diff --git a/cob_bringup/bundles/base_ros_control.launch b/cob_bringup/bundles/base_ros_control.launch
index 6310a4c03..6876ae7ae 100644
--- a/cob_bringup/bundles/base_ros_control.launch
+++ b/cob_bringup/bundles/base_ros_control.launch
@@ -14,7 +14,8 @@
 	<arg name="start_external_sync" value="false"/>
 
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/canopen_402.launch">
-		<arg name="base" value="$(arg base)"/>
+		<arg name="module" value="$(arg base)"/>
+		<arg name="module_type" value="base"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 		<arg name="can_device" value="$(arg can_device)"/>
 		<arg name="interval_ms" value="$(arg interval_ms)"/>
diff --git a/cob_bringup/bundles/canopen_generic.launch b/cob_bringup/bundles/canopen_generic.launch
index 711d1a01a..b325f6a66 100644
--- a/cob_bringup/bundles/canopen_generic.launch
+++ b/cob_bringup/bundles/canopen_generic.launch
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="component_name"/>
 
 	<arg name="can_device"/>
@@ -12,7 +13,8 @@
 	<arg name="sim" default="false"/>
 
 	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/canopen_402.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 		<arg name="can_device" value="$(arg can_device)"/>
 		<arg name="interval_ms" value="$(arg interval_ms)"/>
@@ -22,11 +24,13 @@
 	<node if="$(arg sim)" ns="$(arg component_name)" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>
 
 	<include file="$(find cob_bringup)/controllers/generic_controller.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 	</include>
 	<include if="$(arg cartesian_control)" file="$(find cob_bringup)/controllers/generic_cartesian_controller.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 		<arg name="debug" value="false"/>
 	</include>
diff --git a/cob_bringup/bundles/gripper_sdhx_legacy.launch b/cob_bringup/bundles/gripper_sdhx_legacy.launch
index a5149580d..048898f65 100644
--- a/cob_bringup/bundles/gripper_sdhx_legacy.launch
+++ b/cob_bringup/bundles/gripper_sdhx_legacy.launch
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="module"/>
+	<arg name="module_type" default="gripper"/>
 	<arg name="component_name"/>
 	<arg name="sim" default="false"/>
 
@@ -8,7 +9,8 @@
 		<arg name="component_name" value="$(arg component_name)"/>
 	</include>
 	<include if="$(arg sim)" file="$(find cob_bringup)/controllers/generic_controller.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 	</include>
 </launch>
diff --git a/cob_bringup/bundles/schunk_powercube_legacy.launch b/cob_bringup/bundles/schunk_powercube_legacy.launch
index 97ba7f82e..6695aa68a 100644
--- a/cob_bringup/bundles/schunk_powercube_legacy.launch
+++ b/cob_bringup/bundles/schunk_powercube_legacy.launch
@@ -1,23 +1,27 @@
 <?xml version="1.0"?>
 <launch>
-	<arg name="robot"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="component_name"/>
 	<arg name="sim" default="false"/>
 
 	<group unless="$(arg sim)">
 		<include file="$(find cob_bringup)/drivers/schunk_powercube_chain_driver.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg module)"/>
+			<arg name="module_type" value="$(arg module_type)"/>
 			<arg name="component_name" value="$(arg component_name)"/>
 		</include>
 		<include file="$(find cob_bringup)/controllers/cob_trajectory_controller.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg module)"/>
+			<arg name="module_type" value="$(arg module_type)"/>
 			<arg name="component_name" value="$(arg component_name)"/>
 		</include>
 	</group>
 
 	<group if="$(arg sim)">
 		<include file="$(find cob_bringup)/controllers/generic_controller.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg module)"/>
+			<arg name="module_type" value="$(arg module_type)"/>
 			<arg name="component_name" value="$(arg component_name)"/>
 		</include>
 		<node ns="$(arg component_name)" pkg="cob_helper_tools" type="fake_driver.py" name="fake_driver" cwd="node" respawn="false" output="screen"/>
diff --git a/cob_bringup/controllers/cob_trajectory_controller.launch b/cob_bringup/controllers/cob_trajectory_controller.launch
index 150c70be0..f732b065d 100644
--- a/cob_bringup/controllers/cob_trajectory_controller.launch
+++ b/cob_bringup/controllers/cob_trajectory_controller.launch
@@ -1,14 +1,15 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 
 	<group ns="$(arg component_name)">
 
 		<!-- parameter description of the trajectory controller -->
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_controller.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_controller.yaml"/>
 
 		<!-- The trajectory controller listens for JointTrajectoryFollowAction and sends velocity commands to the CANopen node -->
 		<node pkg="cob_trajectory_controller" type="cob_trajectory_controller" name="joint_trajectory_controller" cwd="node" respawn="false" output="screen"/>
diff --git a/cob_bringup/controllers/generic_cartesian_controller.launch b/cob_bringup/controllers/generic_cartesian_controller.launch
index afc5289dd..b64ab5fe7 100644
--- a/cob_bringup/controllers/generic_cartesian_controller.launch
+++ b/cob_bringup/controllers/generic_cartesian_controller.launch
@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 	<arg name="debug" default="false"/>
@@ -9,8 +10,8 @@
 	<group ns="$(arg component_name)">
 
 		<!-- load Cartesian controller config -->
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_cartesian_controller.yaml"/>
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_self_collision.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_cartesian_controller.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_self_collision.yaml"/>
 
 		<!-- Cartesian controllers -->
 		<node pkg="cob_twist_controller" type="cob_twist_controller_node" name="twist_controller" cwd="node" respawn="false" output="screen">
diff --git a/cob_bringup/controllers/generic_controller.launch b/cob_bringup/controllers/generic_controller.launch
index 881a4ce2f..0b3e456d2 100644
--- a/cob_bringup/controllers/generic_controller.launch
+++ b/cob_bringup/controllers/generic_controller.launch
@@ -1,15 +1,16 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 
 	<group ns="$(arg component_name)">
 
 		<!-- load controller configs -->
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_controller.yaml"/>
-		<!--rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_joint_limits.yaml"/-->
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_controller.yaml"/>
+		<!--rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_joint_limits.yaml"/-->
 
 		<!-- start_controllers -->
 		<node pkg="controller_manager" type="controller_manager" name="$(arg component_name)_controller_spawner" args="spawn joint_state_controller" respawn="false" output="screen"/>
diff --git a/cob_bringup/drivers/canopen_402.launch b/cob_bringup/drivers/canopen_402.launch
index 5e9e79d93..a53a6879f 100644
--- a/cob_bringup/drivers/canopen_402.launch
+++ b/cob_bringup/drivers/canopen_402.launch
@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 	<arg name="can_device"/>
@@ -17,7 +18,7 @@
 
 	<!-- start canopen node -->
 	<node ns="$(arg component_name)" pkg="canopen_motor_node" type="canopen_motor_node" name="driver" output="screen">
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_driver.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_driver.yaml"/>
 		<rosparam subst_value="True">{bus: { device: $(arg can_device) } }</rosparam>
 		<rosparam subst_value="True" if="$(arg use_external_sync)">{sync: { interval_ms: $(arg interval_ms), overflow: $(arg overflow) } }</rosparam>
 		<param name="bus/master_allocator" value="canopen::ExternalMaster::Allocator" if="$(arg use_external_sync)"/>
diff --git a/cob_bringup/drivers/schunk_powercube_chain_driver.launch b/cob_bringup/drivers/schunk_powercube_chain_driver.launch
index bfbbd1449..a7a51e60b 100644
--- a/cob_bringup/drivers/schunk_powercube_chain_driver.launch
+++ b/cob_bringup/drivers/schunk_powercube_chain_driver.launch
@@ -1,12 +1,13 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type"/>
 	<arg name="pkg_hardware_config" default="$(find cob_hardware_config)"/>
 	<arg name="component_name"/>
 
 	<node ns="$(arg component_name)" pkg="schunk_powercube_chain" type="schunk_powercube_chain" name="$(arg component_name)_driver" respawn="false" output="screen" >
-		<rosparam command="load" file="$(arg pkg_hardware_config)/robots/$(arg robot)/config/$(arg component_name)_driver.yaml"/>
+		<rosparam command="load" file="$(arg pkg_hardware_config)/modules/$(arg module_type)/$(arg module)/$(arg component_name)_driver.yaml"/>
 		<remap from="diagnostics" to="/diagnostics"/>
 	</node>
 
diff --git a/cob_bringup/drivers/ur.launch b/cob_bringup/drivers/ur.launch
index 27ed1a001..2b7921e8f 100644
--- a/cob_bringup/drivers/ur.launch
+++ b/cob_bringup/drivers/ur.launch
@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
 
-	<arg name="robot" default="$(optenv ROBOT !!NO_ROBOT_SET!!)"/>
+	<arg name="module"/>
+	<arg name="module_type" value="arm"/>
 	<arg name="component_name" default="arm"/>
 	<arg name="use_modern_driver" default="false"/>
 	<arg name="robot_ip" default="localhost"/>
@@ -31,11 +32,13 @@
 		</node-->
 	</group>
 	<include if="$(arg sim)" file="$(find cob_bringup)/controllers/generic_controller.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 	</include>
 	<include if="$(arg cartesian_control)" file="$(find cob_bringup)/controllers/generic_cartesian_controller.launch">
-		<arg name="robot" value="$(arg robot)"/>
+		<arg name="module" value="$(arg module)"/>
+		<arg name="module_type" value="$(arg module_type)"/>
 		<arg name="component_name" value="$(arg component_name)"/>
 		<arg name="debug" value="false"/>
 	</include>
diff --git a/cob_bringup/modules/arm/cob4-arm3.launch b/cob_bringup/modules/arm/cob4-arm3.launch
new file mode 100644
index 000000000..4c39b772a
--- /dev/null
+++ b/cob_bringup/modules/arm/cob4-arm3.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="arm" value="cob4-arm3"/>
+	<arg name="component_name"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg arm)"/>
+		<arg name="module_type" value="arm"/>
+		<arg name="component_name" value="$(arg component_name)"/>
+		<arg name="can_device" value="can3"/>
+		<arg name="sim" value="$(arg sim)"/>
+		<arg if="$(arg sim)" name="cartesian_control" value="true"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/arm/cob4-arm4.launch b/cob_bringup/modules/arm/cob4-arm4.launch
new file mode 100644
index 000000000..1ce17399c
--- /dev/null
+++ b/cob_bringup/modules/arm/cob4-arm4.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="arm" value="cob4-arm4"/>
+	<arg name="component_name"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg arm)"/>
+		<arg name="module_type" value="arm"/>
+		<arg name="component_name" value="$(arg component_name)"/>
+		<arg name="can_device" value="can2"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/base/cob4-b3.launch b/cob_bringup/modules/base/cob4-b3.launch
index 70a21d3ac..f6a68e082 100644
--- a/cob_bringup/modules/base/cob4-b3.launch
+++ b/cob_bringup/modules/base/cob4-b3.launch
@@ -8,7 +8,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/cob4-b4.launch b/cob_bringup/modules/base/cob4-b4.launch
index 4971a68e5..392feccb9 100644
--- a/cob_bringup/modules/base/cob4-b4.launch
+++ b/cob_bringup/modules/base/cob4-b4.launch
@@ -8,7 +8,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/cob4-b5.launch b/cob_bringup/modules/base/cob4-b5.launch
index 544843cee..9ae63a547 100644
--- a/cob_bringup/modules/base/cob4-b5.launch
+++ b/cob_bringup/modules/base/cob4-b5.launch
@@ -37,7 +37,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/cob4-b6.launch b/cob_bringup/modules/base/cob4-b6.launch
index 0535c60d4..6af98ef17 100644
--- a/cob_bringup/modules/base/cob4-b6.launch
+++ b/cob_bringup/modules/base/cob4-b6.launch
@@ -8,7 +8,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/cob4-b7.launch b/cob_bringup/modules/base/cob4-b7.launch
index 4736cc3a0..6926e7b5b 100644
--- a/cob_bringup/modules/base/cob4-b7.launch
+++ b/cob_bringup/modules/base/cob4-b7.launch
@@ -37,7 +37,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/cob4-b8.launch b/cob_bringup/modules/base/cob4-b8.launch
index d99c2eb34..9d7fc7c3b 100644
--- a/cob_bringup/modules/base/cob4-b8.launch
+++ b/cob_bringup/modules/base/cob4-b8.launch
@@ -37,7 +37,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/joypad"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/raw3-b1.launch b/cob_bringup/modules/base/raw3-b1.launch
index c2665d515..3dc8f4a2b 100644
--- a/cob_bringup/modules/base/raw3-b1.launch
+++ b/cob_bringup/modules/base/raw3-b1.launch
@@ -29,7 +29,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/input/js0"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/raw3-b3.launch b/cob_bringup/modules/base/raw3-b3.launch
index 46dedfbc6..51535346f 100644
--- a/cob_bringup/modules/base/raw3-b3.launch
+++ b/cob_bringup/modules/base/raw3-b3.launch
@@ -5,7 +5,7 @@
 
 	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
 		<arg name="name" value="base_laser_front"/>
-		<arg name="port" value="/dev/ttyScan0"/>
+		<arg name="port" value="/dev/ttyUSB1"/>
 		<arg name="inverted" value="false"/>
 		<arg name="scan_id" value="7"/>
 		<arg name="scan_intervals" value=" [[-2.0, 2.0]]"/>
@@ -13,7 +13,7 @@
 	</include>
 	<include file="$(find cob_bringup)/drivers/sick_s300.launch">
 		<arg name="name" value="base_laser_rear"/>
-		<arg name="port" value="/dev/ttyScan1"/>
+		<arg name="port" value="/dev/ttyUSB0"/>
 		<arg name="inverted" value="false"/>
 		<arg name="scan_id" value="7"/>
 		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
@@ -29,7 +29,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/input/js0"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/base/raw3-b5.launch b/cob_bringup/modules/base/raw3-b5.launch
index 85b899d5b..184bf7837 100644
--- a/cob_bringup/modules/base/raw3-b5.launch
+++ b/cob_bringup/modules/base/raw3-b5.launch
@@ -4,7 +4,7 @@
 	<arg name="sim" default="false"/>
 
 	<include file="$(find cob_bringup)/drivers/sick_lms1xx.launch">
-		<arg name="name" value="base_laser_left"/>
+		<arg name="name" value="base_laser_front"/>
 		<arg name="host" value="141.3.80.116"/>
 		<arg name="inverted" value="true"/>
 		<arg name="scan_intervals" value="[[-2.0, 2.0]]"/>
@@ -28,7 +28,7 @@
 		<arg name="sim" value="$(arg sim)"/>
 	</include>
 
-	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch"/>
+	<include unless="$(arg sim)" file="$(find cob_bringup)/drivers/joy.launch">
 		<arg name="dev" value="/dev/input/js0"/>
 		<arg name="deadzone" value="0.12"/>
 	</include>
diff --git a/cob_bringup/modules/sensorring/cob4-s3.launch b/cob_bringup/modules/sensorring/cob4-s3.launch
new file mode 100644
index 000000000..9f3a68fd2
--- /dev/null
+++ b/cob_bringup/modules/sensorring/cob4-s3.launch
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="sensorring" value="cob4-s3"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg sensorring)"/>
+		<arg name="module_type" value="sensorring"/>
+		<arg name="component_name" value="sensorring"/>
+		<arg name="can_device" value="can1"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/torso/cob4-t2.launch b/cob_bringup/modules/torso/cob4-t2.launch
new file mode 100644
index 000000000..4a0bd1570
--- /dev/null
+++ b/cob_bringup/modules/torso/cob4-t2.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="torso" value="cob4-t2"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg torso)"/>
+		<arg name="module_type" value="torso"/>
+		<arg name="component_name" value="torso"/>
+		<arg name="can_device" value="can0"/>
+		<arg name="sim" value="$(arg sim)"/>
+		<arg if="$(arg sim)" name="cartesian_control" value="true"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/torso/cob4-t7.launch b/cob_bringup/modules/torso/cob4-t7.launch
new file mode 100644
index 000000000..0fa45b999
--- /dev/null
+++ b/cob_bringup/modules/torso/cob4-t7.launch
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="torso" value="cob4-t7"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
+		<arg name="module" value="$(arg torso)"/>
+		<arg name="module_type" value="torso"/>
+		<arg name="component_name" value="torso"/>
+		<arg name="can_device" value="can0"/>
+		<arg name="sim" value="$(arg sim)"/>
+		<arg if="$(arg sim)" name="cartesian_control" value="true"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/modules/torso/raw3-t1.launch b/cob_bringup/modules/torso/raw3-t1.launch
new file mode 100644
index 000000000..c9758178f
--- /dev/null
+++ b/cob_bringup/modules/torso/raw3-t1.launch
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<launch>
+	<arg name="torso" value="raw3-t1"/>
+	<arg name="sim" default="false"/>
+
+	<include file="$(find cob_bringup)/bundles/schunk_powercube_legacy.launch">
+		<arg name="module" value="$(arg torso)"/>
+		<arg name="module_type" value="torso"/>
+		<arg name="component_name" value="torso"/>
+		<arg name="sim" value="$(arg sim)"/>
+	</include>
+
+</launch>
diff --git a/cob_bringup/robots/cob4-2.xml b/cob_bringup/robots/cob4-2.xml
index 81b8b2861..308fe2020 100644
--- a/cob_bringup/robots/cob4-2.xml
+++ b/cob_bringup/robots/cob4-2.xml
@@ -13,6 +13,7 @@
 	<arg name="sim" default="false"/>
 
 	<arg name="base" value="cob4-b7"/>
+	<arg name="torso" value="cob4-t7"/>
 
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
@@ -49,7 +50,7 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
@@ -77,7 +78,6 @@
 		</include>
 		<include file="$(find cob_bringup)/tools/teleop.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/tools/docker_control.launch">
 			<arg name="robot" value="$(arg robot)"/>
@@ -105,12 +105,10 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="component_name" value="torso"/>
-			<arg name="can_device" value="can0"/>
+		<include file="$(find cob_bringup)/modules/torso/$(arg torso).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
+
 		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_right"/>
diff --git a/cob_bringup/robots/cob4-3.xml b/cob_bringup/robots/cob4-3.xml
index c7dcdafa0..feaf5223a 100644
--- a/cob_bringup/robots/cob4-3.xml
+++ b/cob_bringup/robots/cob4-3.xml
@@ -28,12 +28,12 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+		<include file="$(find cob_bringup)/modules/base/$(arg base).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/bundles/base_cob4.launch">
-			<arg name="robot" value="$(arg robot)"/>
+
+		<include file="$(find cob_bringup)/drivers/bms.launch">
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-4.xml b/cob_bringup/robots/cob4-4.xml
index 860d1c647..0e9d4f71d 100644
--- a/cob_bringup/robots/cob4-4.xml
+++ b/cob_bringup/robots/cob4-4.xml
@@ -34,7 +34,7 @@
 		</include>
 
 		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-5.xml b/cob_bringup/robots/cob4-5.xml
index 3393bf541..1763db27b 100644
--- a/cob_bringup/robots/cob4-5.xml
+++ b/cob_bringup/robots/cob4-5.xml
@@ -13,6 +13,11 @@
 	<arg name="sim" default="false"/>
 
 	<arg name="base" value="cob4-b5"/>
+	<arg name="sensorring" value="cob4-s3"/>
+	<arg name="arm_left" value="cob4-arm3"/>
+	<arg name="arm_right" value="cob4-arm4"/>
+	<arg name="gripper_left" value="cob4-hand3"/>
+	<arg name="gripper_right" value="cob4-hand4"/>
 
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
@@ -49,7 +54,7 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
@@ -77,7 +82,6 @@
 		</include>
 		<include file="$(find cob_bringup)/tools/teleop.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/tools/docker_control.launch">
 			<arg name="robot" value="$(arg robot)"/>
@@ -105,28 +109,22 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="component_name" value="sensorring"/>
-			<arg name="can_device" value="can1"/>
+		<include file="$(find cob_bringup)/modules/sensorring/$(arg sensorring).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
-		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
-			<arg name="robot" value="$(arg robot)"/>
+
+		<include file="$(find cob_bringup)/modules/arm/$(arg arm_left).launch">
 			<arg name="component_name" value="arm_left"/>
-			<arg name="can_device" value="can3"/>
 			<arg name="sim" value="$(arg sim)"/>
-			<arg if="$(arg sim)" name="cartesian_control" value="true"/>
 		</include>
-		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
-			<arg name="robot" value="$(arg robot)"/>
+
+		<include file="$(find cob_bringup)/modules/arm/$(arg arm_right).launch">
 			<arg name="component_name" value="arm_right"/>
-			<arg name="can_device" value="can2"/>
 			<arg name="sim" value="$(arg sim)"/>
-			<arg if="$(arg sim)" name="cartesian_control" value="true"/>
 		</include>
+
 		<include file="$(find cob_bringup)/bundles/gripper_sdhx_legacy.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg gripper_right)"/>
 			<arg name="component_name" value="gripper_right"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
@@ -189,7 +187,7 @@
 		</include>
 
 		<include file="$(find cob_bringup)/bundles/gripper_sdhx_legacy.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg gripper_left)"/>
 			<arg name="component_name" value="gripper_left"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
diff --git a/cob_bringup/robots/cob4-6.xml b/cob_bringup/robots/cob4-6.xml
index 76513cb41..ca6cb3d44 100644
--- a/cob_bringup/robots/cob4-6.xml
+++ b/cob_bringup/robots/cob4-6.xml
@@ -34,7 +34,7 @@
 		</include>
 
 		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
diff --git a/cob_bringup/robots/cob4-7.xml b/cob_bringup/robots/cob4-7.xml
index 9fc242efa..e818c7845 100644
--- a/cob_bringup/robots/cob4-7.xml
+++ b/cob_bringup/robots/cob4-7.xml
@@ -13,6 +13,7 @@
 	<arg name="sim" default="false"/>
 
 	<arg name="base" value="cob4-b8"/>
+	<arg name="torso" value="cob4-t2"/>
 
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
@@ -49,7 +50,7 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/drivers/bms.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="base" value="$(arg base)"/>
 			<arg name="sim" value="true"/>
 		</include>
 
@@ -77,7 +78,6 @@
 		</include>
 		<include file="$(find cob_bringup)/tools/teleop.launch">
 			<arg name="robot" value="$(arg robot)"/>
-			<arg name="sim" value="$(arg sim)"/>
 		</include>
 		<include file="$(find cob_bringup)/tools/docker_control.launch">
 			<arg name="robot" value="$(arg robot)"/>
@@ -105,12 +105,10 @@
 			</include>
 		</group>
 
-		<include file="$(find cob_bringup)/bundles/canopen_generic.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="component_name" value="torso"/>
-			<arg name="can_device" value="can0"/>
+		<include file="$(find cob_bringup)/modules/torso/$(arg torso).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
+
 		<include file="$(find cob_bringup)/bundles/cam3d_openni2.launch">
 			<arg name="robot" value="$(arg robot)"/>
 			<arg name="name" value="torso_cam3d_right"/>
diff --git a/cob_bringup/robots/raw3-1.xml b/cob_bringup/robots/raw3-1.xml
index 59aa4e79a..6e80bc027 100644
--- a/cob_bringup/robots/raw3-1.xml
+++ b/cob_bringup/robots/raw3-1.xml
@@ -11,6 +11,8 @@
 	<arg name="sim" default="false"/>
 
 	<arg name="base" value="raw3-b1"/>
+	<arg name="torso" value="raw3-t1"/>
+	<arg name="arm" value="raw3-ur1"/>
 
 	<!-- upload robot description -->
 	<include file="$(find cob_hardware_config)/upload_robot.launch">
@@ -51,13 +53,12 @@
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
 
-		<include file="$(find cob_bringup)/bundles/schunk_powercube_legacy.launch">
-			<arg name="robot" value="$(arg robot)"/>
-			<arg name="component_name" value="torso"/>
+		<include file="$(find cob_bringup)/modules/torso/$(arg torso).launch">
 			<arg name="sim" value="$(arg sim)"/>
 		</include>
+
 		<include file="$(find cob_bringup)/drivers/ur.launch">
-			<arg name="robot" value="$(arg robot)"/>
+			<arg name="module" value="$(arg arm)"/>
 			<arg name="use_modern_driver" value="false"/>
 			<arg name="robot_ip" value="$(arg ur_ip)"/>
 			<arg name="sim" value="$(arg sim)"/>
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_left_cartesian_controller.yaml b/cob_hardware_config/modules/arm/cob4-arm3/arm_left_cartesian_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_left_cartesian_controller.yaml
rename to cob_hardware_config/modules/arm/cob4-arm3/arm_left_cartesian_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_left_controller.yaml b/cob_hardware_config/modules/arm/cob4-arm3/arm_left_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_left_controller.yaml
rename to cob_hardware_config/modules/arm/cob4-arm3/arm_left_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_left_driver.yaml b/cob_hardware_config/modules/arm/cob4-arm3/arm_left_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_left_driver.yaml
rename to cob_hardware_config/modules/arm/cob4-arm3/arm_left_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_left_self_collision.yaml b/cob_hardware_config/modules/arm/cob4-arm3/arm_left_self_collision.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_left_self_collision.yaml
rename to cob_hardware_config/modules/arm/cob4-arm3/arm_left_self_collision.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_right_cartesian_controller.yaml b/cob_hardware_config/modules/arm/cob4-arm4/arm_right_cartesian_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_right_cartesian_controller.yaml
rename to cob_hardware_config/modules/arm/cob4-arm4/arm_right_cartesian_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_right_controller.yaml b/cob_hardware_config/modules/arm/cob4-arm4/arm_right_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_right_controller.yaml
rename to cob_hardware_config/modules/arm/cob4-arm4/arm_right_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_right_driver.yaml b/cob_hardware_config/modules/arm/cob4-arm4/arm_right_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_right_driver.yaml
rename to cob_hardware_config/modules/arm/cob4-arm4/arm_right_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/arm_right_self_collision.yaml b/cob_hardware_config/modules/arm/cob4-arm4/arm_right_self_collision.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/arm_right_self_collision.yaml
rename to cob_hardware_config/modules/arm/cob4-arm4/arm_right_self_collision.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/arm_cartesian_controller.yaml b/cob_hardware_config/modules/arm/raw3-ur1/arm_cartesian_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/arm_cartesian_controller.yaml
rename to cob_hardware_config/modules/arm/raw3-ur1/arm_cartesian_controller.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/arm_controller.yaml b/cob_hardware_config/modules/arm/raw3-ur1/arm_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/arm_controller.yaml
rename to cob_hardware_config/modules/arm/raw3-ur1/arm_controller.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/arm_joint_limits.yaml b/cob_hardware_config/modules/arm/raw3-ur1/arm_joint_limits.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/arm_joint_limits.yaml
rename to cob_hardware_config/modules/arm/raw3-ur1/arm_joint_limits.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/arm_self_collision.yaml b/cob_hardware_config/modules/arm/raw3-ur1/arm_self_collision.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/arm_self_collision.yaml
rename to cob_hardware_config/modules/arm/raw3-ur1/arm_self_collision.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/gripper_left_controller.yaml b/cob_hardware_config/modules/gripper/cob4-hand3/gripper_left_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/gripper_left_controller.yaml
rename to cob_hardware_config/modules/gripper/cob4-hand3/gripper_left_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/gripper_right_controller.yaml b/cob_hardware_config/modules/gripper/cob4-hand4/gripper_right_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/gripper_right_controller.yaml
rename to cob_hardware_config/modules/gripper/cob4-hand4/gripper_right_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/sensorring_controller.yaml b/cob_hardware_config/modules/sensorring/cob4-s3/sensorring_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/sensorring_controller.yaml
rename to cob_hardware_config/modules/sensorring/cob4-s3/sensorring_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-5/config/sensorring_driver.yaml b/cob_hardware_config/modules/sensorring/cob4-s3/sensorring_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-5/config/sensorring_driver.yaml
rename to cob_hardware_config/modules/sensorring/cob4-s3/sensorring_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/torso_cartesian_controller.yaml b/cob_hardware_config/modules/torso/cob4-t2/torso_cartesian_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/torso_cartesian_controller.yaml
rename to cob_hardware_config/modules/torso/cob4-t2/torso_cartesian_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/torso_controller.yaml b/cob_hardware_config/modules/torso/cob4-t2/torso_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/torso_controller.yaml
rename to cob_hardware_config/modules/torso/cob4-t2/torso_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/torso_driver.yaml b/cob_hardware_config/modules/torso/cob4-t2/torso_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/torso_driver.yaml
rename to cob_hardware_config/modules/torso/cob4-t2/torso_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-2/config/torso_self_collision.yaml b/cob_hardware_config/modules/torso/cob4-t2/torso_self_collision.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-2/config/torso_self_collision.yaml
rename to cob_hardware_config/modules/torso/cob4-t2/torso_self_collision.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/torso_cartesian_controller.yaml b/cob_hardware_config/modules/torso/cob4-t7/torso_cartesian_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/torso_cartesian_controller.yaml
rename to cob_hardware_config/modules/torso/cob4-t7/torso_cartesian_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/torso_controller.yaml b/cob_hardware_config/modules/torso/cob4-t7/torso_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/torso_controller.yaml
rename to cob_hardware_config/modules/torso/cob4-t7/torso_controller.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/torso_driver.yaml b/cob_hardware_config/modules/torso/cob4-t7/torso_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/torso_driver.yaml
rename to cob_hardware_config/modules/torso/cob4-t7/torso_driver.yaml
diff --git a/cob_hardware_config/robots/cob4-7/config/torso_self_collision.yaml b/cob_hardware_config/modules/torso/cob4-t7/torso_self_collision.yaml
similarity index 100%
rename from cob_hardware_config/robots/cob4-7/config/torso_self_collision.yaml
rename to cob_hardware_config/modules/torso/cob4-t7/torso_self_collision.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/torso_controller.yaml b/cob_hardware_config/modules/torso/raw3-t1/torso_controller.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/torso_controller.yaml
rename to cob_hardware_config/modules/torso/raw3-t1/torso_controller.yaml
diff --git a/cob_hardware_config/robots/raw3-1/config/torso_driver.yaml b/cob_hardware_config/modules/torso/raw3-t1/torso_driver.yaml
similarity index 100%
rename from cob_hardware_config/robots/raw3-1/config/torso_driver.yaml
rename to cob_hardware_config/modules/torso/raw3-t1/torso_driver.yaml